Tailgate control method, device and vehicle using the control method

Abstract

The present application discloses a tailgate control method, device and vehicle applying the control method, relating to the field of tailgate control technology. By adjusting the speed of the tailgate according to different types of adjustment parameters under different conditions, the speed of the tailgate is stabilized, the vehicle vibration is reduced, and the user experience is improved. Specifically, when the second difference is greater than or equal to a first preset threshold, the speed of the tailgate is adjusted according to a preset proportional adjustment parameter; when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the speed of the tailgate is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter; when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the speed of the tailgate is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter and a preset integral adjustment parameter.

Description

Technical Field

[0001] The present application belongs to the technical field of tailgate control, and specifically relates to a tailgate control method and device, and a vehicle applying the control method. Background Art

[0002] The tailgate of a vehicle is the door of the vehicle trunk. When a user uses the vehicle, the user often needs to open or close the tailgate of the vehicle. During the process of opening or closing the tailgate, the movement of the tailgate is nonlinear.

[0003] It should be noted that the tailgate of a vehicle is usually opened or closed electrically or by remote control. For example, to open the tailgate of a vehicle, you only need to press the open button inside the vehicle or the open button of the remote control key, and the tailgate of the vehicle will open. To close the tailgate of a vehicle, you only need to press the close button inside the vehicle or the close button of the remote control key, and the tailgate of the vehicle will close.

[0004] Since the movement of the tailgate is nonlinear during the process of opening or closing, that is, the speed of the tailgate is unstable, the vehicle shakes and affects the user experience. Summary of the Invention

[0005] The present application aims to provide a tailgate control method, device and vehicle using the control method, at least to solve the problem in the prior art that the speed of the tailgate is unstable during the opening or closing process, causing the vehicle to shake and affecting the user experience.

[0006] In order to solve the above technical problems, this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a tailgate control method, the method comprising:

[0008] In a previous preset cycle, obtaining a first speed of a tailgate of the vehicle and obtaining a first difference between a preset desired speed and the first speed; and in a current preset cycle, obtaining a second speed of the tailgate and obtaining a second difference between the desired speed and the second speed;

[0009] Subtract the second difference from the first difference to obtain a conditional parameter;

[0010] Selecting an adjustment parameter according to the second difference and the conditional parameter specifically includes:

[0011] When the second difference is greater than or equal to a first preset threshold, adjusting the speed of the tailgate according to a preset proportional adjustment parameter;

[0012] When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, adjusting the speed of the tailgate according to the preset proportional adjustment parameter and the preset differential adjustment parameter;

[0013] When the second difference is smaller than the first preset threshold and the absolute value of the conditional parameter is smaller than the second preset threshold, the speed of the tailgate is adjusted according to the preset proportional adjustment parameter, the preset differential adjustment parameter and the preset integral adjustment parameter.

[0014] In a second aspect, an embodiment of the present application further provides a tailgate control device, the device comprising:

[0015] a first acquiring module configured to acquire a first speed of a tailgate of the vehicle and a first difference between a preset desired speed and the first speed in a previous preset period, and to acquire a second speed of the tailgate and a second difference between the desired speed and the second speed in a current preset period;

[0016] A second acquisition module is configured to obtain a conditional parameter by subtracting the second difference from the first difference;

[0017] a first regulating module, configured to regulate the speed of the tailgate according to a preset proportional regulating parameter when the second difference is greater than or equal to a first preset threshold;

[0018] a second regulating module, configured to regulate the speed of the tailgate according to the preset proportional regulating parameter and the preset differential regulating parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold;

[0019] a third adjustment module, configured to adjust the speed of the tailgate according to the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold.

[0020] In a third aspect, an embodiment of the present application further provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0021] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0022] In a fifth aspect, an embodiment of the present application further provides a vehicle comprising the tailgate control device as described in the second aspect.

[0023] In an embodiment of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flowchart of the steps of a tailgate control method provided by an embodiment of the present application;

[0025] Figure 2 1 is a schematic diagram of a curve showing the relationship between the tailgate travel and time when the tailgate speed is not optimized and a curve showing the relationship between the second tailgate speed and time provided in an embodiment of the present application;

[0026] Figure 3 This is a schematic diagram of a curve showing the relationship between the second speed and time provided in an embodiment of the present application;

[0027] Figure 4 is another schematic diagram of a curve showing the relationship between the second speed and time provided in an embodiment of the present application;

[0028] Figure 5 is another schematic diagram of a curve showing the relationship between the second speed and time provided in an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of a curve showing the relationship between tailgate acceleration and time provided in an embodiment of the present application;

[0030] Figure 7 is another schematic diagram of a curve showing the relationship between tailgate acceleration and time provided in an embodiment of the present application;

[0031] Figure 8 is another schematic diagram of a curve showing the relationship between tailgate acceleration and time provided in an embodiment of the present application;

[0032] Figure 9Schematic diagram of a tailgate opening and closing process provided by an embodiment of the present application;

[0033] Figure 10 1 is a schematic diagram of a process for processing raw data of tailgate opening degree during the process of opening or closing the tailgate provided by an embodiment of the present application;

[0034] Figure 11 is a block diagram of a tailgate control device provided in an embodiment of the present application;

[0035] Figure 12 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0038] The tailgate control method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0039] Figure 1 This is a flow chart of the steps of a tailgate control method provided by an embodiment of the present application. Figure 1 As shown, the method may include:

[0040] Step 101: In a previous preset cycle, obtain a first speed of a tailgate of a vehicle and obtain a first difference between a preset expected speed and the first speed; and in a current preset cycle, obtain a second speed of the tailgate and obtain a second difference between the expected speed and the second speed.

[0041] It should be noted that the preset period is a collection period for obtaining the speed of the tailgate during the process of opening or closing the tailgate. For example, if the preset period is 0.5 seconds and the total time spent on the tailgate opening process is 5 seconds, the tailgate will be opened after a total of 10 preset periods.

[0042] The previous preset cycle and the current preset cycle are adjacent preset cycles, and the previous preset cycle is the previous preset cycle of the current preset cycle.

[0043] The current moment may be the end moment of the current preset cycle, and the second speed of the tailgate is used as the speed of the tailgate at the current moment; the previous moment is the end moment of the previous preset cycle, and the first speed of the tailgate is used as the speed of the tailgate at the previous moment; wherein the end moment of the previous preset cycle and the start moment of the current preset cycle are the same moment.

[0044] The first tailgate speed may be the average speed of the tailgate during the previous preset period, and the second tailgate speed may be the average speed of the tailgate during the current preset period. It should be noted that the average tailgate speed is the value obtained by dividing the tailgate travel within a time period by the time period. The tailgate travel is the change in tailgate position, which can be expressed as a percentage of the tailgate opening. The tailgate opening is the range of movement of the tailgate from fully closed to fully open, which can be expressed in degrees. For example, if the tailgate opening is 120 degrees, the preset period is 0.5 seconds, and the tailgate travel during the previous preset period is 10% of the tailgate opening, i.e., 12 degrees (obtained by multiplying 120 degrees by 10%), then the first tailgate speed is the value obtained by dividing the tailgate travel during the previous preset period by the duration of the preset period, i.e., 24 degrees per second (obtained by dividing 12 degrees by 0.5 seconds) or 20% of the tailgate opening per second (obtained by dividing 10% of the tailgate opening by 0.5 seconds).

[0045] The preset expected speed value can be a value obtained by dividing 100% of the tailgate opening by the expected time length, wherein, during the tailgate opening process, the expected time length is the expected time length for the tailgate to be fully closed and fully opened, and during the tailgate closing process, the expected time length is the expected time length for the tailgate to be fully opened and fully closed.

[0046] The first difference is the absolute value of the value obtained by subtracting the first speed value of the tailgate from the desired speed of the tailgate; the second difference is the absolute value of the value obtained by subtracting the second speed value of the tailgate from the desired speed of the tailgate.

[0047] Step 102: Subtract the second difference from the first difference to obtain a conditional parameter.

[0048] In the embodiment of the present application, the conditional parameter is obtained by subtracting the second difference from the first difference, and then the type of adjustment parameter is determined based on the conditional parameter to adjust the speed of the tailgate.

[0049] It should be noted that the conditional parameter is a value obtained by subtracting the second difference from the first difference.

[0050] Selecting the adjustment parameter according to the second difference and the conditional parameter specifically includes steps 103 to 105 .

[0051] Step 103: When the second difference is greater than or equal to a first preset threshold, adjust the speed of the tailgate according to a preset proportional adjustment parameter.

[0052] In the embodiment of the present application, when the second difference is greater than or equal to the first preset threshold, the parameter is adjusted according to the preset ratio to adjust the speed of the tailgate to stabilize the speed of the tailgate.

[0053] It should be noted that the first preset threshold can be expressed as a percentage of the tailgate opening; the preset proportional adjustment parameter is a parameter required for proportionally adjusting the tailgate speed; and using the preset proportional adjustment parameter to adjust the tailgate speed can reduce the second difference.

[0054] For example, the first preset threshold is 0.01% of the tailgate opening per second, the desired speed of the tailgate is 15% of the tailgate opening per second, and the second speed of the tailgate is 14.9% of the tailgate opening per second. The second difference is 0.1% of the tailgate opening per second (obtained by taking the absolute value of the difference between 15% of the tailgate opening per second and 14.9% of the tailgate opening per second). Since the second difference (0.1% of the tailgate opening per second) is greater than the first preset threshold (0.01% of the tailgate opening), the parameter is adjusted according to the preset ratio to adjust the speed of the tailgate.

[0055] Step 104: When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the speed of the tailgate is adjusted according to the preset proportional adjustment parameter and the preset differential adjustment parameter to stabilize the speed of the tailgate.

[0056] It should be noted that the second preset threshold value can be expressed as a percentage of the tailgate opening; the preset differential adjustment parameter is the parameter required for differential adjustment of the tailgate speed; by adjusting the tailgate speed according to the preset differential adjustment parameter, the elastic fluctuation of the tailgate under the action of damping (a force opposite to the direction of movement of the tailgate) can be eliminated.

[0057] For example, the first preset threshold is 0.01% of the tailgate opening per second, the second preset threshold is 0.00001% of the tailgate opening per second, the desired speed of the tailgate is 15% of the tailgate opening per second, the first speed of the tailgate is 15.0002% of the tailgate opening per second, and the second speed of the tailgate is 14.9999% of the tailgate opening per second. Then, the first difference is 0.0002% of the tailgate opening per second (the absolute value of the difference between 15% of the tailgate opening per second and 15.0002% of the tailgate opening per second), and the second difference is 0.0001% of the tailgate opening per second (the absolute value of the difference between 15% of the tailgate opening per second and 14.9999% of the tailgate opening per second). 9% of the tailgate opening per second), the absolute value of the conditional parameter is 0.0001% of the tailgate opening per second (obtained by taking the absolute value of the difference between 0.0002% of the tailgate opening per second and 0.0001% of the tailgate opening per second). Since the second difference (0.0001% of the tailgate opening per second) is less than the first preset threshold value (0.01% of the tailgate opening), and the absolute value of the conditional parameter (0.0001% of the tailgate opening per second) is greater than the second preset threshold value (0.00001% of the tailgate opening), the speed of the tailgate is adjusted according to the preset proportional adjustment parameter and the preset differential adjustment parameter.

[0058] Step 105: When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the speed of the tailgate is adjusted according to the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter to stabilize the speed of the tailgate.

[0059] It should be noted that the preset integral adjustment parameter is the parameter required for integral adjustment of the tailgate speed; the tailgate speed is adjusted according to the preset integral adjustment parameter, usually before the tailgate opening interruption (obtaining the tailgate opening interruption instruction), before the closing interruption (obtaining the tailgate closing interruption instruction), before the opening is completed (obtaining the indication information of the tailgate opening completion), and before the closing is completed (obtaining the indication information of the tailgate closing completion), to eliminate the influence of the accumulated speed difference (the difference between the desired speed of the tailgate and the speed of the tailgate).

[0060] For example, the first preset threshold is 0.01% of the tailgate opening per second, the second preset threshold is 0.00001% of the tailgate opening per second, the desired speed of the tailgate is 15% of the tailgate opening per second, the first speed of the tailgate is 15.0001% of the tailgate opening per second, and the second speed of the tailgate is 14.9999% of the tailgate opening per second. Then, the first difference is 0.0001% of the tailgate opening per second (the absolute value of the difference between 15% of the tailgate opening per second and 15.0001% of the tailgate opening per second), and the second difference is 0.0001% of the tailgate opening per second (the absolute value of the difference between 15% of the tailgate opening per second and 14.9999% of the tailgate opening per second). 9% of the tailgate opening per second), the absolute value of the conditional parameter is 0% of the tailgate opening per second (obtained by taking the absolute value of the difference between 0.0001% of the tailgate opening per second and 0.0001% of the tailgate opening per second). Since the second difference (0.0001% of the tailgate opening per second) is less than the first preset threshold value (0.01% of the tailgate opening), and the absolute value of the conditional parameter (0% of the tailgate opening per second) is less than the second preset threshold value (0.00001% of the tailgate opening), the speed of the tailgate is adjusted according to the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter.

[0061] Reference Figure 2 (a), the vertical axis s represents the tailgate travel, and the horizontal axis t represents time. In the case where the tailgate control method provided by the embodiment of the present application is not used, the curve of the tailgate travel changing with time from the tailgate being fully closed to being fully opened (i.e. Figure 2 From the curve from time t1 to time t2 in (a), it can be seen that the tailgate travel varies non-uniformly with time during the process from fully closed to fully opened. Figure 2 (b), the vertical axis v represents the second speed, and the horizontal axis t represents time. In the case where the tailgate control method provided by the embodiment of the present application is not used, the curve of the second speed of the tailgate changing with time during the process from fully closed to fully opened of the tailgate (i.e. Figure 2 As can be seen from the curve from time t1 to time t2 in (b), the speed of the tailgate is unstable, causing the vehicle to shake; Figure 2 (a) When the tailgate control method provided by the embodiment of the present application is not used, the curve of the tailgate travel changing with time during the process from fully opening to fully closing of the tailgate (i.e. Figure 2 From the curve from time t3 to time t4 in (a), it can be seen that the tailgate travel varies non-uniformly with time, and Figure 2 (b) When the tailgate control method provided by the embodiment of the present application is not used, the curve of the second speed of the tailgate changing with time during the process from fully opening to fully closing of the tailgate (i.e. Figure 2As can be seen from the curve from time t3 to time t4 in (b), the speed of the tailgate is unstable, causing the vehicle to shake. Therefore, it is necessary to use the tailgate control method provided in the embodiment of the present application to control the speed of the tailgate to stabilize the speed of the tailgate and reduce vehicle shaking. This not only enhances the accuracy of the tailgate movement, but also makes the opening and closing of the tailgate smoother and more stable, thereby improving the overall performance of the vehicle and bringing a more comfortable and convenient user experience to the user.

[0062] In summary, in the embodiments of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience.

[0063] In the above embodiment, a proportional-integral-differential controller is specifically used to adjust the speed of the tailgate.

[0064] It's important to note that the Proportional Integral Derivative (PID) controller is a feedback control method widely used in industrial control systems. It represents a combination of proportional, integral, and derivative control methods. A PID controller generates a control signal by calculating the weighted sum of these three terms, ensuring that the system output (the controlled process) closely follows the desired reference input (the setpoint).

[0065] Proportional control is the most fundamental component of PID control. It proportionally relates the controller output to the current error. The error is the difference between the desired output and the actual output. The preset proportional control parameter, the proportional gain, is a term in the control law that determines the contribution of the proportional term. Integral control focuses on the cumulative effect of the error over time. When a steady-state error exists—that is, when the system output fails to fully reach the setpoint—the integral action takes effect, pushing the system output closer to the setpoint. The preset integral control parameter, the integral gain, determines the contribution of the integral term to the controller output. Derivative control, based on the rate of change of the error with respect to time, provides a prediction of the system's future trajectory. Derivative control helps improve the system's dynamic response by reducing overshoot and oscillations and accelerating the system's steady-state transition. The preset derivative control parameter, the derivative gain, determines the contribution of the derivative term to the controller output.

[0066] Specifically, in some embodiments, the expression for the speed of the tailgate output by the proportional-integral-derivative controller applied to the control of the tailgate is:

[0067]

[0068] Where u(t) is the tailgate speed output by the PID controller at time t, e(t) is the difference between the desired tailgate speed at time t and the tailgate speed at time t, e(τ) is the difference between the desired tailgate speed and the tailgate speed as a function of time, and K P is the preset proportional adjustment parameter, K I is the preset integral adjustment parameter, K D K is the preset differential adjustment parameter. P e(t) is the proportional term, is the integral term, is the differential term.

[0069] The preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter correspond to the proportional term, the differential term, and the integral term in the proportional-integral-differential controller, respectively.

[0070] Specifically, when the second difference is greater than or equal to the first preset threshold, the tailgate speed is proportionally adjusted using a preset proportional adjustment parameter through a proportional-integral-differential controller, and both the preset differential adjustment parameter and the preset integral adjustment parameter are set to 0.

[0071] The first preset threshold is 0.01% tailgate opening per second, refer to Figure 3In a coordinate system where the vertical axis v represents the second speed and the horizontal axis t represents time, the coordinate points of the second speed corresponding to multiple collected moments are connected sequentially to form a curve showing the change of the second speed over time. At time c, the second speed of the tailgate is 0, and the desired tailgate speed is 12% tailgate opening per second. The second difference is 12% tailgate opening per second. The second difference is greater than the first preset threshold. At this time, the preset proportional adjustment parameter is used to proportionally adjust the tailgate speed. According to experimental data, time c is 2.8036 seconds, and the tailgate travel from 0 seconds to 2.8036 seconds is 2%.

[0072] Specifically, when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the proportional-integral-differential controller uses the preset proportional adjustment parameter to proportionally adjust the speed of the tailgate, and uses the preset differential adjustment parameter to differentially adjust the speed of the tailgate, and sets the preset integral adjustment parameter to 0.

[0073] Reference Figure 4 In some embodiments, the first preset threshold is 0.02% of the tailgate opening per second, the desired tailgate speed is 15% of the tailgate opening per second, and the second preset threshold is 0.00001% of the tailgate opening per second. According to experimental data, in a coordinate system where the vertical axis v represents the second speed and the horizontal axis t represents time, the coordinate points of the second speed corresponding to multiple collected moments are connected in sequence to form a curve showing the change of the second speed over time. Time b is 3.6038 seconds, time d is 3.8038 seconds, and time e is 4.0039 seconds. It should be noted that the speed at time b is the second speed of the preset period F1, the speed at time d is the second speed of the preset period F2, and the speed at time e is the second speed of the preset period F3. The preset period F1 is the preset period before the preset period F2, and the preset period F2 is the preset period before the preset period F3.

[0074] At time b, the second tailgate speed is 15.0124% of the tailgate opening per second, which is close to the desired tailgate speed. Therefore, the preset proportional adjustment parameter is approximately equal to 0, and the proportional term is approximately equal to 0. At this time, since the second difference is 0.0124% of the tailgate opening per second, the second difference is less than the first preset threshold. Therefore, the preset proportional adjustment parameter is used to proportionally adjust the tailgate speed, and the preset differential adjustment parameter is used to differentially adjust the tailgate speed.

[0075] At time d, the second speed of the tailgate is 19.9936% of the tailgate opening per second, and the second difference is 4.9936% of the tailgate opening per second. Since the second difference is greater than the first preset threshold, the preset proportional adjustment parameter is used to proportionally adjust the speed of the tailgate;

[0076] At time e, the second speed of the tailgate is 14.9958% of the tailgate opening per second, the second difference is 0.0042% of the tailgate opening per second, and the absolute value of the conditional parameter at time e is the absolute value of the value obtained by subtracting the second difference at time e from the second difference at time d. The absolute value of the conditional parameter is 4.9894% of the tailgate opening per second. Since the second difference is less than the first preset threshold value and the absolute value of the conditional parameter is greater than the second preset threshold value, the preset proportional adjustment parameter is used to proportionally adjust the speed of the tailgate, and the preset differential adjustment parameter is used to differentially adjust the speed of the tailgate.

[0077] Specifically, when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the proportional-integral-differential controller uses the preset proportional adjustment parameter to proportionally adjust the speed of the tailgate, uses the preset differential adjustment parameter to differentially adjust the speed of the tailgate, and uses the preset integral adjustment parameter to integrally adjust the speed of the tailgate.

[0078] Reference Figure 5 In other embodiments, the first preset threshold is 0.003% of the tailgate opening per second, the second preset threshold is 0.00001% of the tailgate opening per second, and the expected tailgate speed is 15% of the tailgate opening per second. According to experimental data, in a coordinate system where the vertical axis v represents the second speed and the horizontal axis t represents time, the coordinate points of the second speed corresponding to multiple collected moments are connected in sequence to form a curve showing the change of the second speed over time. Time f is 4.204 seconds, time g is 6.4004 seconds, and time h is 7.0045 seconds. It should be noted that the speed at time f is the second speed of the preset period E1, the speed at time g is the second speed of the preset period E2, and the speed at time h is the second speed of the preset period E3. The preset period E1 is the preset period before the preset period E2, and the preset period E2 is the preset period before the preset period E3.

[0079] At time f, the second tailgate speed is 14.9958% tailgate opening per second, which is close to the desired tailgate speed. Therefore, the preset proportional adjustment parameter is approximately equal to 0, and the proportional term is approximately equal to 0. At this time, since the second difference is 0.0042% tailgate opening per second, the second difference is greater than the first preset threshold value, and the preset proportional adjustment parameter is used to proportionally adjust the tailgate speed.

[0080] At time g, the second speed of the tailgate is 14.9977% of the tailgate opening per second, the second difference is 0.0023% of the tailgate opening per second, and the absolute value of the conditional parameter at time g is the absolute value of the value obtained by subtracting the second difference at time g from the second difference at time f. The absolute value of the conditional parameter is 0.0019% of the tailgate opening per second. Since the second difference is less than the first preset threshold value and the absolute value of the conditional parameter is greater than the second preset threshold value, the preset proportional adjustment parameter is used to proportionally adjust the tailgate speed, and the preset differential adjustment parameter is used to differentially adjust the tailgate speed.

[0081] At time h, the second speed of the tailgate is 14.9977% of the tailgate opening per second, the second difference is 0.0023%, the absolute value of the conditional parameter at time h is the absolute value of the value obtained by subtracting the second difference at time h from the second difference at time g, and the absolute value of the conditional parameter is 0. Since the second difference is less than the first preset threshold, the absolute value of the conditional parameter is less than the second preset threshold, so the preset proportional adjustment parameter is used to proportionally adjust the speed of the tailgate, and the preset differential adjustment parameter is used to differentially adjust the speed of the tailgate, and the preset integral adjustment parameter is used to integrally adjust the speed of the tailgate.

[0082] Reference Figure 6 According to the experimental data, in the coordinate system where the vertical axis a represents the tailgate acceleration and the horizontal axis t represents the time, the time f is 4.204 seconds, the time g is 6.4004 seconds, and the time h is 7.0045 seconds. At the time f, the tailgate acceleration is -4.44089e -14 % tailgate opening per square second. At moment g, the tailgate acceleration is 0.00166214% tailgate opening per square second. At moment h, the tailgate acceleration is -0.00166461% tailgate opening per square second. Since the absolute values ​​of the tailgate accelerations at moments f, g, and h are all less than 0.01% tailgate opening per square second, the speed of the tailgate can be considered stable.

[0083] Optionally, in some embodiments, the method further comprises the following steps:

[0084] Step 106: Multiply the second difference by the first preset parameter to obtain a product.

[0085] In the embodiment of the present application, the second difference is multiplied by the first preset parameter to obtain a product, and the product is then added to the second preset parameter to obtain the first added amount.

[0086] Specifically, the first preset parameter may be -1 / 15.

[0087] Step 107: Add the product to a second preset parameter to obtain a first added value.

[0088] In the embodiment of the present application, the first addition amount is obtained by adding the product to the second preset parameter, and then the second difference and the first addition amount are multiplied to obtain the preset proportional adjustment parameter.

[0089] Specifically, the second preset parameter may be 1.

[0090] Step 108: Multiply the second difference and the first added value to obtain the preset proportional adjustment parameter.

[0091] In the embodiment of the present application, a preset proportional adjustment parameter is obtained by multiplying the second difference and the first addition, and then the preset proportional adjustment parameter is used to proportionally adjust the speed of the tailgate.

[0092] Specifically, the preset proportional adjustment parameter=the second difference×the first addition amount, wherein the first addition amount=(-1 / 15)×the second difference+1.

[0093] By executing steps 106 to 108 , it is possible to obtain the preset proportional adjustment parameter.

[0094] Optionally, in some embodiments, the method further comprises the following steps:

[0095] Step 109: Divide the third preset parameter by the conditional parameter to obtain the preset differential adjustment parameter.

[0096] In the embodiment of the present application, the preset differential adjustment parameter is obtained by dividing the third preset parameter by the conditional parameter, and then the preset differential adjustment parameter is used to perform differential adjustment on the speed of the tailgate.

[0097] Specifically, the third preset parameter may be -4, and the preset differential adjustment parameter = -4 / condition parameter.

[0098] Optionally, in some embodiments, the method further comprises the following steps:

[0099] Step 110: Add the first difference and the second difference to obtain a second added value.

[0100] In the embodiment of the present application, the first difference and the second difference are added to obtain a second added amount, and then the second added amount is multiplied by a fourth preset parameter to obtain a preset integral adjustment parameter.

[0101] Step 111: multiply the second added amount by a fourth preset parameter to obtain the preset integral adjustment parameter.

[0102] In the embodiment of the present application, the preset integral adjustment parameter is obtained by multiplying the second added amount by the fourth preset parameter, and then the preset integral adjustment parameter is used to perform integral adjustment on the speed of the tailgate.

[0103] Specifically, the fourth preset parameter may be 72, and the preset integral adjustment parameter=72×the second added amount, wherein the second added amount=the first difference+the second difference.

[0104] By executing steps 110 to 111 , it is possible to obtain the preset integral adjustment parameter.

[0105] Optionally, in some embodiments, the following step is further included before step 101: determining whether the tailgate travel during the opening or closing process of the tailgate is greater than or equal to a travel threshold.

[0106] In an embodiment of the present application, when the tailgate travel is less than a travel threshold during the process of opening or closing the tailgate, the movement of the tailgate is irregular due to the work done by the rubber strip inside the tailgate on the tailgate, and is not suitable for control by a PID controller. Therefore, when the tailgate travel is greater than or equal to the travel threshold during the process of opening or closing the tailgate, the steps of obtaining a first speed of the tailgate of the vehicle and obtaining a first difference between a preset expected speed and the first speed in the previous preset cycle, and obtaining a second speed of the tailgate and obtaining a second difference between the expected speed and the second speed in the current preset cycle are performed, so that the PID controller effectively controls the tailgate.

[0107] It should be noted that the tailgate can be structurally adjusted during vehicle manufacturing so that when the tailgate is opened or closed and the tailgate travel is less than the travel threshold, the speed of the tailgate is stable, thereby reducing tailgate vibration. Figure 7 Before the tailgate is structurally adjusted during vehicle manufacturing, the tailgate acceleration fluctuation range is greater than -5% tailgate opening per square second to 5% tailgate opening per square second, refer to Figure 8 After structural adjustments to the tailgate during vehicle manufacturing, the fluctuation range of the tailgate acceleration is less than -5% of the tailgate opening per square second to 5% of the tailgate opening per square second, which improves the stability of the tailgate acceleration and reduces tailgate jitter.

[0108] Specifically, the travel threshold may be expressed as a percentage of the tailgate opening, for example, the travel threshold may be 2% of the tailgate opening.

[0109] For example, refer to Figure 9(a) In section A1 of the tailgate opening process, the tailgate travel is less than the travel threshold, and the PID controller is not used for control. In section A2 of the tailgate opening process, the tailgate travel is greater than or equal to the travel threshold, and the PID controller is used for control, and the steps of obtaining a first speed of the tailgate of the vehicle and a first difference between a preset expected speed and the first speed in a previous preset cycle, and obtaining a second speed of the tailgate and a second difference between the expected speed and the second speed in a current preset cycle are performed; with reference to Figure 9 (b) In section A3 of the tailgate closing process, the tailgate travel of the tailgate is less than the travel threshold, and the PID controller is not used for control at this time. In section A4 of the tailgate closing process, the tailgate travel of the tailgate is greater than or equal to the travel threshold, and the PID controller is used for control at this time, and the steps of obtaining a first speed of the tailgate of the vehicle and a first difference between a preset expected speed and the first speed in a previous preset cycle, and obtaining a second speed of the tailgate and a second difference between the expected speed and the second speed in a current preset cycle are entered.

[0110] Optionally, in some embodiments, the data of the tailgate travel changing with time can be read in the network segment of the vehicle controller area network (CAN), referring to Figure 10 The process of displaying the motion curve image of the tailgate includes: X1. Calling the function library to import the message data into the software (such as MATLAB) and parsing it to obtain the required signal timetable; X2. According to the signal timetable, calling the differential function to process the original data (such as the data of the tailgate travel changing with time) to obtain the required data (such as the data of the tailgate speed changing with time); X3. Processing the data and displaying it in a graphical manner, that is, displaying the motion curve image of the tailgate, wherein the motion curve image of the tailgate includes the tailgate travel and time curve image, the tailgate speed and time curve image, and the tailgate acceleration and time curve image.

[0111] In summary, in the embodiments of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience.

[0112] Figure 11 This is a block diagram of a tailgate control device provided by an embodiment of the present application. Figure 11 As shown, the device 300 includes:

[0113] A first acquisition module 301 is configured to acquire a first speed of a tailgate of a vehicle in a previous preset period and obtain a first difference between a preset desired speed and the first speed, and to acquire a second speed of the tailgate in a current preset period and obtain a second difference between the desired speed and the second speed;

[0114] A second acquisition module 302 is configured to obtain a conditional parameter by subtracting the second difference from the first difference;

[0115] A first adjustment module 303 is configured to adjust the speed of the tailgate according to a preset proportional adjustment parameter when the second difference is greater than or equal to a first preset threshold;

[0116] a second adjustment module 304 configured to adjust the speed of the tailgate according to the preset proportional adjustment parameter and the preset differential adjustment parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold;

[0117] The third adjustment module 305 is used to adjust the speed of the tailgate according to the preset proportional adjustment parameter, the preset differential adjustment parameter and the preset integral adjustment parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold.

[0118] Optionally, the apparatus 300 further includes:

[0119] a third obtaining module, configured to multiply the second difference by a first preset parameter to obtain a product;

[0120] a fourth acquisition module, configured to add the product to a second preset parameter to obtain a first added value;

[0121] A fifth acquisition module is configured to multiply the second difference by the first addition to obtain the preset proportional adjustment parameter.

[0122] Optionally, the apparatus 300 further includes:

[0123] The sixth acquisition module is used to divide the third preset parameter by the condition parameter to obtain the preset differential adjustment parameter.

[0124] Optionally, the apparatus 300 further includes:

[0125] a seventh acquisition module, configured to add the first difference and the second difference to obtain a second added value;

[0126] An eighth acquisition module is configured to multiply the second added amount by a fourth preset parameter to obtain the preset integral adjustment parameter.

[0127] Optionally, the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter correspond to the proportional term, the differential term, and the integral term in the proportional-integral-differential controller, respectively.

[0128] Optionally, the apparatus 300 further includes:

[0129] The judgment module is configured to judge, before obtaining the first difference and the second difference, whether the tailgate travel during the opening or closing process of the tailgate is greater than or equal to a travel threshold.

[0130] The tailgate control device in the embodiments of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc., and the embodiments of the present application do not specifically limit this.

[0131] The tailgate control device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0132] The tailgate control device provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented by the tailgate control device in the method embodiment are not described here.

[0133] An embodiment of the present application also provides a vehicle, comprising the aforementioned tailgate control device.

[0134] The specific implementation process of the tailgate control device in the vehicle is similar to the implementation process of the aforementioned tailgate control device, and will not be repeated here.

[0135] In an embodiment of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience.

[0136] Optionally, an embodiment of the present application further provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the various processes of the above-mentioned tailgate control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0137] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0138] Figure 12 A schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0139] The electronic device 400 includes but is not limited to components such as a radio frequency unit 401 , a network module 402 , an audio output unit 403 , an input unit 404 , a sensor 405 , a display unit 406 , a user input unit 407 , an interface unit 408 , a memory 409 , and a processor 410 .

[0140] Those skilled in the art will understand that the electronic device 400 may also include a power source (such as a battery) to power each component, and the power source may be logically connected to the processor 410 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. Figure 12 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be repeated here.

[0141] The processor 410 is configured to obtain, in a previous preset cycle, a first speed of a tailgate of the vehicle and a first difference between a preset desired speed and the first speed, and, in a current preset cycle, obtain a second speed of the tailgate and a second difference between the desired speed and the second speed;

[0142] Subtract the second difference from the first difference to obtain a conditional parameter;

[0143] When the second difference is greater than or equal to a first preset threshold, adjusting the speed of the tailgate according to a preset proportional adjustment parameter;

[0144] When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, adjusting the speed of the tailgate according to the preset proportional adjustment parameter and the preset differential adjustment parameter;

[0145] When the second difference is smaller than the first preset threshold and the absolute value of the conditional parameter is smaller than the second preset threshold, the speed of the tailgate is adjusted according to the preset proportional adjustment parameter, the preset differential adjustment parameter and the preset integral adjustment parameter.

[0146] In an embodiment of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience.

[0147] Optionally, the processor 410 is further used to multiply the second difference by a first preset parameter to obtain a product; add the product to the second preset parameter to obtain a first addition; and multiply the second difference by the first addition to obtain the preset proportional adjustment parameter.

[0148] Optionally, the processor 410 is further configured to divide the third preset parameter by the conditional parameter to obtain the preset differential adjustment parameter.

[0149] Optionally, the processor 410 is further configured to add the first difference to the second difference to obtain a second addition; and multiply the second addition by a fourth preset parameter to obtain the preset integral adjustment parameter.

[0150] Optionally, the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter correspond to the proportional term, the differential term, and the integral term in the proportional-integral-differential controller, respectively.

[0151] Optionally, the processor 410 is further configured to determine, before obtaining the first difference and the second difference, whether the tailgate travel during the opening or closing process of the tailgate is greater than or equal to a travel threshold.

[0152] In an embodiment of the present application, the tailgate speed is stabilized by adjusting the tailgate speed according to different types of adjustment parameters under different conditions. Specifically, when the second difference is greater than or equal to a first preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter and a preset differential adjustment parameter. When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold, the tailgate speed is adjusted according to a preset proportional adjustment parameter, a preset differential adjustment parameter, and a preset integral adjustment parameter. In this process, the tailgate speed is stabilized, which reduces vehicle vibration and improves the user experience.

[0153] It should be understood that in an embodiment of the present application, the input unit 404 may include a graphics processing unit (GPU) 4041 and a microphone 4042, and the graphics processor 4041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 407 includes a touch panel 4071 and at least one of other input devices 4072. The touch panel 4071 is also called a touch screen. The touch panel 4071 may include two parts: a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and an operating stick, which will not be repeated here.

[0154] The memory 409 can be used to store software programs and various data. The memory 409 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 409 may include a volatile memory or a non-volatile memory, or the memory 409 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 409 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0155] Processor 410 may include one or more processing units. Optionally, processor 410 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 410.

[0156] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned tailgate control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0157] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0158] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned tailgate control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0159] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0160] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising 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. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0161] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0162] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A tailgate control method, characterized in that: The method comprises: In a previous preset cycle, obtaining a first speed of a tailgate of the vehicle and obtaining a first difference between a preset desired speed and the first speed; and in a current preset cycle, obtaining a second speed of the tailgate and obtaining a second difference between the desired speed and the second speed; Subtract the second difference from the first difference to obtain a conditional parameter; Selecting an adjustment parameter according to the second difference and the conditional parameter specifically includes: When the second difference is greater than or equal to a first preset threshold, adjusting the speed of the tailgate according to a preset proportional adjustment parameter; When the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold, adjusting the speed of the tailgate according to the preset proportional adjustment parameter and the preset differential adjustment parameter; When the second difference is smaller than the first preset threshold and the absolute value of the conditional parameter is smaller than the second preset threshold, adjusting the speed of the tailgate according to the preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter; The preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter correspond to the proportional term, the differential term, and the integral term in the proportional-integral-differential controller, respectively.

2. The method according to claim 1, characterized in that The method further comprises: multiplying the second difference by the first preset parameter to obtain a product; Adding the product to a second preset parameter to obtain a first added value; The second difference is multiplied by the first added amount to obtain the preset proportional adjustment parameter.

3. The method according to claim 1, characterized in that The method further comprises: The third preset parameter is divided by the conditional parameter to obtain the preset differential adjustment parameter.

4. The method according to claim 1, wherein The method further comprises: Adding the first difference and the second difference to obtain a second added amount; The second added amount is multiplied by a fourth preset parameter to obtain the preset integral adjustment parameter.

5. The method according to claim 1, wherein Before obtaining the first difference and the second difference, the method further includes: determining whether a tailgate travel during the opening or closing process of the tailgate is greater than or equal to a travel threshold.

6. A tailgate control device, characterized in that: The device comprises: a first acquiring module configured to acquire a first speed of a tailgate of the vehicle and a first difference between a preset desired speed and the first speed in a previous preset period, and to acquire a second speed of the tailgate and a second difference between the desired speed and the second speed in a current preset period; A second acquisition module is configured to obtain a conditional parameter by subtracting the second difference from the first difference; a first regulating module, configured to regulate the speed of the tailgate according to a preset proportional regulating parameter when the second difference is greater than or equal to a first preset threshold; a second regulating module, configured to regulate the speed of the tailgate according to the preset proportional regulating parameter and the preset differential regulating parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is greater than or equal to the second preset threshold; a third regulating module, configured to regulate the speed of the tailgate according to the preset proportional regulating parameter, the preset differential regulating parameter, and the preset integral regulating parameter when the second difference is less than the first preset threshold and the absolute value of the conditional parameter is less than the second preset threshold; The preset proportional adjustment parameter, the preset differential adjustment parameter, and the preset integral adjustment parameter correspond to the proportional term, the differential term, and the integral term in the proportional-integral-differential controller, respectively.

7. An electronic device, characterized in that: The invention comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the tailgate control method according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the tailgate control method according to any one of claims 1 to 5 are implemented.

9. A vehicle, characterized in that: The invention comprises the tailgate control device as claimed in claim 6.

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