Electric tailgate control method, device, vehicle and storage medium

Abstract

The present invention provides a method, device, vehicle, and storage medium for controlling an electric tailgate. The method includes: upon detecting that the vehicle has shifted into the parking gear, obtaining initial environmental information behind the vehicle; upon receiving a tailgate opening signal, determining whether a sensor needs to be activated based on the initial environmental information behind the vehicle and the tailgate opening signal; if so, controlling the sensor to activate, determining a first safety distance behind the vehicle based on the current environmental information detected by the sensor, and determining the tailgate opening degree; if not, determining a second safety distance behind the vehicle based on the initial environmental information, and determining the opening degree; and controlling the tailgate to open according to the opening degree. The present invention determines whether the sensor needs to be activated based on the initial environmental information and the tailgate opening signal, so the sensor does not need to be activated every time the tailgate is opened, effectively reducing power consumption.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for controlling an electric tailgate, a vehicle, and a storage medium. Background Art

[0002] With the development of the automotive industry, cars are becoming increasingly integrated into our daily lives and work, meeting a wide variety of scenarios and needs. Intelligent vehicle services are becoming an increasingly important highlight and selling point for vehicles. To enhance vehicle intelligence, cars are often equipped with power tailgates that automatically open upon receiving a door-opening signal.

[0003] In the prior art, a sensor is usually activated to detect rear obstacles when a tailgate opening signal is received to avoid collisions when the tailgate is opened. The sensor needs to be activated each time the door is opened, which consumes a lot of power. Summary of the Invention

[0004] The embodiments of the present invention provide a method, device, vehicle and storage medium for controlling an electric tailgate to solve the problem in the prior art that the sensor needs to be turned on each time the tailgate is opened, resulting in high power consumption.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling an electric tailgate, which is applied to a vehicle equipped with a sensor. The method includes:

[0006] When it is detected that the vehicle is switched to the parking gear, initial environment information behind the vehicle is obtained;

[0007] When a tailgate opening signal is received, determining whether to activate the sensor based on the initial environment information behind the vehicle and the tailgate opening signal;

[0008] If so, the control sensor is activated to obtain the current environment information behind the vehicle detected by the sensor, determine the first safety distance behind the vehicle according to the current environment information, and determine the opening degree of the back door according to the first safety distance;

[0009] If not, determining a second safety distance behind the vehicle based on the initial environmental information, and determining the opening of the back door based on the second safety distance;

[0010] Control the back door to open according to the opening degree.

[0011] In a second aspect, an embodiment of the present invention provides an electric tailgate control device, which is applied to a vehicle equipped with a sensor; the device comprises:

[0012] A parameter acquisition module is used to acquire initial environmental information behind the vehicle when detecting that the vehicle is switched to the parking gear;

[0013] an activation determination module, configured to determine whether to activate the sensor based on initial environmental information behind the vehicle and the backdoor opening signal when receiving the backdoor opening signal;

[0014] a first opening degree determining module, configured to, if yes, control the sensor to activate, obtain current environmental information behind the vehicle detected by the sensor, determine a first safety distance behind the vehicle based on the current environmental information, and determine the opening degree of the tailgate based on the first safety distance;

[0015] a second opening determination module, configured to, if not, determine a second safety distance behind the vehicle according to the initial environmental information, and determine the opening of the back door according to the second safety distance;

[0016] The opening module is used to control the opening of the back door according to the opening degree.

[0017] In a third aspect, an embodiment of the present invention provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the electric tailgate control method according to the first aspect or any possible implementation of the first aspect are implemented.

[0018] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the electric tailgate control method provided by the first aspect or any possible implementation of the first aspect.

[0019] An embodiment of the present invention provides a method, device, vehicle, and storage medium for controlling an electric tailgate. The method is applied to a vehicle equipped with a sensor. The method comprises: obtaining initial environmental information behind the vehicle when detecting that the vehicle is shifted into the parking gear; determining whether to activate the sensor based on the initial environmental information and the tailgate opening signal when receiving a tailgate opening signal; if so, controlling the sensor to activate, obtaining current environmental information behind the vehicle detected by the sensor, determining a first safety distance behind the vehicle based on the current environmental information, and determining the tailgate opening degree based on the first safety distance; if not, determining a second safety distance behind the vehicle based on the initial environmental information, and determining the tailgate opening degree based on the second safety distance; and controlling the tailgate to open according to the opening degree. In the embodiment of the present invention, initial environmental information is obtained when the vehicle is parked, and when the tailgate opening signal is received, a comprehensive determination is made based on the tailgate opening signal and the initial environmental information whether to activate the sensor for rechecking. The sensor does not need to be activated every time the door is opened, significantly reducing power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a flow chart of an implementation method of an electric back door control method provided by an embodiment of the present invention;

[0022] Figure 2 is an interaction diagram of various controllers provided by an embodiment of the present invention;

[0023] Figure 3 1 is a schematic structural diagram of an electric tailgate control device provided by an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of a car provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0027] See also Figure 1 , which shows a flowchart for implementing a power tailgate control method provided by an embodiment of the present invention, as applied to a vehicle with a power tailgate. For example, the power tailgate control method can be executed by a vehicle controller, a tailgate controller on the vehicle, or another vehicle controller capable of controlling the tailgate, without specific limitation. The vehicle is equipped with sensors, such as cameras or lidar, for collecting environmental information behind the vehicle, without specific limitation.

[0028] The above method is detailed as follows:

[0029] S101: When it is detected that the vehicle is switched to the parking gear, initial environment information behind the vehicle is obtained;

[0030] Typically, drivers park their vehicle and shift into Park (P) before opening the tailgate. Since parking is typically done in reverse, detecting the environment behind the vehicle is necessary. Therefore, embodiments of the present invention directly acquire rear environmental information (i.e., initial environmental information) after the vehicle is shifted into Park.

[0031] S102: When a tailgate opening signal is received, determining whether to activate a sensor based on initial environmental information behind the vehicle and the tailgate opening signal;

[0032] In the prior art, there are multiple ways to open a tailgate, such as key-operated, foot-operated, and switch-operated. Different methods correspond to different tailgate opening signals. For example, some vehicles are equipped with a kick sensor that activates the tailgate opening when it detects a kick. A foot-operated signal indicates that the person opening the door is behind the vehicle. Since this person is behind the vehicle, if the tailgate opens and there is a risk of collision, the person opening the door can take timely measures to avoid the collision, eliminating the need to activate the sensor.

[0033] For example, when there is a wall behind the vehicle, there are usually no other obstacles. At this time, the rear safety distance can be determined directly based on the initial environmental information, and the tailgate can be opened without activating the sensor.

[0034] Based on the above, the embodiment of the present invention comprehensively considers the initial environmental information and the tailgate opening signal to determine whether the sensor needs to be activated. The sensor is activated only when it is determined that it needs to be activated. There is no need to activate the sensor every time the tailgate is opened, thereby reducing power consumption.

[0035] S103: If yes, activate the control sensor, obtain the current environment information behind the vehicle detected by the sensor, determine a first safety distance behind the vehicle based on the current environment information, and determine the opening degree of the back door based on the first safety distance;

[0036] S104: If not, determining a second safety distance behind the vehicle based on the initial environmental information, and determining the opening of the tailgate based on the second safety distance;

[0037] Based on the above, when the sensor does not need to be activated, the first safety distance, and thus the tailgate opening degree, can be determined directly based on the initial environmental information obtained when the vehicle is in park. When the sensor needs to be activated, it re-collects environmental information behind the vehicle (the sensor can be a camera or lidar, which can be deployed at the rear of the vehicle to detect environmental information behind the vehicle), that is, the current environmental information, and updates the safety distance based on the current environmental information. The tailgate opening degree is determined based on the updated safety distance (the second safety distance).

[0038] The first safety distance and the second safety distance are the horizontal safety distances between the rear of the vehicle and the obstacle, that is, no collision with the obstacle will occur within this distance range.

[0039] It should be noted that the opening of the back door refers to the angle at which the back door is opened.

[0040] S105: Control the back door to open according to the opening degree.

[0041] In this embodiment of the present invention, initial environmental information is acquired during parking. Upon receiving a tailgate opening signal, the system determines whether to activate the sensor for recheck based on the signal and the initial environmental information. If recheck is required, the sensor is activated again. This eliminates the need for reactivation each time the tailgate is opened, significantly reducing power consumption while ensuring safe door opening. Furthermore, the collected environmental information requires data processing, significantly saving computing resources.

[0042] In a possible implementation, S101 may include:

[0043] S1011: When it is detected that the vehicle is switched to the parking gear, initial environmental information behind the vehicle detected by the sensor is obtained, and the sensor is controlled to be turned off.

[0044] In this embodiment of the present invention, both initial and current environmental information can be collected by sensors. When the vehicle is parked and in P gear and no longer moving, the sensors can be deactivated. When the tailgate is opened, the sensors are activated only when activation is detected, further reducing sensor power consumption.

[0045] In a possible implementation, S102 may include:

[0046] S1021: Determine the location of the person opening the door based on the back door opening signal;

[0047] S1022: Determine the state of the space behind the vehicle based on the initial environment information; the state of the space behind the vehicle is used to indicate whether the environment behind the vehicle will change;

[0048] S1023: Determine whether to activate the sensor based on the position of the person opening the door and the state of the space behind the vehicle.

[0049] If the rear environment of the vehicle remains relatively safe and unchanged, the sensor can be deactivated. However, if the rear environment changes, the risk of collision increases, and the sensor may need to be activated. Furthermore, if the person opening the door is near the rear door, collision risk can be detected and avoided, and the sensor can be deactivated. However, if the person opening the door is not near the rear door, collision risk cannot be detected in time. Based on this, embodiments of the present invention can determine whether to activate the sensor based on the position of the person opening the door and the state of the space behind the vehicle.

[0050] For example, if there's a wall behind the vehicle, it can be assumed that the environment behind the vehicle won't change. However, if there's a sidewalk behind the vehicle, suggesting pedestrians might pass by, it can be assumed that the environment behind the vehicle might change, which, to some extent, can determine whether the tailgate is safe to open. This embodiment of the present invention further factors in the location of the person opening the door, combining these two factors to effectively improve control accuracy and enhance the safety of tailgate opening.

[0051] In a possible implementation, the position of the door opener may include: near the back door and near a location other than the back door; the state of the rear space may include: fixed rear space and unfixed rear space; S1023 may include:

[0052] 1. If the person opening the door is not near the back door and the rear space status is not fixed, the sensor will be activated;

[0053] 2. Otherwise, do not activate the sensor.

[0054] Specifically, the fixed space behind the vehicle is used to indicate that the probability of a moving object passing through the space behind the vehicle is less than a preset probability; the non-fixed space behind the vehicle is used to indicate that the probability of a moving object passing through the space behind the vehicle is not less than a preset probability.

[0055] In this embodiment of the present invention, when the door opener is near the tailgate, a timely response can be made to avoid a tailgate collision. When the rear space is stable, the probability of a moving object passing through is low, and there are likely no other obstacles behind the vehicle, making it relatively safe. Only when the door opener is not near the tailgate and the rear space is unstable does the probability of a moving object passing through the rear space increase, posing a greater risk of collision. In this case, the sensor can be activated for retesting, significantly reducing sensor power consumption while ensuring the safety of the tailgate opening.

[0056] In a possible implementation, S1022 may include:

[0057] 1. Input the initial environmental information into the neural network model to obtain the state of the space behind the vehicle.

[0058] In this embodiment of the present invention, a neural network model is used to determine the state of the space behind the vehicle. For example, walls and green belts are used as fixed samples of the space behind the vehicle, while zebra crossings and parking spaces are used as non-fixed samples of the space behind the vehicle. The model is trained by exhaustively enumerating various spatial state samples to distinguish different states of the space behind the vehicle.

[0059] In a possible implementation, S1021 may include:

[0060] 1. If the back door opening signal is a back door switch signal or a kick signal, the person opening the door is determined to be near the back door;

[0061] 2. If the tailgate opening signal is a driver's key, voice activation signal, or app activation signal, the person opening the door is determined to be not near the tailgate.

[0062] 3. If the back door opening signal is a key opening signal, the sending position of the key opening signal is determined according to the key opening signal, and the position of the door opener is determined according to the sending position.

[0063] The back door switch signal is the signal generated by the user pressing the switch on the back door, and the kick signal is the signal generated by the kick sensor detecting a kick. Both signals require the door opener to stand behind the car, indicating that the door opener is near the back door;

[0064] The main driver's switch signal is the signal sent by the door opener pressing the tailgate opening switch in the car. The voice opening signal is the signal sent by the door opener through voice control in the car. The APP opening signal is usually sent remotely. All three signals indicate that the door opener is not near the tailgate.

[0065] For the key opening signal, the person who opens the door may be near the back door, or may be inside the vehicle or at other locations. Therefore, the position of the person who opens the door can be determined based on the key opening signal, thereby determining whether the person who opens the door is near the back door or not near the back door.

[0066] Specifically, the key opening signal is usually a radio signal, and the position of the key, that is, the position of the door opener, can be determined by the key opening signal. The specific determination method is prior art and will not be described in detail here.

[0067] In a possible implementation, the sensor may be a camera.

[0068] Based on the above solution, the sensor is preferably a camera because the environmental information behind the vehicle collected by the camera has richer features and higher detection accuracy.

[0069] In a possible implementation, S103 may include:

[0070] S1031: Obtain the pre-stored length of the back door;

[0071] S1032: Determine the opening degree according to the pre-stored tailgate length and the first safety distance.

[0072] Specifically, the angle between the tailgate and the vertical direction after it is opened is the opening degree, which can be calculated according to the cosine theorem.

[0073] As above, the same method is used to determine the opening of the back door according to the second safety distance.

[0074] The execution subject of the above method can be a vehicle controller, or multiple controllers can collaborate to complete it.

[0075] For example, the vehicle body controller 21 obtains the tailgate opening signal and determines whether the person opening the door is near the tailgate (the state of the rear space of the vehicle), and sends it to the intelligent driving controller 22;

[0076] The intelligent driving controller 22 obtains initial environmental information, determines the state of the rear vehicle space based on the initial environmental information, and determines whether to activate the sensor in combination with the state of the rear vehicle space. If activation is not required, the first safety distance is sent to the tailgate controller 23. If activation is required, the sensor is activated to re-acquire the current environmental information and then send the second safety distance to the tailgate controller 23.

[0077] After receiving the safety distances (the first safety distance and the second safety distance), the tailgate controller 23 determines the opening degree according to the safety distances and controls the tailgate to open.

[0078] The three controllers work together to complete the entire control process. For details, refer to Figure 2 .

[0079] It's important to note that the tailgate's drive system includes two lift motors and one door lock motor. The lift motor provides power for opening the door and uses a hall signal to indicate the tailgate's current position, thereby driving the door to the desired opening. The door lock motor is responsible for unlocking and locking the door.

[0080] When opening the door: The backdoor controller 23 first controls the door lock motor to unlock. Once unlocked, it then drives the lift motor to open the door. During this process, the lift motor generates a hall signal, and the backdoor controller 23 determines the door position based on the hall signal pulses. When the number of pulses reaches a set value (calculated based on the door's opening angle), indicating the backdoor has reached the preset opening angle, the backdoor controller 23 deactivates the lift motor.

[0081] When closing the door: Upon receiving the door closing signal, the back door controller 23 drives the lift motor to close the door. When the back door reaches the bottom, the door lock motor engages and sends a lock signal. Upon receiving the lock signal, the back door controller 23 controls the lift motor to close and the door lock motor to lock.

[0082] Furthermore, the electric back door control method may also include some conventional functions,

[0083] For example, the backdoor opening, closing, and hovering functions can generate a signal from the vehicle's door control button. When the backdoor is closed, pressing the door control button opens it. Once fully opened, pressing the door control button again closes it. If the door control button is pressed during the opening or closing process, the backdoor hovers. Pressing the door control button again after hovering causes the backdoor to move in the opposite direction of its original movement. If the door is too open during hovering, pressing the door control button again will cause the backdoor to open.

[0084] Door opening height setting function: The vehicle may also be provided with an opening setting switch, which is used to open the back door to a preset opening and then long press the opening setting switch to set the opening as the maximum opening of the back door.

[0085] Anti-pinch function: The vehicle can also be equipped with an anti-pinch strip. During the movement of the tailgate, if the resistance is greater than a preset value, the tailgate will change direction or stop moving.

[0086] Kick-door opening function: The vehicle can also be equipped with a kick sensor, which controls the opening of the back door when a kicking action is detected.

[0087] Follow-up function: When the user quickly pulls down the back door, the back door recognizes the user's intention to close the door and closes automatically.

[0088] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0089] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0090] Figure 3 The following is a schematic diagram showing the structure of an electric tailgate control device provided by an embodiment of the present invention, which is applied to a vehicle equipped with a sensor. For ease of illustration, only the parts related to the embodiment of the present invention are shown, which are described in detail as follows:

[0091] like Figure 3 As shown, the electric tailgate control device includes:

[0092] The parameter acquisition module 31 is used to acquire the initial environment information behind the vehicle detected by the sensor and control the sensor to turn off when it is detected that the vehicle is switched to the parking gear;

[0093] an activation determination module 32 for determining whether to activate the sensor based on the initial environment information behind the vehicle and the backdoor opening signal when receiving the backdoor opening signal;

[0094] a first opening degree determining module 33 for controlling the activation of the sensor, obtaining current environmental information behind the vehicle detected by the sensor, determining a first safety distance behind the vehicle based on the current environmental information, and determining the opening degree of the tailgate based on the first safety distance;

[0095] a second opening determination module 34 for determining a second safety distance behind the vehicle according to the initial environmental information if no, and determining the opening of the tailgate according to the second safety distance;

[0096] The opening module 35 is used to control the back door to open according to the opening degree.

[0097] In a possible implementation, the activation determination module 32 may include:

[0098] A position determination unit, used to determine the position of the person opening the door according to the back door opening signal;

[0099] A space state determination unit is used to determine the state of the space behind the vehicle based on the initial environment information; the state of the space behind the vehicle is used to indicate whether the environment behind the vehicle will change;

[0100] The activation judgment unit is used to determine whether the sensor needs to be activated based on the position of the person opening the door and the status of the space behind the vehicle.

[0101] In one possible implementation, the door opener's position includes: near the rear door and near a non-rear door; the rear space state includes: fixed rear space and unfixed rear space; and the activation judgment unit may include:

[0102] The first judgment subunit is configured to activate the sensor if the door opener is not located near the back door and the rear space status is that the rear space is not fixed;

[0103] The second judgment subunit is configured to not activate the sensor otherwise.

[0104] In a possible implementation, the space state determination unit may include:

[0105] The model judgment subunit is used to input the initial environmental information into the neural network model to obtain the state of the space behind the vehicle.

[0106] In a possible implementation, the location determination unit may include:

[0107] The third judgment subunit is used to determine that the person opening the door is near the back door if the back door opening signal is a back door switch signal or a kick signal;

[0108] The fourth judgment sub-unit is used to determine that the person opening the door is not near the back door if the back door opening signal is a driver's switch signal, a voice opening signal or an APP opening signal;

[0109] The fifth judgment subunit is used to determine the sending position of the key opening signal according to the key opening signal if the back door opening signal is a key opening signal, and determine the position of the door opener according to the sending position.

[0110] In a possible implementation, the sensor may be a camera.

[0111] In a possible implementation, the first opening degree determining module 33 may be specifically configured to:

[0112] Obtaining a pre-stored length of the back door; and determining an opening degree based on the pre-stored length of the back door and a first safety distance.

[0113] Figure 4 Schematic diagram of a car provided by an embodiment of the present invention. Figure 4 As shown, the car 4 of this embodiment includes: a processor 40 and a memory 41. The memory 41 is used to store a computer program 42, and the processor 40 is used to call and run the computer program 42 stored in the memory 41 to perform the steps of the above-mentioned various embodiments of the electric tailgate control method, such as Figure 1 Alternatively, the processor 40 is used to call and run the computer program 42 stored in the memory 41 to implement the functions of each module / unit in the above-mentioned device embodiments, such as Figure 3 The functions of the parameter acquisition module 31 , the activation judgment module 32 , the first opening determination module 33 , the second opening determination module 34 and the opening module 35 are shown.

[0114] For example, the computer program 42 may be divided into one or more modules / units, one or more modules / units being stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the car 4. For example, the computer program 42 may be divided into Figure 3 The illustrated module includes a parameter acquisition module 31 , an activation judgment module 32 , a first opening determination module 33 , a second opening determination module 34 and an opening module 35 .

[0115] The car 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will appreciate that Figure 4 This is only an example of the car 4 and does not constitute a limitation on the car 4. The car 4 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0116] The processor 40 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0117] Memory 41 can be an internal storage unit of vehicle 4, such as a hard drive or memory in vehicle 4. Memory 41 can also be an external storage device in vehicle 4, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash memory card. Furthermore, memory 41 can include both internal storage units and external storage devices in vehicle 4. Memory 41 is used to store computer programs and other programs and data required by the terminal. Memory 41 can also be used to temporarily store data that has been output or is about to be output.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0119] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0120] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0121] In the embodiments provided herein, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division. In actual implementation, other division methods may be used, such as multiple units or components being combined or integrated into another system, or some features being ignored or not implemented. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0122] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0123] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0124] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media.

[0125] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for controlling an electric back door, characterized in that: Applied to a vehicle, wherein the vehicle is provided with a sensor; the above method comprises: When detecting that the vehicle is switched to the parking gear, acquiring initial environment information behind the vehicle; When a back door opening signal is received, determining whether the sensor needs to be activated according to the initial environment information behind the vehicle and the back door opening signal; If so, controlling the sensor to activate, obtaining current environmental information behind the vehicle detected by the sensor, determining a first safety distance behind the vehicle based on the current environmental information, and determining the opening degree of the back door based on the first safety distance; If not, determining a second safety distance behind the vehicle according to the initial environmental information, and determining the opening of the tailgate according to the second safety distance; The back door is controlled to open according to the opening degree.

2. The electric tailgate control method according to claim 1, characterized in that: When a tailgate opening signal is received, determining whether the sensor needs to be activated according to the initial environment information behind the vehicle and the tailgate opening signal includes: determining the position of the person opening the door according to the back door opening signal; Determining a state of the space behind the vehicle based on the initial environmental information; the state of the space behind the vehicle is used to indicate whether the environment behind the vehicle will change; Whether the sensor needs to be activated is determined based on the position of the door opener and the state of the space behind the vehicle.

3. The electric tailgate control method according to claim 2, characterized in that: The position of the door opener includes: near the back door and not near the back door; the state of the rear space includes: fixed rear space and unfixed rear space; determining whether to activate the sensor based on the position of the door opener and the state of the rear space includes: If the door opener is located not near the back door and the rear space status is that the rear space is not fixed, activating the sensor; Otherwise, the sensor is not activated.

4. The electric tailgate control method according to claim 2, characterized in that: The determining the state of the space behind the vehicle according to the initial environmental information includes: The initial environmental information is input into a neural network model to obtain the state of the space behind the vehicle.

5. The electric tailgate control method according to claim 2, characterized in that: The determining the position of the person opening the door according to the back door opening signal includes: If the back door opening signal is a back door switch signal or a kick signal, then the position of the door opener is determined to be near the back door; If the back door opening signal is a driver's switch signal, a voice opening signal, or an APP opening signal, it is determined that the person opening the door is not near the back door; If the back door opening signal is a key opening signal, a sending location of the key opening signal is determined according to the key opening signal, and a location of the door opener is determined according to the sending location.

6. The electric tailgate control method according to any one of claims 1 to 5, characterized in that: The sensor is a camera.

7. The electric tailgate control method according to any one of claims 1 to 5, characterized in that: The determining the opening degree of the back door according to the first safety distance includes: Obtaining the pre-stored length of the back door; The opening degree is determined according to the pre-stored length of the tailgate and the first safety distance.

8. An electric back door control device, characterized in that: Applied to a vehicle, the vehicle is provided with a sensor; the above device comprises: a parameter acquisition module, configured to acquire initial environmental information behind the vehicle when detecting that the vehicle is switched to the parking gear; an activation determination module, configured to determine whether the sensor needs to be activated based on initial environmental information behind the vehicle and the backdoor opening signal when a backdoor opening signal is received; a first opening degree determining module, configured to, if yes, control the activation of the sensor, obtain current environmental information behind the vehicle detected by the sensor, determine a first safety distance behind the vehicle based on the current environmental information, and determine the opening degree of the tailgate based on the first safety distance; a second opening determination module, configured to, if not, determine a second safety distance behind the vehicle according to the initial environmental information, and determine the opening of the tailgate according to the second safety distance; The opening module is used to control the back door to open according to the opening degree.

9. A vehicle, characterized in that: The system comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the electric tailgate control method according to any one of claims 1 to 7.

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

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