Vehicle tailboard control method and device, vehicle-mounted terminal and storage medium

Abstract

The invention is suitable for the technical field of automobiles, and provides a vehicle tailboard control method and device, a vehicle-mounted terminal and a storage medium, the method comprises the steps that when a tailboard opening request of a vehicle is received, in-vehicle thrust borne by a tailboard of a cargo hold of the vehicle is detected; and when it is detected that the in-vehicle thrust is smaller than or equal to the first threshold value, the tail board is controlled to be opened. Compared with the prior art that the tailboard is directly opened when it is detected that a switch for controlling the tailboard is turned on, the method provided by the invention has the advantages that when the tailboard opening request is received, the in-vehicle thrust borne by the tailboard of the cargo hold of the vehicle needs to be detected, and when it is detected that the in-vehicle thrust is smaller than or equal to the first threshold value, the tailboard is directly opened; in other words, the extrusion of the articles in the cargo hold on the tail board is too small, that is, the articles in the cargo hold do not fall off when the tail board is opened, so that the tail board can be controlled to be opened at the moment, and the practicability of opening the tail board is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to a control method, device, vehicle-mounted terminal and storage medium for a vehicle tailgate. Background Art

[0002] A car tail lift is also called a car lifting tail lift, a car loading and unloading tail lift, a lifting tail lift, a hydraulic car tail lift, or a truck tail lift. It is a hydraulic lifting and loading equipment powered by a vehicle-mounted battery installed at the rear of a truck or other vehicle. Car tail lifts can be classified into: cantilever tail lifts, vertical tail lifts, rocker tail lifts, and folding tail lifts. As a vehicle loading and unloading tool, the tail lift can greatly improve the efficiency and convenience of loading and unloading.

[0003] However, in the prior art, the tailgate of a car is usually opened directly upon detecting the opening switch, which is not considered comprehensively enough, resulting in the problem that the prior art has low practicality in opening the tailgate of a car. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, vehicle-mounted terminal and storage medium for a vehicle tailgate, which improve the practicability of opening the tailgate.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a tailgate of a vehicle, comprising:

[0006] When a tailgate opening request of a vehicle is received, detecting the in-vehicle thrust borne by the tailgate of the cargo compartment of the vehicle;

[0007] When it is detected that the thrust force inside the vehicle is less than or equal to a first threshold, the tailgate is controlled to open.

[0008] Optionally, when a tailgate opening request of a vehicle is received, detecting the in-vehicle thrust borne by the tailgate includes:

[0009] When the tailgate opening request is received, determining a state of the vehicle;

[0010] If the vehicle is in a stationary state, the in-vehicle thrust borne by the tailgate is detected.

[0011] Optionally, when it is detected that the thrust in the vehicle is less than or equal to a first threshold, controlling the tailgate to open includes:

[0012] When it is detected that the thrust force inside the vehicle is less than or equal to the first threshold, acquiring a first image inside the cargo hold;

[0013] Determining, based on the first image, a placement position of each item located in the cargo hold and in contact with the tailgate;

[0014] Determining the opening amplitude of the tailgate according to the placement position of each item;

[0015] The tailgate is controlled to open to the amplitude.

[0016] Optionally, determining the opening amplitude of the tailgate according to the placement position of each item includes:

[0017] According to the placement position of each of the items, respectively determining the contact position between each of the items and the tailgate;

[0018] The opening amplitude of the tailgate is determined according to the placement position of each object and the contact position between each object and the tailgate.

[0019] Optionally, after detecting the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle, the method further comprises:

[0020] When it is detected that the thrust force inside the vehicle is greater than the first threshold, acquiring a second image inside the cargo hold;

[0021] determining, based on the second image, a placement position of each item located in the cargo hold and in contact with the tailgate;

[0022] Determining the probability of each object falling when the tailgate is opened according to the placement position of each object;

[0023] If the probability of each of the items falling when the tailgate is opened is less than a second threshold, controlling the tailgate to be opened;

[0024] If at least one of the dropping probabilities of each object when the tailgate is opened is greater than the second threshold, then refusing to respond to the tailgate opening request.

[0025] Optionally, determining the probability of each object falling when the tailgate is opened according to the placement position of each object includes:

[0026] Determine the contact angle between each object and the tailgate according to the placement position of each object; wherein the contact angle refers to the angle between the contact surface between the object and the tailgate and the plane where the tailgate is located;

[0027] According to the contact angle between each object and the tailgate, respectively predict the magnitude of the resultant force applied to each object when the tailgate is opened;

[0028] The probability of each object falling when the tailgate is opened is determined according to the magnitude of the resultant force applied to each object when the tailgate is opened.

[0029] Optionally, after detecting the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle, the method further comprises:

[0030] When it is detected that the thrust inside the vehicle is greater than the first threshold, the tailgate opening request is rejected and a prompt message for prompting that the thrust inside the vehicle is too large is output.

[0031] In a second aspect, an embodiment of the present application provides a control device for a vehicle tailgate, comprising:

[0032] a first detection unit, configured to detect the in-vehicle thrust borne by the tailgate of the cargo compartment of the vehicle when receiving a tailgate opening request of the vehicle;

[0033] The first control unit is used to control the tailgate to open when it is detected that the thrust force inside the vehicle is less than or equal to a first threshold.

[0034] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a vehicle tailgate control method as described in any one of the first aspects above is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle tailgate control method as described in any one of the above-mentioned first aspects is implemented.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle-mounted terminal, enables the vehicle-mounted terminal to execute the vehicle tailgate control method described in any one of the above-mentioned first aspects.

[0037] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0038] The embodiment of the present application provides a method for controlling a vehicle tailgate, which detects the thrust in the vehicle that the tailgate of the cargo compartment of the vehicle is subjected to when a tailgate opening request of the vehicle is received; when the thrust in the vehicle is detected to be less than or equal to a first threshold, the tailgate is controlled to be opened. Compared with the prior art that directly opens the tailgate when the switch for controlling the tailgate is detected to be turned on, the method provided by the present application needs to detect the magnitude of the thrust in the vehicle that the tailgate of the cargo compartment of the vehicle is subjected to when a tailgate opening request is received, and when it is detected that the thrust in the vehicle is less than or equal to the first threshold, that is, the items in the cargo compartment exert less pressure on the tailgate, that is, the items in the cargo compartment will not fall when the tailgate is opened, therefore, the tailgate can be controlled to be opened at this time, thereby improving the practicality of the tailgate opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 is a flow chart of a method for controlling a vehicle tailgate provided in one embodiment of the present application;

[0041] Figure 2 is a flow chart of a method for controlling a vehicle tailgate provided by another embodiment of the present application;

[0042] Figure 3 is a flow chart of a method for controlling a vehicle tailgate provided in yet another embodiment of the present application;

[0043] Figure 4 is a schematic structural diagram of a vehicle tailgate control device provided by an embodiment of the present application;

[0044] Figure 5 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0046] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0047] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0051] It should be noted that in all embodiments of the present application, the vehicle includes a rear bucket or cargo compartment for storing items.

[0052] See also Figure 1 , Figure 1 The following is a flow chart of a method for controlling a vehicle tailgate provided in an embodiment of the present application. In the embodiment of the present application, the execution subject of the method for controlling a vehicle tailgate is a vehicle-mounted terminal.

[0053] like Figure 1 As shown, the vehicle tailgate control method provided by an embodiment of the present application may include S101 to S102, which are described in detail as follows:

[0054] In S101 , when a tailgate opening request of a vehicle is received, the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle is detected.

[0055] In actual applications, when a person needs to open the tailgate of a vehicle to obtain items in the cargo hold, a tailgate opening request can be sent to the vehicle terminal.

[0056] In an embodiment of the present application, the vehicle terminal detects a tailgate opening request may be: detecting that a certain person triggers a preset operation on a vehicle key wirelessly connected to the vehicle terminal, or detecting that a certain person triggers a preset operation in the vehicle. Wherein, the preset operation can be determined according to actual needs, and is not limited here. Exemplarily, the preset operation may be clicking a preset control (including a first preset control and a second preset control), that is, if the vehicle terminal detects that a certain person clicks on the first preset control on the vehicle key wirelessly connected to the vehicle terminal, or if the vehicle terminal detects that a certain person clicks on the second preset control in the car, it is considered that a preset operation is detected, that is, it is considered that a tailgate opening request sent by a certain person is detected. Wherein, the first preset control may be a button on the vehicle key, and the second preset control may be a first switch located in the cockpit for controlling the opening and closing of the tailgate, or may be a micro switch located at the tailgate of the vehicle for controlling the tailgate.

[0057] After detecting the tailgate opening request of the vehicle, the vehicle-mounted terminal can detect the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle. The in-vehicle thrust is used to describe the thrust generated on the tailgate when the items placed in the cargo hold come into contact with the tailgate.

[0058] In one implementation of the embodiment of the present application, the vehicle-mounted terminal can collect the pressure signal of the tailgate in real time through a pressure sensor located at the tailgate that is wirelessly connected to the vehicle-mounted terminal, and determine the thrust inside the vehicle based on the pressure signal.

[0059] In some possible embodiments, when the vehicle is in a driving state, if the tailgate of the vehicle is opened, the items in the cargo hold may fall and be lost. Therefore, the vehicle terminal may specifically perform step S101 through the following steps, which are described in detail as follows:

[0060] When the tailgate opening request is received, determining a state of the vehicle;

[0061] If the vehicle is in a stationary state, the in-vehicle thrust borne by the tailgate is detected.

[0062] In this embodiment, when the vehicle-mounted terminal receives the tailgate opening request, it can determine the status of the vehicle at this time.

[0063] The state of the vehicle includes but is not limited to a stationary state and a driving state.

[0064] In one implementation of this embodiment, the vehicle-mounted terminal can obtain the vehicle speed in real time and determine the vehicle status according to the vehicle speed.

[0065] In this embodiment, when the vehicle terminal detects that the vehicle is stationary, it indicates that the items in the cargo hold need to be unloaded. Therefore, in order to prevent the items in the cargo hold from falling, the vehicle terminal can detect the in-vehicle thrust borne by the tailgate of the vehicle.

[0066] In one embodiment of the present application, when the vehicle-mounted terminal detects that the vehicle is not in a stationary state, it means that the vehicle is in a driving state. Therefore, in order to prevent items in the cargo hold from falling and being lost during the driving of the vehicle, the vehicle-mounted terminal can reject the tailgate opening request sent by the user.

[0067] In the embodiment of the present application, after the vehicle terminal obtains the in-vehicle thrust in the cargo hold, the in-vehicle thrust can be compared with the first threshold value, wherein the first threshold value can be set according to actual needs and is not limited here.

[0068] In one embodiment of the present application, when the vehicle-mounted terminal detects that the thrust in the vehicle is less than or equal to the first threshold, step S102 may be executed.

[0069] In one embodiment of the present application, when the vehicle-mounted terminal detects that the above-mentioned thrust in the vehicle is greater than the first threshold, it indicates that the thrust in the vehicle is too large, that is, there are too many items in the cargo hold, so that when the tailgate of the vehicle is opened at this time, it is easy for the items in the cargo hold to fall, thereby causing damage to the items. Therefore, in order to avoid the items in the cargo hold from falling, the vehicle-mounted terminal may refuse to respond to the above-mentioned tailgate opening request, and output a prompt message for prompting that the thrust in the vehicle is too large, so as to remind personnel.

[0070] In S102 , when it is detected that the in-vehicle thrust is less than or equal to a first threshold, the tailgate is controlled to open.

[0071] In the embodiment of the present application, when the vehicle-mounted terminal detects that the thrust in the vehicle is less than or equal to the first threshold, it indicates that the thrust in the vehicle is small, that is, there are fewer items in the cargo hold, so that when the tailgate of the vehicle is opened at this time, the items in the cargo hold will not fall out. Therefore, the vehicle-mounted terminal can control the opening of the tailgate of the vehicle to facilitate personnel to unload the items in the cargo hold.

[0072] In one embodiment of the present application, in order to further prevent the items in the cargo hold from falling and protect the safety of the items, the vehicle terminal can specifically Figure 2 The steps S201 to S204 shown in FIG. 101 execute step S102, which is described in detail as follows:

[0073] In S201, when it is detected that the thrust in the vehicle is less than or equal to the first threshold, a first image in the cargo hold is acquired.

[0074] In one implementation of this embodiment, the vehicle-mounted terminal can be connected to the vehicle-mounted terminal wirelessly, and a camera device located in the cargo hold can obtain the first image in the cargo hold in real time.

[0075] In S202, the placement position of each item located in the cargo hold and in contact with the tailgate is determined according to the first image.

[0076] It should be noted that the placement position of each item is used to describe the coordinate position of each point on the surface of each item in the cargo hold coordinate system having the center point of the cargo hold as the origin.

[0077] In this embodiment, the vehicle-mounted terminal can determine the coordinate positions of each surface point of each item located in the cargo hold and in contact with the tailgate in the camera coordinate system based on the first image, and then perform coordinate transformation on the coordinate positions of each surface point of each item in the camera coordinate system to obtain the coordinate positions of each surface point of each item in the cargo hold coordinate system, thereby determining the placement position of each item.

[0078] In S203, the opening amplitude of the tailgate is determined according to the placement position of each object.

[0079] In this embodiment, in order to prevent items from falling after the tailgate is opened, the vehicle-mounted terminal can determine the opening range of the tailgate according to the placement position of each item.

[0080] It should be noted that, since there are different opening modes for the tailgate in actual applications, the opening amplitude of the tailgate may be the opening height or the opening angle. For example, assuming that the opening mode of the tailgate of a vehicle is vertically rising or vertically falling, the opening amplitude of the tailgate may be the opening height.

[0081] In one embodiment of the present application, in order to improve the accuracy of determining the opening range of the tailgate, the vehicle-mounted terminal can specifically determine the opening range of the tailgate according to the following steps, which are described in detail as follows:

[0082] According to the placement position of each of the items, respectively determining the contact position between each of the items and the tailgate;

[0083] The opening amplitude of the tailgate is determined according to the placement position of each object and the contact position between each object and the tailgate.

[0084] In this embodiment, after determining the placement position of each object, the vehicle-mounted terminal can respectively determine the contact position between each object and the tailgate.

[0085] In actual applications, when items in contact with the tailgate in the cargo hold are placed randomly, and the item is in the middle of the cargo hold, and the item partially overlaps with other items, causing part of the item to be suspended in the air, the item is easy to fall when the tailgate is fully opened. Therefore, the on-board terminal can determine the opening extent of the tailgate according to the placement position of each item and the contact position of each item with the tailgate.

[0086] Specifically, the vehicle terminal can determine whether each item is partially suspended according to the placement position of each item; when it is detected that an item is partially suspended, the opening amplitude of the tailgate can be determined according to the contact position between the item and the tailgate.

[0087] It should be noted that when it is detected that a certain object is not in a suspended state, it can be determined that the opening amplitude of the tailgate is 100%.

[0088] In another embodiment of the present application, in order to further improve the accuracy of determining the opening range of the tailgate, the vehicle terminal may also determine the opening range of the tailgate according to the following steps, as detailed below:

[0089] determining the shape of each object according to the first image;

[0090] The amplitude is determined according to the placement position and the shape.

[0091] In actual applications, since spherical objects, elliptical objects and other objects with annular structures are prone to rolling, in this embodiment, the vehicle-mounted terminal needs to determine the shape of each object in contact with the tailgate in the cargo hold based on the acquired first image to determine whether each object will roll.

[0092] Afterwards, the on-board terminal can determine the opening extent of the tailgate based on the placement and shape of each item.

[0093] In some possible embodiments, the vehicle terminal can determine the opening amplitude of the tailgate according to the height of each item in the placement position and the shape of the item. For example, when an item is an annular item, the higher the height of the item, the smaller the opening amplitude of the tailgate is to prevent the item from falling.

[0094] In S204, the tailgate is controlled to open to the amplitude.

[0095] In this embodiment, after determining the opening amplitude of the tail lift, the vehicle-mounted terminal may control the tail lift to open to the amplitude, so that objects in contact with the tail lift will not fall when the tail lift is opened.

[0096] According to the method provided in steps S201 to S204, the opening amplitude of the tailgate can be flexibly determined, thereby improving the flexibility of opening the tailgate.

[0097] In one embodiment of the present application, combined with S203, since the opening amplitude of the tail lift is determined according to the placement position and shape of each of the above-mentioned items, in this embodiment, after controlling the tail lift to open to this amplitude, the on-board terminal can detect in real time whether there is a first object with a ring-shaped structure among the target items located at the junction of the cargo hold and the tail lift.

[0098] In this embodiment, when the vehicle-mounted terminal detects that the first object with a ring shape does not exist among the target objects, it means that the first object with a ring shape has been collected, that is, at this time, there are no items that are easy to fall at the junction of the cargo hold and the tail lift of the vehicle. Therefore, in order to improve the unloading efficiency, the vehicle-mounted terminal can adjust the opening range of the tail lift to the maximum range, that is, fully open the tail lift, so that relevant personnel can collect the items in the cargo hold.

[0099] From the above, it can be seen that the control method of a vehicle tailgate provided in the embodiment of the present application detects the thrust in the vehicle borne by the tailgate of the cargo compartment of the vehicle when receiving the tailgate opening request of the vehicle; when it is detected that the thrust in the vehicle is less than or equal to the first threshold, the tailgate is controlled to open. Compared with the prior art that directly opens the tailgate when it is detected that the switch controlling the tailgate is turned on, the method provided in the present application needs to detect the magnitude of the thrust in the vehicle borne by the tailgate of the cargo compartment of the vehicle when receiving the tailgate opening request, and when it is detected that the thrust in the vehicle is less than or equal to the first threshold, that is, the items in the cargo compartment exert less pressure on the tailgate, that is, the items in the cargo compartment will not fall when the tailgate is opened. Therefore, the tailgate can be controlled to open at this time, thereby improving the practicality and flexibility of the tailgate opening.

[0100] See also Figure 3 , Figure 3 Another embodiment of the present invention provides a method for controlling a vehicle tailgate. Figure 1 Corresponding embodiment, this embodiment may further include S301 to S303 after S101, which are described in detail as follows:

[0101] In S301, when it is detected that the thrust in the vehicle is greater than the first threshold, a second image in the cargo hold is acquired.

[0102] In one implementation of this embodiment, the vehicle-mounted terminal can be connected to the vehicle-mounted terminal wirelessly, and a camera device located in the cargo hold can obtain the second image in the cargo hold in real time.

[0103] In S302, the placement position of each item located in the cargo hold and in contact with the tailgate is determined according to the second image.

[0104] It should be noted that the placement position of each item is used to describe the coordinate position of each point on the surface of each item in the cargo hold coordinate system having the center point of the cargo hold as the origin.

[0105] In this embodiment, the vehicle-mounted terminal can determine the coordinate positions of each surface point of each item located in the cargo hold and in contact with the tailgate in the camera coordinate system based on the second image, and then perform coordinate transformation on the coordinate positions of each surface point of each item in the camera coordinate system to obtain the coordinate positions of each surface point of each item in the cargo hold coordinate system, thereby determining the placement position of each item.

[0106] In S303, the probability of each object falling when the tailgate is opened is determined according to the placement position of each object.

[0107] In actual applications, when items in contact with the tailgate in the cargo hold are placed randomly, and the item is in the middle position of the cargo hold, and the item partially overlaps with other items, causing part of the item to be suspended in the air, there is a possibility that the item will fall when the tailgate is fully opened. Therefore, in this embodiment, the on-board terminal can determine the probability of each item falling when the tailgate is opened according to the placement position of each item.

[0108] In one embodiment of the present application, in order to improve the prediction accuracy of the drop probability of each item, the vehicle terminal can specifically determine the drop probability of each item when the tailgate is opened through the following steps, which are detailed as follows:

[0109] Determine the contact angle between each object and the tailgate according to the placement position of each object; wherein the contact angle refers to the angle between the contact surface between the object and the tailgate and the plane where the tailgate is located;

[0110] According to the contact angle between each object and the tailgate, respectively predict the magnitude of the resultant force applied to each object when the tailgate is opened;

[0111] The probability of each object falling when the tailgate is opened is determined according to the magnitude of the resultant force applied to each object when the tailgate is opened.

[0112] In this embodiment, since the placement position of each item is used to describe the coordinate position of each point on the surface of each item in the cargo hold coordinate system formed with the center point of the cargo hold as the origin, the vehicle-mounted terminal can determine the contact angle between each item and the tailgate according to the placement position of each item. The contact angle refers to the angle between the contact surface between the item and the tailgate and the plane where the tailgate is located.

[0113] In actual applications, each item in the cargo hold is subject to gravity and friction between itself and other objects (such as other items or cargo hold panels). At the same time, since each item has a different contact angle with the tailgate, the angle of contact between each item and other objects is also different, which in turn causes different gravity and friction generated by each item. Therefore, the vehicle terminal can predict the magnitude of the resultant force on each item when the tailgate is opened based on the contact angle between each item and the tailgate. The magnitude of the resultant force is used to describe the sum of gravity and friction generated by each item.

[0114] Based on this, the vehicle-mounted terminal can determine the probability of each item falling when the tailgate is opened according to the magnitude of the resultant force applied to each item when the tailgate is opened.

[0115] Specifically, the vehicle-mounted terminal may compare the magnitude of the combined force on each object when the tailgate is opened with the third threshold value. The third threshold value may be determined according to actual needs and is not limited here.

[0116] In one embodiment of the present application, for each item in contact with the tailgate in the cargo hold, when the on-board terminal detects that the resultant force of the item is greater than or equal to a third threshold, the probability of the item falling can be determined to be a first value.

[0117] In another embodiment of the present application, for each item in the cargo hold that contacts the tailgate, when the vehicle-mounted terminal detects that the resultant force of the item is greater than a third threshold, the probability of the item falling may be determined to be a second value, wherein the second value is smaller than the first value.

[0118] In this embodiment, after determining the drop probability of each item, the vehicle-mounted terminal can compare the drop probability of each item with the second threshold value, wherein the second threshold value can be determined according to actual needs and is not limited here.

[0119] When the vehicle-mounted terminal detects that the probability of each object falling when the tailgate is opened is less than the second threshold, step S304 may be executed.

[0120] When the vehicle-mounted terminal detects that at least one of the dropping probabilities of each object when the tailgate is opened is greater than the second threshold, step S305 may be executed.

[0121] In S304, if the probability of each object falling when the tailgate is opened is less than a second threshold, the tailgate is controlled to be opened.

[0122] In this embodiment, when the vehicle terminal detects that the probability of each object falling when the tail lift is opened is less than the second threshold, it means that each object will not fall when the tail lift is opened. Therefore, the vehicle terminal can control the tail lift to open.

[0123] In S305, if at least one of the dropping probabilities of each object when the tailgate is opened is greater than the second threshold, the tailgate opening request is rejected.

[0124] In this embodiment, when the vehicle-mounted terminal detects that at least one of the dropping probabilities of each item when the tail lift is opened is greater than the second threshold, it indicates that an item in the cargo hold will fall when the tail lift is opened. Therefore, in order to avoid the item falling, the vehicle-mounted terminal may refuse to respond to the tail lift opening request.

[0125] From the above, it can be seen that the control method of the vehicle tailgate provided by this embodiment, when it is detected that the thrust in the vehicle is greater than the first threshold, obtains the second image in the cargo hold; determines the placement position of each item in the cargo hold and in contact with the tailgate based on the second image; determines the drop probability of each item when the tailgate is opened based on the placement position of each item; if the drop probability of each item when the tailgate is opened is less than the second threshold, the tailgate is controlled to open; if at least one of the drop probabilities of each item when the tailgate is opened is greater than the second threshold, the tailgate opening request is refused to be responded. The method provided by this embodiment can also determine whether to open the tailgate based on the drop probability of each item in the cargo hold when the thrust in the vehicle is greater than or equal to the first threshold, that is, when the thrust in the vehicle is too large, thereby improving the accuracy of determining whether the tailgate is opened.

[0126] In one embodiment of the present application, in combination with steps S101 to S102, S201 to S204 and S301 to S305, the vehicle-mounted terminal can determine the state of the vehicle when receiving a tailgate opening request; and when detecting that the vehicle is in a stationary state, detect the in-vehicle thrust borne by the tailgate of the vehicle, and compare the in-vehicle thrust with a first threshold.

[0127] In this embodiment, when the vehicle-mounted terminal detects that the thrust force inside the vehicle is less than or equal to the first threshold, the vehicle-mounted terminal can obtain a first image inside the cargo hold; and based on the first image, determine the placement position of each item in the cargo hold and in contact with the tailgate; then, the opening amplitude of the tailgate can be determined according to the placement position of each item, or the opening amplitude of the tailgate can be determined according to the placement position and shape of each item; finally, the vehicle-mounted terminal can control the opening amplitude of the tailgate to prevent items in the cargo hold from falling when the tailgate is opened too much.

[0128] When the vehicle-mounted terminal detects that the thrust in the vehicle is greater than a first threshold, the second image in the cargo hold can be obtained; and based on the second image, the placement position of each item in the cargo hold and in contact with the tailgate can be determined; thereafter, the probability of each item falling when the tailgate is opened can be determined based on the placement position of each item; and when it is detected that the probability of each item falling when the tailgate is opened is less than the second threshold, the tailgate is controlled to open, thereby preventing items in the cargo hold from falling.

[0129] From the above, it can be seen that the method provided in this embodiment can comprehensively consider the thrust inside the vehicle, the placement of items in the cargo hold, the shape of the items and the probability of items falling, so as to determine whether the tailgate of the vehicle is opened and the opening extent of the tailgate, and fully consider various reasons that may cause items in the cargo hold to fall, thereby preventing items in the cargo hold from falling when the tailgate of the vehicle is opened.

[0130] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0131] Corresponding to the vehicle tailgate control method described in the above embodiment, Figure 4 The structure diagram of a vehicle tailgate control device provided by an embodiment of the present application is shown. For the convenience of explanation, only the parts related to the embodiment of the present application are shown. Figure 4 The vehicle tailgate control device 400 comprises: a first detection unit 41 and a first control unit 42. Wherein:

[0132] The first detection unit 41 is used for detecting the in-vehicle thrust borne by the tailgate of the cargo compartment of the vehicle when receiving a tailgate opening request of the vehicle.

[0133] The first control unit 42 is used for controlling the tailgate to open when it is detected that the thrust force inside the vehicle is less than or equal to a first threshold.

[0134] In one embodiment of the present application, the first detection unit 41 specifically includes: a state determination unit and a second detection unit. Among them:

[0135] The state determination unit is used to determine the state of the vehicle when receiving the tailgate opening request.

[0136] The second detection unit is used for detecting the in-vehicle thrust borne by the tailgate if the vehicle is in a stationary state.

[0137] In one embodiment of the present application, the first control unit 42 specifically includes: a first acquisition unit, a first position determination unit, a first amplitude determination unit and a second control unit.

[0138] The first acquisition unit is used to acquire a first image in the cargo hold when it is detected that the thrust in the vehicle is less than or equal to the first threshold.

[0139] The first position determination unit is used to determine the placement position of each item located in the cargo hold and in contact with the tailgate according to the first image.

[0140] The first amplitude determination unit is used to determine the amplitude of the tailgate opening according to the placement position of each object.

[0141] The second control unit is used for controlling the tailgate to open to the amplitude.

[0142] In one embodiment of the present application, the first amplitude determination unit specifically includes: a second position determination unit and a second amplitude determination unit. Wherein:

[0143] The second position determination unit is used to determine the contact position between each object and the tailgate according to the placement position of each object.

[0144] The second amplitude determination unit is used to determine the amplitude of the tail lift opening according to the placement position of each of the articles and the contact position between each of the articles and the tail lift.

[0145] In one embodiment of the present application, the vehicle tailgate control device 400 further includes: a second acquisition unit, a third position determination unit, a first probability determination unit, a third control unit and a response unit.

[0146] The second acquisition unit is used to acquire a second image inside the cargo hold when it is detected that the thrust inside the vehicle is greater than the first threshold.

[0147] The third position determination unit is used to determine the placement position of each item located in the cargo hold and in contact with the tailgate according to the second image.

[0148] The first probability determination unit is used to determine the probability of each object falling when the tailgate is opened according to the placement position of each object.

[0149] The third control unit is used for controlling the tailgate to be opened if the probability of each object falling when the tailgate is opened is less than a second threshold.

[0150] The response unit is configured to refuse to respond to the tailgate opening request if at least one of the dropping probabilities of each object when the tailgate is opened is greater than the second threshold.

[0151] In one embodiment of the present application, the first probability determination unit specifically includes: an angle determination unit, a prediction unit and a second probability determination unit.

[0152] The angle determination unit is used to determine the contact angle between each object and the tailgate according to the placement position of each object; wherein the contact angle refers to the angle between the contact surface between the object and the tailgate and the plane where the tailgate is located.

[0153] The prediction unit is used to predict the magnitude of the resultant force applied to each object when the tailgate is opened, according to the contact angle between each object and the tailgate.

[0154] The second probability determination unit is used to determine the probability of each object falling when the tailgate is opened according to the magnitude of the resultant force applied to each object when the tailgate is opened.

[0155] In one embodiment of the present application, the control device 400 for the tailgate of a vehicle further includes: an output unit.

[0156] in:

[0157] The output unit is used for refusing to respond to the tailgate opening request and outputting a prompt message for prompting that the thrust in the vehicle is too large when it is detected that the thrust in the vehicle is greater than the first threshold.

[0158] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0159] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0160] Figure 5This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 5 As shown, the vehicle terminal 5 of this embodiment includes: at least one processor 50 ( Figure 5 Only one is shown in the figure) a processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, and when the processor 50 executes the computer program 52, the steps in any of the above-mentioned vehicle tailgate control method embodiments are implemented.

[0161] The vehicle-mounted terminal may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the vehicle-mounted terminal 5 and does not constitute a limitation on the vehicle-mounted terminal 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0162] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0163] In some embodiments, the memory 51 may be an internal storage unit of the vehicle-mounted terminal 5, such as the memory of the vehicle-mounted terminal 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle-mounted terminal 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 5. Further, the memory 51 may also include both the internal storage unit of the vehicle-mounted terminal 5 and an external storage device. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0164] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0165] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0166] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0167] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0168] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling a vehicle tailgate, characterized in that: include: When a tailgate opening request of a vehicle is received, detecting the in-vehicle thrust borne by the tailgate of the cargo compartment of the vehicle; When it is detected that the thrust force inside the vehicle is less than or equal to a first threshold, the tailgate is controlled to open.

2. The vehicle tailgate control method according to claim 1, characterized in that: When a tailgate opening request of the vehicle is received, detecting the in-vehicle thrust borne by the tailgate includes: When the tailgate opening request is received, determining a state of the vehicle; If the vehicle is in a stationary state, the in-vehicle thrust borne by the tailgate is detected.

3. The vehicle tailgate control method according to claim 1, characterized in that: When it is detected that the thrust force inside the vehicle is less than or equal to a first threshold, controlling the tailgate to open comprises: When it is detected that the thrust force inside the vehicle is less than or equal to the first threshold, acquiring a first image inside the cargo hold; Determining, based on the first image, a placement position of each item located in the cargo hold and in contact with the tailgate; Determining the opening amplitude of the tailgate according to the placement position of each item; The tailgate is controlled to open to the amplitude.

4. The vehicle tailgate control method according to claim 3, characterized in that: Determining the opening amplitude of the tailgate according to the placement position of each item includes: According to the placement position of each of the items, respectively determining the contact position between each of the items and the tailgate; The opening amplitude of the tailgate is determined according to the placement position of each object and the contact position between each object and the tailgate.

5. The vehicle tailgate control method according to claim 1, characterized in that: After detecting the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle, the method further includes: When it is detected that the thrust force inside the vehicle is greater than the first threshold, acquiring a second image inside the cargo hold; determining, based on the second image, a placement position of each item located in the cargo hold and in contact with the tailgate; Determining the probability of each object falling when the tailgate is opened according to the placement position of each object; If the probability of each of the items falling when the tailgate is opened is less than a second threshold, controlling the tailgate to be opened; If at least one of the dropping probabilities of each object when the tailgate is opened is greater than the second threshold, then refusing to respond to the tailgate opening request.

6. The vehicle tailgate control method according to claim 5, characterized in that: Determining the probability of each object falling when the tailgate is opened according to the placement position of each object includes: Determine the contact angle between each object and the tailgate according to the placement position of each object; wherein the contact angle refers to the angle between the contact surface between the object and the tailgate and the plane where the tailgate is located; According to the contact angle between each object and the tailgate, respectively predict the magnitude of the resultant force applied to each object when the tailgate is opened; The probability of each object falling when the tailgate is opened is determined according to the magnitude of the resultant force applied to each object when the tailgate is opened.

7. The vehicle tailgate control method according to any one of claims 1 to 6, characterized in that: After detecting the in-vehicle thrust borne by the tailgate of the cargo hold of the vehicle, the method further includes: When it is detected that the thrust inside the vehicle is greater than the first threshold, the tailgate opening request is rejected and a prompt message for prompting that the thrust inside the vehicle is too large is output.

8. A control device for a vehicle tailgate, characterized in that: include: a first detection unit, configured to detect the in-vehicle thrust borne by the tailgate of the cargo compartment of the vehicle when receiving a tailgate opening request of the vehicle; The first control unit is used to control the tailgate to open when it is detected that the thrust force inside the vehicle is less than or equal to a first threshold.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for controlling the tailgate of a vehicle according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for controlling a tailgate of a vehicle according to any one of claims 1 to 7 is implemented.

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