An intelligent control system and method based on vehicle motor

Abstract

The present invention discloses an intelligent control system and method based on a vehicle motor, belonging to the technical field of automobile tailgates. The system includes a motion data acquisition module, a data processing and analysis module, a rotation angle confirmation module and a vehicle motor intelligent control module; the motion data acquisition module is used to collect personnel motion data in the automobile tailgate monitoring area; collect personnel motion data in the automobile tailgate monitoring area; the data processing and analysis module is used to analyze the collected personnel motion data, determine the number of personnel in the automobile tailgate monitoring area, and determine the height, location information of the monitoring area and action posture of each person; the rotation angle confirmation module is used to calculate the required adjustment rotation angle of the automobile tailgate hinge according to the current automobile tailgate hinge rotation angle, the height, location information of the monitoring area and action posture of each person; the vehicle motor intelligent control module is used to coordinate and control the rotation angle of the automobile tailgate hinge.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile tailgates, and in particular to an intelligent control system and method based on a vehicle motor. Background Art

[0002] Intelligent control of vehicle motors refers to the use of advanced control algorithms and intelligent technologies to monitor, diagnose and optimize the operating status of vehicle motors in real time to improve the working efficiency, reliability and safety of the motors. In the control of the car tailgate, the opening height of the car tailgate is generally a fixed position, so the experience of users of different body shapes will be different, especially for some smaller users who cannot reach the closing button of the car tailgate, resulting in a poor car experience. How to monitor the user's motion data and thus coordinate the car tailgate intelligently has not been effectively solved. Summary of the invention

[0003] The object of the present invention is to provide an intelligent control system and method based on a vehicle motor to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent control method based on a vehicle motor, the method comprising the following steps:

[0005] S10, receiving a tailgate opening control command, opening the tailgate, and collecting personnel movement data in a monitoring area of ​​the tailgate; the personnel movement data includes movement information and position information of the personnel; when the tailgate is opened, adjusting the rotation angle of the tailgate hinge to the maximum;

[0006] S20, analyzing the collected personnel movement data, determining the number of personnel in the tailgate monitoring area, and determining the height, location information of the monitoring area, and movement posture of each person;

[0007] S30, determining the current rotation angle of the tailgate hinge of the automobile; calculating the required adjustment rotation angle of the tailgate hinge of the automobile according to the current rotation angle of the tailgate hinge of the automobile, the height of each person, the location information of the monitoring area and the posture of the action, and coordinating and controlling the rotation angle of the tailgate hinge of the automobile until a tailgate closing control instruction is received, and executing step S40;

[0008] S40, closing the tailgate of the car, ending data collection, and storing the collected personnel movement data as historical data.

[0009] Furthermore, the tailgate monitoring area indicates an area where there is a risk of collision with a person during the opening and closing of the tailgate when the person is in the position; the tailgate is connected to a tailgate electronic control device for receiving control instructions to control the opening and closing of the tailgate and to coordinate the rotation angle of the tailgate hinge; motion sensors are installed on both sides of the car to collect motion data of the person and record historical data of collisions between the person and the tailgate and historical data of normal contact between the person and the tailgate; wherein, contact between the person's arm position and the tailgate is regarded as normal contact; contact between the person's head position and the tailgate is regarded as a collision.

[0010] Furthermore, the method steps of step S20 are:

[0011] S201, according to the collected personnel movement data, obtain the number of personnel n in the monitoring area of ​​the tailgate of the car, and determine the height h1, h2, ..., h n and the location information of each person in the monitoring area P1, P2, ..., P n ;

[0012] Among them, h i represents the height of the i-th person in the tailgate monitoring area; P i Indicates the location information of the i-th person in the monitoring area of ​​the tailgate of the car; i=1, 2, ..., n;

[0013] S202, with the vertical height of the horizontal plane as the z-axis, the vertical line between the person and the tailgate of the car as the y-axis, and the line perpendicular to the z-axis and the y-axis as the x-axis, a three-dimensional model for personnel motion analysis is established in the monitoring area of ​​the tailgate of the car; and the movement posture change of each person in the three-dimensional model is determined according to the movement information and position information of the person;

[0014] By building a three-dimensional model, the user's motion data is monitored and analyzed, thereby providing analytical data for subsequent intelligent control of the car's tailgate.

[0015] Furthermore, the method steps of step S30 are:

[0016] S301, determine the size and shape characteristics of the car tailgate, analyze the movement trajectory of the car tailgate during the process of fully opening and closing the car tailgate; when the car tailgate is in operation, obtain the change of the movement trajectory of the car tailgate object volume in the three-dimensional model at different car tailgate hinge rotation angles according to the established three-dimensional model; record it as set A; A={a1, a2, ..., a m}; ;

[0017] in, , and represents the spatial coordinates of the jth volume element point of the car tailgate in the three-dimensional model; m represents the number of volume element points on the analyzed car tailgate; Indicates the rotation angle of the car tailgate hinge; Indicates the spatial coordinates of the j-th volume element point in the three-dimensional model as the hinge rotates changes in

[0018] S302, based on historical data of normal contact between a person and a car tailgate without collision, analyze the shortest distance between the car tailgate and the person's head during the closing process when the person manually closes the car tailgate, and use the shortest distance as a threshold for analyzing the safe distance between the car tailgate and the person, to obtain a safe distance threshold K min ;

[0019] When a person manually closes the tailgate, he / she will always pay attention to the distance from the tailgate. The distance at which the person autonomously avoids the tailgate is used as the threshold for analyzing the safe distance between the tailgate and the person, which improves the accuracy of the system analysis.

[0020] S303: Determine the rotation angle of the tailgate hinge of the vehicle at the current time ;according to , determine the position information of each car tailgate volume element point in set A at the current time; according to the height of the person, the position information of the monitoring area and the action posture, determine the movement trajectory change of the person's head position in the three-dimensional model, recorded as set B; B={b1, b2, ..., b s}; ; According to the changes in the coordinates of the volume element points in set B, calculate the different volume element points at different angles The spatial coordinate height point corresponding to the safety distance threshold is calculated according to the formula:

[0021] ;

[0022] in, , and Represents the spatial coordinates of the e-th volume element point at the position of the person's head in the three-dimensional model; s represents the number of volume element points at the position of the person's head analyzed; t represents the timestamp; It represents the change of the spatial coordinates of the analyzed e-th volume element point in the three-dimensional model with time t; Indicates height The angle variable above the horizontal plane; The e-th volume element point representing the position of the person's head at time t at different angles The spatial coordinate height point corresponding to the safety distance threshold; It indicates the height point under the determined horizontal coordinate;

[0023] Among them, when the rotation angle of the hinge of the car tailgate is coordinated and controlled, the car tailgate is above the head of the person;

[0024] S304. Determine the spatial coordinate height point of the safety distance threshold under the volume element point corresponding to each person according to the change of the movement trajectory of the head position of each person in the three-dimensional model; determine that when the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated spatial coordinate height point of the safety distance threshold, and the number of the same points is the least, and determine the spatial coordinates corresponding to the same points, and determine the rotation angle that the hinge of the tailgate of the car needs to adjust at the next moment according to the spatial coordinates. and control the car tailgate hinge to the rotation angle ;

[0025] By analyzing the safety distance threshold and the position information of the person's head, the reasonable range within which the tailgate of the car and the person will not collide is determined, and the shortest distance between the tailgate of the car and the person is controlled at a safe distance to avoid collision. At the same time, the distance between the tailgate of the car and the person is shortened so that users with smaller stature can also touch the tailgate of the car at any time, improving the user experience of the car.

[0026] Furthermore, the collected personnel movement data is analyzed to determine whether there is a person in the trunk space of the car; when there is a person in the trunk space of the car, the rotation angle of the tailgate hinge is adjusted to the maximum; wherein, the straight-line distance between the position of the person's head and the tailgate of the car is monitored, and when the straight-line distance between the position of the person's head and the tailgate of the car is less than the safety distance threshold K min When the tailgate of the car is controlled to stop;

[0027] By calculating the safety distance threshold, during the tailgate adjustment process, when the distance between the tailgate and the user is less than the safety distance threshold, the tailgate of the car is controlled to stop in time, which improves the safety of the system and reduces the risk of collision between the person and the tailgate of the car.

[0028] An intelligent control system based on a vehicle motor, the system comprises a motion data acquisition module, a data processing and analysis module, a rotation angle confirmation module and a vehicle motor intelligent control module;

[0029] The motion data acquisition module is used to collect the motion data of people in the monitoring area of ​​the tailgate of the car; collect the motion data of people in the monitoring area of ​​the tailgate of the car; the data processing and analysis module is used to analyze the collected motion data of people, determine the number of people in the monitoring area of ​​the tailgate of the car, and determine the height, location information of the monitoring area and movement posture of each person; the rotation angle confirmation module is used to calculate the required adjustment rotation angle of the tailgate hinge of the car according to the current rotation angle of the tailgate hinge of the car, the height, location information of the monitoring area and movement posture of each person; the vehicle motor intelligent control module is used to coordinate and control the rotation angle of the tailgate hinge of the car;

[0030] The tailgate monitoring area indicates the area where a person is at risk of colliding with the tailgate during the process of opening and closing the tailgate.

[0031] Further, the motion data acquisition module includes a sensor management unit and a storage database;

[0032] The sensor management unit includes a motion sensor for collecting personnel motion data and recording historical data of collisions between personnel and the car tailgate and historical data of normal contact between personnel and the car tailgate; wherein the contact between the position of the personnel's arm and the car tailgate is regarded as normal contact; and the contact between the position of the personnel's head and the car tailgate is regarded as collision;

[0033] The storage database is used to store the collected personnel movement data as historical data.

[0034] Furthermore, the data processing and analysis module includes a personnel quantity determination unit, a three-dimensional model establishment unit and a personnel motion analysis unit;

[0035] The personnel quantity determination unit is used to determine the number of personnel in the monitoring area of ​​the tailgate of the vehicle;

[0036] The three-dimensional model building unit is used to build a three-dimensional model for personnel movement analysis in the monitoring area of ​​the tailgate of the car, with the vertical height of the horizontal plane as the z-axis, the vertical straight line between the personnel and the tailgate of the car as the y-axis, and the straight line perpendicular to the z-axis and the y-axis as the x-axis;

[0037] The personnel motion analysis unit is used to determine the height of each person and the position information of each person in the monitoring area, and determine the change of the motion posture of each person in the three-dimensional model according to the motion information and position information of the person.

[0038] Further, the rotation angle confirmation module includes a car tailgate analysis unit, a safety distance threshold confirmation unit, a space coordinate height point calculation unit and a rotation angle calculation unit;

[0039] The automobile tailgate analysis unit is used to determine the size and shape characteristics of the automobile tailgate, and analyze the movement trajectory of the automobile tailgate during the process of fully opening and closing the automobile tailgate; when the automobile tailgate is in operation, according to the established three-dimensional model, the movement trajectory change of the automobile tailgate object volume in the three-dimensional model under different automobile tailgate hinge rotation angles is obtained;

[0040] The safety distance threshold confirmation unit is used to analyze the shortest distance between the tailgate and the head of the person when the person manually closes the tailgate based on historical data of normal contact between the person and the tailgate without collision, and use the shortest distance as a safety distance threshold for analyzing the tailgate and the person to obtain a safety distance threshold;

[0041] The spatial coordinate height point calculation unit is used to determine the movement trajectory change of the person's head position in the three-dimensional model according to the person's height, the location information of the monitoring area and the action posture, and calculate the different volume element points at different angles. The spatial coordinate height point corresponding to the safety distance threshold;

[0042] The rotation angle calculation unit is used to determine the safety distance threshold spatial coordinate height point under the volume element point corresponding to each person according to the changes in the motion trajectory of the head position of each person in the three-dimensional model; when determining that the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated safety distance threshold spatial coordinate height point, and the number of the same points is the least, and the spatial coordinates corresponding to the same points are determined, and the rotation angle that the tailgate hinge of the car needs to adjust at the next moment is determined according to the spatial coordinates.

[0043] Furthermore, the vehicle motor intelligent control module includes a signal receiving unit, a hinge control unit and a safety judgment management unit;

[0044] The signal receiving unit includes a tailgate electric control device, which is used to receive control instructions for opening and closing the tailgate of the automobile, and coordinate the rotation angle of the hinge of the tailgate of the automobile;

[0045] The hinge control unit is used to control the opening and closing of the tailgate of the vehicle;

[0046] The safety judgment management unit is used to judge whether there is a person in the space range of the car trunk; when there is a person in the space range of the car trunk, the car tailgate hinge rotation angle is adjusted to the maximum; the straight-line distance between the person's head position and the car tailgate is monitored, and when the straight-line distance between the person's head position and the car tailgate is less than the safety distance threshold, the car tailgate is controlled to stop.

[0047] Compared with the prior art, the beneficial effects achieved by the present invention are: providing an intelligent control system and method based on a vehicle motor, monitoring and analyzing the user's motion data by establishing a three-dimensional model, thereby intelligently controlling the car tailgate and improving the user's car experience; at the same time, by calculating the safety distance threshold, controlling the car's tailgate to stop in time, improving the safety of the system and reducing the risk of collision between people and the car's tailgate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 It is a structural schematic diagram of an intelligent control system based on a vehicle motor of the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See also Figure 1 The present invention provides a technical solution: an intelligent control method based on a vehicle motor, the method comprising the following steps:

[0052] S10, receiving a tailgate opening control command, opening the tailgate, and collecting personnel movement data in a monitoring area of ​​the tailgate; the personnel movement data includes movement information and position information of the personnel; when the tailgate is opened, adjusting the rotation angle of the tailgate hinge to the maximum;

[0053] S20, analyzing the collected personnel movement data, determining the number of personnel in the tailgate monitoring area, and determining the height, location information of the monitoring area, and movement posture of each person;

[0054] S30, determining the current rotation angle of the tailgate hinge of the automobile; calculating the required adjustment rotation angle of the tailgate hinge of the automobile according to the current rotation angle of the tailgate hinge of the automobile, the height of each person, the location information of the monitoring area and the posture of the action, and coordinating and controlling the rotation angle of the tailgate hinge of the automobile until a tailgate closing control instruction is received, and executing step S40;

[0055] S40, closing the tailgate of the car, ending data collection, and storing the collected personnel movement data as historical data.

[0056] The tailgate monitoring area indicates an area where a person may collide with the tailgate during opening and closing when the person is in the tailgate's position; the tailgate is connected to an electronic control device for receiving control instructions to control the opening and closing of the tailgate and to coordinate the rotation angle of the tailgate hinge; motion sensors are installed on both sides of the car to collect motion data of the person and record historical data of collisions between the person and the tailgate and historical data of normal contact between the person and the tailgate; contact between the person's arm position and the tailgate is considered normal contact; contact between the person's head position and the tailgate is considered a collision.

[0057] The method steps of step S20 are:

[0058] S201, according to the collected personnel movement data, obtain the number of personnel n in the monitoring area of ​​the tailgate of the car, and determine the height h1, h2, ..., h n and the location information of each person in the monitoring area P1, P2, ..., P n ;

[0059] Among them, h i represents the height of the i-th person in the tailgate monitoring area; P i Indicates the location information of the i-th person in the monitoring area of ​​the tailgate of the car; i=1, 2, ..., n;

[0060] S202. With the vertical height of the horizontal plane as the z-axis, the vertical line between the person and the tailgate of the car as the y-axis, and the line perpendicular to the z-axis and the y-axis as the x-axis, a three-dimensional model for personnel motion analysis is established in the monitoring area of ​​the tailgate of the car; and the changes in the movement posture of each person in the three-dimensional model are determined according to the movement information and position information of the person.

[0061] The method steps of step S30 are:

[0062] S301, determine the size and shape characteristics of the car tailgate, analyze the movement trajectory of the car tailgate during the process of fully opening and closing the car tailgate; when the car tailgate is in operation, obtain the change of the movement trajectory of the car tailgate object volume in the three-dimensional model at different car tailgate hinge rotation angles according to the established three-dimensional model; record it as set A; A={a1, a2, ..., a m}; ;

[0063] in, , and represents the spatial coordinates of the jth volume element point of the car tailgate in the three-dimensional model; m represents the number of volume element points on the analyzed car tailgate; Indicates the rotation angle of the car tailgate hinge; Indicates the spatial coordinates of the j-th volume element point in the three-dimensional model as the hinge rotates changes in

[0064] S302, based on historical data of normal contact between a person and a car tailgate without collision, analyze the shortest distance between the car tailgate and the person's head during the closing process when the person manually closes the car tailgate, and use the shortest distance as a threshold for analyzing the safe distance between the car tailgate and the person, to obtain a safe distance threshold K min ;

[0065] S303: Determine the rotation angle of the tailgate hinge of the vehicle at the current time ;according to , determine the position information of each car tailgate volume element point in set A at the current time; according to the height of the person, the position information of the monitoring area and the action posture, determine the movement trajectory change of the person's head position in the three-dimensional model, recorded as set B; B={b1, b2, ..., b s}; ; According to the changes in the coordinates of the volume element points in set B, calculate the different volume element points at different angles The spatial coordinate height point corresponding to the safety distance threshold is calculated according to the formula:

[0066] ;

[0067] in, , and Represents the spatial coordinates of the e-th volume element point at the position of the person's head in the three-dimensional model; s represents the number of volume element points at the position of the person's head analyzed; t represents the timestamp; It represents the change of the spatial coordinates of the analyzed e-th volume element point in the three-dimensional model with time t; Indicates height The angle variable above the horizontal plane; The e-th volume element point representing the position of the person's head at time t at different angles The spatial coordinate height point corresponding to the safety distance threshold;

[0068] Among them, when the rotation angle of the hinge of the car tailgate is coordinated and controlled, the car tailgate is above the head of the person;

[0069] S304. Determine the spatial coordinate height point of the safety distance threshold under the volume element point corresponding to each person according to the change of the movement trajectory of the head position of each person in the three-dimensional model; determine that when the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated spatial coordinate height point of the safety distance threshold, and the number of the same points is the least, and determine the spatial coordinates corresponding to the same points, and determine the rotation angle that the hinge of the tailgate of the car needs to adjust at the next moment according to the spatial coordinates. and control the car tailgate hinge to the rotation angle .

[0070] The collected personnel movement data is analyzed to determine whether there is a person in the trunk space of the car; when there is a person in the trunk space of the car, the rotation angle of the tailgate hinge is adjusted to the maximum; the straight-line distance between the person's head position and the tailgate of the car is monitored, and when the straight-line distance between the person's head position and the tailgate of the car is less than the safety distance threshold K min When the tailgate of the car is controlled to stop.

[0071] An intelligent control system based on a vehicle motor, the system comprises a motion data acquisition module, a data processing and analysis module, a rotation angle confirmation module and a vehicle motor intelligent control module;

[0072] The motion data acquisition module is used to collect the motion data of people in the monitoring area of ​​the tailgate of the car; collect the motion data of people in the monitoring area of ​​the tailgate of the car; the data processing and analysis module is used to analyze the collected motion data of people, determine the number of people in the monitoring area of ​​the tailgate of the car, and determine the height, location information of the monitoring area and movement posture of each person; the rotation angle confirmation module is used to calculate the required adjustment rotation angle of the tailgate hinge of the car according to the current rotation angle of the tailgate hinge of the car, the height, location information of the monitoring area and movement posture of each person; the vehicle motor intelligent control module is used to coordinate and control the rotation angle of the tailgate hinge of the car;

[0073] The tailgate monitoring area indicates the area where a person is at risk of colliding with the tailgate during the process of opening and closing the tailgate.

[0074] The motion data acquisition module includes a sensor management unit and a storage database;

[0075] The sensor management unit includes a motion sensor for collecting personnel motion data and recording historical data of collisions between personnel and the car tailgate and historical data of normal contact between personnel and the car tailgate; wherein the contact between the position of the personnel's arm and the car tailgate is regarded as normal contact; and the contact between the position of the personnel's head and the car tailgate is regarded as collision;

[0076] The storage database is used to store the collected personnel movement data as historical data.

[0077] The data processing and analysis module includes a personnel quantity determination unit, a three-dimensional model establishment unit and a personnel motion analysis unit;

[0078] The personnel quantity determination unit is used to determine the number of personnel in the monitoring area of ​​the tailgate of the vehicle;

[0079] The three-dimensional model building unit is used to build a three-dimensional model for personnel movement analysis in the monitoring area of ​​the tailgate of the car, with the vertical height of the horizontal plane as the z-axis, the vertical straight line between the personnel and the tailgate of the car as the y-axis, and the straight line perpendicular to the z-axis and the y-axis as the x-axis;

[0080] The personnel motion analysis unit is used to determine the height of each person and the position information of each person in the monitoring area, and determine the change of the motion posture of each person in the three-dimensional model according to the motion information and position information of the person.

[0081] The rotation angle confirmation module includes a car tailgate analysis unit, a safety distance threshold confirmation unit, a space coordinate height point calculation unit and a rotation angle calculation unit;

[0082] The automobile tailgate analysis unit is used to determine the size and shape characteristics of the automobile tailgate, and analyze the movement trajectory of the automobile tailgate during the process of fully opening and closing the automobile tailgate; when the automobile tailgate is in operation, according to the established three-dimensional model, the movement trajectory change of the automobile tailgate object volume in the three-dimensional model under different automobile tailgate hinge rotation angles is obtained;

[0083] The safety distance threshold confirmation unit is used to analyze the shortest distance between the tailgate and the head of the person when the person manually closes the tailgate based on historical data of normal contact between the person and the tailgate without collision, and use the shortest distance as a safety distance threshold for analyzing the tailgate and the person to obtain a safety distance threshold;

[0084] The spatial coordinate height point calculation unit is used to determine the movement trajectory change of the person's head position in the three-dimensional model according to the person's height, the location information of the monitoring area and the action posture, and calculate the different volume element points at different angles. The spatial coordinate height point corresponding to the safety distance threshold;

[0085] The rotation angle calculation unit is used to determine the safety distance threshold spatial coordinate height point under the volume element point corresponding to each person according to the changes in the motion trajectory of the head position of each person in the three-dimensional model; when determining that the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated safety distance threshold spatial coordinate height point, and the number of the same points is the least, and the spatial coordinates corresponding to the same points are determined, and the rotation angle that the tailgate hinge of the car needs to adjust at the next moment is determined according to the spatial coordinates.

[0086] The vehicle motor intelligent control module includes a signal receiving unit, a hinge control unit and a safety judgment management unit;

[0087] The signal receiving unit includes a tailgate electric control device, which is used to receive control instructions for opening and closing the tailgate of the automobile, and coordinate the rotation angle of the hinge of the tailgate of the automobile;

[0088] The hinge control unit is used to control the opening and closing of the tailgate of the vehicle;

[0089] The safety judgment management unit is used to judge whether there is a person in the space range of the car trunk; when there is a person in the space range of the car trunk, the car tailgate hinge rotation angle is adjusted to the maximum; the straight-line distance between the person's head position and the car tailgate is monitored, and when the straight-line distance between the person's head position and the car tailgate is less than the safety distance threshold, the car tailgate is controlled to stop.

[0090] In this embodiment:

[0091] The system is specifically an intelligent control system for a car tailgate; in the system, the car tailgate is connected to a tailgate electric control device; the car tailgate is connected to a tailgate electric control device;

[0092] The tailgate electronic control device receives the tailgate opening control command and opens the tailgate to the maximum; collects the movement data of personnel in the monitoring area of ​​the tailgate and analyzes the collected movement data; takes the vertical height of the horizontal plane as the z-axis, the vertical line between the personnel and the tailgate as the y-axis, and the line perpendicular to the z-axis and the y-axis as the x-axis, and establishes a three-dimensional model for personnel movement analysis in the monitoring area of ​​the tailgate;

[0093] At a certain time t:

[0094] Determine the number of people n=2 in the tailgate monitoring area; determine the height of each person h1=175; h2=160; and the location information of each person in the monitoring area;

[0095] Determine the size and shape characteristics of the car tailgate, and analyze the movement trajectory of the car tailgate during the process of fully opening and closing the car tailgate; when the car tailgate is in operation, according to the established three-dimensional model, obtain the change of the movement trajectory of the car tailgate object volume in the three-dimensional model at different rotation angles of the car tailgate hinge; obtain the set A;

[0096] Based on the historical data of normal contact between people and the tailgate of a car without collision, the shortest distance between the tailgate of a car and the head of a person when the person manually closes the tailgate is analyzed, and the shortest distance is used as the safety distance threshold between the tailgate of a car and the person to obtain the safety distance threshold K. min =5;

[0097] Determine the rotation angle of the car tailgate hinge at the current time ;according to , determine the position information of each car tailgate volume element point in set A at the current time; determine the movement trajectory change of the person's head position in the three-dimensional model according to the person's height, location information of the monitoring area and posture, and obtain set B; calculate the different volume element points at different angles The spatial coordinate height point corresponding to the safety distance threshold is calculated according to the formula:

[0098] ;

[0099] According to the change of the movement trajectory of the head position of each person in the three-dimensional model, determine the spatial coordinate height point of the safety distance threshold under the volume element point corresponding to each person;

[0100] When determining the intelligent control of the tailgate of the car, there is a point where the volume element point of the tailgate of the car is the same as the calculated safety distance threshold spatial coordinate height point. At this time, the number of identical points is 1. The spatial coordinates corresponding to the identical points are determined, and the rotation angle that the tailgate hinge of the car needs to adjust at the next moment is determined based on the spatial coordinates. , control the rotation angle of the car tailgate hinge to .

[0101] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0102] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent control method based on a vehicle motor, characterized in that: The method comprises the following steps: S10, receiving a tailgate opening control command, opening the tailgate, and collecting personnel movement data in a monitoring area of ​​the tailgate; the personnel movement data includes movement information and position information of the personnel; when the tailgate is opened, adjusting the rotation angle of the tailgate hinge to the maximum; S20, analyzing the collected personnel movement data, determining the number of personnel in the tailgate monitoring area, and determining the height, location information of the monitoring area, and movement posture of each person; S30, determining the current rotation angle of the tailgate hinge of the automobile; calculating the required adjustment rotation angle of the tailgate hinge of the automobile according to the current rotation angle of the tailgate hinge of the automobile, the height of each person, the location information of the monitoring area and the posture of the action, and coordinating and controlling the rotation angle of the tailgate hinge of the automobile until a tailgate closing control instruction is received, and executing step S40; S40, closing the tailgate of the car, ending data collection, and storing the collected personnel movement data as historical data; The tailgate monitoring area indicates the area where the risk of collision with the person occurs during the opening and closing of the tailgate when the person is in the position; the tailgate is connected to a tailgate electronic control device for receiving control instructions to control the opening and closing of the tailgate and coordinate the rotation angle of the tailgate hinge; motion sensors are installed on both sides of the car to collect the motion data of the person and record the historical data of the collision between the person and the tailgate and the historical data of the normal contact between the person and the tailgate; wherein the contact between the person's arm position and the tailgate is regarded as normal contact; the contact between the person's head position and the tailgate is regarded as collision; The method steps of step S20 are: S201, according to the collected personnel movement data, obtain the number of personnel n in the monitoring area of ​​the tailgate of the car, and determine the height h1, h2, ..., h n and the location information of each person in the monitoring area P1, P2, ..., P n ; Among them, h i represents the height of the i-th person in the tailgate monitoring area; P i Indicates the location information of the i-th person in the monitoring area of ​​the tailgate of the car; i=1, 2, ..., n; S202, with the vertical height of the horizontal plane as the z-axis, the vertical line between the person and the tailgate of the car as the y-axis, and the line perpendicular to the z-axis and the y-axis as the x-axis, a three-dimensional model for personnel motion analysis is established in the monitoring area of ​​the tailgate of the car; and the movement posture change of each person in the three-dimensional model is determined according to the movement information and position information of the person; The method steps of step S30 are: S301, determine the size and shape characteristics of the car tailgate, analyze the movement trajectory of the car tailgate during the process of fully opening and closing the car tailgate; when the car tailgate is in operation, obtain the change of the movement trajectory of the car tailgate object volume in the three-dimensional model at different car tailgate hinge rotation angles according to the established three-dimensional model; record it as set A; A={a1, a2, ..., a m }; ; in, , and represents the spatial coordinates of the jth volume element point of the car tailgate in the three-dimensional model; m represents the number of volume element points on the analyzed car tailgate; Indicates the rotation angle of the car tailgate hinge; Indicates the spatial coordinates of the j-th volume element point in the three-dimensional model as the hinge rotates changes in S302, based on historical data of normal contact between a person and a car tailgate without collision, analyze the shortest distance between the car tailgate and the person's head during the closing process when the person manually closes the car tailgate, and use the shortest distance as a threshold for analyzing the safe distance between the car tailgate and the person, to obtain a safe distance threshold K min ; S303: Determine the rotation angle of the tailgate hinge of the vehicle at the current time ;according to , determine the position information of each car tailgate volume element point in set A at the current time; according to the height of the person, the position information of the monitoring area and the action posture, determine the movement trajectory change of the person's head position in the three-dimensional model, recorded as set B; B={b1, b2, ..., b s }; ; According to the changes in the coordinates of the volume element points in set B, calculate the different volume element points at different angles The spatial coordinate height point corresponding to the safety distance threshold is calculated according to the formula: ； in, , and Represents the spatial coordinates of the e-th volume element point at the position of the person's head in the three-dimensional model; s represents the number of volume element points at the position of the person's head analyzed; t represents the timestamp; It represents the change of the spatial coordinates of the analyzed e-th volume element point in the three-dimensional model with time t; Indicates height The angle variable above the horizontal plane; The e-th volume element point representing the position of the person's head at time t at different angles The spatial coordinate height point corresponding to the safety distance threshold; Among them, when the rotation angle of the hinge of the car tailgate is coordinated and controlled, the car tailgate is above the head of the person; S304. Determine the spatial coordinate height point of the safety distance threshold under the volume element point corresponding to each person according to the change of the movement trajectory of the head position of each person in the three-dimensional model; determine that when the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated spatial coordinate height point of the safety distance threshold, and the number of the same points is the least, and determine the spatial coordinates corresponding to the same points, and determine the rotation angle that the hinge of the tailgate of the car needs to adjust at the next moment according to the spatial coordinates. and control the car tailgate hinge to the rotation angle .

2. The intelligent control method based on a vehicle motor according to claim 1, characterized in that: The collected personnel movement data is analyzed to determine whether there is a person in the trunk space of the car; when there is a person in the trunk space of the car, the rotation angle of the tailgate hinge is adjusted to the maximum; the straight-line distance between the person's head position and the tailgate of the car is monitored, and when the straight-line distance between the person's head position and the tailgate of the car is less than the safety distance threshold K min When the tailgate of the car is controlled to stop.

3. An intelligent control system based on a vehicle motor, characterized in that: The system includes a motion data acquisition module, a data processing and analysis module, a rotation angle confirmation module and a vehicle motor intelligent control module; The motion data acquisition module is used to collect the motion data of people in the monitoring area of ​​the tailgate of the car; collect the motion data of people in the monitoring area of ​​the tailgate of the car; the data processing and analysis module is used to analyze the collected motion data of people, determine the number of people in the monitoring area of ​​the tailgate of the car, and determine the height, location information of the monitoring area and movement posture of each person; the rotation angle confirmation module is used to calculate the required adjustment rotation angle of the tailgate hinge of the car according to the current rotation angle of the tailgate hinge of the car, the height, location information of the monitoring area and movement posture of each person; the vehicle motor intelligent control module is used to coordinate and control the rotation angle of the tailgate hinge of the car; The tailgate monitoring area indicates the area where the person is at risk of colliding with the tailgate during the opening and closing process. The motion data acquisition module includes a sensor management unit and a storage database; The sensor management unit includes a motion sensor for collecting personnel motion data and recording historical data of collisions between personnel and the car tailgate and historical data of normal contact between personnel and the car tailgate; wherein the contact between the position of the personnel's arm and the car tailgate is regarded as normal contact; and the contact between the position of the personnel's head and the car tailgate is regarded as collision; The storage database is used to store the collected personnel movement data as historical data; The data processing and analysis module includes a personnel quantity determination unit, a three-dimensional model establishment unit and a personnel motion analysis unit; The personnel quantity determination unit is used to determine the number of personnel in the monitoring area of ​​the tailgate of the vehicle; The three-dimensional model building unit is used to build a three-dimensional model for personnel movement analysis in the monitoring area of ​​the tailgate of the car, with the vertical height of the horizontal plane as the z-axis, the vertical straight line between the personnel and the tailgate of the car as the y-axis, and the straight line perpendicular to the z-axis and the y-axis as the x-axis; The personnel motion analysis unit is used to determine the height of each person and the position information of each person in the monitoring area, and determine the change of the motion posture of each person in the three-dimensional model according to the motion information and position information of the person; The rotation angle confirmation module includes a car tailgate analysis unit, a safety distance threshold confirmation unit, a space coordinate height point calculation unit and a rotation angle calculation unit; The automobile tailgate analysis unit is used to determine the size and shape characteristics of the automobile tailgate, and analyze the movement trajectory of the automobile tailgate during the process of fully opening and closing the automobile tailgate; when the automobile tailgate is in operation, according to the established three-dimensional model, the movement trajectory change of the automobile tailgate object volume in the three-dimensional model under different automobile tailgate hinge rotation angles is obtained; The safety distance threshold confirmation unit is used to analyze the shortest distance between the tailgate and the head of the person when the person manually closes the tailgate, based on historical data of normal contact between the person and the tailgate without collision, and use the shortest distance as a safety distance threshold for analyzing the tailgate and the person to obtain a safety distance threshold; The spatial coordinate height point calculation unit is used to determine the movement trajectory change of the person's head position in the three-dimensional model according to the person's height, the location information of the monitoring area and the action posture, and calculate the different volume element points at different angles. The spatial coordinate height point corresponding to the safety distance threshold; The rotation angle calculation unit is used to determine the safety distance threshold spatial coordinate height point under the volume element point corresponding to each person according to the changes in the motion trajectory of the head position of each person in the three-dimensional model; when determining that the tailgate of the car is intelligently controlled, there are points whose volume element points of the tailgate of the car are the same as the calculated safety distance threshold spatial coordinate height point, and the number of the same points is the least, and the spatial coordinates corresponding to the same points are determined, and the rotation angle that the tailgate hinge of the car needs to adjust at the next moment is determined according to the spatial coordinates.

4. The intelligent control system based on vehicle motor according to claim 3 is characterized in that: The vehicle motor intelligent control module includes a signal receiving unit, a hinge control unit and a safety judgment management unit; The signal receiving unit includes a tailgate electric control device, which is used to receive control instructions for opening and closing the tailgate of the automobile, and coordinate the rotation angle of the hinge of the tailgate of the automobile; The hinge control unit is used to control the opening and closing of the tailgate of the vehicle; The safety judgment management unit is used to judge whether there is a person in the space range of the car trunk; when there is a person in the space range of the car trunk, the car tailgate hinge rotation angle is adjusted to the maximum; the straight-line distance between the person's head position and the car tailgate is monitored, and when the straight-line distance between the person's head position and the car tailgate is less than the safety distance threshold, the car tailgate is controlled to stop.

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