An AR-based automobile tailgate control method and device, tailgate, and vehicle thereof

Abstract

The application discloses an AR-based automobile tailgate control method and device, a tailgate and a vehicle thereof, and specifically comprises the following steps: detecting whether the current vehicle chassis is at a normal height, and judging whether the opening condition of an AR projection module is met; if the opening condition of the AR projection module is met, the AR projection module is opened, the actual height of the current vehicle chassis is read, and the AR projection module is adjusted according to the actual height of the vehicle chassis; and according to the foot action signal obtained by the AR projection module, a corresponding automobile tailgate operation instruction is executed. Compared with the prior art, the application has the following advantages: the application is self-adaptively adjusted before a projection schematic pattern is projected, the projection module is self-adaptively adjusted when the chassis changes, the height of the module to the ground is unchanged, the AR projection module is ensured to be at a proper position, clear display of the projection pattern and normal recognition of the foot action of a user are realized, and user experience is ensured.

Description

Technical Field

[0001] This invention relates to a method, device, tailgate, and vehicle for controlling a car tailgate, and more particularly to an AR-based method, device, tailgate, and vehicle for controlling a car tailgate. Background Technology

[0002] Currently, car tailgates are primarily opened and closed manually using physical buttons. This is inconvenient when users are holding items with both hands. Therefore, foot-operated tailgate opening and closing modules were developed. However, because the sensors are located at the bottom of the car, users need to avoid the tailgate movement after kicking, and they cannot accurately judge the sensor's location, resulting in a low success rate. AR projection modules, on the other hand, project an image onto the ground, and sensors recognize the user's stepping motion in the image area to open and close the tailgate.

[0003] AR projection modules need to be designed according to their installation height. However, when a car is equipped with air suspension, the rise and fall of the chassis will cause the position of the projected pattern to shift, the size to change, the clarity of the pattern, the ground illumination, and the recognition rate of the sensor to deteriorate, affecting the user experience and failing to meet people's needs, so improvements are urgently needed. Summary of the Invention

[0004] The purpose of this invention is to provide an AR-based method, device, tailgate, and vehicle for controlling a car tailgate, which can adaptively adjust according to the height of the car chassis, thus overcoming the shortcomings of the existing technology.

[0005] This invention provides the following solution:

[0006] An AR-based method for controlling a car tailgate, specifically including:

[0007] Detect whether the current vehicle chassis is at a normal height and determine whether the conditions for activating the AR projection module are met;

[0008] If the conditions for enabling the AR projection module are met, then the AR projection module is enabled, the actual height of the current vehicle chassis is read, and the AR projection module is adjusted according to the actual height of the vehicle chassis.

[0009] Based on the foot pedal action signal obtained from the AR projection module, the corresponding car tailgate operation command is executed.

[0010] Furthermore, the step of detecting whether the current vehicle chassis is at a normal height and determining whether the conditions for activating the AR projection module are met further includes:

[0011] The vehicle's chassis domain controller uses sensors to monitor the change in current chassis height relative to normal height in real time, and sends the change signal to the comfort CAN bus via the chassis CAN bus and gateway.

[0012] Furthermore, the step of sending the change value signal to the comfort CAN bus via the chassis CAN bus and then through the gateway further includes:

[0013] The body controller receives change signals from the comfort CAN bus and forwards them to the AR projection module;

[0014] The vehicle body controller analyzes the digital key sensing status and AR projection enable status in the tailgate area to determine whether the AR projection module meets the opening conditions.

[0015] If the AR projection module meets the activation conditions, then activate the AR projection module.

[0016] The MCU inside the AR projection module reads the vehicle chassis height signal to determine whether the AR projection module needs to perform adaptive adjustment.

[0017] If the AR projection module needs to be adaptively adjusted, the electric control of the lifting adjustment motor moves the AR projection module to the corresponding position and then the projection lights up.

[0018] An AR-based vehicle tailgate control system, specifically comprising:

[0019] The vehicle chassis height detection module is used to detect whether the current vehicle chassis is at a normal height and to determine whether the conditions for activating the AR projection module are met.

[0020] The AR projection activation condition judgment module enables the AR projection module if the activation conditions are met, reads the actual height of the current vehicle chassis, and adjusts the AR projection module according to the actual height of the vehicle chassis.

[0021] The tailgate operation command execution module executes the corresponding tailgate operation command based on the foot pedal action signal obtained from the AR projection module.

[0022] An AR-based vehicle tailgate control device, specifically comprising:

[0023] The chassis domain controller is used to detect the change in the current chassis height relative to the normal height value and send the change value signal to the body controller.

[0024] The body controller receives change signals from the chassis domain controller, determines whether the AR projection module meets the activation conditions, and controls the AR projection module to perform adaptive adjustment.

[0025] An AR projection module is used to project schematic patterns and recognize stepping actions on the imaging area.

[0026] Furthermore, the chassis domain controller sends the current chassis height change signal through the gateway and the comfort CAN bus;

[0027] The vehicle body controller sends the change value signal to the AR projection module via the LIN bus;

[0028] The AR projection module will send a successful recognition signal back to the body controller via the LIN bus, which will then control the trunk controller to open and close the tailgate.

[0029] A car tailgate, wherein the car tailgate is provided with an AR-based car tailgate control device as described in claim 5 or 6, which is connected to an AR-based car tailgate control system and executes an AR-based car tailgate control method.

[0030] An electronic device is characterized in that it comprises: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of a method.

[0031] A computer-readable storage medium is characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method.

[0032] A vehicle, the vehicle having a tailgate, further comprising:

[0033] An electronic device for implementing the method described;

[0034] A processor that runs a program, which, when the program is running, performs the steps of the method in response to data output from the electronic device;

[0035] A storage medium for storing a program that, when run, executes the steps of the method in response to data output from an electronic device.

[0036] Compared with the prior art, the present invention has the following advantages: Before projecting the schematic diagram, the present invention first determines whether the height of the vehicle chassis is consistent with the normal value and whether the opening conditions are met through the body controller and chassis domain controller. If it is inconsistent with the normal value, adaptive adjustment is performed. When the chassis changes, the projection module adaptively adjusts to keep the module's height above the ground constant, ensuring that the AR projection module is in a suitable position. This avoids unnecessary actions by the AR projection, saves power consumption, achieves clear display of the projected pattern, and ensures normal recognition of the user's foot pedal actions, thus guaranteeing a good user experience. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart of an AR-based car tailgate control method.

[0039] Figure 2 This is an architecture diagram of an AR-based car tailgate control system.

[0040] Figure 3 This is a schematic diagram of an AR-based car tailgate control device.

[0041] Figure 4 This is a flowchart of an embodiment of the present invention in a specific application scenario.

[0042] Figure 5 This is a schematic diagram of the electronic device. Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] like Figure 1 The AR-based car tailgate control method shown specifically includes:

[0045] Step S1: Detect whether the current vehicle chassis is at a normal height and determine whether the conditions for activating the AR projection module are met.

[0046] For example, the conditions for enabling the AR projection module include: the vehicle chassis is currently at its highest or lowest position, the AR projection module is enabled, and there are no obstacles behind the vehicle that would prevent the tailgate from opening.

[0047] Specifically, this further includes: the vehicle's chassis domain controller uses sensors to monitor the change in current chassis height relative to normal height in real time, and sends the change signal to the comfort CAN bus via the chassis CAN bus and gateway.

[0048] Specifically, this further includes: the body controller receiving change value signals from the comfort CAN bus and forwarding them to the AR projection module;

[0049] The vehicle body controller analyzes the digital key sensing status and AR projection enable status in the tailgate area to determine whether the AR projection module meets the opening conditions.

[0050] If the AR projection module meets the activation conditions, then activate the AR projection module.

[0051] The MCU inside the AR projection module reads the vehicle chassis height signal to determine whether the AR projection module needs to perform adaptive adjustment.

[0052] If the AR projection module needs to be adaptively adjusted, the electric control of the lifting adjustment motor moves the AR projection module to the corresponding position and then the projection lights up.

[0053] Step S2: If the conditions for enabling the AR projection module are met, then enable the AR projection module, read the actual height of the current vehicle chassis, and adjust the AR projection module according to the actual height of the vehicle chassis.

[0054] Step S3: Execute the corresponding tailgate operation command based on the foot pedal action signal obtained from the AR projection module.

[0055] Specifically, the AR projection module uses the AR device's lifting motor to control the AR projection module to move in the same or opposite direction as the chassis.

[0056] For the purpose of simplicity, the method steps disclosed in the above embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0057] Any flowchart or other description of a process or method can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed and implemented not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, or by executing computer instructions and implementing corresponding functions according to program structures such as loops, branches, etc., as will naturally be understood by those skilled in the art when practicing embodiments of the invention.

[0058] like Figure 2 The AR-based car tailgate control system shown specifically includes:

[0059] The vehicle chassis height detection module is used to detect whether the current vehicle chassis is at a normal height and to determine whether the conditions for activating the AR projection module are met.

[0060] The AR projection activation condition judgment module enables the AR projection module if the activation conditions are met, reads the actual height of the current vehicle chassis, and adjusts the AR projection module according to the actual height of the vehicle chassis.

[0061] The tailgate operation command execution module executes the corresponding tailgate operation command based on the foot pedal action signal obtained from the AR projection module.

[0062] It is worth noting that although only some basic functional modules are disclosed in the embodiments of this invention, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what this embodiment intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules should not be considered as the scope of protection of the claims of this invention being limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above device is described separately according to its functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0063] The implementation methods of the system described above are merely illustrative. For example, the various functional modules, units, or subsystems within the system may or may not be physically separate, or they may or may not be physical units; that is, they may be located in the same place or distributed across multiple different systems and their subsystems or modules. Those skilled in the art can select some or all of the functional modules, units, or subsystems to achieve the objectives of the embodiments of the present invention according to actual needs. Those skilled in the art can understand and implement the above-described situations without any creative effort.

[0064] like Figure 3 The schematic diagram of the AR-based car tailgate control device shown includes:

[0065] The chassis domain controller (CDS) is used to detect the change in the current chassis height relative to the normal height value and send the change value signal to the body controller.

[0066] The Body Control Module (BCM) receives change signals from the chassis domain controller, determines whether the AR projection module meets the activation conditions, and controls the AR projection module to perform adaptive adjustments.

[0067] It is easy to understand that controlling the AR projection module to perform adaptive adjustment means controlling the AR projection module to adjust according to the current chassis height of the vehicle. When the chassis changes, the projection module adjusts itself to keep the module's height above the ground constant. This can be achieved by combining existing lifting adjustment motors and their drive circuits, or by other known existing technologies to achieve adaptive adjustment of the AR projection module.

[0068] An AR projection module is used to project schematic patterns and recognize stepping actions on the imaging area.

[0069] Specifically, the chassis domain controller sends the current chassis height change signal through the gateway and the comfort CAN bus;

[0070] The vehicle body controller sends the change value signal to the AR projection module via the LIN bus;

[0071] The AR projection module will send a successful recognition signal back to the body controller via the LIN bus, which will then control the trunk controller PLG to complete the opening and closing of the car tailgate.

[0072] In this embodiment, it may further include a digital key module (BLE), a TOF sensor, a PCB circuit board, a height adjustment motor and its drive circuit, a heat sink, a bracket, and a wiring harness, etc., for implementation in specific application scenarios.

[0073] like Figure 4 As shown, the working principle of this embodiment is as follows: The chassis domain controller (CDS) monitors the current chassis height or the change value relative to the normal height in real time through sensors. This signal is sent to the gateway via the chassis CAN bus. The gateway converts the signal to the comfort CAN bus. The body controller (BCM) receives this signal, converts it into a LIN bus signal, and sends it to the AR projection module. The body controller (BCM) analyzes information such as the digital key sensor (BLE) in the tailgate area, the AR projection enable status, and the vehicle status to determine whether the AR projection module meets the opening conditions. After the AR projection module is turned on, the microprocessor (MCU) in the module reads the chassis height signal and determines whether the AR projection module needs to be adaptively adjusted. It drives the lifting adjustment motor to move in the opposite direction of the chassis movement, moving the AR projection module to the designed height position. Then the projection lights up, and the user's foot pedal operation is normally recognized. The recognition success signal is sent back to the body controller (BCM) via the LIN bus. The body controller forwards the signal to the trunk controller (PLG) via the CAN bus to complete the opening and closing action of the car tailgate.

[0074] Since the air suspension automatically adjusts its height according to road conditions while the car is in motion, the driving scenario is not the operating condition of the AR projection module of this invention, and therefore does not require adaptive adjustment. So the logic for whether to adaptively adjust is placed in the microprocessor MCU inside the AR projection module to avoid unnecessary actions by the AR projection and to avoid increasing the complexity of other controller logic.

[0075] Based on the basic principles of this invention, two application scenarios are described exemplarily. These two application scenarios utilize existing lifting adjustment motors and their drive circuits on the basis of AR projection module hardware, and the AR projection module completes the adaptive adjustment control and execution.

[0076] Scenario 1: A user parks their car on an uneven surface and manually adjusts the chassis to its highest position to avoid damaging the undercarriage. When the user needs to operate the tailgate after parking, the AR projection module will adjust downwards via a lifting motor. If the projection module's position is not adjusted accordingly, the projection distance will be longer than designed, resulting in a larger projected image size, decreased clarity with a risk of ghosting, poor illumination uniformity, and the image shifting away from the car body, potentially exceeding the sensor's detection range.

[0077] Scenario 2: A user places a large, heavy item in their suitcase and adjusts the chassis to its lowest position for easy access. The AR projection module will then adjust upwards via a lifting motor. If the projection module's position isn't adjusted accordingly, the projection distance will be shorter than designed, resulting in a smaller projected image and the image shifting closer to the vehicle. If the user then steps on the tailgate, they might get too close to the vehicle and accidentally bump into it.

[0078] As can be seen from the tailgate control device of this embodiment, the present invention proposes to adjust the height of the AR projection module by utilizing a lifting motor of existing technology. This ensures that the AR projection module is in its designed position. After the projection opening conditions are met, adaptive adjustment of the AR projection is performed, avoiding unnecessary actions and saving energy consumption. A microprocessor (MCU) is configured in the AR projection module, and adaptive adjustment logic is configured within the MCU. The present invention places the adaptive adjustment logic within the microprocessor (MCU) of the AR projection module, avoiding increasing the complexity of other controller logic. The trunk AR projection module in this invention can also be other AR projection modules, such as those used in welcome lights, etc., with a wide range of applications and not limited to the content disclosed in this embodiment.

[0079] The AR-based car tailgate control device disclosed in this embodiment can be applied to existing car tailgates. This device is installed on the car tailgate and connected to the car tailgate control systems disclosed in other embodiments of this application. It executes an AR-based car tailgate control method, ensuring the AR projection matches the current height of the vehicle chassis. This guarantees the AR projection module is in a suitable position, avoids unnecessary AR projection actions, saves power consumption, achieves clear display of the projected pattern, and ensures normal recognition of user foot pedal movements, thus guaranteeing a good user experience.

[0080] like Figure 5 As shown, based on the AR-based car tailgate control method, system, and device, this invention also discloses corresponding electronic devices, storage media, and vehicles:

[0081] An electronic device includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method.

[0082] A computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a method.

[0083] A vehicle, the vehicle having a tailgate, further comprising:

[0084] Electronic devices for implementing an AR-based method for controlling a car tailgate;

[0085] A processor that runs a program, which, when running, performs steps of an AR-based vehicle tailgate control method in response to data output from the electronic device;

[0086] A storage medium for storing a program that, when run, executes the steps of an AR-based vehicle tailgate control method in response to data output from an electronic device.

[0087] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. For example... Figure 5 The structure shown in this embodiment of the invention includes an electronic device comprising one or more processors 710 and a storage device 720; the processors 710 in this electronic device may be one or more. Figure 5Taking a processor 710 as an example; a storage device 720 is used to store one or more programs; the one or more programs are executed by the one or more processors 710, causing the one or more processors 710 to implement the AR-based car tailgate control method as described in any one of the embodiments of the present invention.

[0088] The electronic device may also include an input device 730 and an output device 740.

[0089] The processor 710, storage device 720, input device 730, and output device 740 in this electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0090] The storage device 720 in this electronic device serves as a computer-readable storage medium, capable of storing one or more programs. These programs can be software programs, computer-executable programs, or modules, such as the program instructions / modules corresponding to the AR-based car tailgate control method provided in this embodiment. The processor 710 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the storage device 720, thereby implementing the AR-based car tailgate control method described in the above embodiment.

[0091] Storage device 720 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, storage device 720 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 720 may further include memory remotely located relative to processor 710, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0092] Input device 730 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 740 may include display devices such as a display screen.

[0093] Furthermore, when one or more programs included in the aforementioned electronic device are executed by one or more processors 710, the programs perform the following operations:

[0094] Detect whether the current vehicle chassis is at a normal height and determine whether the conditions for activating the AR projection module are met;

[0095] If the conditions for enabling the AR projection module are met, then the AR projection module is enabled, the actual height of the current vehicle chassis is read, and the AR projection module is adjusted according to the actual height of the vehicle chassis.

[0096] Based on the foot pedal action signal obtained from the AR projection module, the corresponding car tailgate operation command is executed.

[0097] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0098] It should be noted that certain terms are used in this specification and claims to refer to specific elements. Those skilled in the art will understand that different manufacturers or producers may use different terms to refer to the same element. This specification and claims do not distinguish elements based on differences in terminology, but rather on differences in function.

[0099] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, any of the embodiments claimed in the claims can be used in any combination of embodiments of the invention.

[0101] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0102] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0103] All features disclosed in this specification, or steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps. Any feature disclosed in this specification, unless specifically stated otherwise, may be replaced by other equivalent or similar features. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features. Throughout this specification, the same reference numerals indicate the same elements.

[0104] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the corresponding claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the corresponding claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0105] Additionally, to simplify the description and discussion, and to avoid obscuring one or more embodiments of this specification, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be illustrated in block diagram form to avoid obscuring one or more embodiments of this specification, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which one or more embodiments of this specification will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that one or more embodiments of this specification may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An AR-based method for controlling a car tailgate, characterized in that, Specifically, it includes: Detect whether the current vehicle chassis is at a normal height and determine whether the conditions for activating the AR projection module are met; If the conditions for enabling the AR projection module are met, then the AR projection module is enabled, the actual height of the current vehicle chassis is read, and the AR projection module is adjusted according to the actual height of the vehicle chassis. Based on the foot pedal action signal obtained from the AR projection module, execute the corresponding car tailgate operation command; The chassis domain controller (CDS) monitors the current chassis height or its change relative to the normal height in real time via sensors. This signal is sent to the gateway via the chassis CAN bus, and the gateway forwards the signal to the comfort CAN bus. The body control module (BCM) receives this signal, converts it into a LIN bus signal, and sends it to the AR projection module. The BCM analyzes the tailgate area digital key sensor (BLE), the AR projection enable status, and vehicle status information to determine if the AR projection module meets the opening conditions. The opening conditions for the AR projection module include: the current vehicle chassis is at its highest or lowest position, the AR projection module is enabled, and there are no obstacles behind the vehicle that would obstruct the opening of the tailgate. After the AR projection module is activated, the microprocessor (MCU) in the module reads the chassis height signal and determines whether the AR projection module needs adaptive adjustment. It then drives the lifting adjustment motor to move in the opposite direction of the chassis movement, moving the AR projection module to the designed height position. After that, the projection lights up, and the user's foot pedal operation is correctly recognized. A successful recognition signal is sent back to the body control module (BCM) via the LIN bus. The body control module forwards the signal to the trunk controller (PLG) via the CAN bus to complete the opening and closing of the tailgate.

2. The AR-based vehicle tailgate control method according to claim 1, characterized in that, The step of detecting whether the current vehicle chassis is at a normal height and determining whether the conditions for activating the AR projection module are met further includes: The vehicle's chassis domain controller uses sensors to monitor the change in current chassis height relative to normal height in real time, and sends the change signal to the comfort CAN bus via the chassis CAN bus and gateway.

3. The AR-based vehicle tailgate control method according to claim 2, characterized in that, The step of sending the change value signal to the comfort CAN bus via the chassis CAN bus and gateway further includes: The body controller receives change signals from the comfort CAN bus and forwards them to the AR projection module; The vehicle body controller analyzes the digital key sensing status and AR projection enable status in the tailgate area to determine whether the AR projection module meets the opening conditions. If the AR projection module meets the activation conditions, then activate the AR projection module. The MCU inside the AR projection module reads the vehicle chassis height signal to determine whether the AR projection module needs to perform adaptive adjustment. If the AR projection module needs to be adaptively adjusted, the electric control of the lifting adjustment motor moves the AR projection module to the corresponding position and then the projection lights up.

4. An AR-based vehicle tailgate control system, characterized in that, The method is adapted to the AR-based vehicle tailgate control method according to any one of claims 1-3. The AR-based car tailgate control system specifically includes: The vehicle chassis height detection module is used to detect whether the current vehicle chassis is at a normal height and to determine whether the conditions for activating the AR projection module are met. The AR projection activation condition judgment module enables the AR projection module if the activation conditions are met, reads the actual height of the current vehicle chassis, and adjusts the AR projection module according to the actual height of the vehicle chassis. The tailgate operation command execution module executes the corresponding tailgate operation command based on the foot pedal action signal obtained from the AR projection module.

5. An AR-based vehicle tailgate control device, characterized in that, The method is adapted to the AR-based vehicle tailgate control method according to any one of claims 1-3. AR-based car tailgate control devices specifically include: The chassis domain controller is used to detect the change in the current chassis height relative to the normal height value and send the change value signal to the body controller. The body controller receives change signals from the chassis domain controller, determines whether the AR projection module meets the activation conditions, and controls the AR projection module to perform adaptive adjustment. An AR projection module is used to project schematic patterns and recognize stepping actions on the imaging area.

6. The AR-based car tailgate control device according to claim 5, characterized in that, The chassis domain controller sends the current chassis height change signal through the gateway and the comfort CAN bus; The vehicle body controller sends the change value signal to the AR projection module via the LIN bus; The AR projection module will send a successful recognition signal back to the body controller via the LIN bus, which will then control the trunk controller to open and close the tailgate.

7. A car tailgate, characterized in that, The vehicle tailgate is equipped with the AR-based vehicle tailgate control device as described in claim 5 or 6, and is connected to the AR-based vehicle tailgate control system as described in claim 4, and executes the AR-based vehicle tailgate control method as described in any one of claims 1 to 3.

8. An electronic device, characterized in that, include: The system includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 3.

9. A computer-readable storage medium, characterized in that, It stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method according to any one of claims 1 to 3.

10. A vehicle, characterized in that, The vehicle is provided with the tailgate as described in claim 7, and further includes: An electronic device for implementing the method according to any one of claims 1 to 3; A processor that runs a program that, when the program is running, performs the steps of the method according to any one of claims 1 to 3 on data output from the electronic device; A storage medium for storing a program that, when run, performs the steps of the method according to any one of claims 1 to 3 on data output from an electronic device.

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