Vehicle tailgate opening system and method

Abstract

This invention relates to a vehicle tailgate opening system and method. The system includes: a first detection module for measuring the distance between a person and the rear of the vehicle; a second detection module for acquiring image information of the person; and a processing module configured to determine the person's body length characteristics based on the distance and image information, and to determine the tailgate opening height and / or opening angle based on the body length characteristics. The body length characteristics include at least a first body length characteristic, a second body length characteristic, and a third body length characteristic. The method includes an adaptive mode, a fully open mode, and a fixed mode.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to the field of vehicle tailgates. Background Technology

[0002] With the development of the automotive industry, people's demands for the human-centered design of vehicles are increasing, and the popularity of automatic tailgates is growing. While the opening height of an automatic tailgate is often fixed, it varies between different vehicles. Larger vehicles, such as SUVs (Sport Utility Vehicles) and MPVs (Multi-Purpose Vehicles), have higher tailgate opening heights. Some vehicles, such as hatchbacks, also have tailgate closing buttons that are positioned higher. Furthermore, the reach of the tailgate varies from user to user, leading to different tailgate heights or angles for easier closing.

[0003] The information provided in this section is for the purpose of generally presenting the background of this application and may therefore include information that does not constitute prior art in the art. Summary of the Invention

[0004] The purpose of this application is to solve or at least alleviate the problems existing in the prior art.

[0005] One aspect of the present invention provides a vehicle tailgate opening system, characterized in that it comprises:

[0006] The first detection module measures the distance between personnel and the rear of the vehicle;

[0007] The second detection module collects image information of the personnel;

[0008] The processing module is configured to determine the body length characteristics of the person based on the distance and the image information, and the processing module determines the opening height and / or opening angle of the tailgate based on the body length characteristics.

[0009] The body length feature includes at least one of a first body length feature, a second body length feature, and a third body length feature.

[0010] Wherein, the first body length feature is the height of the person's head from the ground when the person's hands do not exceed the height of the head;

[0011] The second body length feature is the height of the tip of the person's hand from the ground when the person's hand is higher than the height of the head and the arm is at an angle to the vertical direction;

[0012] The third body length feature is the height of the tip of the person's hand from the ground when the person's arm is raised vertically upwards.

[0013] In the system according to the invention, optionally, the processing module is configured to:

[0014] Identify the type of the body length feature;

[0015] Two additional body length features are determined based on the identified body length features;

[0016] Make the opening height equal to the second body length feature; and / or make the opening height above the first body length feature and below the third body length feature;

[0017] The opening angle corresponds to the opening height.

[0018] Optionally, the system according to the present invention also includes an interaction module and an execution module.

[0019] The interaction module is configured to receive an opening height input value and / or an opening angle input value, and / or receive an adjustment to the opening height and / or the opening angle, and / or receive a person's body length characteristic input value.

[0020] The execution module opens the vehicle tailgate based on the opening height and / or the opening angle, or based on the opening height input value and / or the opening angle input value, or based on the adjustment of the opening height and / or the opening angle.

[0021] Optionally, the system according to the present invention also includes an identity recognition system, which includes a face recognition system and / or a fingerprint recognition system. The face recognition system includes an in-cabin face recognition device system and / or a rear-view face recognition system, and the fingerprint recognition system includes a door opening fingerprint recognition system.

[0022] The first detection module includes a reversing radar;

[0023] The second detection module includes a vehicle streaming rearview mirror camera and / or a reversing camera and / or a 360-degree camera.

[0024] In the system according to the present invention, optionally, the processing module determines the posture of the person based on the image information, including one or more postures of the person standing upright, sitting, standing with bent over, and one or more body length characteristics of the person, such as the person's arms not exceeding the top of the head, the person's arms exceeding the top of the head and having an angle with the vertical direction, or the person's arms raised vertically upward.

[0025] Another aspect of the present invention provides a method for opening a vehicle tailgate, including an adaptive mode, wherein in the adaptive mode, the method includes:

[0026] The distance between the person measuring the vehicle and the rear of the vehicle;

[0027] Collect image information of the personnel;

[0028] The body length characteristics of the person are determined based on the distance and the image information;

[0029] The opening height and / or opening angle of the tailgate are determined based on the aforementioned body length characteristics;

[0030] Control the tailgate to open to the opening height and / or the opening angle.

[0031] Optionally, the method according to the invention further includes identifying the type of the body length feature and determining the opening height and / or the opening angle based on the body length feature.

[0032] The body length feature includes at least one of a first body length feature, a second body length feature, and a third body length feature.

[0033] Wherein, the first body length feature is the height of the person's head from the ground when the person's hands do not exceed the height of the head;

[0034] The second body length feature is the height of the tip of the person's hand from the ground when the person's hand is higher than the height of the head and the arm is at an angle to the vertical direction;

[0035] The third body length feature is the height of the tip of the person's hand from the ground when the person's arm is raised vertically upwards.

[0036] In the method according to the present invention, optionally, when the identified body length feature is a first body length feature: the second body length feature is determined according to a first body length coefficient, such that the opening height is equal to the second body length feature; and / or, the second body length feature is determined according to a first body length coefficient, and the third body length feature is determined according to a second body length coefficient, such that the opening height is between the first body length feature and the third body length feature;

[0037] When the identified body length feature is the second body length feature: make the opening height equal to the second body length feature; and / or, determine the first body length feature and the third body length feature according to the first body length coefficient and the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature;

[0038] When the identified body length feature is a third body length feature: the second body length feature is determined according to the second body length coefficient, such that the opening height is equal to the second body length feature; and / or, the first body length feature and the second body length feature are determined according to the first body length coefficient and the second body length coefficient, such that the opening height is between the first body length feature and the third body length feature.

[0039] The first body length coefficient is the ratio of a preset second body length feature to a preset first body length feature, and the second body length coefficient is the ratio of a preset third body length feature to a preset second body length feature.

[0040] Optionally, in the method according to the present invention, the method further includes:

[0041] Before the tailgate is opened, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle.

[0042] Alternatively, during the tailgate opening process, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle.

[0043] Alternatively, after the tailgate is opened to a certain height, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle.

[0044] Optionally, the method according to the invention also includes a fully open mode and a fixed mode.

[0045] In the fully open mode: the method includes controlling the tailgate to open to the maximum opening height and / or the maximum opening angle;

[0046] In the fixed mode: the method includes controlling the tailgate to open to a fixed opening height and / or a fixed opening angle; and / or, identifying personnel information through facial recognition and / or fingerprint recognition, and opening the tailgate to a fixed opening height and / or a fixed opening angle matching the personnel information; wherein facial recognition is performed through an in-cabin facial recognition system and / or a rear-view facial recognition system, and / or fingerprint recognition is performed through a door opening fingerprint recognition system. Attached Figure Description

[0047] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings are used to denote similar components, wherein:

[0048] Figure 1An embodiment of a vehicle tailgate opening system according to the present invention is illustrated schematically;

[0049] Figure 2 This is a diagram illustrating the positional relationship between the vehicle's tailgate and the occupants when the tailgate is open.

[0050] Figure 3 This is a flowchart of an embodiment of the tailgate opening method according to the present invention. Detailed Implementation

[0051] First, it should be noted that the following description of the vehicle tailgate opening system and method according to the present invention will be given by way of example to illustrate the composition, features, and advantages, etc. However, it should be understood that all descriptions are given for illustrative purposes only and should not be construed as limiting the present invention in any way. In this document, the technical terms "first" and "second" are used only for distinguishing purposes and are not intended to indicate their order or relative importance. The technical term "connected (or linked, etc.)" covers a specific component being directly connected to another component and / or indirectly connected to another component. Furthermore, unless otherwise expressly specified and limited, the dimensions, directions, or positional relationships indicated by the technical terms "length," "width," "height," "upper," "top," "bottom," etc., are based on the dimensions, orientations, or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and should not be construed as limiting the present invention.

[0052] Furthermore, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the accompanying drawings, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, thereby obtaining more other embodiments of the invention that may not be directly mentioned herein. In addition, general matters known to those skilled in the art are not repeated herein.

[0053] like Figure 1The vehicle tailgate opening system of the present invention, as shown, includes a first detection module, a second detection module, and a processing module. The first detection module is used to detect the distance between a person and the vehicle, and the second detection module is used to acquire images of the person. The first and second detection modules respectively transmit the acquired distance information between the person and the vehicle and the person's image information to the processing module, which determines the person's body length characteristics based on the distance information. In some embodiments, the first detection module may include a radar detector; for example, a vehicle's reversing radar can be used to measure the distance between the person and the vehicle. Furthermore, in addition to using a vehicle's reversing radar, other methods can be used for distance measurement, such as laser, ultrasonic, infrared, and other distance measurement methods commonly used in the art. In some embodiments, the second detection module includes a camera capable of acquiring image information of a person near the vehicle tailgate and transmitting this image information to the processing module. In some embodiments, the second detection module can use existing equipment or components in other vehicle systems, such as a vehicle streaming rearview mirror camera, a reversing camera, and a 360-degree camera. By sharing equipment components with other systems, costs and complexity can be reduced. Optionally, in addition to sharing image acquisition equipment with other systems, the second detection module of the vehicle tailgate opening system may also include another image acquisition device. This image acquisition device can be set at any suitable location on the vehicle, preferably with its detection range partially or substantially overlapping with the detection range of the first detection module, such as at a suitable location at the rear of the vehicle. The second detection module may include one or more image acquisition devices, such as two or three.

[0054] After determining the body length characteristics of the person based on the information transmitted by the aforementioned device, the processing module further determines the opening height and / or opening angle of the vehicle's tailgate based on these characteristics. The processing module can then control the execution module to open the vehicle's tailgate to the determined opening height and / or opening angle. The execution module can use hydraulic drive, electric motor drive, or other drive methods to operate the tailgate.

[0055] Users can also interact with the processing module through the interaction module. For example, the interaction module can output the opening height and / or opening angle determined by the processing module, and users can also input the opening height and / or opening angle values ​​through the interaction module. For instance, the interaction module can display or send the opening height and / or opening angle determined by the processing module, which users can adjust according to their actual usage experience. This allows the execution module to drive the tailgate to the adjusted opening height and / or opening angle. The processing module can also store this adjusted value so that it can be directly recalled when the user opens and closes the tailgate next time. Of course, users can also directly input the opening height and / or opening angle values ​​through the interaction module to control the tailgate opening without the processing module determining the opening height and / or opening angle. For example, in adaptive mode, users can adjust the opening height and / or opening angle values ​​after the processing module determines them; users can also input fixed opening height and / or fixed opening angle values ​​in fixed mode through the interaction module.

[0056] For example, users can input parameters such as height or other body length characteristics related to opening the tailgate, age, etc. The processing module can determine and / or adjust the tailgate opening height and / or opening angle based on the input information. This interaction module can receive and / or send parameter information via wired and / or wireless means, such as through vehicle displays, buttons, central control modules, etc.

[0057] Figure 2This diagram illustrates the positional relationship between the tailgate and a person when the tailgate is open. When a person is behind the tailgate, the second detection module can capture an image of the person. The person can be in a posture where their hands are not above their head, with the body length feature defined as the first body length feature h1, where h1 is the height from the top of the person's head to the ground. Alternatively, the person can be in a posture where their arms form an angle with the vertical direction and their hands are above their head, with the body length feature defined as the second body length feature h2, where h2 is the height of the person's hand tip along the vertical direction. Another posture can be where the arms are raised vertically, with the body length feature defined as the third body length feature h3, where h3 is the height of the person's hand tip from the ground. In each posture, the person can be in different forms, such as a clenched fist or an open hand, with the aforementioned hand tip corresponding to the position furthest from the body. It should be noted that the postures mentioned in this article can include forms other than upright posture, such as sitting, standing with a bent-over posture, or bending forward. This is advantageous for individuals who cannot stand upright, as it allows them to operate the vehicle's tailgate in a suitable posture. For example, for individuals in wheelchairs or using canes, the first body length feature can be detected when their hands are not above their head, the second body length feature can be detected when their arms are at an angle to the vertical direction, and the third body length feature can be detected when their arms are raised vertically upwards.

[0058] exist Figure 2The document further illustrates the arm length *r* of a person and the angle *θ* between the arm's extension direction and the vertical direction when the person closes the car door. The arm length described herein includes the size of the hand. *θ* is preferably the angle at which the person can raise their arm with minimal effort; this angle can exist within a range for the same person, but the range of *θ* may differ for different people. For example, different people may have different degrees of arm raising ability or different degrees of arm raising with minimal effort due to different physical conditions. The value range of *θ* can be 0°≤θ≤90°, for example, 5°≤θ≤70°, 15°≤θ≤60°, 15°≤θ≤45°, θ=30°, or θ=20°. The ratio between the second body length feature *h2* and the first body length feature *h3* is the first body length coefficient, and the ratio between the third body length feature *h3* and the second body length feature *h2* is the second body length coefficient. The first and second body length coefficients are typically preset values ​​within the vehicle's tailgate opening system. These coefficients are related to height, arm length, age, gender, posture (e.g., standing, sitting), and the habitual arm height when closing the tailgate, and can vary within a certain range. For example, different individuals have different habitual arm heights, resulting in different angles θ between their arms and the vertical direction under their second body length characteristics. This also affects the first and second body length coefficients. For the same individual, since the angle can vary within a certain range, and body length characteristics can change due to various factors such as body shape and proportions, the first and second body length coefficients can also vary within a certain range. Those skilled in the art can select the values ​​or ranges of these two coefficients based on practical experience. The first and second body length coefficients in this invention can be different for different individuals. The tailgate dimension f is preferably the distance between the tailgate rotation axis and the tailgate button, which is known for a given vehicle. The tailgate button refers to the button used to close the tailgate. g is the vehicle's height parameter, preferably the height of the tailgate rotation axis from the ground, which is known for a given vehicle.

[0059] Given the first body length characteristic h1 of a person, the second body length characteristic h2 can be determined based on the first body length coefficient, and then the second body length characteristic h3 can be determined based on the second body length coefficient. Similarly, given either the second body length characteristic h2 or the third body length characteristic h3 of a person, the other two body length characteristics can be determined. Thus, the opening degree of the tailgate can be determined based on the body length characteristics.

[0060] Figure 2 In the middle α, the tailgate opening angle is... Figure 2In the illustrated embodiment, the tailgate opening height is equal to the second body length feature h2 of a person, and the tailgate opening angle α is the opening angle corresponding to this opening height. However, in other embodiments, the tailgate opening height can also be selected from other heights. For example, the tailgate opening height can be between the first body length feature and the third body length feature. For example, the tailgate opening height can be substantially equal to the third body length feature h3. In this case, the tailgate opening height is substantially at the maximum height that a person can reach by virtue of their own height and arm length, allowing the door to open to a greater height and providing greater passage space.

[0061] Figure 3 A flowchart illustrating an embodiment of the tailgate opening method according to the present invention is provided. The vehicle tailgate opening method includes an adaptive mode in which the distance between a person and the rear of the vehicle is first measured, and image information of the person is acquired. The body length characteristics of the person are then determined based on the measured distance and the image information. In this method, the body length characteristics may include different types, see the descriptions herein. Figure 2 The processing module can identify the posture of a person based on image information, such as the position of the face in the image and / or the position of the arms in the image and / or the relative positional relationship between the face and arms and / or the overall shape of the person in the graphic information, to determine the type of body length feature, such as a first body length feature, a second body length feature, and a third body length feature. After determining the body length feature, the tailgate opening height and / or opening angle are controlled according to the body length feature. Specifically, after identifying the first body length feature, the second body length feature, or the third body length feature, the processing module determines the values ​​of the other two body length features based on the first body length coefficient and / or the second body length coefficient. Preferably, the first body length feature ≤ tailgate opening height ≤ third body length feature, for example, controlling the tailgate opening height to be substantially equal to the second body length feature.

[0062] The vehicle tailgate can be opened in two modes: a fully open mode and a fixed mode. Users can select and switch between these modes. In fully open mode, the tailgate opens to its maximum height / angle. In fixed mode, the tailgate opens to a predetermined fixed height / angle.

[0063] In embodiments of the present invention, the opening height and / or opening angle of the tailgate can be determined before the tailgate is opened using one or more modes of the method of the present invention, and the opening of the tailgate can be controlled based on the determined opening height and / or opening angle. Alternatively, the opening height and / or opening angle of the tailgate can also be determined during the tailgate opening process. For example, in adaptive mode, during the tailgate opening process, the first detection module and the second detection module respectively acquire the distance between the person and the rear of the vehicle and the image of the person, and the processing module determines the opening height and / or opening angle. This process is relatively short and can be completed within a short period of time during the tailgate opening process, and the tailgate can be controlled to open to the required opening height and / or opening angle before the tailgate opening process ends. Alternatively, the tailgate can be opened to a certain height first, and then the opening height and / or opening angle of the tailgate can be controlled based on the adaptive mode. Preferably, the fixed mode may have one or more fixed opening height values ​​and / or fixed opening angle values. In the fixed mode, the tailgate can be opened to the same fixed opening height value and / or fixed opening angle value without difference. Alternatively, personnel information can be identified by facial recognition and / or fingerprint recognition, and the tailgate can be opened to a fixed opening height value and / or fixed opening angle value that matches the personnel information. The one or more fixed opening height values ​​and / or fixed opening angle values ​​can be set by the user.

[0064] In embodiments of the present invention, the vehicle tailgate opening system can control the opening of the vehicle tailgate in an adaptive mode during actual user use. That is, the user can use methods such as lowering or raising their arm to control the opening height and / or opening angle of the tailgate. Alternatively, the user can also use an adaptive mode during a separate information entry process to determine the door opening height and / or opening angle corresponding to the personnel information, so that the determined opening height and / or opening angle values ​​can be directly called in subsequent actual use.

[0065] The vehicle preferably includes an identity recognition system, such as a facial recognition system, including an in-cabin facial recognition system or a rear-view facial recognition system (e.g., using a streaming rearview mirror or a 360-degree camera). It may also include a fingerprint recognition system, such as a fingerprint recognition system on the door (e.g., tailgate) opening button, sharing the fingerprint recognition device with the keyless entry system. Personnel use the vehicle's identity recognition system to identify their identity information and can associate and store this information with the corresponding tailgate opening height and / or opening angle determined by the vehicle tailgate opening system and / or method of this invention. When the user operates the tailgate later, they can directly recall the stored opening height and / or opening angle to control the tailgate opening. Alternatively, for users with stored information, one of the three modes in the vehicle tailgate opening method of this invention can be used to control the tailgate opening height and / or opening angle, such as an adaptive mode to adapt to changes in the user's body length characteristics, such as changes in body length characteristics caused by different shoe heights or changes in the user's tailgate closing posture. For individuals who have not stored their identity information, the vehicle can also control the opening height and / or angle of the tailgate using the methods and systems disclosed in this invention.

[0066] The specific embodiments described above are merely for the purpose of more clearly illustrating the principles of this application, wherein various components are clearly shown or described to make the principles of the invention easier to understand. Various modifications or variations can be easily made to this application by those skilled in the art without departing from the scope of this application. Therefore, it should be understood that all such modifications or variations should be included within the patent protection scope of this application.

Claims

1. A vehicle tailgate opening system, characterized in that, include: The first detection module measures the distance between personnel and the rear of the vehicle; The second detection module collects image information of the personnel; The processing module is configured to determine the body length characteristics of the person based on the distance and the image information, and the processing module determines the opening height and / or opening angle of the tailgate based on the body length characteristics. The body length feature includes at least one of a first body length feature, a second body length feature, and a third body length feature. Wherein, the first body length feature is the height of the person's head from the ground when the person's hands do not exceed the height of the head; The second body length feature is the height of the tip of the person's hand from the ground when the person's hand is higher than the height of the head and the arm is at an angle to the vertical direction; The third body length feature is the height of the tip of the person's hand from the ground when the person's arm is raised vertically upwards; The processing module is configured to: Identify the type of the body length feature; If the identified body length feature is a first body length feature: determine the second body length feature according to the first body length coefficient, so that the opening height is equal to the second body length feature; and / or, determine the second body length feature according to the first body length coefficient, and determine the third body length feature according to the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; If the identified body length feature is a second body length feature: make the opening height equal to the second body length feature; and / or, determine the first body length feature and the third body length feature according to the first body length coefficient and the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; If the identified body length feature is a third body length feature: determine the second body length feature according to the second body length coefficient, so that the opening height is equal to the second body length feature; and / or, determine the first body length feature and the second body length feature according to the first body length coefficient and the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; The first body length coefficient is the ratio of a preset second body length feature to a preset first body length feature, and the second body length coefficient is the ratio of a preset third body length feature to a preset second body length feature.

2. The system according to claim 1, characterized in that, The processing module is configured to: Two additional body length features are determined based on the identified body length features; The opening height is above the first body length feature and below the third body length feature; The opening angle corresponds to the opening height.

3. The system according to claim 1, characterized in that, It also includes an interaction module and an execution module. The interaction module is configured to receive an opening height input value and / or an opening angle input value, and / or receive an adjustment to the opening height and / or the opening angle, and / or receive a person's body length characteristic input value. The execution module opens the vehicle tailgate based on the opening height and / or the opening angle, or based on the opening height input value and / or the opening angle input value, or based on the adjustment of the opening height and / or the opening angle.

4. The system according to claim 1, characterized in that, It also includes an identity recognition system, which includes a face recognition system and / or a fingerprint recognition system. The face recognition system includes an in-cabin face recognition device system and / or a rear-view face recognition system, and the fingerprint recognition system includes a door opening fingerprint recognition system. The first detection module includes a reversing radar; The second detection module includes a vehicle streaming rearview mirror camera and / or a reversing camera and / or a 360-degree camera.

5. The system according to claim 1, characterized in that, The processing module determines the person's posture based on the image information, including one or more postures such as standing upright, sitting, or standing with bent-over, as well as one or more body length characteristics such as the person's arms not exceeding the top of the head, arms exceeding the top of the head and forming an angle with the vertical direction, or arms raised vertically upwards.

6. A method for opening a vehicle tailgate, including an adaptive mode, wherein in the adaptive mode, the method includes: The distance between the person measuring the vehicle and the rear of the vehicle; Collect image information of the personnel; The body length characteristics of the person are determined based on the distance and the image information; The opening height and / or opening angle of the tailgate are determined based on the aforementioned body length characteristics; Control the tailgate to open to the opening height and / or the opening angle; Identify the type of the body length feature, and determine the opening height and / or the opening angle based on the body length feature. The body length feature includes at least one of a first body length feature, a second body length feature, and a third body length feature. Wherein, the first body length feature is the height of the person's head from the ground when the person's hands do not exceed the height of the head; The second body length feature is the height of the tip of the person's hand from the ground when the person's hand is higher than the height of the head and the arm is at an angle to the vertical direction; The third body length feature is the height of the tip of the person's hand from the ground when the person's arm is raised vertically upwards; When the identified body length feature is a first body length feature: the second body length feature is determined according to the first body length coefficient, so that the opening height is equal to the second body length feature; and / or, the second body length feature is determined according to the first body length coefficient, and the third body length feature is determined according to the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; When the identified body length feature is the second body length feature: make the opening height equal to the second body length feature; and / or, determine the first body length feature and the third body length feature according to the first body length coefficient and the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; When the identified body length feature is a third body length feature: the second body length feature is determined according to the second body length coefficient, so that the opening height is equal to the second body length feature; and / or, the first body length feature and the second body length feature are determined according to the first body length coefficient and the second body length coefficient, so that the opening height is between the first body length feature and the third body length feature; The first body length coefficient is the ratio of a preset second body length feature to a preset first body length feature, and the second body length coefficient is the ratio of a preset third body length feature to a preset second body length feature.

7. The method according to claim 6, wherein, The method further includes: Before the tailgate is opened, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle. Alternatively, during the tailgate opening process, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle. Alternatively, after the tailgate is opened to a certain height, the opening height and / or opening angle of the tailgate are determined, and the tailgate is controlled to open to the opening height and / or opening angle.

8. The method according to claim 6 further includes a fully open mode and a fixed mode. In the fully open mode: the method includes controlling the tailgate to open to the maximum opening height and / or the maximum opening angle; In the fixed mode: the method includes controlling the tailgate to open to a fixed opening height and / or a fixed opening angle; and / or, identifying personnel information through facial recognition and / or fingerprint recognition, and opening the tailgate to a fixed opening height and / or a fixed opening angle matching the personnel information; wherein... Facial recognition is performed via an in-cabin facial recognition system and / or a rear-mounted facial recognition system, and / or fingerprint recognition is performed via a door-opening fingerprint recognition system.

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