Vehicle trunk door control method and device, storage medium and vehicle

Abstract

The application discloses a vehicle trunk door control method and device, a storage medium and a vehicle. The method comprises the following steps: acquiring multiple acting forces applied to a vehicle trunk door, wherein the multiple acting forces are sequentially executed in time sequences, and the acting forces corresponding to different time sequences are different; adjusting the rotating speed of the trunk door based on the multiple acting forces; and controlling the opening or closing of the trunk door based on the rotating speed. The application solves the technical problem of poor control flexibility caused by controlling the opening and closing of the vehicle trunk door at a fixed speed in the related art.

Description

Technical Field

[0001] This invention relates to the field of vehicle trunk control technology, and more specifically, to a vehicle trunk door control method, device, storage medium, and vehicle. Background Technology

[0002] With social development and technological advancements, vehicles are increasingly pursuing automation and intelligence. The trunk, as an important component of a vehicle, is used extensively in daily life. Current trunk opening and closing methods involve manually lifting or pressing the trunk door to rotate it at a fixed speed. This method is not only time-consuming and labor-intensive, but also fails to meet the needs of different vehicle users due to the fixed speed being too fast or too slow.

[0003] As the above analysis shows, there is currently no effective solution to the problem of poor control flexibility caused by controlling the opening and closing of the vehicle's trunk door at a fixed speed using the aforementioned technologies. Summary of the Invention

[0004] This invention provides a method, apparatus, storage medium, and vehicle for controlling a vehicle's trunk door, thereby at least solving the technical problem of poor control flexibility caused by controlling the opening and closing of a vehicle's trunk door at a fixed speed in related technologies.

[0005] According to one aspect of the present invention, a method for controlling a vehicle trunk door is provided, comprising:

[0006] The system acquires multiple forces applied to the vehicle's trunk door, wherein the multiple forces are executed sequentially according to a time sequence, and different forces correspond to different time sequences; adjusts the rotation speed of the trunk door based on the multiple forces; and controls the opening or closing of the trunk door based on the rotation speed.

[0007] Optionally, the multiple forces include an initial force applied to the trunk door when it is opened or closed, the initial force corresponding to an initial rotation speed. Adjusting the rotation speed of the trunk door based on the multiple forces includes: calculating the ratio of the initial force to the mass factor to obtain an initial acceleration, wherein the mass factor is determined by the mass of the trunk door, and the initial acceleration is greater than zero; and determining the initial acceleration as the initial rotation speed of the trunk door within a preset time.

[0008] Optionally, the multiple forces include other forces that are sequentially applied after the initial force. The above-described vehicle trunk door control method further includes: detecting other forces during the opening or closing of the trunk door; calculating the ratio of the other forces to the mass factor to obtain a first adjustment acceleration; determining a target rotation speed of the trunk door within a preset time based on the trunk door's rotation speed to be adjusted and the first adjustment acceleration, wherein the rotation speed to be adjusted is the trunk door's rotation speed after adjustment by the first force, the first force is the initial force, or the first force is another force that is sequentially applied before and adjacent to the first other force, the first other force is another force corresponding to the first adjustment acceleration; and controlling the trunk door to open or close at a uniform speed at the target rotation speed.

[0009] Optionally, the above-mentioned vehicle trunk door control method further includes: during the opening or closing of the trunk door, detecting whether there is an obstacle between the starting point and the ending point of the rotation of the trunk door, and obtaining the detection result.

[0010] Optionally, the above-mentioned vehicle trunk door control method further includes: in response to the detection result determining that there is an obstacle between the starting point and the ending point of rotation, detecting the distance from the current position of the trunk door to the obstacle; calculating the distance and the current rotation speed of the trunk door to obtain a second adjustment acceleration, wherein the second adjustment acceleration is less than zero; and controlling the trunk door to perform uniform deceleration motion with the second adjustment acceleration.

[0011] Optionally, the above-mentioned vehicle trunk door control method further includes: in response to the detection of the disappearance of an obstacle during the uniform deceleration motion of the trunk door, controlling the trunk door to open or close at a uniform speed at the current rotation speed.

[0012] Optionally, the above-mentioned vehicle trunk door control method further includes: in response to the current rotation speed being zero, controlling the trunk door to open or close at a uniform speed at the initial rotation speed.

[0013] According to another aspect of the present invention, a vehicle trunk door control device is also provided, comprising:

[0014] The acquisition module is used to acquire multiple forces applied to the vehicle's trunk door, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different; the adjustment module is used to adjust the rotation speed of the trunk door based on the multiple forces; and the control module is used to control the opening or closing of the trunk door based on the rotation speed.

[0015] Optionally, the multiple forces include an initial force applied to the trunk door when it is opened or closed, the initial force corresponding to the initial rotation speed. The adjustment module is further configured to: calculate the ratio of the initial force to the mass factor to obtain the initial acceleration, wherein the mass factor is determined by the mass of the trunk door, and the initial acceleration is greater than zero; and determine the initial acceleration as the initial rotation speed of the trunk door within a preset time.

[0016] Optionally, the multiple forces include other forces that occur after the initial force. The adjustment module is further configured to: detect other forces during the opening or closing of the trunk door; calculate the ratio of the other forces to the mass factor to obtain a first adjustment acceleration; determine the target rotation speed of the trunk door within a preset time based on the trunk door's rotation speed to be adjusted and the first adjustment acceleration, wherein the rotation speed to be adjusted is the trunk door's rotation speed after adjustment by the first force, the first force is the initial force, or the first force is another force that occurs before and is adjacent to the first other force, the first other force is another force corresponding to the first adjustment acceleration; and control the trunk door to open or close at the target rotation speed at a uniform speed.

[0017] Optionally, the above-mentioned vehicle trunk door control device further includes: a detection module, used to detect whether there is an obstacle between the starting point and the ending point of the rotation of the trunk door during the opening or closing process, and to obtain the detection result.

[0018] Optionally, the above-mentioned vehicle trunk door control device further includes: a second control module, used to detect the distance from the current position of the trunk door to the obstacle in response to the detection result determining that there is an obstacle between the starting point and the ending point of the rotation; to calculate the distance and the current rotation speed of the trunk door to obtain a second adjustment acceleration, wherein the second adjustment acceleration is less than zero; and to control the trunk door to perform uniform deceleration motion with the second adjustment acceleration.

[0019] Optionally, the above-mentioned vehicle trunk door control device further includes: a third control module, used to control the trunk door to open or close at a constant speed at the current rotation speed when an obstacle is detected to disappear during the uniform deceleration motion of the trunk door.

[0020] Optionally, the above-mentioned vehicle trunk door control device further includes: a fourth control module, used to control the trunk door to open or close at a constant speed at the initial rotation speed in response to the current rotation speed being zero.

[0021] According to another aspect of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, the device where the storage medium is located controls the execution of any of the aforementioned vehicle trunk door control methods.

[0022] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the vehicle trunk door control method of any of the foregoing embodiments.

[0023] In this embodiment of the invention, multiple forces applied to the vehicle's trunk door are first acquired. These forces are executed sequentially according to a time sequence, with different forces corresponding to different time sequences. Then, the rotation speed of the trunk door is adjusted based on these multiple forces. Finally, the opening or closing of the trunk door is controlled based on the rotation speed. By adjusting the rotation speed of the vehicle's trunk door according to different forces, the speed requirements for opening and closing the trunk door for different users or the same user at different times are met. This achieves the technical effect of improving the flexibility of controlling the vehicle's trunk door, thereby solving the technical problem of poor control flexibility caused by controlling the opening and closing of the vehicle's trunk door at a fixed speed in related technologies. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 This is a hardware structure block diagram of a vehicle terminal for an optional vehicle trunk door control method according to an embodiment of the present invention.

[0026] Figure 2 This is a flowchart of a vehicle trunk door control method according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a vehicle trunk door control system according to an embodiment of the present invention;

[0028] Figure 4 This is a flowchart of a vehicle trunk door control process according to an embodiment of the present invention;

[0029] Figure 5 This is a structural block diagram of an optional vehicle trunk door control device according to an embodiment of the present invention;

[0030] Figure 6 This is a structural block diagram of another optional vehicle trunk door control device according to an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] According to an embodiment of the present invention, a method embodiment for controlling a vehicle trunk door is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] Figure 1 This is a hardware structure block diagram of a vehicle terminal for an optional vehicle trunk door control method according to an embodiment of the present invention, such as... Figure 1 As shown, the vehicle terminal 10 (or a mobile device 10 that communicates with the vehicle) may include one or more processors 102 (processors 102 may include, but are not limited to, processing devices such as microprocessors (MCUs) or field-programmable gate arrays (FPGAs),) a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O devices), a Universal Serial Bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 10 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).

[0036] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle trunk door control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned vehicle trunk door control method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0037] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0038] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The method for controlling the vehicle's trunk door is shown. Figure 2 This is a flowchart of a vehicle trunk door control method according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following implementation steps:

[0039] Step S201: Obtain multiple forces applied to the vehicle's trunk door, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different;

[0040] Step S202: Adjust the rotation speed of the trunk door based on multiple forces;

[0041] Step S203: Control the opening or closing of the trunk door based on the rotation speed.

[0042] The aforementioned multiple forces can be the forces applied to the trunk door at different times when the vehicle user opens or closes the trunk door. The magnitudes of the multiple forces can be the same or different. By determining the rotation speed of the trunk door desired by the vehicle user based on the multiple forces, the trunk door can be controlled to open or close at the rotation speed desired by the vehicle user.

[0043] In this embodiment of the invention, multiple forces applied to the vehicle's trunk door are first acquired. These forces are executed sequentially according to a time sequence, with different forces corresponding to different time sequences. Then, the rotation speed of the trunk door is adjusted based on these multiple forces. Finally, the opening or closing of the trunk door is controlled based on the rotation speed. By adjusting the rotation speed of the vehicle's trunk door according to different forces, the speed requirements for opening and closing the trunk door for different users or the same user at different times are met. This achieves the technical effect of improving the flexibility of controlling the vehicle's trunk door, thereby solving the technical problem of poor control flexibility caused by controlling the opening and closing of the vehicle's trunk door at a fixed speed in related technologies.

[0044] The methods described in the embodiments of the present invention will be further described below.

[0045] In an optional embodiment, in step S202, the multiple forces include an initial force applied to the trunk door when it is opened or closed, the initial force corresponding to an initial rotation speed, and adjusting the rotation speed of the trunk door based on the multiple forces includes:

[0046] Step S221: Calculate the ratio of the initial force to the mass factor to obtain the initial acceleration, wherein the mass factor is determined by the mass of the trunk door, and the initial acceleration is greater than zero;

[0047] Step S222: The initial acceleration is determined as the initial rotation speed of the trunk door within a preset time.

[0048] The following combination Figure 3 , Figure 4 The above methods will be further explained.

[0049] Figure 3This is a schematic diagram of a vehicle trunk door control system according to an embodiment of the present invention. The system includes a controller 301, a pressure sensor 302, a trunk door 303, and an infrared device 304. The controller 301 controls the operation of the pressure sensor 302, the trunk door 303, and the infrared device 304. The pressure sensor 302 can be placed at the center of the bottom of the trunk door 303 to detect the force applied by the user to close the trunk door, or the pressure sensor 302 can be placed at the open position of the trunk door 303 to detect the force applied by the user to open the trunk door. The trunk door 303 can rotate according to the rotation speed calculated by the controller 301. The infrared device 304 can be placed on the trunk door 303 and the bottom of the trunk respectively to detect the distance from the trunk door 303 to obstacles or the bottom of the trunk.

[0050] Figure 4 This is a flowchart of a vehicle trunk door control process according to an embodiment of the present invention, such as... Figure 3 , Figure 4 As shown, the initial force (denoted as F1) applied to the trunk door 303 is first obtained using the pressure sensor 302. The mass factor characterizing the mass of the trunk door is denoted as m. The initial acceleration a1 is obtained by calculating the ratio of the initial force to the mass factor as shown in the following formula (1):

[0051]

[0052] Furthermore, the initial acceleration within 1 second (i.e., the preset time) can be used as the initial rotation speed v1 of the trunk door 303, thereby controlling the trunk door 303 to rotate at a constant speed with this initial rotation speed v1, so as to open or close.

[0053] In an optional embodiment, the plurality of forces includes other forces that are sequentially applied after the initial force, and the above-described vehicle trunk door control method further includes:

[0054] Step S241, in response to the detection of other forces during the opening or closing of the trunk door;

[0055] Step S242: Calculate the ratio of other forces to the mass factor to obtain the first regulating acceleration;

[0056] Step S243: Determine the target rotation speed of the trunk door within a preset time based on the rotation speed to be adjusted and the first adjustment acceleration. The rotation speed to be adjusted is the rotation speed of the trunk door after adjustment by the first force. The first force is the initial force, or the first force is another force that is sequentially before and adjacent to the first other force. The first other force is another force corresponding to the first adjustment acceleration.

[0057] Step S244: Control the trunk door to open or close at a uniform speed at the target rotation speed.

[0058] As an optional implementation, during the entire closing process of the trunk door, two forces acting on the trunk door are detected successively. Specifically, during the rotation of the trunk door at the initial rotation speed v1, a second force (denoted as F2) acting on the trunk door is obtained. The first adjustment acceleration a2 of the trunk door can be calculated based on the second force F2 and the mass factor m as shown in the following formula (2):

[0059]

[0060] Then, based on the initial rotational speed v1 and the first adjustment acceleration a2, the first adjustment speed v2 within 1 second is determined as shown in the following formula (3):

[0061] v2 = v1 + a2 Formula (3)

[0062] Furthermore, the trunk door is controlled to rotate at a constant speed of the first adjustable rotation speed v2 until the trunk door is closed.

[0063] In an optional embodiment, the above-described vehicle trunk door control method further includes:

[0064] Step S205: During the opening or closing of the trunk door, detect whether there is an obstacle between the starting point and the ending point of the trunk door's rotation, and obtain the detection result.

[0065] Furthermore, the aforementioned vehicle trunk door control method also includes:

[0066] Step S2511: In response to the detection result determining that there is an obstacle between the starting point and the ending point of the rotation, detect the distance from the current position of the trunk door to the obstacle;

[0067] Step S212: Calculate the distance and the current rotation speed of the trunk door to obtain the second adjustment acceleration, wherein the second adjustment acceleration is less than zero;

[0068] Step S213: Control the trunk door to decelerate uniformly with the second adjustable acceleration.

[0069] Still as Figure 3 , Figure 4 As shown, during the opening or closing of the trunk door 303, the infrared device 304 detects whether there are any obstacles on the rotation trajectory from the trunk door 303 to the bottom of the trunk. It should be noted that when the trunk door is open, the starting point of rotation is the bottom of the trunk and the ending point of rotation is the trunk door 303. When the trunk door is closed, the starting point of rotation is the trunk door 303 and the ending point of rotation is the bottom of the trunk.

[0070] As an optional implementation, during the closing process of the trunk door 303, when there is an obstacle on the rotation trajectory from the trunk door 303 to the bottom of the trunk, the infrared device 304 or other distance detection device can be used to detect the distance (denoted as L) from the trunk door 303 to the obstacle, and the second adjustment acceleration a3 can be calculated based on the current rotation speed (denoted as v3) and distance L as shown in the following formula (4):

[0071]

[0072] Then, the controller 301 controls the trunk door 303 to decelerate uniformly with the second adjustable acceleration a3, so that the trunk door 303 can stop moving when it rotates to the obstacle without the obstacle disappearing, thereby reducing damage to the trunk door 303, the obstacle, etc.

[0073] In an optional embodiment, the above-described vehicle trunk door control method further includes:

[0074] Step S252: In response to the disappearance of the obstacle detected during the uniform deceleration motion of the trunk door, the trunk door is controlled to open or close at a uniform speed at the current rotation speed.

[0075] Furthermore, the aforementioned vehicle trunk door control method also includes:

[0076] Step S253: In response to the current rotation speed being zero, control the trunk door to open or close at a constant speed at the initial rotation speed.

[0077] If an obstacle is detected between the trunk door and the bottom of the trunk during the trunk door's rotation, and the trunk door begins to decelerate uniformly, then when the obstacle disappears, the trunk door can rotate at the same speed as when the obstacle disappeared. Conversely, if the trunk door's rotation speed is zero when the obstacle disappears, the trunk door can continue rotating at a constant speed. Figure 3 The controller 301 shown can control the trunk door to continue rotating at a constant speed according to the stored initial rotation speed until it is fully open or closed.

[0078] The vehicle trunk door control method provided in the above embodiments of the present invention applies a force to the trunk door at different times during the trunk door rotation process to determine the trunk door rotation speed that meets the user's current needs, thereby achieving the technical effect of improving the flexibility of controlling the vehicle trunk door and meeting the speed requirements of different users or the same user at different times for opening and closing the trunk door.

[0079] In this embodiment, a vehicle trunk door control device is also provided. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0080] Figure 5 This is a structural block diagram of an optional vehicle trunk door control device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes:

[0081] The acquisition module 501 is used to acquire multiple forces applied to the trunk door of the vehicle, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different;

[0082] Adjustment module 502 is used to adjust the rotation speed of the trunk door based on multiple forces;

[0083] Control module 503 is used to control the opening or closing of the trunk door based on the rotation speed.

[0084] Optionally, the multiple forces include an initial force applied to the trunk door when it is opened or closed, the initial force corresponding to the initial rotation speed, and the adjustment module 502 is further configured to: calculate the ratio of the initial force to the mass factor to obtain the initial acceleration, wherein the mass factor is determined by the mass of the trunk door, and the initial acceleration is greater than zero; and determine the initial acceleration as the initial rotation speed of the trunk door within a preset time.

[0085] Optionally, the multiple forces include other forces that occur after the initial force. The adjustment module 502 is further configured to: detect other forces during the opening or closing of the trunk door; calculate the ratio of the other forces to the mass factor to obtain a first adjustment acceleration; determine the target rotation speed of the trunk door within a preset time based on the trunk door's rotation speed to be adjusted and the first adjustment acceleration, wherein the rotation speed to be adjusted is the trunk door's rotation speed after adjustment by the first force, the first force is the initial force, or the first force is another force that occurs before and is adjacent to the first other force, the first other force is another force corresponding to the first adjustment acceleration; and control the trunk door to open or close at the target rotation speed at a uniform speed.

[0086] Optionally, Figure 6 This is a structural block diagram of another optional vehicle trunk door control device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes, in addition to Figure 5In addition to all the modules shown, it also includes: a detection module 504, used to detect whether there is an obstacle between the starting point and the ending point of the rotation of the trunk door during the opening or closing process, and to obtain the detection result.

[0087] Optionally, the above-mentioned vehicle trunk door control device further includes: a second control module (not shown in the figure), used to detect the distance from the current position of the trunk door to the obstacle in response to the detection result determining that there is an obstacle between the starting point and the ending point of the rotation; to calculate the distance and the current rotation speed of the trunk door to obtain a second adjustment acceleration, wherein the second adjustment acceleration is less than zero; and to control the trunk door to perform uniform deceleration motion with the second adjustment acceleration.

[0088] Optionally, the above-mentioned vehicle trunk door control device further includes: a third control module (not shown in the figure), used to control the trunk door to open or close at a constant speed at the current rotation speed when an obstacle is detected to disappear during the uniform deceleration motion of the trunk door.

[0089] Optionally, the above-mentioned vehicle trunk door control device further includes: a fourth control module (not shown in the figure), used to control the trunk door to open or close at a constant speed at the initial rotation speed in response to the current rotation speed being zero.

[0090] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0091] According to another aspect of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, the device where the storage medium is located controls the execution of any of the aforementioned vehicle trunk door control methods.

[0092] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0093] Step S1: Obtain multiple forces applied to the vehicle's trunk door, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different;

[0094] Step S2: Adjust the rotation speed of the trunk door based on multiple forces;

[0095] Step S3: Control the opening or closing of the trunk door based on the rotation speed.

[0096] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0097] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the vehicle trunk door control method of any of the foregoing embodiments.

[0098] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0099] Step S1: Obtain multiple forces applied to the vehicle's trunk door, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different;

[0100] Step S2: Adjust the rotation speed of the trunk door based on multiple forces;

[0101] Step S3: Control the opening or closing of the trunk door based on the rotation speed.

[0102] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.

[0103] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0104] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0105] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0106] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0108] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0109] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle's trunk door, characterized in that, include: Multiple forces applied to the trunk door of a vehicle are obtained, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different; The rotation speed of the trunk door is adjusted based on the aforementioned multiple forces; The opening or closing of the trunk door is controlled based on the rotation speed; During the opening or closing of the trunk door, it is detected whether there is an obstacle between the starting point and the ending point of the rotation of the trunk door, and the detection result is obtained; In response to the detection result determining that an obstacle exists between the starting point and the ending point of the rotation, the distance from the current position of the trunk door to the obstacle is detected; According to the distance With the current rotation speed of the trunk door According to the formula The second regulating acceleration was calculated. Wherein, the second adjustment acceleration is less than zero; The trunk door is controlled to decelerate uniformly at the second adjustable acceleration. In response to the disappearance of the obstacle detected during the uniform deceleration motion of the trunk door, the trunk door is controlled to open or close at a uniform speed at the current rotation speed. In response to the current rotation speed being zero, the trunk door is controlled to open or close at a constant speed at the initial rotation speed.

2. The vehicle trunk door control method according to claim 1, characterized in that, The plurality of forces includes an initial force applied to the trunk door when the trunk door is opened or closed, the initial force corresponding to an initial rotation speed, and adjusting the rotation speed of the trunk door based on the plurality of forces includes: The initial acceleration is obtained by calculating the ratio of the initial force to the mass factor, wherein the mass factor is determined by the mass of the trunk door, and the initial acceleration is greater than zero. The initial acceleration is determined as the initial rotation speed of the trunk door within a preset time period.

3. The vehicle trunk door control method according to claim 2, characterized in that, The plurality of forces includes other forces that are sequentially applied after the initial force, and the method further includes: In response to the opening or closing of the trunk door, the other force is detected; Calculate the ratio of the other forces to the mass factor to obtain the first regulating acceleration; Based on the trunk door's rotational speed to be adjusted and the first adjustment acceleration, the target rotational speed of the trunk door is determined within the preset time period, wherein the rotational speed to be adjusted is the rotational speed of the trunk door after the first force is adjusted, the first force is the initial force, or the first force is another force that is sequentially before and adjacent to the first other force, the first other force is another force corresponding to the first adjustment acceleration; Control the trunk door to open or close at the target rotation speed at a uniform speed.

4. A vehicle trunk door control device, characterized in that, The device is used to perform the vehicle trunk door control method according to any one of claims 1 to 3, the device comprising: The acquisition module is used to acquire multiple forces applied to the trunk door of the vehicle, wherein the multiple forces are executed sequentially according to a time sequence, and the forces corresponding to different time sequences are different; An adjustment module is used to adjust the rotation speed of the trunk door based on the multiple forces. The control module is used to control the opening or closing of the trunk door based on the rotation speed.

5. A computer-readable storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the storage medium to perform the vehicle trunk door control method according to any one of claims 1 to 3.

6. A vehicle, characterized in that, The system includes an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the vehicle trunk door control method of any one of claims 1 to 3.

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