Split type back door control method, device and equipment and storage medium

Abstract

The invention discloses a split type back door control method, device and equipment and a storage medium, and relates to the technical field of vehicle back door control, the split type back door control method comprises the steps that an actuation instruction of a split type back door is responded, and a first back door or a second back door is controlled to actuate according to the actuation instruction; when the split type back door stops acting, a target back door which stops acting is determined; detecting whether the position where the target back door stops acting is located in a collision area or not; and when the position where the target back door stops acting is located in the collision area, the first back door and / or the second back door are / is controlled to move based on the emergency position. By arranging the emergency position, when collision between the first back door and the second back door is about to happen, the corresponding back door is controlled to quickly return to the emergency position, the split type back door can be quickly controlled, the waiting time is shortened, and the control effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle back door control, and in particular to a split back door control method, device, equipment and storage medium. Background Art

[0002] The split back door is a special back door, which is divided into a first back door and a second back door. The first back door is the sky door, and the second back door is the ground door. The split back door can be opened separately, the sky door opens upwards, and the ground door opens downwards. The sky and ground doors of the back door do not open according to the established logic during the opening and closing process, which is prone to collision or jamming, causing damage to the back door.

[0003] The existing control scheme for the top and bottom doors is to set a collision zone. When the top and bottom doors are about to collide, one of the back doors is controlled to move to a fully open state or toward a closed state to make it leave the collision zone. The control takes a long time, and during the control process, the back door may not be able to be opened manually, resulting in inconvenience in use. Summary of the invention

[0004] The main purpose of the present application is to provide a split tailgate control method, device, equipment and storage medium, aiming to solve the technical problem that the split tailgate control is time-consuming and has poor control effect.

[0005] To achieve the above object, the present application proposes a split tailgate control method, which is applied to a split tailgate of a vehicle, wherein the split tailgate includes a first tailgate and a second tailgate, wherein the first tailgate is located above the second tailgate, and the method includes:

[0006] responding to an actuation instruction of the split back door, and controlling the first back door or the second back door to actuate according to the actuation instruction;

[0007] When the split tailgate stops actuating, determining a target tailgate to stop actuating;

[0008] Detecting whether the position where the target back door stops actuating is within the collision zone;

[0009] When the position where the target tailgate stops actuating is located within the collision zone, the first tailgate and / or the second tailgate is controlled to move based on the emergency position.

[0010] In one embodiment, when the position where the target back door stops moving is located within the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes:

[0011] When the position where the target back door stops actuating is located within the collision zone, determining the type of the target back door;

[0012] When the type of the target back door is a first back door, determining whether the first back door has passed a preset checkpoint position;

[0013] When the first tailgate passes the preset blocking point, the first tailgate and / or the second tailgate are controlled to move based on the emergency position.

[0014] In one embodiment, when the first back door passes the preset blocking point, the step of controlling the first back door and / or the second back door to move based on the emergency position includes:

[0015] When the first back door passes the preset blocking point, obtaining a movement position of the second back door;

[0016] When the movement position of the second back door is within the preset range of the first back door, the second back door is controlled to move to the second back door emergency position to control the split back door, and the second back door emergency position is located on the left side of the preset card point position and is separated by a first preset distance.

[0017] In one embodiment, when the first back door passes the preset blocking point, the step of controlling the first back door and / or the second back door to move based on the emergency position includes:

[0018] When the first back door passes the preset blocking point, the emergency position is set to a first target interval distance;

[0019] The second back door is controlled to move with the first back door while maintaining the first target interval distance.

[0020] In one embodiment, when the position where the target back door stops moving is located within the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes:

[0021] When the position where the target back door stops actuating is located within the collision zone, determining the type of the target back door;

[0022] When the type of the target back door is a second back door, acquiring a movement position of the first back door;

[0023] When the movement position of the first back door is within the preset range of the second back door, the first back door is controlled to move to a first back door emergency position, and the first back door emergency position is spaced a second preset distance from the boundary of the collision zone.

[0024] In one embodiment, when the position where the target back door stops moving is located within the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes:

[0025] When the type of the target back door is a second back door, the emergency position is set to a second target interval distance, and the second target interval distance is greater than the first target interval distance;

[0026] The first back door and the second back door are controlled to move while maintaining the second target interval distance.

[0027] In one embodiment, after the step of detecting whether the position where the target back door stops moving is located within the collision zone, the method further includes:

[0028] When the position where the target back door stops actuating is outside the collision zone, determining the type of the target back door;

[0029] When the target back door is the first back door and the actuation instruction is an opening instruction, controlling the second back door to continue to actuate and open to the first preset position, and generating first back door fault information for fault reminder;

[0030] When the target tailgate is the second tailgate and the actuation instruction is a closing instruction, the first tailgate is controlled to stop closing and rotate in the reverse direction to a second preset position, and second tailgate fault information is generated for fault reminder.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a split-type tailgate control device, the split-type tailgate control device comprising:

[0032] A response module, used to respond to an actuation instruction of the split back door, and control the first back door or the second back door to actuate according to the actuation instruction;

[0033] a determination module, configured to determine a target tailgate to stop actuating when the split tailgate stops actuating;

[0034] A detection module, used for detecting whether the position where the target back door stops actuating is located within the collision zone;

[0035] A control module is used for controlling the first back door and / or the second back door to move based on an emergency position when the position where the target back door stops actuating is located within the collision zone.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a split tailgate control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the split tailgate control method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the split tailgate control method described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the split tailgate control method as described above are implemented.

[0039] One or more technical solutions proposed in the present application, a split backdoor control method is applied to a split backdoor of a vehicle, the split backdoor includes a first backdoor and a second backdoor, the first backdoor is located above the second backdoor, the method includes: responding to an actuation instruction of the split backdoor, and controlling the first backdoor or the second backdoor to actuate according to the actuation instruction; when the actuation of the split backdoor stops, determining the target backdoor to stop actuating; detecting whether the position where the target backdoor stops actuating is located in the collision zone; when the position where the target backdoor stops actuating is located in the collision zone, controlling the first backdoor and / or the second backdoor to move based on the emergency position. By setting the emergency position, when a collision between the first backdoor and the second backdoor is about to occur, the corresponding backdoor is controlled to quickly return to the emergency position, so that the split backdoor can be quickly controlled, the waiting time can be reduced, and the control effect can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A flowchart diagram of the first embodiment of the split back door control method of the present application;

[0043] Figure 2 This is a schematic diagram of the actuation process of a split tailgate in an embodiment of the split tailgate control method of the present application;

[0044] Figure 3 This is a schematic diagram of the hardware framework in an embodiment of the split-type back door control method of the present application;

[0045] Figure 4A flowchart diagram of the second embodiment of the split back door control method of the present application;

[0046] Figure 5 This is a schematic diagram of the positional relationship between the ground door, the ground door emergency position and the preset card point position in an embodiment of the split back door control method of the present application;

[0047] Figure 6 A flowchart diagram of the third embodiment of the split back door control method of the present application;

[0048] Figure 7 This is a schematic diagram of the positional relationship between the top door, the ground door and the top door emergency position in an embodiment of the split back door control method of the present application;

[0049] Figure 8 This is a schematic diagram of the overall process in which the emergency position is a fixed position and the actuation command is automatic closing in one embodiment of the split back door control method of the present application;

[0050] Fig. 9 This is a schematic diagram of the overall process in which the emergency position is a fixed position and the actuation command is automatic opening in one embodiment of the split back door control method of the present application;

[0051] Fig.10 This is a schematic diagram of the overall process in which the emergency position is to maintain a fixed distance from the stopped tailgate and the actuation command is to automatically close in one embodiment of the split tailgate control method of the present application;

[0052] Fig.11 This is a schematic diagram of the overall process in which the emergency position is to maintain a fixed distance from the stopped tailgate and the actuation command is to automatically open in one embodiment of the split tailgate control method of the present application;

[0053] Fig.12 This is a schematic diagram of the module structure of the split back door control device according to an embodiment of the present application;

[0054] Fig.13 Schematic diagram of the device structure of the hardware operating environment involved in the split back door control method in the embodiment of the present application.

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0057] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0058] The main solution of the embodiment of the present application is: responding to the actuation command of the split tailgate, and controlling the first tailgate or the second tailgate to actuate according to the actuation command; when the actuation of the split tailgate stops, determining the target tailgate to stop actuating; detecting whether the position where the actuation of the target tailgate stops is located within the collision zone; when the position where the actuation of the target tailgate stops is located within the collision zone, controlling the movement of the first tailgate and / or the second tailgate based on the emergency position.

[0059] According to the prior art, when a collision is about to occur, or there is a foreign object or mechanical failure between the two doors causing them to be stuck, one of the doors is controlled to move away from the collision area and move in the opposite direction to a fully open position or a closed position, or remain in a stopped state. However, it takes a long time to control the back door to move to a fully open state, and when it remains in a stopped state, the distance between the back doors is very short, making it impossible to manually open the back door switch, making it inconvenient to check and remove foreign objects.

[0060] The present application provides a solution, which sets the "emergency position" of the sky and earth doors respectively. When a collision is about to occur, the sky and earth doors quickly return to the emergency position. The arm can clear the obstacle through the sky and earth door opening, and then press the control switch to manually open or close the sky and earth door.

[0061] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a split back door control device, such as a split back door controller, etc. The following takes the split back door controller as an example to illustrate this embodiment and the following embodiments.

[0062] Based on this, the embodiment of the present application provides a split back door control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the split-type tailgate control method of the present application.

[0063] In this embodiment, the split tailgate control method is applied to a split tailgate of a vehicle, the split tailgate includes a first tailgate and a second tailgate, the first tailgate is located above the second tailgate, and the split tailgate control method includes steps S10 to S40:

[0064] Step S10: responding to an actuation instruction of the split tailgate, and controlling the first tailgate or the second tailgate to actuate according to the actuation instruction.

[0065] It should be noted that the actuation instruction of the split tailgate includes an opening instruction or a closing instruction. When the user sends the actuation instruction of the split tailgate, the first tailgate and the second tailgate in the split tailgate can be actuated successively according to the actuation instruction. The first tailgate is the top door of the vehicle tailgate, and the second tailgate is the rear door of the vehicle tailgate.

[0066] In a specific implementation, after receiving the actuation instruction, the actuation instruction may be analyzed to determine a specific action, thereby controlling the first rear door or the second rear door to actuate with the specific action.

[0067] For example, if the actuation instruction is an automatic opening instruction, the first back door can be controlled to be actuated and opened, and after the first back door has been actuated for a certain time or opened to a certain distance, the second back door can be controlled to be actuated and opened. If the actuation instruction is an automatic closing instruction, the first and second back doors are currently both in the open state, and the second back door is first controlled to be closed according to the automatic closing instruction, and after the second back door has been actuated for a certain time or closed to a certain distance, the second back door can be controlled to be actuated and closed.

[0068] It is understandable that during the actuation of the first or second back door, one of the back doors may be stuck and fail to actuate due to foreign matter or mechanical failure. At this time, if the other back door continues to actuate, it will collide with the stuck back door, causing damage to the back door. Therefore, it is possible to detect whether there is a situation in which the back door of the split back door suddenly stops during normal actuation.

[0069] If the split tailgate does not actively stop, the first tailgate and the second tailgate in the split tailgate may be controlled to open or close according to the actuation command.

[0070] Step S20: when the split tailgate stops actuating, determining a target tailgate to stop actuating.

[0071] It should be noted that the actuation stop refers to the situation where the split tailgate stops suddenly during normal actuation, which may be due to a fault or an obstacle. Therefore, when the split tailgate stops actuating, the target tailgate to stop actuating may be determined first, and the target tailgate may be the first tailgate or the second tailgate.

[0072] Step S30: Detecting whether the target tailgate stopping position is located within the collision zone.

[0073] It can be understood that the collision zone is the area where the first back door and the second back door collide. For example, the first back door suddenly stops moving and stops in the collision zone. At this time, if the second back door continues to move, it may collide with the first back door in the collision zone. Therefore, it is possible to detect whether the position where the target back door stops moving is located in the collision zone, so as to take corresponding measures.

[0074] like Figure 2 As shown, Figure 2 The schematic diagram of the split back door actuation process is as follows: the top door is actuated by the top door hinge, and the bottom door is actuated by the bottom door hinge. Figure 2 As shown, when the sky door starts to move and open, if the sky door stops in the collision zone, the ground door starts to move and open, and will collide with the sky door in the collision zone. In addition to the collision zone, the sky door's actuation area during the opening process includes a wide opening area. If both the sky door and the ground door are in the fully open or non-collision zone, the ground door starts to move and close. If the ground door stops in the collision zone, when the sky door starts to move and close, it will collide with the ground door in the collision zone.

[0075] In a feasible implementation manner, step S30 may include steps S31 to S33:

[0076] Step S31: when the position where the target rear door stops moving is outside the collision zone, determining the type of the target rear door.

[0077] It is understandable that if the position where the target back door stops actuating is not located in the collision zone, it is possible to first determine which of the split back doors the target back door is, thereby executing a specific control process. Therefore, the type of the target back door can be determined, including the first back door or the second back door.

[0078] Step S32: When the target tailgate is the first tailgate and the actuation instruction is an opening instruction, the second tailgate is controlled to continue to be actuated and opened to a first preset position, and first tailgate fault information is generated for fault reminder.

[0079] In a specific implementation, when the target rear door is the first rear door, it proves that the upper door is faulty at this time, so it can be determined what the specific actuation instruction is. If the actuation instruction is an opening instruction, the second rear door, i.e., the ground door, can be controlled to be normally actuated and opened until it is fully opened. The first preset position is the position where the ground door is fully opened. At this time, since the upper door is outside the collision zone, the ground door will not collide with the upper door when actuated. After the ground door is fully opened, an alarm for the upper door fault can be generated to wait for maintenance. If the actuation instruction is a closing instruction, the second rear door can be controlled to close according to the closing instruction until the ground door is fully closed, and the fault information of the upper door can be generated for fault reminder.

[0080] Step S33: When the target back door is the second back door and the actuation instruction is a closing instruction, the first back door is controlled to stop closing and rotate in the opposite direction to a second preset position, and second back door fault information is generated for fault reminder.

[0081] It is understandable that when the target back door is the second back door, it proves that the ground door is faulty at this time, and the specific actuation instruction can be determined at this time. If the actuation instruction is a closing instruction at this time, and because the ground door stops outside the collision zone, if the sky door gradually closes, the distance between the sky door and the ground door will gradually decrease, making it impossible to repair or check the ground door. Therefore, the first back door can be controlled to stop closing and rotate in the opposite direction to the second preset position, which is the position where the sky door is fully opened, and at the same time, the second back door fault information, that is, the ground door fault information, is generated to provide a fault reminder to wait for maintenance. If the actuation instruction is an opening instruction, because the sky door opens before the ground door, if the ground door stops outside the collision zone at this time, the sky door is already far away from the ground door, then the sky door can continue to be controlled to open according to the opening instruction until the sky door opens to the fully open position, and the second back door fault information is generated to provide a fault reminder.

[0082] Step S40: When the position where the target tailgate stops actuating is located within the collision zone, controlling the first tailgate and / or the second tailgate to move based on the emergency position.

[0083] In a specific implementation, when the position where the target back door stops moving is within the collision zone, it indicates that the back door that has stopped moving is at risk of colliding with the back door that is moving. Therefore, this embodiment proposes the concept of an emergency position, by which the first back door or the second back door or the first back door and the second back door are controlled to move, thereby avoiding the occurrence of a collision. The emergency position may be a fixed area set in advance, or may be an area that maintains a fixed distance from the stop position. For example, the emergency position is a fixed area, and what needs to be determined is that, in the emergency position, no collision will occur between the first back door and the second back door, or a fixed distance will be maintained between the first back door and the second back door, in which case no collision will occur between the first back door and the second back door.

[0084] like Figure 3 As shown, Figure 3 The schematic diagram of the hardware framework of the split tailgate control method of this embodiment includes an outer switch for the sky door, an inner switch for the sky door, an electric support rod for the sky door, a sky door suction lock, an anti-pinch strip for the sky door, suction locks for the left and right ground doors, a ground door actuator, an inner switch for the ground door, and a kick sensor. The above-mentioned devices are connected to the ECU (Electronic Control Unit) of the sky door and the ground door through hard wires. The sky door and the ground door ECUs are also connected to the DA (Display APP) and the BCM (Body Control Module) respectively through the CAN bus. The BCM is also connected to the central control switch through a hard wire, so that the split tailgate is controlled through the above-mentioned hardware.

[0085] The present embodiment provides a split back door control method, the split back door control method is applied to the split back door of the vehicle, the split back door includes a first back door and a second back door, the first back door is located above the second back door, the split back door control method includes: responding to the actuation instruction of the split back door, and controlling the first back door or the second back door to actuate according to the actuation instruction; when the actuation of the split back door stops, determining the target back door to stop actuating; detecting whether the position where the target back door stops actuating is located in the collision zone; when the position where the target back door stops actuating is located in the collision zone, controlling the first back door and / or the second back door to move based on the emergency position. By setting the emergency position, when the collision between the first back door and the second back door is about to occur, the corresponding back door is controlled to quickly return to the emergency position, so that the split back door can be quickly controlled, the waiting time can be reduced, and the control effect can be improved.

[0086] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S40 includes steps S401 to S403:

[0087] Step S401: when the position where the target rear door stops moving is located within the collision zone, determining the type of the target rear door.

[0088] It should be noted that when the position where the target back door stops moving is within the collision zone, the type of the target back door can be determined first, which can be the first back door or the second back door. Different types of target back doors have different corresponding control processes or control strategies.

[0089] Step S402: when the type of the target back door is a first back door, determining whether the first back door has passed a preset blocking point position.

[0090] It is understandable that when the target back door is the sky door, it can be determined whether the sky door crosses the preset checkpoint position. Figure 5 The preset card point position is a card point position set in advance. The preset card point position is a specific position set. This position is used to ensure that the back door can meet certain safety and operation requirements during the opening and closing process. When the sky door is opened, it is necessary to cross this card point A before the ground door can be opened. This is done to ensure that during the door opening process, the user has enough space to pass through and can safely operate the door switch.

[0091] Therefore, it is possible to detect whether the top door has passed the preset card point position A, and perform corresponding operations. If the first back door has not passed the preset card point position, the second back door will not be opened or closed, the ground door will be controlled to be in a fully closed state, and the first back door fault information will be generated for fault reminder.

[0092] Step S403: When the first back door passes the preset blocking point, the first back door and / or the second back door are controlled to move based on the emergency position.

[0093] In a specific implementation, when the first back door passes the preset blocking point, emergency processing is required for the first back door and / or the second back door, and the first back door and / or the second back door are controlled to move based on the emergency position.

[0094] In a feasible implementation, step S403 may include steps A11 to A12:

[0095] Step A11: when the first back door passes the preset card point position, the movement position of the second back door is obtained.

[0096] It should be noted that when the first back door passes the preset card point position A, the ground door can be controlled to move to the emergency position, so the second back door movement position can be obtained, and the second back door movement position can be calculated through the Hall electrical signal in the actuator.

[0097] Step A12: When the movement position of the second back door is within the preset range of the first back door, the second back door is controlled to move to a second back door emergency position to control the split back door, and the second back door emergency position is located on the left side of the preset card point position and is separated by a first preset distance.

[0098] The preset range is the position where the first back door and the second back door are about to collide. For example, the preset range is set to a position of 1 degree, 3 degrees, etc. from the first back door, and the emergency position of the second back door is the ground door emergency position.

[0099] When the second back door moves to the point where it is about to collide with the first back door, the second back door is controlled to move to the second back door emergency position, which can be specifically controlled by controlling the second back door to rotate in the opposite direction or directly move to the second back door emergency position. The second back door emergency position is located on the left side of the preset card point position, and the first preset distance L3 of the interval can be greater than 30 mm. The specific distance can be adjusted according to the vehicle model or the size of the split back door, and this embodiment does not limit this. Figure 5 As shown, Figure 5 The diagram is a schematic diagram of the positional relationship between the ground door, the ground door emergency position and the preset card point position. The distance between the emergency position and the card point A: The distance L3 between the ground door emergency position and the card point A of the sky door needs to be greater than 30mm. This is to ensure that the user can easily press the ground door switch with his fingers when the door is opened. The ground door is in the second back door emergency position, and the distance between the second back door emergency position and the boundary position of the collision zone is greater than 100mm.

[0100] In a feasible implementation, step S403 may include steps B11 to B12:

[0101] Step B11: when the first rear door passes the preset blocking point, the emergency position is set to a first target interval distance.

[0102] It should be noted that when the sky door passes the preset card point, the emergency position can be set to maintain a first target spacing distance between the first back door and the second back door. The first target spacing distance is set to a distance greater than 30 mm and can be adjusted according to needs. This embodiment does not impose any restrictions on this.

[0103] Step B12: Control the second back door to move with the first back door while maintaining the first target interval distance.

[0104] In a specific implementation, the ground door and the sky door can be controlled to maintain a first target interval distance for movement. Once the sky door stops, the ground door stops immediately, so that the user can insert his finger into the ground door and press the ground door switch.

[0105] In this embodiment, when the position where the target back door stops actuating is located within the collision zone, the type of the target back door is determined; when the type of the target back door is the first back door, it is determined whether the first back door has passed the preset card point position; when the first back door has passed the preset card point position, the first back door and / or the second back door are controlled to move based on the emergency position. By setting the card point position, it is ensured that there is enough space for the user to pass through during the door opening process, so that the user can pass through the door safely and conveniently. And by accurately controlling the opening and closing actions of the door, the effect of back door control is improved.

[0106] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 6 , step S40 includes steps S401' to S403':

[0107] Step S401 ′: when the position where the target rear door stops moving is located within the collision zone, determining the type of the target rear door.

[0108] It should be noted that when the position where the target back door stops moving is within the collision zone, the type of the target back door can be determined first, which can be the first back door or the second back door. Different types of target back doors have different corresponding control processes or control strategies.

[0109] Step S402': when the type of the target back door is a second back door, acquiring a movement position of the first back door.

[0110] In a specific implementation, if the target back door type is a ground door, the movement position of the top door at this time can be obtained to determine whether the top door is about to collide with the ground door. The first back door movement position can be calculated by the Hall electrical signal in the actuator.

[0111] Step S403': when the movement position of the first back door is within the preset range of the second back door, controlling the first back door to move to a first back door emergency position, wherein the first back door emergency position is spaced a second preset distance from a boundary of the collision zone.

[0112] The preset range is the position where the first rear door and the second rear door are about to collide. For example, the preset range is set to a position of 1 degree, 3 degrees, etc. from the second rear door, and the emergency position of the first rear door is the emergency position of the sky door.

[0113] The emergency position of the upper door and the boundary of the collision zone are separated by a second preset distance, which can be greater than 150 mm and can be adjusted according to needs. By controlling the first back door to move to the emergency position of the first back door, a larger opening between the upper door and the ground door can be ensured, which is convenient for clearing obstacles or repairs.

[0114] like Figure 7 As shown, Figure 7 It is a schematic diagram of the positional relationship between the sky door, the ground door and the sky door emergency position. The sky door emergency position is located at a preset distance to the right of the collision zone boundary. When the sky and ground doors are closed, the ground door is stuck in the collision zone, and the sky door stops at the fixed sky door emergency position. At this time, the minimum opening size L1 of the sky and ground doors is greater than 150mm. L1 is the minimum opening size between the sky door and the ground door. When the ground door is in the ground door emergency position, the sky and ground door opening size L2 is greater than 100mm.

[0115] In a feasible implementation manner, step S40 may further include steps C401 to C402:

[0116] Step C401: when the type of the target back door is a second back door, the emergency position is set to a second target interval distance, and the second target interval distance is greater than the first target interval distance.

[0117] In a specific implementation, if the target rear door to be stopped is the second rear door, the emergency position can be set to maintain a fixed distance between the first rear door and the stopped second rear door to avoid collision. Therefore, the emergency position can be set to the second target interval distance, and the second target interval distance is set to a distance greater than or equal to 150 mm.

[0118] Step C402: Control the first back door and the second back door to move while maintaining the second target interval distance.

[0119] In a specific implementation, the ground door is stuck in the collision zone, and the sky door is set to move at a second target interval distance from the ground door to avoid collision.

[0120] like Figure 8 As shown, Figure 8 It is a schematic diagram of the overall process in which the emergency position is a fixed position and the actuation command is automatic closing. When the automatic closing command of the sky and earth doors is detected, it is detected whether the ground door stops during the closing actuation of the sky and earth doors. If not, the sky and earth doors are controlled to close normally. If so, it is detected whether the ground door stops outside the collision area. If the ground door stops outside the collision area, the sky door is controlled to stop closing and rotate in the reverse direction to the fully open position, a ground door fault information alarm is generated and maintenance is waited for. If the ground door stops in the collision area, when the sky door moves to the point of collision, the sky door is controlled to rotate in the reverse direction to the sky door emergency position, and a ground door fault information alarm is generated. The alarm can be given through process prompts or buzzer sounds. After the fault or obstacle is cleared, the ground door switch is pressed again to control the ground door to close first, and then the sky door is closed.

[0121] like Fig. 9 As shown, Fig. 9 It is a schematic diagram of the overall process in which the emergency position is a fixed position and the actuation command is automatic opening. When the automatic opening command of the sky and earth doors is detected, it is detected whether the sky door stops during the opening actuation of the sky and earth doors. If not, the sky and earth doors are controlled to open normally. If so, it is detected whether the sky door stops outside the collision area. If the sky door stops outside the collision area, the ground door is controlled to move normally to the fully open position, and a sky door fault information alarm is generated and maintenance is waited for. If the sky door stops in the collision area, when the ground door moves to the point of collision, the ground door is controlled to rotate in the opposite direction or move directly to the ground door emergency position, and a sky door fault information alarm is generated. The alarm can be given through process prompts or buzzer sounds. After the fault or obstacle is cleared, press the sky door switch to control the sky door to open first, and then the ground door opens.

[0122] like Fig.10 As shown, Fig.10 It is a schematic diagram of the overall process in which the emergency position is to maintain a fixed distance from the stopped back door and the actuation command is automatic closing. When the automatic closing command of the sky and earth doors is detected, it is detected whether the ground door stops during the closing actuation of the sky and earth doors. If not, the sky and earth doors are controlled to close normally. If so, it is detected whether the ground door stops outside the collision area. If the ground door stops outside the collision area, the sky door is controlled to stop closing and rotate in the opposite direction to the fully open position, a ground door fault information alarm is generated and maintenance is waited for. If the ground door stops in the collision area, the sky door movement is controlled to maintain the first target interval distance with the ground door, keep relatively still, and generate a ground door fault information alarm. The alarm can be given through process prompts or buzzer sounds. After the fault or obstacle is cleared, press the ground door switch again to control the ground door to close first, and then the sky door is closed.

[0123] like Fig.11 As shown, Fig.11It is a schematic diagram of the overall process in which the emergency position is to maintain a fixed distance from the stopped back door and the actuation command is automatic opening. When the automatic opening command of the sky and earth doors is detected, it is detected whether the sky door stops during the opening actuation of the sky and earth doors. If not, the sky and earth doors are controlled to open normally. If so, it is detected whether the sky door stops outside the collision area. If the sky door stops outside the collision area, the ground door is controlled to move normally to the fully open position, and a sky door fault information alarm is generated and maintenance is waited for. If the sky door stops in the collision area, the ground door movement is controlled to maintain a second target interval distance with the sky door, such as a fixed value position above 30mm, and a sky door fault information alarm is generated. The alarm can be given through process prompts or buzzer sounds. After the fault or obstacle is cleared, press the sky door switch to control the sky door to open first, and then the ground door opens.

[0124] In this embodiment, when the position where the target back door stops actuating is located within the collision zone, the type of the target back door is determined; when the type of the target back door is the second back door, the movement position of the first back door is obtained; when the movement position of the first back door is located within the preset range of the second back door, the first back door is controlled to move to the first back door emergency position, and the first back door emergency position is separated from the boundary of the collision zone by a second preset distance. By precisely controlling the opening and closing actions of the back door, the effect of back door control is improved, and the safety and reliability of the car back door are improved, especially in the event of a possible collision. By automatically controlling the position of the back door, the risk of damage caused by accidental opening or closing of the back door can be reduced.

[0125] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the split tailgate control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0126] This application also provides a split back door control device, please refer to Fig.12 , the split back door control device comprises:

[0127] The response module 10 is used to respond to the actuation instruction of the split tailgate and control the first tailgate or the second tailgate to actuate according to the actuation instruction.

[0128] The determination module 20 is used to determine a target tailgate to stop actuating when the split tailgate stops actuating.

[0129] A detection module 30, used to detect whether the position where the target back door stops actuating is located within the collision zone;

[0130] The control module 40 is used for controlling the first tailgate and / or the second tailgate to move based on the emergency position when the position where the target tailgate stops actuating is located within the collision zone.

[0131] The split back door control device provided by the present application adopts the split back door control method in the above embodiment, which can solve the technical problem that the split back door control takes a long time and has a poor control effect. Compared with the prior art, the beneficial effects of the split back door control device provided by the present application are the same as the beneficial effects of the split back door control method provided by the above embodiment, and other technical features in the split back door control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0132] In one embodiment, the control module 40 is further used to determine the type of the target back door when the position where the target back door stops actuating is within the collision zone; when the type of the target back door is a first back door, determine whether the first back door has passed a preset card point position; when the first back door has passed the preset card point position, control the first back door and / or the second back door to move based on the emergency position.

[0133] In one embodiment, the control module 40 is further used to obtain a second back door movement position when the first back door passes the preset card point position; when the second back door movement position is within a preset range of the first back door, control the second back door to move to a second back door emergency position to control the split back door, and the second back door emergency position is located on the left side of the preset card point position and is separated by a first preset distance.

[0134] In one embodiment, the control module 40 is further used to set the emergency position to a first target spacing distance when the first back door passes the preset card point position; and control the second back door to move with the first back door while maintaining the first target spacing distance.

[0135] In one embodiment, the control module 40 is further used to determine the type of the target back door when the position where the target back door stops actuating is within the collision zone; to obtain the movement position of the first back door when the type of the target back door is the second back door; and to control the first back door to move to a first back door emergency position when the movement position of the first back door is within a preset range of the second back door, wherein the first back door emergency position is spaced a second preset distance from the boundary of the collision zone.

[0136] In one embodiment, the control module 40 is also used to set the emergency position to a second target spacing distance when the type of the target back door is a second back door, and the second target spacing distance is greater than the first target spacing distance; and control the first back door and the second back door to move while maintaining the second target spacing distance.

[0137] In one embodiment, the detection module 30 is further used to determine the type of the target back door when the position where the target back door stops actuating is outside the collision zone; when the target back door is the first back door and the actuation instruction is an opening instruction, control the second back door to continue actuating and opening to the first preset position, and generate first back door fault information for fault reminder; when the target back door is the second back door and the actuation instruction is a closing instruction, control the first back door to stop closing and rotate in the opposite direction to the second preset position, and generate second back door fault information for fault reminder.

[0138] The present application provides a split tailgate control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the split tailgate control method in the above-mentioned embodiment one.

[0139] Reference below Fig.13 , which shows a schematic diagram of the structure of a split back door control device suitable for implementing the embodiment of the present application. The split back door control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.13 The split tailgate control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0140] like Fig.13As shown, the split-type back door control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the split-type back door control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the split back door control device to communicate wirelessly or wired with other devices to exchange data. Although the split back door control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0141] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0142] The split back door control device provided by the present application adopts the split back door control method in the above embodiment, which can solve the technical problem that the split back door control takes a long time and has a poor control effect. Compared with the prior art, the beneficial effects of the split back door control device provided by the present application are the same as the beneficial effects of the split back door control method provided by the above embodiment, and the other technical features of the split back door control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0143] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0144] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0145] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the split tailgate control method in the above-mentioned embodiment.

[0146] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0147] The computer-readable storage medium may be included in the split-type tailgate control device; or may exist independently without being assembled into the split-type tailgate control device.

[0148] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the split tailgate control device, the split tailgate control device: responds to the actuation instruction of the split tailgate, and controls the first tailgate or the second tailgate to actuate according to the actuation instruction; when the actuation of the split tailgate stops, determines the target tailgate to stop actuating; detects whether the position where the target tailgate stops actuating is located in the collision zone; when the position where the target tailgate stops actuating is located in the collision zone, controls the first tailgate and / or the second tailgate to move based on the emergency position.

[0149] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0150] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0151] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0152] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned split-type back door control method, and can solve the technical problem that the split-type back door control takes a long time and has a poor control effect. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the split-type back door control method provided in the above-mentioned embodiment, and will not be repeated here.

[0153] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned split tailgate control method when executed by a processor.

[0154] The computer program product provided by the present application can solve the technical problem that the split back door control takes a long time and has poor control effect. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the split back door control method provided by the above embodiment, which will not be described in detail here.

[0155] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A split back door control method, characterized in that: The split backdoor control method is applied to a split backdoor of a vehicle, the split backdoor comprising a first backdoor and a second backdoor, the first backdoor being located above the second backdoor, the method comprising: responding to an actuation instruction of the split back door, and controlling the first back door or the second back door to actuate according to the actuation instruction; When the split tailgate stops actuating, determining a target tailgate to stop actuating; Detecting whether the position where the target back door stops actuating is within the collision zone; When the position where the target tailgate stops actuating is located within the collision zone, the first tailgate and / or the second tailgate is controlled to move based on the emergency position.

2. The method according to claim 1, characterized in that When the position where the target back door stops moving is located in the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes: When the position where the target back door stops actuating is located within the collision zone, determining the type of the target back door; When the type of the target back door is a first back door, determining whether the first back door has passed a preset checkpoint position; When the first tailgate passes the preset blocking point, the first tailgate and / or the second tailgate are controlled to move based on the emergency position.

3. The method according to claim 2, characterized in that The step of controlling the first back door and / or the second back door to move based on the emergency position when the first back door passes the preset blocking point position comprises: When the first back door passes the preset blocking point, obtaining a movement position of the second back door; When the movement position of the second back door is within the preset range of the first back door, the second back door is controlled to move to the second back door emergency position to control the split back door, and the second back door emergency position is located on the left side of the preset card point position and is separated by a first preset distance.

4. The method according to claim 2, characterized in that The step of controlling the first back door and / or the second back door to move based on the emergency position when the first back door passes the preset blocking point position comprises: When the first back door passes the preset blocking point, the emergency position is set to a first target interval distance; The second back door is controlled to move with the first back door while maintaining the first target interval distance.

5. The method according to claim 1, characterized in that When the position where the target back door stops moving is located in the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes: When the position where the target back door stops actuating is located within the collision zone, determining the type of the target back door; When the type of the target back door is a second back door, acquiring a movement position of the first back door; When the movement position of the first back door is within the preset range of the second back door, the first back door is controlled to move to a first back door emergency position, and the first back door emergency position is spaced a second preset distance from the boundary of the collision zone.

6. The method according to claim 5, characterized in that When the position where the target back door stops moving is located in the collision zone, the step of controlling the first back door and / or the second back door to move based on the emergency position includes: When the type of the target back door is a second back door, the emergency position is set to a second target interval distance, and the second target interval distance is greater than the first target interval distance; The first back door and the second back door are controlled to move while maintaining the second target interval distance.

7. The method according to any one of claims 1 to 6, characterized in that After the step of detecting whether the position where the target back door stops moving is located within the collision zone, the method further includes: When the position where the target back door stops actuating is outside the collision zone, determining the type of the target back door; When the target back door is the first back door and the actuation instruction is an opening instruction, controlling the second back door to continue to actuate and open to the first preset position, and generating first back door fault information for fault reminder; When the target tailgate is the second tailgate and the actuation instruction is a closing instruction, the first tailgate is controlled to stop closing and rotate in the reverse direction to a second preset position, and second tailgate fault information is generated for fault reminder.

8. A split back door control device, characterized in that: The device comprises: A response module, used to respond to an actuation instruction of the split back door, and control the first back door or the second back door to actuate according to the actuation instruction; a determination module, configured to determine a target tailgate to stop actuating when the split tailgate stops actuating; A detection module, used for detecting whether the position where the target back door stops actuating is located within the collision zone; A control module is used for controlling the first back door and / or the second back door to move based on an emergency position when the position where the target back door stops actuating is located within the collision zone.

9. A split back door control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the split tailgate control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the split tailgate control method according to any one of claims 1 to 7 are implemented.

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