Vehicle liftgate control method, system, and vehicle

Abstract

The application provides a vehicle vertical tail gate control method, system and vehicle, and the method comprises the following steps: obtaining vehicle environment information and user setting information; determining a target speed of a tail gate opening or closing stage according to the vehicle environment information and the user setting information; and controlling the tail gate to open or close at the target speed; wherein the vehicle environment information comprises a current uphill gradient i of the vehicle, and the user setting information comprises user-set speed gear information of the tail gate opening or closing.

Description

Technical Field

[0001] This invention relates to the field of vehicle vertical tailgate control technology, specifically to a vehicle vertical tailgate control method, system, and vehicle. Background Technology

[0002] With the increasing intelligence of modern cars, the installation rate of electric tailgates is also growing daily. Users send open / close commands via the central control buttons, door buttons, or remote key. Upon receiving the command, the vehicle's ECU (Electronic Control Unit) controls the drive motor of the tailgate strut to open and close the tailgate.

[0003] Vertical tailgates are generally used in large SUVs (Sport Utility Vehicles) and MPVs (Multi-Purpose Vehicles). Unlike the tailgates of ordinary sedans, when the vehicle is on a flat road, the vertical tailgate extends at an angle of 60-90° to the road surface. It opens by rotating upwards through the upper edge connected to the vehicle body, and the maximum opening angle of a vertical tailgate is generally 85-100°. However, when the vehicle is parked on an incline, the angle between the vehicle's coordinate system and the direction of gravity changes, making it easier to open the vertical tailgate on an uphill slope but more difficult to close it. When opening the door becomes easy, the opening speed is relatively fast compared to normal. Furthermore, when the air conditioning output is high, the pressure difference between the inside and outside of the vehicle is large at the moment of opening the door, which can generate noise due to air vibration and affect the user experience. Conversely, when closing the door becomes difficult, the closing speed is relatively slow compared to normal. Furthermore, when the air conditioning output is high, the pressure difference between the inside and outside of the vehicle is large at the moment of closing the door, which can cause the door to fail to close due to air resistance and affect the user experience. Summary of the Invention

[0004] One aspect of the technical problem to be solved by the present invention is how to prevent the vertical tailgate from generating noise and being difficult to close when the vehicle is parked on a slope with the air conditioning blowing a large volume of air when it is parked on a slope.

[0005] Furthermore, other aspects of the present invention are also intended to solve or alleviate other technical problems existing in the prior art.

[0006] This invention provides a method, system, and vehicle for controlling a vertical tailgate. Specifically, according to one aspect of the invention, the following is provided:

[0007] A method for controlling a vehicle's vertical tailgate, comprising the following steps:

[0008] Obtain vehicle environmental information and user settings information;

[0009] The target speed for the tailgate opening or closing phase is determined based on the vehicle environment information and user settings.

[0010] The tailgate is controlled to open or close at the target speed;

[0011] The vehicle environment information includes the vehicle's current uphill gradient i, and the user setting information includes the user-defined speed setting for opening or closing the tailgate.

[0012] Optionally, according to one embodiment of the present invention, the tailgate opening phase includes a slope opening phase starting from the initial opening of the tailgate, wherein the target speed v of the tailgate during the slope opening phase is... o1 =v od -(v od -v om )*i / i m ,

[0013] Among them, v od v is the default opening speed of the tailgate. om The maximum uphill opening speed of the tailgate is denoted by i, where i is the current uphill gradient of the vehicle. m The maximum slope that the vehicle can achieve with its maximum uphill capability is determined by testing on a test bench when the vehicle is at the maximum slope, taking into account the noise generated when the tailgate is opened while the vehicle's air conditioning is on.

[0014] Optionally, according to one embodiment of the present invention, the tailgate opening phase further includes a personalized opening phase from the end of the slope opening phase to the tailgate being fully open, wherein the target speed v of the tailgate in the personalized opening phase is... o2 =v od *(ω o / ω od ),

[0015] Where, ω o The tailgate's angular velocity, ω, corresponds to the user-defined tailgate opening speed setting. od The tailgate's angular velocity corresponds to the default opening speed of the tailgate.

[0016] Optionally, according to one embodiment of the invention, the tailgate closing phase includes a default closing phase that begins when the tailgate initially closes, wherein the target speed v of the tailgate during the default closing phase is... c1 The default closing speed v of the tailgate cd And personalization off speed v cc The minimum value in, where the personalized shutdown speed v cc =v cd *(ω c / ω cd ), ωc ω is the tailgate movement angular velocity corresponding to the user-defined tailgate closing speed setting. cd The tailgate movement angular velocity corresponding to the default closing speed of the tailgate.

[0017] Optionally, according to one embodiment of the present invention, the tailgate closing phase further includes a slope closing phase from the end of the default closing phase to the tailgate being fully closed, wherein the target speed v of the tailgate during the slope closing phase is... c2 =v cd +(v cm -v cd )*i / i m ,

[0018] Among them, v cd v is the default closing speed of the tailgate. cm The maximum uphill closing speed of the tailgate is given by i, where i is the current uphill gradient of the vehicle. m The maximum gradient that the vehicle can achieve with its maximum uphill capability, the maximum uphill closing speed v cm The minimum closing speed at which the tailgate will not close abnormally due to air resistance, as measured by a test bench when the vehicle is at the maximum slope, is the tailgate speed.

[0019] Optionally, according to one embodiment of the present invention, the vehicle environment information further includes judgment information on whether there is a person or object in the tailgate safety area, and the target speed for opening or closing the tailgate is also determined based on the judgment information.

[0020] Optionally, according to one embodiment of the present invention, during the personalized door opening phase, when a person or object is present in the tailgate security area, if ω o <ω od This ensures that the target speed of the tailgate remains v. o2 If ω o ≥ω od This makes the target speed of the tailgate the default opening speed v of the tailgate. od .

[0021] Optionally, according to one embodiment of the present invention, in the step of controlling the tailgate to open or close at the target speed, the actual speed of the tailgate is made to follow the target speed by means of a PI control method.

[0022] According to another aspect of the present invention, a vehicle vertical tailgate control system is provided for executing the above-described vehicle vertical tailgate control method, wherein the vehicle vertical tailgate control system includes...

[0023] The information detection module acquires vehicle environmental information and user-defined information.

[0024] The speed calculation module determines the target speed for the tailgate opening or closing phase based on the vehicle environment information and user settings.

[0025] The speed control module controls the tailgate to open or close at the target speed.

[0026] According to another aspect of the present invention, a vehicle is provided, wherein the vehicle includes the vehicle vertical tailgate control system described above.

[0027] The advantages of this invention include:

[0028] 1. The vehicle vertical tailgate control method of the present invention solves the problem of abnormal opening and closing of the tailgate caused by excessive slope in the environment where the vehicle is located by calculating the target speed for opening or closing the vertical tailgate according to the current uphill slope of the vehicle, reducing the noise of opening the tailgate when the air conditioning output is large, and preventing the tailgate from being difficult to close when the air conditioning output is large.

[0029] 2. The vehicle vertical tailgate control method of the present invention allows users to customize the speed levels for opening or closing the tailgate, meeting the personalized needs of different users in different scenarios and ensuring that the vertical tailgate can be opened and closed normally according to the user's wishes;

[0030] 3. The vehicle vertical tailgate control method of the present invention also takes into account the situation where there are people or objects in the tailgate safety area. In this case, the opening or closing speed of the tailgate is reduced to prevent the tailgate from causing harm to people or objects around the tailgate due to the excessively fast opening or closing speed, thereby improving the safety of tailgate use. Attached Figure Description

[0031] Referring to the accompanying drawings, the above and other features of the present invention will become apparent, wherein,

[0032] Figure 1 A flowchart illustrating a vehicle vertical tailgate control method according to an embodiment of the present invention is shown.

[0033] Figure 2 This diagram shows the tailgate positions corresponding to the slope opening stage and the personalized opening stage included in the tailgate opening process.

[0034] Figure 3 This diagram shows the tailgate positions corresponding to the default closing stage and the slope closing stage included in the tailgate closing process.

[0035] Figure 4 A schematic diagram of the safety zone around the tailgate is shown.

[0036] Figure 5A schematic diagram of a vehicle vertical tailgate control system according to an embodiment of the present invention is shown. Detailed Implementation

[0037] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0038] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components.

[0039] The vehicle vertical tailgate control method of the present invention is used to control the automatic opening and closing of the vehicle vertical tailgate, especially when the vehicle is in an uphill posture on a slope, to adjust the opening and closing speed of the vehicle tailgate, so as to reduce the noise generated by the vehicle vertical tailgate when opening due to the large air volume of the air conditioner and ensure that the vehicle tailgate can be completely closed. When the vehicle is on a flat road, the extension direction of the vertical tailgate involved in the present invention is usually approximately perpendicular to the road surface when closing (the angle between the tailgate extension direction and the ground is approximately 60-90°). Therefore, when the vehicle is in an uphill posture on a slope, the component of the gravity of the vertical tailgate along the perpendicular extension direction of the tailgate manifests as an amplifying force when opening the door and as a resistance when closing the door, making it easier to open the tailgate and more difficult to close it. This will result in greater noise when the tailgate opens, and it may be difficult to close the door when the air conditioner air volume is large. This problem does not exist when the vehicle is in a downhill position on a slope, because in this case, the component of gravity of the upright tailgate along the direction perpendicular to its extension acts as resistance when opening and as a force amplification when closing. Therefore, the upright tailgate control method of this invention aims to control the opening and closing of the upright tailgate when the vehicle is in an uphill position on a slope. The slope mentioned in this article refers to the uphill slope of the vehicle, not the downhill slope. Reference Figure 1 This diagram illustrates a flow chart of a vehicle vertical tailgate control method according to an embodiment of the present invention. The vehicle vertical tailgate control method includes the following steps:

[0040] Obtain vehicle environmental information and user settings information;

[0041] The target speed for the tailgate opening or closing phase is determined based on the vehicle environment information and user settings.

[0042] The tailgate is controlled to open or close at the target speed;

[0043] The vehicle environment information includes the vehicle's current uphill gradient i, and the user setting information includes the user-defined speed setting for opening or closing the tailgate.

[0044] When a vehicle is in an uphill posture on a sloping road, the change in the angle between the vehicle's coordinate system and the direction of gravity makes opening the tailgate easier but closing it more difficult. Therefore, in this vertical tailgate control method, different control methods are used for the tailgate opening phase 10 and the tailgate closing phase 20. (Reference) Figure 2 This diagram illustrates the tailgate positions corresponding to the slope opening phase 11 and the personalized opening phase 12 included in the tailgate opening phase 10. In one embodiment of the invention, the tailgate opening phase 10 includes two phases: the slope opening phase 11, starting from the initial opening of the tailgate until the tailgate opening angle reaches 25° (in this invention, the maximum opening angle of the tailgate is, for example, 85-100°), and the personalized opening phase 12, ending from the slope opening phase until the tailgate is fully open. At the beginning of the slope opening phase 11, the tailgate has just opened. If the vehicle is on a steep slope and the vehicle's air conditioning output is high, opening the tailgate at the default opening speed may generate significant noise due to the large pressure difference between the inside and outside of the vehicle, affecting the user experience. Therefore, in the slope opening phase 11, the target speed for tailgate opening is determined considering the current slope of the vehicle, i.e., the target speed of the tailgate in the slope opening phase 11 is appropriately reduced to decrease noise generation. The target speed v of the tailgate in the slope opening phase 11 is... o1 =v od -(v od -v om )*i / i m ;

[0045] Among them, v od This is the default opening speed of the tailgate, i.e., the normal opening speed of the tailgate when the vehicle is on a flat road. This default opening speed was determined through testing and preset in the vehicle's vertical tailgate control system. om The maximum uphill opening speed of the tailgate is denoted by i, where i is the current uphill gradient of the vehicle. mThe maximum uphill slope that the vehicle can achieve is the maximum slope. This maximum uphill opening speed is determined by testing on a test bench when the vehicle is in an uphill posture at the maximum slope, taking into account the noise level generated by the tailgate opening when the vehicle's air conditioning is on. In this embodiment, the maximum uphill opening speed is typically set to the tailgate opening speed when the noise level generated by the tailgate opening is 60 dB (when the vehicle is in an uphill posture at the maximum slope).

[0046] It should be understood that the target speed, default opening speed, maximum uphill opening speed, default closing speed, maximum uphill closing speed, and personalized closing speed at each stage in this invention refer to the linear velocity of the tailgate end during its rotational motion when opening. In the description of this invention, this linear velocity is defined solely for the purpose of quantitatively describing the tailgate's movement speed. In actual tailgate control, the angular velocity of the tailgate during rotational opening and the aforementioned linear velocity of the tailgate end are both adjusted by controlling the movement of the tailgate strut.

[0047] In the above formula, since opening the tailgate uphill requires less effort than opening it on a flat surface, the maximum uphill opening speed is usually less than the default opening speed. Therefore, the difference between the default opening speed and the maximum uphill opening speed is calculated, and this difference is multiplied by the ratio of the current uphill slope to the maximum slope to obtain the speed reduction value. The above formula actually uses linear interpolation, with the default opening speed and the maximum uphill opening speed representing the maximum and minimum speeds during the slope opening phase 11, respectively, and the current uphill slope as variables, to determine the target speed under different slope conditions.

[0048] In the personalized opening phase 12, the tailgate opening speed can be set according to the user-defined speed setting. In one embodiment of the invention, the target speed v of the tailgate in the personalized opening phase 12 is... o2 =v od *(ω o / ω od ), where ω o The tailgate's angular velocity corresponds to the user-defined tailgate opening speed setting. Different speed settings correspond to different tailgate angular velocities, which can be greater than or less than the tailgate's default opening speed. ω od This is the tailgate's angular velocity corresponding to the default opening speed. Since the default opening speed is the linear velocity of the tailgate's end when it opens, the tailgate's angular velocity can be calculated by using the default opening speed and the distance from the tailgate's end to the center of rotation when it opens.

[0049] The above formula calculates the target speed of the personalized opening stage 12 by multiplying the ratio of the tailgate movement angular velocity set by the user to the tailgate movement angular velocity corresponding to the default opening speed by the default opening speed. Alternatively, the target speed of the tailgate in the personalized opening stage 12 can be calculated by multiplying the tailgate movement angular velocity corresponding to the user-set speed gear information by the distance from the end of the tailgate to the center of rotation when the tailgate is opened.

[0050] refer to Figure 3 This diagram illustrates the tailgate positions corresponding to the default closing phase 21 and the slope closing phase 22 included in the tailgate closing phase 20. In one embodiment of the invention, the tailgate closing phase 20 includes a default closing phase 21 from the initial closing of the tailgate to when the tailgate is closed at 60°, and a slope closing phase 22 from the default closing phase 21 to when the tailgate is fully closed. The target speed v of the tailgate in the default closing phase 21 is... c1 The default closing speed v of the tailgate cd And personalization off speed v cc The minimum value in, where the personalized shutdown speed v cc =v cd *(ω c / ω cd ), ω c ω is the tailgate movement angular velocity corresponding to the user-defined tailgate closing speed setting. cd The tailgate's angular velocity corresponding to its default closing speed.

[0051] In the default closing phase 21 of the tailgate, if the tailgate closes too quickly, it may cause safety issues. Therefore, in the default closing phase 21, the tailgate speed is usually controlled to not exceed the default closing speed. Thus, in the above formula, although the personalized closing speed is calculated based on the tailgate's angular velocity corresponding to the user-set tailgate closing speed setting, it is still necessary to compare the personalized closing speed with the default closing speed. If the user-set personalized closing speed is greater than the default closing speed, the default closing speed should still be used to close the tailgate; if the user-set personalized closing speed is less than the default closing speed, the personalized closing speed should be used to close the tailgate to meet the user's requirements.

[0052] During the slope closing phase 22, the tailgate is about to close completely. If the vehicle is on a steep slope and the air conditioning is blowing a large volume of air, closing the tailgate at the default closing speed may prevent it from closing properly due to the large pressure difference between the inside and outside of the vehicle. Therefore, during the slope closing phase 22, the target speed for tailgate closing needs to be determined by considering the current slope of the vehicle. In other words, the target speed of the tailgate in slope closing phase 22 needs to be appropriately increased to ensure that the tailgate can close completely and normally. In one embodiment of the invention, the target speed v of the tailgate in slope closing phase 22 is... c2 =v cd +(v cm -v cd )*i / i m , where v cd This is the default closing speed of the tailgate, which is the normal closing speed of the tailgate when the vehicle is on a flat road surface. It is similar to the default opening speed of the tailgate and is measured and preset. cm The maximum uphill closing speed of the tailgate is given by i, where i is the current uphill gradient of the vehicle. m The maximum gradient that the vehicle can achieve with its maximum uphill capability, the maximum uphill closing speed v cm The minimum closing speed, measured on a test bench, is the minimum closing speed at which the tailgate will not close abnormally due to air resistance when the vehicle's air conditioning is on, when the vehicle is at the maximum slope. In other words, the tailgate needs to reach at least this minimum closing speed in order to close normally on the maximum slope and with the air conditioning on.

[0053] In the above formula, similar to the target speed in the slope opening stage 11, linear interpolation is used to calculate the target speed, with the maximum uphill closing speed and the default closing speed as the minimum and maximum values, respectively, and the current uphill slope as the variable. The maximum uphill closing speed is generally greater than the default closing speed because the default closing speed generally does not take into account the slope and air resistance caused by the air conditioning. Therefore, when the vehicle is on a large slope and the door needs to be closed, the closing speed should be appropriately increased relative to the default closing speed to ensure the tailgate closes properly. Therefore, in this formula, the difference between the maximum uphill closing speed and the default closing speed is first calculated, and this difference is multiplied by the ratio of the current uphill slope to the maximum slope to obtain the required increased speed value.

[0054] In one embodiment of the present invention, the vehicle environment information further includes judgment information regarding the presence of a person or object within the tailgate safety zone 30, and the target speed for opening or closing the tailgate is further determined based on the judgment information. (Reference) Figure 4 The diagram shows the safety zone 30 of the tailgate. The safety zone 30 of the tailgate is... Figure 4In this embodiment, a square area is defined as a region near the end of the tailgate and centered on the tailgate. The size and position of this square area can be determined based on the tailgate's dimensions and location, taking into account the size of a human body and its relative position to the tailgate. If a person or object is present within the safety area 30, the tailgate may collide with the person or object when opening or closing, causing a safety issue. Therefore, before opening or closing the tailgate, it can be determined whether a person or object is present in the safety area 30, and this is also taken into account when determining the target speed for opening or closing the tailgate.

[0055] In one embodiment of the invention, during the personalized door opening stage 12, when a person or object is present in the tailgate security area 30, if ω o <ω od This ensures that the target speed of the tailgate remains v. o2 If ω o ≥ω od This makes the target speed of the tailgate the default opening speed v of the tailgate. od In the personalized opening stage 12, the target speed for the tailgate opening is determined based on the user-defined tailgate opening speed setting. Therefore, the target speed may be greater than the default opening speed. If a person or object is within the tailgate safety zone 30, the excessively fast opening speed could lead to unavoidable collisions and damage. Therefore, when a person or object is detected within the tailgate safety zone 30, if the tailgate's angular velocity corresponding to the user-defined tailgate opening speed setting in the personalized opening stage 12 is greater than or equal to the angular velocity corresponding to the default opening speed, the default opening speed is used to open the tailgate; that is, the smaller default opening speed is selected as the target speed. Conversely, if the tailgate's angular velocity corresponding to the user-defined tailgate opening speed setting in the personalized opening stage 12 is less than the angular velocity corresponding to the default opening speed, the target speed v of the tailgate in the personalized opening stage 12 is still used. o2 Enable it.

[0056] In one embodiment of the present invention, in the step of controlling the tailgate to open or close at the target speed, a PI control method is used to make the actual speed of the tailgate follow the target speed. Of course, other control methods can be used to make the actual speed of the tailgate follow the target speed, such as PID control, fuzzy control, etc.

[0057] Another aspect of the present invention provides a vehicle vertical tailgate control system 100 for executing the above-described vehicle vertical tailgate control method. (See reference) Figure 5This diagram illustrates a modular schematic of a vehicle vertical tailgate control system 100 according to an embodiment of the present invention. The vehicle vertical tailgate control system 100 includes...

[0058] Information detection module 1 acquires vehicle environmental information and user-defined information;

[0059] Speed ​​calculation module 2 determines the target speed for the tailgate opening or closing phase based on the vehicle environment information and user settings.

[0060] Speed ​​control module 3 controls the tailgate to open or close at the target speed.

[0061] The vehicle environment information includes the vehicle's current uphill gradient i and whether there are people or objects within the tailgate safety area. The user setting information includes the user-defined speed setting for opening or closing the tailgate.

[0062] In the aforementioned vehicle vertical tailgate control system 100, the information detection module 1 is, for example, a slope sensor and a vehicle infotainment system. The slope sensor acquires the current uphill slope of the vehicle and transmits the slope information to the speed calculation module 2. The vehicle infotainment system acquires user-defined information and transmits it to the speed calculation module 2. The speed calculation module 2 and speed control module 3 are, for example, implemented as the vehicle's electronic control unit (ECU). The ECU receives slope information from the slope sensor and user-defined information from the vehicle infotainment system, calculates the target speed, and controls the tailgate to open or close at the target speed. In other words, the functions of both the speed calculation module 2 and the speed control module 3 can be implemented in the ECU, which outputs control signals to the drive motor that opens the tailgate, thereby controlling the movement of the tailgate.

[0063] It should be understood that the vehicle vertical tailgate control system 100 has all the technical effects of the aforementioned vehicle vertical tailgate control method, which will not be repeated here.

[0064] It should be understood that the vehicle vertical tailgate control system of the present invention can be installed on various vehicles, including cars, trucks, buses, etc. Therefore, the subject matter of the present invention also aims to protect various vehicles equipped with the vehicle vertical tailgate control system of the present invention.

[0065] It should be understood that all the above preferred embodiments are exemplary and not restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present invention should be within the legal protection scope of the present invention.

Claims

1. A method for controlling a vehicle's vertical tailgate, characterized in that, Includes the following steps: Obtain vehicle environmental information and user settings information; The target speed for the tailgate opening or closing phase is determined based on the vehicle environment information and user settings. The tailgate is controlled to open or close at the target speed; The vehicle environment information includes the vehicle's current uphill gradient i, and the user setting information includes the user-defined speed setting for opening or closing the tailgate. The tailgate opening phase includes a slope opening phase starting from the initial opening of the tailgate, with a target speed v for the tailgate during this phase. o1 =v od -(v od -v om )*i / i m , Among them, v od v is the default opening speed of the tailgate. om The maximum uphill opening speed of the tailgate is denoted by i, where i is the current uphill gradient of the vehicle. m The maximum slope that the vehicle can achieve with its maximum uphill capability is determined by testing on a test bench when the vehicle is at the maximum slope, taking into account the noise generated when the tailgate is opened while the vehicle's air conditioning is on.

2. The vehicle vertical tailgate control method according to claim 1, characterized in that, The tailgate opening phase also includes a personalized opening phase from the end of the slope opening phase to the tailgate being fully open, with a target speed v for the tailgate during this personalized opening phase. o2 =v od *(ω o / ω od ), Where, ω o The tailgate's angular velocity, ω, corresponds to the user-defined tailgate opening speed setting. od The tailgate's angular velocity corresponds to the default opening speed of the tailgate.

3. The vehicle vertical tailgate control method according to claim 1, characterized in that, The tailgate closing phase includes a default closing phase that begins when the tailgate initially closes, with a target speed v for the tailgate during this default closing phase. c1 The default closing speed v of the tailgate cd And personalization off speed v cc The minimum value in, Among them, the personalized shutdown speed v cc =v cd *(ω c / ω cd ), ω c ω is the tailgate movement angular velocity corresponding to the user-defined tailgate closing speed setting. cd The tailgate movement angular velocity corresponding to the default closing speed of the tailgate.

4. The vehicle vertical tailgate control method according to claim 3, characterized in that, The tailgate closing phase also includes a slope closing phase from the end of the default closing phase to the tailgate being fully closed, wherein the target speed v of the tailgate during the slope closing phase is... c2 =v cd +(v cm -v cd )*i / i m , Among them, v cd v is the default closing speed of the tailgate. cm The maximum uphill closing speed of the tailgate is given by i, where i is the current uphill gradient of the vehicle. m The maximum gradient that the vehicle can achieve with its maximum uphill capability, the maximum uphill closing speed v cm The minimum closing speed at which the tailgate will not close abnormally due to air resistance, as measured by a test bench when the vehicle is at the maximum slope, is the tailgate speed.

5. The vehicle vertical tailgate control method according to claim 2, characterized in that, The vehicle environment information also includes information on whether there are people or objects within the tailgate safety area, and the target speed for opening or closing the tailgate is determined based on the judgment information.

6. The vehicle vertical tailgate control method according to claim 5, characterized in that, During the personalized door opening phase, if a person or object is present within the tailgate safety area, if ω o <ω od This ensures that the target speed of the tailgate remains v. o2 If ω o ≥ω od This makes the target speed of the tailgate the default opening speed v of the tailgate. od .

7. The vehicle vertical tailgate control method according to claim 1, characterized in that, In the step of controlling the tailgate to open or close at the target speed, the actual speed of the tailgate is made to follow the target speed by means of a PI control method.

8. A vehicle vertical tailgate control system, used to execute the vehicle vertical tailgate control method according to any one of claims 1 to 7, characterized in that, The vehicle vertical tailgate control system includes The information detection module acquires vehicle environmental information and user-defined information. The speed calculation module determines the target speed for the tailgate opening or closing phase based on the vehicle environment information and user settings. The speed control module controls the tailgate to open or close at the target speed.

9. A vehicle, characterized in that, The vehicle includes a vehicle vertical tailgate control system as described in claim 8.

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