A smart control method, device and storage medium for an electric tailgate

Abstract

This application relates to the field of vehicle control technology and discloses an intelligent control method, device, and storage medium for an electric tailgate, used as a UWB main anchor point. The method includes: receiving a command to activate the UWB radar function; detecting target movement below the electric tailgate and obtaining a first detection result, while simultaneously receiving a second detection result obtained by UWB from the anchor point; determining whether the target movement involves a kicking action based on the first and second detection results; and if so, sending a control command to the tailgate controller module to control the electric tailgate to open automatically. This significantly improves the kick detection sensitivity of the electric tailgate kick sensor, enabling intelligent control of the electric tailgate. Furthermore, it allows car users to stand at any position near the tailgate, increasing the coverage area for user kicking actions and enhancing triggering flexibility. It also improves anti-interference capabilities, reduces the probability of false triggering, and makes the kick detection function more reliable.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to an intelligent control method, device and storage medium for an electric tailgate. Background Technology

[0002] Currently, the car tailgate foot-operated sensor controller is an intelligent electric tailgate induction switch product designed to meet the comfort needs of car users. When opening the tailgate, the foot-operated action frees the driver's hands, providing a more intelligent and convenient experience.

[0003] The tailgate kick sensor controller for automobiles mainly uses capacitive sensors. However, capacitive kick sensors have the following drawbacks: the capacitive electrodes of the capacitive kick sensor are located in the middle of the rear of the car and are placed side by side, requiring the user to stand very close to the middle of the rear of the car to make a kicking motion. In addition, it only supports leg kicking motions, and the detection sensitivity and detection range of kicking are limited. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide an intelligent control method, device, and storage medium for an electric tailgate, which can accurately detect foot kicking actions and realize intelligent control of the electric tailgate of a car. The specific solution is as follows:

[0005] A smart control method for an electric tailgate, used for a UWB master anchor point, includes:

[0006] Receive command to activate UWB radar function;

[0007] The target movement below the electric tailgate is detected, and a first detection result is obtained. At the same time, a second detection result is obtained by UWB from the anchor point to detect the target movement.

[0008] Based on the first detection result and the second detection result, it is determined whether the target action involves a kicking motion;

[0009] If so, a control command is sent to the tailgate controller module to control the electric tailgate to open automatically.

[0010] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, detecting the target movement below the electric tailgate and obtaining a first detection result includes:

[0011] The first detection data corresponding to the target action below the electric tailgate is collected using a self-transmitting and self-receiving method and sent to the data processing unit module of the UWB main anchor point;

[0012] The first detection data is processed to obtain the first detection result.

[0013] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, the UWB detection of the target action from the anchor point includes:

[0014] The UWB acquires the second detection data corresponding to the target action from the anchor point using a self-spontaneous acquisition method.

[0015] The second detection data is processed to obtain the second detection result, and the second detection result is sent to the UWB main anchor point.

[0016] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, processing the first detection data to obtain the first detection result includes:

[0017] The UWB pulse signal in the first detection data is converted into a digital value and then modulated by I / Q to obtain the first I / Q data;

[0018] The first phase value is obtained based on the first I / Q data, the first phase value is processed by the phase unfolding algorithm, and the kick phase feature value is found by traversing the sliding window.

[0019] Determine whether the difference between two adjacent phase feature values ​​found is within the phase threshold range; if so, obtain the first energy value based on the first I / Q data.

[0020] After obtaining the first energy value, it is determined whether the first energy value is greater than a first energy threshold; if it is greater than the first energy threshold, it is further determined whether the first energy value is less than a second energy threshold, wherein the second energy threshold is greater than the first energy threshold; if it is not greater than the first energy threshold, it is determined that the first detection result is not a kicking action.

[0021] If the energy level is less than the second energy threshold, the first detection result is determined to be a successful phase and energy determination; if the energy level is not less than the second energy threshold, the first detection result is determined to be a successful phase determination but a failed energy determination.

[0022] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, processing the second detection data to obtain the second detection result includes:

[0023] The UWB pulse signal in the second detection data is converted into a digital value and then modulated by I / Q to obtain the second I / Q data;

[0024] The second phase value is obtained based on the second I / Q data, the second phase value is processed by the phase unfolding algorithm, and the kick phase feature value is found by traversing the sliding window.

[0025] Determine whether the difference between two adjacent phase feature values ​​found is within the phase threshold range; if so, obtain the second energy value based on the second I / Q data.

[0026] After obtaining the second energy value, it is determined whether the second energy value is greater than the first energy threshold; if it is greater than the first energy threshold, it is further determined whether the second energy value is less than the second energy threshold.

[0027] If the energy level is less than the second energy threshold, the second detection result is determined to be a successful phase and energy determination; if the energy level is not less than the second energy threshold, the second detection result is determined to be a successful phase determination but a failed energy determination.

[0028] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, the UWB pulse signal in the first detection data is converted into a digital value, and after I / Q modulation, the first I / Q data is obtained, including:

[0029] The first detection data is amplified using a low-noise amplifier, and the amplified signal is transmitted to the I / Q mixer.

[0030] An I / Q mixer is used to perform quadrature demodulation of the signal wave generated by the I / Q oscillator and the amplified signal, and then transmits it to an analog-to-digital converter to obtain a pulse sequence, so as to convert the amplitude and phase of the UWB pulse signal in the first detection data into digital values.

[0031] The obtained pulse sequences are cross-correlated in an I / Q matched filter, and the results are added in a signal impulse response accumulator;

[0032] The summation result is passed through an I / Q decoder to obtain the first I / Q data.

[0033] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, determining whether the target action involves a kicking action based on the first detection result and the second detection result includes:

[0034] If both the first detection result and the second detection result indicate that the phase judgment is successful but the energy judgment is unsuccessful, then the difference between the first kick time corresponding to the main anchor point and the second kick time corresponding to the UWB slave anchor point is obtained, and it is determined whether the difference is less than the time difference threshold; if so, it is determined that the target action has a kicking action.

[0035] Preferably, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, determining whether the target action involves a kicking action based on the first detection result and the second detection result further includes:

[0036] If the first detection result or the second detection result indicates a successful phase and energy determination, then it is determined that the target action involves a kicking motion.

[0037] This invention also provides an intelligent control device for an electric tailgate, including a processor and a memory, wherein the processor executes a computer program stored in the memory to implement the intelligent control method for the electric tailgate as described in this invention.

[0038] This invention also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the intelligent control method for the electric tailgate as described in this invention.

[0039] As can be seen from the above technical solution, the intelligent control method for an electric tailgate provided by the present invention is used for a UWB main anchor point, including: receiving a command to activate the UWB radar function; detecting the target action below the electric tailgate and obtaining a first detection result, while simultaneously receiving a second detection result obtained by UWB from the anchor point detecting the target action; determining whether the target action is a kicking action based on the first and second detection results; if so, sending a control command to the tailgate controller module to control the electric tailgate to open automatically.

[0040] The intelligent control method for the electric tailgate provided by this invention detects kicking actions by simultaneously operating a UWB main anchor point and a UWB secondary anchor point in radar function mode. This significantly improves the kick detection sensitivity of the electric tailgate kick sensor, thereby achieving intelligent control of the electric tailgate. Furthermore, the user can stand at any position near the tailgate, increasing the coverage area of ​​the user's kicking action and greatly enhancing the triggering flexibility, thus improving the user's comfort and experience with the tailgate kick sensor. It also improves anti-interference capabilities, greatly reducing the probability of false triggering and making the kick detection function more reliable. In addition, the UWB main anchor point and UWB secondary anchor point are small in size and weight, conforming to the trend of automotive lightweighting.

[0041] Furthermore, the present invention also provides a corresponding device and computer-readable storage medium for the intelligent control method of electric tailgate, which further makes the above method more practical. The device and computer-readable storage medium have corresponding advantages. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 A flowchart illustrating the intelligent control method for an electric tailgate provided in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the UWB dual anchor point frame provided in an embodiment of the present invention;

[0045] Figure 3 This is an exploded view of a single UWB anchor point provided in an embodiment of the present invention;

[0046] Figure 4 This is a front view of a single UWB anchor point provided in an embodiment of the present invention;

[0047] Figure 5 This is a side view of a single UWB anchor point provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of a single UWB anchor point provided in an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the actual vehicle antenna installation position for UWB dual-anchor point according to an embodiment of the present invention;

[0050] Figure 8 A flowchart of the radar signal processing procedure provided in an embodiment of the present invention;

[0051] Figure 9 A flowchart illustrating the independent operation of the UWB master anchor point provided in this embodiment of the invention;

[0052] Figure 10 A schematic diagram of phase determination provided in an embodiment of the present invention;

[0053] Figure 11 A flowchart illustrating UWB's independent operation from the anchor point, provided as an embodiment of the present invention;

[0054] Figure 12 A flowchart for determining whether a target action involves a kicking motion based on the detection results of the UWB master anchor point and the UWB slave anchor point, provided in an embodiment of the present invention.

[0055] Figure 13 One of the schematic diagrams for time difference determination provided in an embodiment of the present invention;

[0056] Figure 14This is the second schematic diagram for time difference determination provided in an embodiment of the present invention. Detailed Implementation

[0057] Ultra-wideband (UWB) systems offer advantages such as high transmission rates, strong multipath resolution, high penetration, strong electromagnetic compatibility, high energy efficiency, high security, low system complexity, high timestamp accuracy, and precise positioning. They have wide applications in military, radar, biological detection, short-range communication, and high-precision indoor and outdoor positioning. This invention utilizes a UWB dual-anchor self-transmission and self-reception strategy to achieve precise detection of tailgate kicks, thereby improving user experience and comfort with the tailgate kick sensor.

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] This invention provides an intelligent control method for electric tailgates, such as... Figure 1 As shown, the steps for using a UWB master anchor point include:

[0060] S101, Receive command to enable UWB radar function.

[0061] It should be noted that this invention designs a dual-anchor point system for vehicle-mounted UWB, selecting one as the primary UWB anchor point and the other as the secondary UWB anchor point. Both the primary and secondary UWB anchor points operate simultaneously in radar function mode. When the primary and secondary UWB anchor points receive a command to activate the UWB radar function, they simultaneously enter radar function mode and begin operation.

[0062] S102. Detect the target movement below the electric tailgate, obtain the first detection result, and simultaneously receive the second detection result obtained by UWB from the anchor point to detect the target movement.

[0063] Specifically, the UWB master anchor point detects the target action and obtains the first detection result of the UWB master anchor point; at the same time, the UWB slave anchor point detects the target action and obtains the second detection result of the UWB slave anchor point.

[0064] S103. Based on the first detection result and the second detection result, determine whether the target action involves a kicking motion; if yes, proceed to step S104; if no, repeat step S102 or do not send a control command to the tailgate controller module.

[0065] Specifically, based on the detection results of the UWB master anchor point and the UWB slave anchor point, the UWB master anchor point, combined with the corresponding strategy, can accurately determine the kick detection.

[0066] S104. Send a control command to the tailgate controller module to control the electric tailgate to open automatically.

[0067] Preferably, the UWB master anchor point can send control commands to the tailgate controller module via the CANFD bus to execute the automatic opening and closing action of the tailgate, thereby realizing intelligent control of the car's electric tailgate.

[0068] In the intelligent control method for the electric tailgate provided in this embodiment of the invention, by detecting kicking actions using both the UWB main anchor point and the UWB secondary anchor point operating simultaneously in radar function mode, the kicking detection sensitivity of the electric tailgate kick sensor can be greatly improved, realizing intelligent control of the electric tailgate. Furthermore, the user can stand at any position near the tailgate, increasing the coverage area of ​​the user's kicking action and greatly enhancing the triggering flexibility, thus improving the user's experience and comfort with the tailgate kick sensor. Simultaneously, it can improve anti-interference capabilities, greatly reducing the probability of false triggering and making the kicking detection function more reliable. In addition, the UWB main anchor point and UWB secondary anchor point are small in size and weight, conforming to the trend of automotive lightweighting.

[0069] It should be noted that both the UWB master anchor and the UWB slave anchor have their own UWB chips, and their hardware and mechanical appearance are completely identical. Figure 2 As shown, they have their own transmitters and receivers, which operate independently and can achieve dual self-transmitting and self-receiving modes.

[0070] Figure 3 The mechanical structure of a single UWB anchor point is shown, including a housing 1, a housing cover 2, a hardware circuit board 3, and a tag 4. The entire structure is lightweight, which can make automobiles lighter.

[0071] Figure 4 and Figure 5 The front and side views of a single UWB anchor point are shown respectively. The UWB main anchor point and UWB slave anchor points are small in size, which can effectively save vehicle space during installation.

[0072] Figure 6A schematic diagram of a single UWB anchor point is shown. In practical applications, this invention can use two Infineon TLE9261 chips as the System Basis Chip (SBC), providing key functions including 5V / 3.3V power to the microcontroller in the entire hardware module, an HS-CAN transceiver supporting CAN FD data transmission, a CAN local network (including fault-tolerant fault diagnosis mode), a Serial Peripheral Interface (SPI) for controlling and monitoring devices, and a watchdog circuit with reset characteristics. This invention can also use two NXP KW38 chips as a Bluetooth module, capable of receiving sleep / wake commands and commands to activate the UWB radar function mode from vehicle-side Bluetooth and mobile phone Bluetooth.

[0073] Furthermore, this invention can use two NXP NCJ29D5D chips to construct a UWB master-slave anchor system. The radar antenna of the UWB module is selected as a directional antenna (such as a PCB patch antenna), for example... Figure 7 As shown, the specific location can be set on both sides of the taillights in the middle area of ​​the tailgate to achieve better coverage of the cabin space. A single UWB chip can only support UWB ranging or UWB radar functions at a time, and the function mode switching needs to be controlled. In UWB radar working mode, based on the chip's basic capabilities, the UWB chip can provide the raw signal data of UWB radar, which is transmitted to the data processing unit module via the SPI bus.

[0074] Preferably, the present invention can use two Cypress CYT2B73 chips to form a data processing unit module: the main controller performs radar function initialization configuration of the UWB module via SPI communication, and the configuration only needs to be executed once. The raw data signal transmitted by the UWB radar is processed by software strategy to detect whether there is a valid kick detection. Then, the UWB main anchor point, based on the kick detection results of the two single anchor points, combined with the software strategy, achieves accurate kick detection judgment.

[0075] Furthermore, in a specific implementation, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, step S102, which detects the target action below the electric tailgate and obtains a first detection result, may include: collecting the first detection data corresponding to the target action below the electric tailgate using a self-generating and self-receiving method; processing the first detection data to obtain the first detection result.

[0076] Specifically, the radar antenna of the UWB module at the UWB main anchor point can be used to collect the first detection data corresponding to the target movement below the electric tailgate in a self-transmitting and self-receiving manner, and send it to the data processing unit module of the UWB main anchor point; the data processing unit module of the UWB main anchor point can then process the first detection data to obtain the first detection result of the UWB main anchor point.

[0077] In practice, the above steps involve processing the first detection data to obtain the first detection result of the UWB main anchor point, which may specifically include:

[0078] First, the UWB pulse signal in the first detection data is converted into a digital value, and then I / Q modulated to obtain the first I / Q data; in specific implementation, such as Figure 8 As shown, this step specifically includes: amplifying the first detection data using a low-noise amplifier and transmitting the amplified signal to an I / Q mixer; using the I / Q mixer to perform quadrature demodulation of the signal waves (cos and sin waves) generated by the I / Q oscillator with the amplified signal, and transmitting the signal to an analog-to-digital converter to obtain a pulse sequence, so as to convert the amplitude and phase of the UWB pulse signal in the first detection data into digital values; performing sequence cross-correlation of the obtained pulse sequence in an I / Q matched filter, and adding the results in a signal impulse response accumulator; finally passing the summed result through an I / Q demodulator to obtain the first I / Q data.

[0079] Then, as Figure 9 As shown, the first detection result of the UWB main anchor point is obtained through the "phase judgment" and "energy judgment" algorithms. Specifically, the first phase value is obtained based on the first I / Q data, and the first phase value is processed using a phase unfolding algorithm. A kick phase feature value is then searched by traversing a sliding window. It is determined whether the difference between two adjacent phase feature values ​​is within the phase threshold range, i.e., "phase judgment successful?". If yes, the first energy value is obtained based on the first I / Q data. If not, the first detection result of the UWB main anchor point is determined to be "not a kicking action". After obtaining the first energy value, it is determined whether the first energy value is greater than the first energy threshold, i.e., "greater than 'energy judgment' (low threshold)". If the value is greater than the first energy threshold, then it is determined whether the first energy value is less than the second energy threshold, i.e., "less than 'energy judgment' (high threshold)," where the second energy threshold is greater than the first energy threshold; if it is not greater than the first energy threshold, then the first detection result of the UWB main anchor point is determined to be "not a kicking action"; if it is less than the second energy threshold, then the first detection result of the UWB main anchor point is determined to be "phase judgment successful and energy judgment successful"; if it is not less than the second energy threshold, then the first detection result of the UWB main anchor point is determined to be "phase judgment successful and energy judgment failed."

[0080] The phase expansion algorithm process can include: First, obtaining a certain moment t from the I / Q value, taking the data from t onwards (see Table 1), which is used as the data for the phase expansion algorithm. Here, Δt is the sampling interval, k and m are the number of samples, and each tap interval is t1 ns, which is a distance gate. Here, Δt = 5ms, k = 0, m = 400, n = 5, and t1 = 0.5ns, so the distance between the distance gates is 15cm, and the sampling interval t2 is: t2 = Δt * (k + m) = 5ms * 400 = 2s. Then, the I / Q values ​​obtained from Tap1 to Tap5 are processed respectively: phase value = arctan(I / Q), and the phase expansion algorithm is used to recover the original phase value from the value interval (-π, π]. After phase expansion, as shown... Figure 10 As shown, the change in velocity can be determined by the phase difference between data from adjacent time points. The faster the velocity, the steeper the slope and the more precipitous the waveform. Next, the kick phase characteristic value is found by iterating through a sliding window: the interval of the sampling sliding window is Δt3, and the iteration period is T3. Here, Δt3 = 5ms and T3 = 2s are chosen. The phase difference is used for judgment; here, P1 = 3000 and P2 = 5000. If the phase difference is within the range of P1 to P2, the phase judgment is considered successful once. Finally, the start time t4 and end time t5 can be determined by iterating through the window. The time corresponding to the maximum phase value within the time interval t4 to t5 is taken as the kick time t6.

[0081] Table 1

[0082] k*t ms (k+1)*t ms … (k+m)*t ms Taps 1 Taps 1 … Taps 1 Taps 2 Taps 2 … Taps 2 Taps 3 Taps 3 … Taps 3 Taps 4 Taps 4 … Taps 4 Taps 5 Taps 5 … Taps 5 … … … … Taps n Taps n … Taps n

[0083] In addition, the energy determination algorithm may include: obtaining a first energy value based on the first I / Q data, with the formula being energy value P = (I / Q) * ... 2 +Q 2 According to the actual vehicle calibration, preferably, the "first energy threshold P1" is set to 50 and the "second energy threshold P2" is set to 200.

[0084] At this time, the first detection result obtained by the UWB master anchor point includes {UWB master anchor point “phase judgment successful” and UWB master anchor point “energy judgment successful”} or {UWB master anchor point “not a kicking action”} or {UWB master anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”}.

[0085] Similarly, in specific implementation, in the above-mentioned intelligent control method for electric tailgate provided in the embodiments of the present invention, the UWB detection of target action from the anchor point may include: the UWB collecting second detection data corresponding to the target action from the anchor point in a self-spontaneous and self-receiving manner, processing the second detection data, obtaining the second detection result, and sending the second detection result to the UWB main anchor point.

[0086] Specifically, the radar antenna of the UWB module at the UWB slave point can be used to acquire the second detection data corresponding to the target action in a self-transmitting and self-receiving manner, and send it to the data processing unit module at the UWB slave point; the data processing unit module at the UWB slave point processes the second detection data, obtains the second detection result of the UWB slave point, and sends the second detection result to the UWB master anchor point.

[0087] In practical implementation, the above steps involve processing the second detection data to obtain the second detection result of UWB from the anchor point, which may specifically include:

[0088] First, the UWB pulse signal in the second detection data is converted into a digital value, and then I / Q modulated to obtain the second I / Q data; in specific implementation, such as Figure 8 As shown, this step specifically includes: amplifying the second detection data using a low-noise amplifier and transmitting the amplified signal to an I / Q mixer; using the I / Q mixer to perform quadrature demodulation of the signal waves (cos and sin waves) generated by the I / Q oscillator with the amplified signal, and transmitting the signal to an analog-to-digital converter to obtain a pulse sequence, so as to convert the amplitude and phase of the UWB pulse signal in the second detection data into digital values; performing sequence cross-correlation of the obtained pulse sequence in an I / Q matched filter, and adding the results in a signal impulse response accumulator; finally passing the summed result through an I / Q demodulator to obtain the second I / Q data.

[0089] Then, as Figure 11 As shown, the second detection result of UWB from the anchor point is obtained through the "phase judgment" and "energy judgment" algorithms. Specifically, the second phase value is obtained based on the second I / Q data. A phase unrolling algorithm is used to process the second phase value, and a kick phase feature value is searched by traversing a sliding window. It is then determined whether the difference between two adjacent phase feature values ​​is within the phase threshold range, i.e., "Phase judgment successful?". If yes, the second energy value is obtained based on the second I / Q data. If not, the second detection result from the UWB anchor point is determined to be "not a kicking action". After obtaining the second energy value, it is determined whether the second energy value is greater than the first energy threshold, i.e., "greater than 'energy judgment' (low threshold)". If it is greater than the first energy threshold, it is further determined whether the second energy value is less than the second energy threshold, i.e., "less than 'energy judgment' (high threshold)". If it is not greater than the first energy threshold, the second detection result from the UWB anchor point is determined to be "not a kicking action". If it is less than the second energy threshold, the second detection result from the UWB anchor point is determined to be "phase judgment successful and energy judgment successful". If it is not less than the second energy threshold, the second detection result from the UWB anchor point is determined to be "phase judgment successful and energy judgment failed".

[0090] It should be noted that the phase development algorithm and energy judgment algorithm implemented by UWB from the anchor point can refer to the process implemented by the UWB main anchor point, and will not be elaborated here.

[0091] At this time, the second detection result obtained by UWB from the anchor point includes {UWB from the anchor point “phase judgment successful” and UWB from the anchor point “energy judgment successful”} or {UWB from the anchor point “not a kicking action”} or {UWB from the anchor point “phase judgment successful” and UWB from the anchor point “energy judgment failed”}.

[0092] In a specific implementation, in the intelligent control method for the electric tailgate provided in the embodiments of the present invention, determining whether the target action has a kicking action based on the first detection result and the second detection result includes: if both the first detection result and the second detection result are successful in phase judgment and unsuccessful in energy judgment, then the difference between the first kicking time corresponding to the main anchor point and the second kicking time corresponding to the UWB slave anchor point is obtained, and it is determined whether the difference is less than the time difference threshold; if so, it is determined that the target action has a kicking action.

[0093] like Figure 12 As shown, the first detection result obtained by the UWB master anchor point includes {UWB master anchor point “phase judgment successful” and UWB master anchor point “energy judgment successful”} or {UWB master anchor point “not a kicking action”} or {UWB master anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”}, and the second detection result includes {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment successful”} or {UWB slave anchor point “not a kicking action”} or {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”}.

[0094] The UWB master anchor point makes a judgment based on the first and second detection results: if {UWB master anchor point "phase judgment successful" and UWB master anchor point "energy judgment failed"} and {UWB slave anchor point "phase judgment successful" and UWB slave anchor point "energy judgment failed"}, then a "time difference judgment" is performed based on the master anchor point. The UWB master anchor point can obtain t6 and the UWB slave anchor point can obtain t6, and the difference between the two is obtained. The absolute value is taken, such as... Figure 13 and Figure 14 As shown, the time threshold T is an adjustable calibration parameter. If successful, it indicates that the target action involves a kicking motion. The UWB main anchor point sends a control command to the tailgate controller module via the CANFD signal to initiate the opening and closing action of the tailgate. If unsuccessful, the first and second detection results are reacquired, and the judgment continues. Preferably, the phase value within the traversal period T3 can be updated at a time interval of Δt3 = 5ms to continue searching for the kicking phase feature value.

[0095] In a specific implementation, the intelligent control method for the electric tailgate provided in the embodiments of the present invention, which determines whether the target action has a kicking action based on the first detection result and the second detection result, further includes: if the first detection result or the second detection result is a successful phase and energy determination, then it is determined that the target action has a kicking action.

[0096] like Figure 12 As shown, if the UWB master anchor point performs relevant judgments, and the final result falls under one of the following five situations, it indicates that the target action involves a kicking motion. The UWB master anchor point then sends a control command to open or close the tailgate via the CANFD signal tailgate controller module, causing the tailgate to perform the opening and closing action. Afterward, the UWB master anchor point and UWB discard the phase data within the traversal period T3 = 2s from the anchor point, and the traversal period T3 jumps directly to the next 2s, updating the phase values ​​within the traversal period T3 at a time interval of Δt3 = 5ms.

[0097] The first scenario is {UWB master anchor point “phase judgment successful” and UWB master anchor point “energy judgment successful”} and {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment successful”};

[0098] The second scenario is {UWB master anchor point “phase judgment successful” and UWB master anchor point “energy judgment successful”} and {UWB slave anchor point “not a kicking action”};

[0099] The third scenario is {UWB master anchor point “phase judgment successful” and UWB master anchor point “energy judgment successful”} and {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”};

[0100] The fourth scenario is {UWB from the anchor point “phase judgment successful” and UWB from the anchor point “energy judgment successful”} and {UWB main anchor point “not a kicking action”};

[0101] The fifth scenario is {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment successful”} and {UWB master anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”}.

[0102] If the UWB master anchor point makes relevant judgments, and the final result falls into one of the following three categories, it indicates that the target action does not involve a kicking motion. The UWB master anchor point can then reacquire the first and second detection results and continue the judgment process. Preferably, the phase value within the traversal period T3 can be updated at a time interval of Δt3 = 5ms to continue searching for kicking phase feature values.

[0103] The first case is {UWB primary anchor point "not a kicking action"} and {UWB secondary anchor point "not a kicking action"};

[0104] The second scenario is {UWB master anchor point “not a kicking action”} and {UWB slave anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”};

[0105] The third scenario is {UWB slave anchor point “not a kicking action”} and {UWB master anchor point “phase judgment successful” and UWB slave anchor point “energy judgment failed”}.

[0106] Based on the same inventive concept, this invention also provides an intelligent control device for an electric tailgate. Since the principle of this device in solving the problem is similar to that of the aforementioned intelligent control method for an electric tailgate, the implementation of this device can refer to the implementation of the intelligent control method for an electric tailgate, and the repeated parts will not be described again.

[0107] In specific implementation, the intelligent control device for the electric tailgate provided in this embodiment of the invention, used for the UWB main anchor point, specifically includes:

[0108] The command receiving module is used to receive commands to enable the UWB radar function;

[0109] The target detection module is used to detect the target movement under the electric tailgate, obtain the first detection result, and at the same time receive the second detection result obtained by UWB from the target movement detection at the anchor point;

[0110] The result judgment module is used to determine whether the target action involves a kicking motion based on the first detection result and the second detection result.

[0111] The instruction sending module is used to send control instructions to the tailgate controller module when the target action is determined to involve a kicking action, so as to control the electric tailgate to open automatically.

[0112] In the intelligent control device for the electric tailgate provided in the embodiments of the present invention, intelligent control of the electric tailgate of the car can be realized through the interaction of the above four modules. The car user can stand at any position near the tailgate, increasing the coverage area of ​​the user's kicking action, greatly improving the triggering flexibility, and better enhancing the user's experience and comfort with the tailgate kicking sensor. At the same time, it can also improve the anti-interference ability, greatly reduce the probability of false triggering, and make the kicking detection function more reliable. In addition, it conforms to the trend of lightweighting of automobiles.

[0113] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0114] Accordingly, this invention also discloses an intelligent control device for an electric tailgate, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the intelligent control method for the electric tailgate disclosed in the foregoing embodiments.

[0115] For more detailed information on the above methods, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0116] Furthermore, the present invention also discloses a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the aforementioned intelligent control method for the electric tailgate.

[0117] For more detailed information on the above methods, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0118] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices and storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0119] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0121] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0122] The intelligent control method, device, and storage medium for the electric tailgate provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An intelligent control method for an electric tailgate, characterized in that, Used for UWB master anchor points, including: Receive command to activate UWB radar function; The system detects the target movement below the electric tailgate and obtains a first detection result. This involves acquiring first detection data corresponding to the target movement below the electric tailgate using a self-transmitting and self-receiving method. The UWB pulse signal in the first detection data is converted into a digital value and then modulated by I / Q to obtain first I / Q data. A first phase value is obtained based on the first I / Q data. This first phase value is processed using a phase unfolding algorithm, and a kick phase feature value is found by traversing a sliding window. It is determined whether the difference between two adjacent phase feature values ​​is within a phase threshold range. If so, a first energy value is obtained based on the first I / Q data. After obtaining the first energy value, it is determined whether the first energy value is greater than a first energy threshold. If it is greater than the first energy threshold, it is further determined whether the first energy value is less than a second energy threshold, where the second energy threshold is greater than the first energy threshold. If it is less than the second energy threshold, the first detection result is determined to be a successful phase and energy determination. If it is not less than the second energy threshold, the first detection result is determined to be a successful phase determination but a failed energy determination. Simultaneously, a second detection result is received from the UWB probe of the target action obtained from the anchor point; wherein, the UWB probe of the anchor point acquires the second detection data corresponding to the target action in a self-transmitting and self-receiving manner; the UWB pulse signal in the second detection data is converted into a digital value, and after I / Q modulation, a second I / Q data is obtained; a second phase value is obtained based on the second I / Q data, and the second phase value is processed using a phase unfolding algorithm, and a kick phase feature value is found by traversing a sliding window; it is determined whether the difference between two adjacent phase feature values ​​found is within the phase threshold range; if so, a second energy value is obtained based on the second I / Q data; after obtaining the second energy value, it is determined whether the second energy value is greater than the first energy threshold; if it is greater than the first energy threshold, it is further determined whether the second energy value is less than the second energy threshold; if it is less than the second energy threshold, the second detection result is determined to be a successful phase and energy judgment; if it is not less than the second energy threshold, the second detection result is determined to be a successful phase judgment and a failed energy judgment. If both the first detection result and the second detection result indicate that phase determination is successful but energy determination fails, then the difference between the first kick time corresponding to the UWB main anchor point and the second kick time corresponding to the UWB secondary anchor point is obtained, and it is determined whether the difference is less than the time difference threshold; if so, it is determined that the target action involves a kicking action. If the first detection result or the second detection result indicates that the phase and energy determination is successful, then it is determined that the target action involves a kicking motion. After determining that the target action involves a kicking motion, a control command is sent to the tailgate controller module to control the electric tailgate to open automatically.

2. The intelligent control method for the electric tailgate according to claim 1, characterized in that, The UWB pulse signal in the first detection data is converted into a digital value, and then I / Q modulated to obtain the first I / Q data, including: The first detection data is amplified using a low-noise amplifier, and the amplified signal is transmitted to the I / Q mixer. An I / Q mixer is used to perform quadrature demodulation of the signal wave generated by the I / Q oscillator and the amplified signal, and then transmits it to an analog-to-digital converter to obtain a pulse sequence, so as to convert the amplitude and phase of the UWB pulse signal in the first detection data into digital values. The obtained pulse sequences are cross-correlated in an I / Q matched filter, and the results are added in a signal impulse response accumulator; The summation result is passed through an I / Q decoder to obtain the first I / Q data.

3. An intelligent control device for an electric tailgate, characterized in that, It includes a processor and a memory, wherein the processor executes a computer program stored in the memory to implement the intelligent control method for the electric tailgate as described in claim 1 or 2.

4. A computer-readable storage medium, characterized in that, Used to store a computer program, wherein the computer program, when executed by a processor, implements the intelligent control method for the electric tailgate as described in claim 1 or 2.

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