A control method and device of a vehicle tailgate, a vehicle terminal and a storage medium

Abstract

The application is suitable for the automobile technical field, and provides a control method and device of a vehicle tail plate, a vehicle terminal and a storage medium.The method comprises the following steps: when receiving a tail plate opening request of a vehicle, detecting an in-vehicle thrust borne by a tail plate of a cargo compartment of the vehicle; when detecting that the in-vehicle thrust is less than or equal to a first threshold value, controlling the tail plate to open.Compared with the prior art which directly opens the tail plate when detecting that the switch of the tail plate is opened, the method provided by the application needs to detect the size of the in-vehicle thrust borne by the tail plate of the cargo compartment of the vehicle when receiving the tail plate opening request, and the tail plate is controlled to open when detecting that the in-vehicle thrust is less than or equal to the first threshold value, that is, the extrusion of the tail plate caused by the articles in the cargo compartment is too small, that is, the articles in the cargo compartment will not fall when the tail plate is opened, so the tail plate can be controlled to open at this time, thereby improving the practicability of the tail plate opening.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobiles, and particularly relates to a control method and device for a vehicle tailgate, a vehicle terminal and a storage medium. BACKGROUND

[0002] The automobile tailgate is also called an automobile lifting tailgate, an automobile loading and unloading tailgate, a lifting tailgate, a hydraulic automobile tailgate or a truck tailgate. The automobile tailgate is a kind of hydraulic lifting loading and unloading equipment installed at the tail of a truck or various vehicles and powered by a vehicle-mounted battery. The automobile tailgate can be classified into cantilever tailgates, vertical tailgates, rocker arm tailgates and folding tailgates. The tailgate, as a kind of on-board loading and unloading tool, can greatly improve the efficiency and convenience of loading and unloading.

[0003] However, in the prior art, the automobile tailgate is directly opened upon detection of an opening switch, and the consideration is not comprehensive enough, resulting in the problem of low practicability of the opening of the vehicle tailgate in the prior art. SUMMARY

[0004] The application embodiment provides a control method and device for a vehicle tailgate, a vehicle terminal and a storage medium, and improves the practicability of the opening of the tailgate.

[0005] In a first aspect, the application embodiment provides a control method for a vehicle tailgate, comprising:

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

[0007] When the in-vehicle thrust is detected to be less than or equal to a first threshold, controlling the tailgate to be opened.

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

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

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

[0011] Optionally, when the in-vehicle thrust is detected to be less than or equal to the first threshold, controlling the tailgate to be opened, comprises:

[0012] When the in-vehicle thrust is detected to be less than or equal to the first threshold, acquiring a first image in the cargo compartment;

[0013] According to the first image, determining a placement position of each article located in the cargo compartment and in contact with the tailgate;

[0014] determine an opening range of the tailgate according to the placement position of each article;

[0015] control the tailgate to open to the opening range.

[0016] Optionally, the determining of the opening range of the tailgate according to the placement position of each article comprises:

[0017] determining a contact position of each article with the tailgate according to the placement position of each article respectively;

[0018] determining the opening range of the tailgate according to the placement position of each article and the contact position of each article with the tailgate.

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

[0020] when the in-vehicle pushing force is detected to be greater than the first threshold, acquiring a second image in the cargo compartment;

[0021] determining a placement position of each article in the cargo compartment and in contact with the tailgate according to the second image;

[0022] determining a falling probability of each article when the tailgate is opened according to the placement position of each article respectively;

[0023] if the falling probability of each article when the tailgate is opened is less than a second threshold, controlling the tailgate to open;

[0024] if at least one of the falling probability of each article when the tailgate is opened is greater than the second threshold, rejecting the response to the tailgate opening request.

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

[0026] determining a contact angle between each article and the tailgate according to the placement position of each article respectively; wherein the contact angle refers to an included angle between a contact surface of the article and the tailgate and a plane where the tailgate is located;

[0027] predicting a resultant force size of each article when the tailgate is opened according to the contact angle between each article and the tailgate respectively;

[0028] determining the falling probability of each article when the tailgate is opened according to the resultant force size of each article when the tailgate is opened respectively.

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

[0030] When the in-vehicle pushing force is detected to be greater than the first threshold, the tailgate opening request is rejected, and prompt information prompting that the in-vehicle pushing force is too large is output.

[0031] In a second aspect, the embodiments of the present application provide a control device of a tailgate of a vehicle, comprising:

[0032] A first detection unit is configured to, when a tailgate opening request of a vehicle is received, detect an in-vehicle pushing force borne by a tailgate of a cargo compartment of the vehicle.

[0033] A first control unit is configured to, when the in-vehicle pushing force is detected to be less than or equal to a first threshold, control the tailgate to open.

[0034] In a third aspect, the embodiments of the present application provide a vehicle terminal, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to implement the control method of the tailgate of the vehicle according to any one of the first aspect.

[0035] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the control method of the tailgate of the vehicle according to any one of the first aspect.

[0036] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when running on a vehicle terminal, enables the vehicle terminal to execute the control method of the tailgate of the vehicle according to any one of the first aspect.

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

[0038] The control method of the tailgate of the vehicle provided by the embodiments of the present application comprises the following steps: when a tailgate opening request of a vehicle is received, detecting an in-vehicle pushing force borne by a tailgate of a cargo compartment of the vehicle; and when the in-vehicle pushing force is detected to be less than or equal to a first threshold, controlling the tailgate to open. Compared with the prior art in which the tailgate is directly opened when a switch of the tailgate is detected to be opened, the method provided by the present application needs to detect the size of the in-vehicle pushing force borne by the tailgate of the cargo compartment of the vehicle when the tailgate opening request is received, and the tailgate is controlled to open when the in-vehicle pushing force is detected to be less than or equal to the first threshold, that is, the goods in the cargo compartment do not fall when the tailgate is opened, so the tailgate can be controlled to open at this time, thereby improving the practicability of the tailgate opening. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0040] Figure 1 is the implementation flowchart of the control method of the vehicle tailgate provided by an embodiment of the present application;

[0041] Figure 2 is the implementation flowchart of the control method of the vehicle tailgate provided by another embodiment of the present application;

[0042] Figure 3 is the implementation flowchart of the control method of the vehicle tailgate provided by still another embodiment of the present application;

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

[0044] Figure 5 is the structural schematic diagram of the vehicle terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

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

[0047] It should also be understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

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

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

[0050] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments" and so on, in various places in the specification are not necessarily all referring to the same embodiment, unless otherwise specifically stated. The terms "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise specifically stated.

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

[0052] Please refer to Figure 1 , Figure 1 is an implementation flowchart of a vehicle tailgate control method provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the vehicle tailgate control method is a vehicle terminal.

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

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

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

[0056] In the embodiments of the present application, the detection of the tailgate opening request by the vehicle-mounted terminal can be: detecting that a person triggers a preset operation on a vehicle key in wireless communication connection with the vehicle-mounted terminal, or detecting that a person triggers a preset operation in the vehicle. The preset operation can be determined according to actual needs, which is not limited here. For example, the preset operation can be clicking a preset control (including a first preset control and a second preset control), that is, if the vehicle-mounted terminal detects that a person clicks the first preset control on the vehicle key in wireless communication connection with the vehicle-mounted terminal, or if the vehicle-mounted terminal detects that a person clicks the second preset control in the vehicle, it is considered that the preset operation is detected, that is, it is considered that the tailgate opening request sent by the person is detected. The first preset control can be a certain key on the vehicle key, and the second preset control can be a first switch located in the cockpit for controlling the opening and closing of the tailgate, or 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 compartment of the vehicle. The in-vehicle thrust is used to describe the thrust generated by the goods placed in the cargo compartment when contacting the tailgate.

[0058] In an implementation manner of the embodiments of the present application, the vehicle-mounted terminal can collect the pressure signal borne by the tailgate in real time through the pressure sensor in wireless communication connection with the vehicle-mounted terminal and located at the tailgate, and determine the in-vehicle thrust according to the pressure signal.

[0059] In some possible embodiments, when the vehicle is in a driving state, if the tailgate of the vehicle is opened at this time, the goods in the cargo compartment will fall and be lost, therefore, the vehicle-mounted terminal can specifically execute step S101 through the following steps, which are described in detail as follows:

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

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

[0062] In the embodiments, the vehicle-mounted terminal can determine the state of the vehicle when the tailgate opening request is received.

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

[0064] In an implementation manner of the embodiments, the vehicle-mounted terminal can acquire the vehicle speed in real time, and determine the state of the vehicle according to the vehicle speed.

[0065] In this embodiment, when the vehicle terminal detects that the vehicle is in a stationary state, it indicates that the goods in the cargo compartment need to be unloaded at this time. Therefore, in order to avoid the goods in the cargo compartment from falling, the vehicle terminal can detect the in-vehicle thrust borne by the tailgate of the vehicle.

[0066] In an embodiment of the present application, when the vehicle terminal detects that the vehicle is not in a stationary state, it indicates that the vehicle is in a driving state at this time. Therefore, in order to avoid the goods in the cargo compartment from falling and being lost during driving of the vehicle, the vehicle terminal can reject the tailgate opening request sent by the user.

[0067] In this embodiment of the present application, after the vehicle terminal obtains the in-vehicle thrust in the cargo compartment, it can compare the in-vehicle thrust with a first threshold value. The first threshold value can be set according to actual needs, which is not limited here.

[0068] In an embodiment of the present application, when the vehicle terminal detects that the in-vehicle thrust is less than or equal to the first threshold value, it can execute step S102.

[0069] In an embodiment of the present application, when the vehicle terminal detects that the in-vehicle thrust is greater than the first threshold value, it indicates that the in-vehicle thrust is too large, i.e., there are too many goods in the cargo compartment, so that when the tailgate of the vehicle is opened at this time, the goods in the cargo compartment are likely to fall, thereby causing damage to the goods. Therefore, in order to avoid the goods in the cargo compartment from falling, the vehicle terminal can reject the above-mentioned tailgate opening request and output prompt information for prompting that the in-vehicle thrust is too large, so as to remind the personnel.

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

[0071] In this embodiment of the present application, when the vehicle terminal detects that the in-vehicle thrust is less than or equal to the first threshold value, it indicates that the in-vehicle thrust is small, i.e., there are few goods in the cargo compartment, so that when the tailgate of the vehicle is opened at this time, the goods in the cargo compartment will not fall. Therefore, the vehicle terminal can control the tailgate of the vehicle to be opened, so as to facilitate the personnel to unload the goods in the cargo compartment.

[0072] In an embodiment of the present application, in order to further avoid the goods in the cargo compartment from falling and protect the safety of the goods, the vehicle terminal can specifically execute step S102 through S201-S204 as shown in the following table: Figure 2

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

[0074] In an implementation manner of this embodiment, the vehicle terminal can obtain the first image in the cargo compartment in real time through a camera device which is wirelessly connected with the vehicle terminal and located in the cargo compartment.​

[0075] In S202, a placing position of each article located in the cargo compartment and in contact with the tailgate is determined according to the first image.

[0076] It should be noted that the placing position of each article is used to describe the coordinate position of each point on the surface of each article in the cargo compartment coordinate system with the center point of the cargo compartment as the origin.

[0077] In this embodiment, the vehicle terminal can determine the coordinate position of each point on the surface of each article in contact with the tailgate in the camera coordinate system according to the first image, and then perform coordinate conversion on the coordinate position of each point on the surface of each article in the camera coordinate system to obtain the coordinate position of each point on the surface of each article in the cargo compartment coordinate system, thereby determining the placing position of each article.

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

[0079] In this embodiment, in order to avoid the articles from falling after the tailgate is opened, the vehicle terminal can determine the opening amplitude of the tailgate according to the placing position of each article.

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

[0081] In an embodiment of the present application, in order to improve the determination accuracy of the opening amplitude of the tailgate, the vehicle terminal can specifically determine the opening amplitude of the tailgate according to the following steps, which are described as follows:

[0082] The contact position of each article with the tailgate is determined according to the placing position of each article.

[0083] The opening amplitude of the tailgate is determined according to the placing position of each article and the contact position of each article with the tailgate.

[0084] In this embodiment, after determining the placing position of each article, the vehicle terminal can determine the contact position of each article with the tailgate.

[0085] In actual application, when the goods in the cargo compartment are placed randomly and the goods are located in the middle of the cargo compartment and partially overlap with each other, the goods are partially in a suspended state, and the goods are easy to fall when the tailboard is fully opened. Therefore, the vehicle-mounted terminal can determine the opening range of the tailboard according to the placement position of each good and the contact position of each good with the tailboard.

[0086] Specifically, the vehicle-mounted terminal can determine whether each good is partially in a suspended state according to the placement position of each good. When it is detected that a good is partially in a suspended state, the opening range of the tailboard can be determined according to the contact position of the good with the tailboard.

[0087] It should be noted that when it is detected that a good is not in a suspended state, the opening range of the tailboard can be determined as 100%.

[0088] In another embodiment of the present application, in order to further improve the accuracy of the determination of the opening range of the tailboard, the vehicle-mounted terminal can also determine the opening range of the tailboard according to the following steps, which are described as follows:

[0089] determine the shape of each good according to the first image;

[0090] determine the range according to the placement position and the shape.

[0091] In actual application, since the goods with ring-shaped structure such as spherical goods and oval goods are easy to roll, in the present embodiment, the vehicle-mounted terminal needs to determine the shape of each good in contact with the tailboard in the cargo compartment according to the obtained first image, in order to determine whether each good will roll.

[0092] Then, the vehicle-mounted terminal can determine the opening range of the tailboard according to the placement position and the shape of each good.

[0093] In some possible embodiments, the vehicle-mounted terminal can determine the opening range of the tailboard according to the height in the placement position of each good and the shape of the good. For example, when a good is the above-mentioned good with ring-shaped structure, the higher the height of the good is, the smaller the opening range of the tailboard is, so as to avoid the good from falling.

[0094] In S204, the tailboard is controlled to be opened to the range.

[0095] In the present embodiment, after determining the opening range of the tailboard, the vehicle-mounted terminal can control the tailboard to be opened to the range, so that the goods in contact with the tailboard will not fall when the tailboard is opened.

[0096] According to the method provided in steps S201-S204, the opening range of the tail plate can be flexibly determined, thereby improving the flexibility of opening the tail plate.

[0097] In an embodiment of the present application, in combination with S203, since the opening range of the tail plate is determined according to the placement position and shape of each article, in this embodiment, the vehicle-mounted terminal can detect whether the first article with a ring-shaped structure exists in the target article located at the junction of the cargo compartment and the tail plate in real time after controlling the tail plate to open to the range.

[0098] In this embodiment, when the vehicle-mounted terminal detects that the first article with a ring-shaped structure does not exist in the target article, it indicates that the first article with a ring-shaped structure has been collected, that is, there is no article prone to falling at the junction of the cargo compartment and the tail plate of the vehicle at this time, therefore, in order to improve the unloading efficiency, the vehicle-mounted terminal can adjust the opening range of the tail plate to the maximum range, that is, fully open the tail plate, to facilitate the relevant personnel to collect the articles in the cargo compartment.

[0099] As can be seen from the above, the control method of the tail plate of the vehicle provided in the embodiments of the present application detects the vehicle interior thrust borne by the tail plate of the cargo compartment of the vehicle when receiving the opening request of the tail plate of the vehicle, and controls the tail plate to open when detecting that the vehicle interior thrust is less than or equal to the first threshold. Compared with the prior art of directly opening the tail plate when detecting that the switch for controlling the tail plate is opened, the method provided in the present application needs to detect the size of the vehicle interior thrust borne by the tail plate of the cargo compartment when receiving the opening request of the tail plate, and controls the tail plate to open when detecting that the vehicle interior thrust is less than or equal to the first threshold, that is, the articles in the cargo compartment produce less extrusion on the tail plate, that is, the articles in the cargo compartment will not fall when the tail plate is opened, therefore, the tail plate can be controlled to open at this time, thereby improving the practicability and flexibility of opening the tail plate.

[0100] Please refer to Figure 3 , Figure 3 The control method of the tail plate of the vehicle provided in another embodiment of the present application. Compared with Figure 1 In the corresponding embodiment, the present embodiment can further include S301-S303 after S101, which are described as follows:

[0101] In S301, when detecting that the vehicle interior thrust is greater than the first threshold, the second image in the cargo compartment is acquired.

[0102] In an implementation manner of the present embodiment, the vehicle-mounted terminal can acquire the second image in the cargo compartment in real time through the camera device which is wirelessly connected with the vehicle-mounted terminal and located in the cargo compartment.

[0103] In S302, the placement position of each article located in the cargo compartment and in contact with the tail plate is determined according to the second image.

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

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

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

[0107] In actual application, when the article in contact with the tailgate in the cargo compartment is randomly placed, and the article is located in the middle part of the cargo compartment, and the article partially overlaps with other articles, causing part of the article to be in a suspended state, so that the article has the possibility of falling when the tailgate is completely opened, therefore, in this embodiment, the vehicle-mounted terminal can determine the falling probability of each article when the tailgate is opened according to the placement position of each article.

[0108] In an embodiment of the present application, in order to improve the prediction accuracy of the falling probability of each article, the vehicle-mounted terminal can specifically determine the falling probability of each article when the tailgate is opened by the following steps, which are described in detail as follows:

[0109] According to the placement position of each article, the contact angle between each article and the tailgate is determined respectively; wherein the contact angle refers to the included angle between the contact surface of the article and the tailgate and the plane where the tailgate is located.

[0110] According to the contact angle between each article and the tailgate, the magnitude of the resultant force received by each article when the tailgate is opened is predicted respectively.

[0111] According to the magnitude of the resultant force received by each article when the tailgate is opened, the falling probability of each article when the tailgate is opened is determined respectively.

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

[0113] In actual application, each article in the cargo compartment is subjected to gravity and friction force generated by other objects (such as other articles or cargo compartment plates), and the contact angle of each article with the tail plate is different, so the contact angle of each article with other objects is also different, and thus the gravity and friction force generated by each article are also different. Therefore, the vehicle-mounted terminal can predict the magnitude of the resultant force of each article when the tail plate is opened according to the contact angle between each article and the tail plate. The magnitude of the resultant force is used to describe the sum of the gravity and friction force generated by each article.

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

[0115] Specifically, the vehicle-mounted terminal can compare the magnitude of the resultant force of each article when the tail plate is opened with a third threshold value. The third threshold value can be determined according to actual needs, which is not limited herein.

[0116] In an embodiment of the present application, for each article in contact with the tail plate in the cargo compartment, the vehicle-mounted terminal can determine that the falling probability of the article is a first value when detecting that the magnitude of the resultant force of the article is greater than or equal to the third threshold value.

[0117] In another embodiment of the present application, for each article in contact with the tail plate in the cargo compartment, the vehicle-mounted terminal can determine that the falling probability of the article is a second value when detecting that the magnitude of the resultant force of the article is less than the third threshold value. The second value is less than the first value.

[0118] In this embodiment, after determining the falling probability of each article, the vehicle-mounted terminal can compare the falling probability of each article with a second threshold value, respectively. The second threshold value can be determined according to actual needs, which is not limited herein.

[0119] The vehicle-mounted terminal can perform step S304 when detecting that the falling probability of each article when the tail plate is opened is less than the second threshold value.

[0120] The vehicle-mounted terminal can perform step S305 when detecting that at least one of the falling probabilities of each article when the tail plate is opened is greater than the second threshold value.

[0121] In S304, if the falling probability of each article when the tail plate is opened is less than the second threshold value, the tail plate is opened.

[0122] In this embodiment, when the vehicle-mounted terminal detects that the falling probability of each article when the tail plate is opened is less than the second threshold value, it means that each article will not fall when the tail plate is opened, and thus the vehicle-mounted terminal can control the tail plate to be opened.

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

[0124] In this embodiment, when the vehicle terminal detects that at least one of the falling probabilities of each article when the tailgate is opened is greater than the second threshold, it means that some articles in the cargo compartment will fall when the tailgate is opened. Therefore, in order to avoid the articles from falling, the vehicle terminal can reject the tailgate opening request.

[0125] As can be seen from the above, the control method of the vehicle tailgate provided in this embodiment comprises the following steps: when detecting that the in-vehicle thrust is greater than the first threshold, a second image in the cargo compartment is acquired; according to the second image, the placement position of each article located in the cargo compartment and in contact with the tailgate is determined; according to the placement position of each article, the falling probability of each article when the tailgate is opened is determined respectively; if the falling probability of each article when the tailgate is opened is less than the second threshold, the tailgate is opened; if at least one of the falling probabilities of each article when the tailgate is opened is greater than the second threshold, the tailgate opening request is rejected. The method provided in this embodiment can determine whether to open the tailgate according to the falling probability of each article in the cargo compartment when the in-vehicle thrust is greater than or equal to the first threshold, i.e., when the in-vehicle thrust is too large, thereby improving the determination accuracy of whether to open the tailgate.

[0126] In an embodiment of the present application, in combination with steps S101-S102, S201-S204 and S301-S305, when the vehicle terminal receives the tailgate opening request, it can determine the state of the vehicle; and when detecting that the vehicle is in a stationary state, it detects the in-vehicle thrust borne by the tailgate of the vehicle and compares the in-vehicle thrust with the first threshold.

[0127] In this embodiment, when the vehicle terminal detects that the in-vehicle thrust is less than or equal to the first threshold, it can acquire a first image in the cargo compartment; and according to the first image, the placement position of each article located in the cargo compartment and in contact with the tailgate is determined; then, according to the placement position of each article, the opening amplitude of the tailgate can be determined, or the opening amplitude of the tailgate can be determined according to the placement position and shape of each article; finally, the vehicle terminal can control the tailgate to open to the amplitude, so as to avoid the articles in the cargo compartment from falling when the opening amplitude of the tailgate is too large.

[0128] When the in-vehicle terminal detects that the in-vehicle thrust is greater than the first threshold, the in-vehicle terminal can acquire a second image of the cargo compartment, determine, according to the second image, a placement position of each article located in the cargo compartment and in contact with the tail plate, and then determine, according to the placement position of each article, a falling probability of each article when the tail plate is opened. When the falling probability of each article when the tail plate is opened is less than the second threshold, the tail plate is controlled to be opened, thereby avoiding the articles in the cargo compartment from falling.

[0129] As can be seen from the above, the method provided in the embodiment can comprehensively consider the in-vehicle thrust, the placement position of the articles in the cargo compartment, the shape of the articles, and the falling probability of the articles to determine whether the tail plate of the vehicle is opened and the opening amplitude of the tail plate, fully consider various reasons for causing the articles in the cargo compartment to fall, and thus the articles in the cargo compartment can be prevented from falling when the tail plate of the vehicle is opened.

[0130] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0131] Corresponding to the control method of the vehicle tail plate described in the above embodiment, Figure 4 A structural schematic diagram of a control device of a vehicle tail plate provided in an embodiment of the present application is shown, and only parts related to the embodiment of the present application are shown for ease of description. Refer to Figure 4 The control device 400 of the vehicle tail plate includes a first detection unit 41 and a first control unit 42. Wherein:

[0132] The first detection unit 41 is configured to detect an in-vehicle thrust borne by a tail plate of a cargo compartment of the vehicle when a tail plate opening request of the vehicle is received.

[0133] The first control unit 42 is configured to control the tail plate to be opened when the in-vehicle thrust is detected to be less than or equal to a first threshold.

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

[0135] The state determination unit is configured to determine a state of the vehicle when the tail plate opening request is received.

[0136] The second detection unit is configured to detect the in-vehicle thrust borne by the tail plate if the vehicle is in a stationary state.

[0137] In an 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. Wherein:

[0138] The first acquisition unit is configured to acquire a first image in the cargo compartment when the in-vehicle thrust is detected to be less than or equal to the first threshold.

[0139] The first position determination unit is configured to determine, according to the first image, a placement position of each article in the cargo compartment and in contact with the tailgate.

[0140] The first amplitude determination unit is configured to determine, according to the placement position of each article, an amplitude at which the tailgate is opened.

[0141] The second control unit is configured to control the tailgate to be opened to the amplitude.

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

[0143] The second position determination unit is configured to determine, according to the placement position of each article, a contact position of each article and the tailgate, respectively.

[0144] The second amplitude determination unit is configured to determine, according to the placement position of each article and the contact position of each article and the tailgate, the amplitude at which the tailgate is opened.

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

[0146] The second acquisition unit is configured to acquire a second image in the cargo compartment when the in-vehicle thrust is detected to be greater than the first threshold.

[0147] The third position determination unit is configured to determine, according to the second image, a placement position of each article in the cargo compartment and in contact with the tailgate.

[0148] The first probability determination unit is configured to determine, according to the placement position of each article, a falling probability of each article when the tailgate is opened.

[0149] The third control unit is configured to control the tailgate to be opened if the falling probability of each article 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 falling probabilities of each article when the tailgate is opened is greater than the second threshold.

[0151] In an embodiment of the present application, the first probability determining unit specifically comprises: an angle determining unit, a predicting unit and a second probability determining unit. Wherein:

[0152] The angle determining unit is configured to determine a contact angle between each of the articles and the tail plate according to the placement position of each of the articles, wherein the contact angle refers to an included angle between a contact surface of the article and the tail plate and a plane on which the tail plate is located.

[0153] The predicting unit is configured to predict a resultant force size of each of the articles when the tail plate is opened according to the contact angle between each of the articles and the tail plate.

[0154] The second probability determining unit is configured to determine a falling probability of each of the articles when the tail plate is opened according to the resultant force size of each of the articles when the tail plate is opened.

[0155] In an embodiment of the present application, the control device 400 of the vehicle tail plate further comprises: an output unit.

[0156] Wherein:

[0157] The output unit is configured to refuse to respond to the tail plate opening request and output prompt information for prompting that the in-vehicle thrust is too large when it is detected that the in-vehicle thrust is greater than the first threshold.

[0158] It should be noted that the information interaction, execution process and the like between the above-mentioned devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be described herein.

[0159] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is taken as an example for illustration, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

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

[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 understand that... Figure 5 This is merely an example of vehicle terminal 5 and does not constitute a limitation on vehicle terminal 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0162] The processor 50 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0163] In some embodiments, the memory 51 may be an internal storage unit of the vehicle terminal 5, such as the RAM of the vehicle terminal 5. In other embodiments, the memory 51 may be an external storage device of the vehicle terminal 5, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the vehicle terminal 5. Furthermore, the memory 51 may include both internal and external storage units of the vehicle terminal 5. The memory 51 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0164] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments.

[0165] The embodiment of the present application provides a computer program product. When the computer program product is run on the vehicle terminal, the vehicle terminal is caused to implement the steps in the above-mentioned various method embodiments.

[0166] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods by a computer program to instruct related hardware to complete. The computer program can be stored in a computer readable storage medium. The computer program, when executed by a processor, can implement the steps in the above-mentioned various method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the vehicle terminal, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunications signal.

[0167] In the above-mentioned embodiments, the description of each embodiment has its own focus. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0168] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of a tailgate of a vehicle, characterized by, include: When a request to open the tailgate of a vehicle is received, the in-vehicle thrust on the tailgate of the vehicle's cargo compartment is detected. When the thrust inside the vehicle is detected to be less than or equal to a first threshold, the tailgate is controlled to open. After detecting the in-vehicle thrust borne by the tailgate of the vehicle's cargo compartment, the method further includes: When the thrust inside the vehicle is detected to be greater than the first threshold, a second image of the cargo compartment is acquired. Based on the second image, determine the placement of each item located in the cargo hold and in contact with the tailgate; Based on the placement of each item, determine the probability of each item falling when the tailgate is opened; If the probability of each item falling when the tail plate is opened is less than the second threshold, then the tail plate 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, then the tailgate opening request is rejected. The step of determining the probability of each item falling when the tailgate is opened, based on the placement position of each item, includes: Based on the placement of each item, the contact angle between each item and the tail plate is determined; wherein, the contact angle refers to the angle between the contact surface between the item and the tail plate and the plane on which the tail plate is located; Based on the contact angle between each item and the tailplate, predict the magnitude of the resultant force on each item when the tailplate is opened; Based on the magnitude of the resultant force acting on each item when the tailgate is opened, the probability of each item falling when the tailgate is opened is determined.

2. The control method of a vehicle tailgate according to claim 1, characterized in that, The step of detecting the in-vehicle thrust on the tailgate when a request to open the tailgate is received includes: When the tailgate opening request is received, the vehicle's status is determined; If the vehicle is stationary, the in-vehicle thrust on the tailgate is detected.

3. The control method of a vehicle tailgate according to claim 1, characterized in that, The step of controlling the tailgate to open when the detected thrust inside the vehicle is less than or equal to a first threshold includes: When the thrust inside the vehicle is detected to be less than or equal to the first threshold, a first image of the cargo compartment is acquired. Based on the first image, determine the placement position of each item located in the cargo hold and in contact with the tail section; The opening range of the tailgate is determined based on the placement of each item. Control the tailplate to open to the specified extent.

4. The vehicle tailgate control method as described in claim 3, characterized in that, Determining the opening range of the tailgate based on the placement of each item includes: Based on the placement of each item, determine the contact position between each item and the tail plate; The opening range of the tailgate is determined based on the placement of each item and the contact position between each item and the tailgate.

5. The vehicle tailgate control method according to any one of claims 1-4, characterized in that, After detecting the in-vehicle thrust borne by the tailgate of the vehicle's cargo compartment, the method further includes: When the thrust inside the vehicle is detected to be greater than the first threshold, the tailgate opening request is refused and a prompt message indicating that the thrust inside the vehicle is too large is output.

6. A control device for a vehicle tailgate, characterized in that, include: The first detection unit is used to detect the in-vehicle thrust on the tailgate of the vehicle's cargo compartment when a tailgate opening request is received. The first control unit is used to control the tailgate to open when the thrust inside the vehicle is detected to be less than or equal to a first threshold. The control device for the vehicle tailgate also includes: The second acquisition unit is used to acquire a second image inside the cargo compartment when the thrust inside the vehicle is detected to be greater than the first threshold. 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 tail panel based on the second image; The first probability determination unit is used to determine the probability of each item falling when the tailgate is opened, based on the placement position of each item. The third control unit is used to control the tailgate to open if the probability of each item falling when the tailgate is opened is less than a second threshold. The response unit is configured to refuse to respond to the tailgate opening request if at least one of the drop probabilities of each item when the tailgate is opened is greater than the second threshold. The first probability determination unit specifically includes: An angle determining unit is used to determine the contact angle between each item and the tail plate according to the placement position of each item; wherein, the contact angle refers to the angle between the contact surface between the item and the tail plate and the plane on which the tail plate is located; The prediction unit is used to predict the magnitude of the resultant force on each item when the tail plate is opened, based on the contact angle between each item and the tail plate. The second probability determination unit is used to determine the probability of each item falling when the tail plate is opened, based on the magnitude of the resultant force on each item when the tail plate is opened.

7. 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, it implements the vehicle tailgate control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle tailgate control method as described in any one of claims 1 to 5.

Images