Electric tail gate anti-collision control method and control system and vehicle

Abstract

The invention discloses an electric tail gate anti-collision control method and system and a vehicle. The method comprises the steps that a first reference distance between a first distance measuring device and an obstacle and a second reference distance between a second distance measuring device and the obstacle are obtained; calculating a third reference distance between the tail gate rotating shaft and the obstacle according to the first reference distance and the second reference distance; when the third reference distance is larger than the track radius when the electric tail gate is opened, the electric tail gate is controlled to be opened to the maximum opening angle; and when the third reference distance is smaller than or equal to the track radius when the electric tail gate is opened, the electric tail gate is controlled to be opened to the limited opening angle. According to the anti-collision control method for the electric tail door, whether the risk of collision exists in the opening process of the electric tail door or not can be more accurately judged, then the angle at which the electric tail door can be safely opened is determined, and the accuracy of anti-collision detection is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an electric tailgate anti-collision control method, a control system and a vehicle. Background Art

[0002] With the popularization of automatic control of automobiles, electric tailgates are widely used in various car models as a new tailgate opening method due to their convenience. At present, many electric tailgates on the market will extend to the rear of the vehicle to a certain extent when opened compared to the fully closed position, especially the electric tailgates of MPV (Multi-Purpose Vehicle), which extend backwards more obviously when opened. When there are obstacles such as walls, vehicles, flower beds, charging piles, etc. behind the vehicle, the electric tailgate is very likely to collide with the obstacles during the opening process, causing damage to the electric tailgate or the objects behind it.

[0003] The existing electric tailgate anti-collision technology generally only detects the horizontal distance between the obstacle and the electric tailgate, and then compares it with the distance the electric tailgate extends backward to determine whether there is a risk of collision. This method only detects the horizontal distance between the obstacle and the electric tailgate. Some obstacles with a close horizontal distance but a low height are actually not within the range of movement of the electric tailgate and will not collide, but they will also be misjudged as having a collision risk, which can easily lead to false detection. Summary of the invention

[0004] The purpose of this application is to provide an electric tailgate anti-collision control method, control system and vehicle, which can more accurately determine whether there is a risk of collision during the opening process of the electric tailgate, and then determine the angle at which the electric tailgate can be safely opened, thereby improving the accuracy of anti-collision detection.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides an electric tailgate anti-collision control method, comprising:

[0007] Respectively obtaining a first reference distance between the first distance measuring device and the obstacle, and a second reference distance between the second distance measuring device and the obstacle;

[0008] Calculating a third reference distance between the tailgate rotation axis and the obstacle according to the first reference distance and the second reference distance;

[0009] When the third reference distance is greater than the trajectory radius of the electric tailgate when it is opened, controlling the electric tailgate to open to a maximum opening angle;

[0010] When the third reference distance is less than or equal to the trajectory radius of the electric tailgate when it is opened, the electric tailgate is controlled to open to a restricted opening angle.

[0011] In one embodiment, the first distance measuring device and the second distance measuring device are installed on the electric tailgate at intervals along a height direction.

[0012] In one embodiment, the calculating, based on the first reference distance and the second reference distance, a third reference distance between the tailgate rotation axis and the obstacle includes:

[0013] Determine a triangle formed by the first ranging device, the second ranging device and the obstacle as a first triangle;

[0014] Determine a triangle formed by the first distance measuring device, the second distance measuring device and the tailgate rotating shaft as a second triangle;

[0015] Determine a triangle formed by the first distance measuring device, the obstacle and the tailgate shaft as a third triangle;

[0016] A third reference distance between the tailgate rotation axis and the obstacle is calculated according to the relationship between the sides and angles of the first triangle, the second triangle, and the third triangle.

[0017] In one embodiment, the third reference distance between the tailgate rotation axis and the obstacle is calculated based on the angle relationship between the first triangle, the second triangle, and the third triangle, including:

[0018] Calculating a first angle between a line connecting the first distance measuring device and the second distance measuring device and a line connecting the first distance measuring device and the obstacle according to the relationship between the sides and angles of the first triangle;

[0019] Calculating a second angle between a line connecting the first distance measuring device and the tailgate shaft and a line connecting the first distance measuring device and the second distance measuring device according to the relationship between the sides and angles of the second triangle;

[0020] The sum of the first angle and the second angle is determined as a third angle between a line connecting the first distance measuring device and the tailgate shaft and a line connecting the first distance measuring device and the obstacle;

[0021] A third reference distance between the tailgate rotation axis and the obstacle is calculated according to the third included angle and the relationship between the sides and angles of the third triangle.

[0022] In one embodiment, controlling the electric tailgate to open to a limited opening angle includes:

[0023] Calculating a limited opening angle when the electric tailgate is opened based on the third reference distance;

[0024] Wherein, the limited opening angle is smaller than the maximum opening angle.

[0025] In one embodiment, the calculating, based on the third reference distance, the limited opening angle when the electric tailgate is opened includes:

[0026] Acquiring a fourth angle between the electric tailgate and the vertical direction when the electric tailgate is closed;

[0027] Based on the third reference distance, calculating a fifth angle between a line connecting the obstacle and the tailgate rotation axis and a vertical direction;

[0028] The difference between the fifth angle and the fourth angle is determined as the limited opening angle of the electric tailgate.

[0029] In one embodiment, calculating a fifth angle between a line connecting the obstacle and the tailgate rotation axis and a vertical direction based on the third reference distance includes:

[0030] Based on the third reference distance and the relationship between the sides and angles of a third triangle, a sixth angle between a line connecting the tailgate rotation axis and the obstacle and a line connecting the tailgate rotation axis and the first distance measuring device is calculated, wherein the third triangle is a triangle formed by the first distance measuring device, the obstacle and the tailgate rotation axis;

[0031] Acquire a seventh angle between a line connecting the tailgate rotation axis and the first distance measuring device and the vertical direction;

[0032] The sum of the sixth angle and the seventh angle is determined as the fifth angle between the obstacle and the vertical direction.

[0033] In one embodiment, the first ranging device and the second ranging device are one of an ultrasonic radar, a millimeter wave radar, a laser radar, and a camera.

[0034] In a second aspect, an embodiment of the present application provides an electric tailgate anti-collision control system, comprising a processor and a memory storing a computer program, and when the processor runs the computer program, the electric tailgate anti-collision control method as described above is implemented.

[0035] In a third aspect, an embodiment of the present application provides a vehicle, on which the electric tailgate anti-collision control system as described above is configured.

[0036] The electric tailgate anti-collision control method, control system and vehicle provided in the embodiments of the present application respectively measure the first reference distance and the second reference distance between the tailgate and the obstacle through the first distance measuring device and the second distance measuring device; calculate the third reference distance between the tailgate shaft and the obstacle based on the measured first reference distance and the second reference distance; when the third reference distance is greater than the trajectory radius when the electric tailgate is opened, control the electric tailgate to open to the maximum opening angle; when the third reference distance is less than or equal to the trajectory radius when the electric tailgate is opened, control the electric tailgate to open to the restricted opening angle; based on the relationship between the distance between the tailgate shaft and the obstacle and the trajectory radius when the electric tailgate is opened, it is possible to more accurately judge whether there is a risk of collision during the opening process of the electric tailgate, and then determine the angle at which the electric tailgate can be safely opened, which can avoid the situation where low obstacles are misjudged as having a collision risk, thereby improving the accuracy of anti-collision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic flow chart of the electric tailgate anti-collision control method provided in an embodiment of the present application.

[0039] Figure 2 A schematic diagram of the installation positions of the first ranging device and the second ranging device provided in an embodiment of the present application.

[0040] Figure 3 A schematic diagram of a scenario when there is a risk of collision provided in an embodiment of the present application.

[0041] Figure 4 A schematic diagram of a scenario with no collision risk provided in an embodiment of the present application.

[0042] Figure 5 A schematic diagram of the structure of an electric tailgate anti-collision control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0044] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0045] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0046] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0047] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0050] See also Figure 1 , is an electric tailgate anti-collision control method provided in an embodiment of the present application, and the electric tailgate anti-collision control method can be executed by an electric tailgate anti-collision control system provided in an embodiment of the present application, and the electric tailgate anti-collision control system includes a control unit, a first distance measuring device and a second distance measuring device installed on the electric tailgate of the automobile, and an actuator for driving the electric tailgate to move. The electric tailgate anti-collision control method provided in this embodiment specifically includes the following steps:

[0051] Step S101: respectively obtaining a first reference distance between a first distance measuring device and an obstacle, and a second reference distance between a second distance measuring device and an obstacle.

[0052] In one embodiment, the first distance measuring device and the second distance measuring device are installed on the electric tailgate with an interval in the height direction.

[0053] Specifically, see Figure 2, the first distance measuring device is installed at the first horizontal position of the electric tailgate, and the second distance measuring device is installed at the second horizontal position of the electric tailgate. The first horizontal position and the second horizontal position have a certain height difference in the vertical direction, that is, the height of the installation position of the second distance measuring device on the electric tailgate from the ground is greater than the height of the installation position of the first distance measuring device on the electric tailgate from the ground. In a specific embodiment, the first distance measuring device can be installed at the door lock position close to the bottom of the electric tailgate, so that the line of the door lock can be used without additional wiring, and the second distance measuring device can be installed at the rear bumper position; in another specific embodiment, the first distance measuring device is installed at the rear bumper position, and the second distance measuring device can be installed at the installation position of the rear wiper, so that the line of the rear wiper can be used without additional wiring. The first distance measuring device and the second distance measuring device can be fixedly installed on different horizontal planes of the electric tailgate by screws, clamps or adhesives, etc., to ensure that they will not loosen during the driving of the vehicle.

[0054] Optionally, the first ranging device and the second ranging device may be one of an ultrasonic radar, a millimeter wave radar, a laser radar, and a camera.

[0055] In a specific embodiment, when the first ranging device and the second ranging device use millimeter wave radar, the millimeter wave radar generally includes a transmitter and a receiver. After the transmitter transmits a radar signal, if an obstacle is encountered within the detection range, the radar signal is reflected by the obstacle and received by the receiver. According to the time from the transmission to the reception of the radar signal, the distance between the installation position of the ranging device and the obstacle can be calculated.

[0056] It should be noted that the installation position, installation method and specific selected types of the first ranging device and the second ranging device can be adaptively designed according to the detection requirements, and this application does not impose any restrictions on this.

[0057] Step S102: Calculate a third reference distance between the tailgate rotation axis and the obstacle according to the first reference distance and the second reference distance.

[0058] In one embodiment, a triangle formed by the first ranging device, the second ranging device and the obstacle is determined as a first triangle; a triangle formed by the first ranging device, the second ranging device and the tailgate rotating shaft is determined as a second triangle; a triangle formed by the first ranging device, the obstacle and the tailgate rotating shaft is determined as a third triangle; and a third reference distance between the tailgate rotating shaft and the obstacle is calculated based on the relationship between the sides and angles of the first triangle, the second triangle and the third triangle.

[0059] For example, see Figure 3, assuming that the position of the tailgate shaft is the reference point o, the installation position of the first distance measuring device is the reference point d, the installation position of the second distance measuring device is the reference point b, the dotted line cd represents the horizontal position where the first distance measuring device is installed, the dotted line ab represents the horizontal position where the second distance measuring device is installed, and the position of the obstacle is the reference point x, then the first triangle formed by the first distance measuring device, the second distance measuring device and the obstacle is △bdx, the second triangle formed by the first distance measuring device, the second distance measuring device and the tailgate shaft is △obd, the third triangle formed by the first distance measuring device, the obstacle and the tailgate shaft is △odx, the third reference distance between the tailgate shaft and the obstacle is the side length ox of △odx, and according to the side-angle relationship between △bdx, △obd, and △odx, combined with the trigonometric function formula, the length of the third reference distance ox can be calculated.

[0060] Specifically, in one embodiment, the specific calculation process of the third reference distance includes: calculating a first angle between a line connecting the first distance measuring device and the second distance measuring device and a line connecting the first distance measuring device and the obstacle according to the relationship between the sides and angles of the first triangle; calculating a second angle between a line connecting the first distance measuring device and the tailgate rotating shaft and a line connecting the first distance measuring device and the second distance measuring device according to the relationship between the sides and angles of the second triangle; determining the sum of the first angle and the second angle as a third angle between a line connecting the first distance measuring device and the tailgate rotating shaft and a line connecting the first distance measuring device and the obstacle; and calculating the third reference distance between the tailgate rotating shaft and the obstacle according to the third angle and the relationship between the sides and angles of the third triangle.

[0061] For example, Figure 3 Taking the schematic positions of the tailgate shaft, the first distance measuring device, the second distance measuring device and the obstacle in FIG as an example, the specific calculation process of the third reference distance is described in detail.

[0062] Since the installation positions of the tailgate shaft, the first distance measuring device and the second distance measuring device are fixed, Figure 3 The side lengths bd, oa, oc, ob, od, ab, and cd are also fixed values ​​and can be measured after the distance measuring device is installed; assuming that the trajectory radius r=op when the electric tailgate moves, the first reference distance measured by the first distance measuring device is dx, and the second reference distance measured by the second distance measuring device is bx.

[0063] In the first triangle △bdx, according to the cosine theorem of triangle, we can get:

[0064] (bx)2=(bd)2+(dx)2-2(bd)(dx)cos∠bdx;

[0065] Among them, the lengths of bx, bd, and dx are known, and the first angle ∠bdx can be calculated according to the above calculation formula.

[0066] In the second triangle △obd, according to the cosine theorem of triangle, we can get:

[0067] (ob)2=(od)2+(bd)2-2(od)(bd)cos∠odb;

[0068] Among them, the lengths of ob, od, and bd are known, and the second angle ∠odb can be calculated according to the above calculation formula.

[0069] According to the above calculation results, it can be concluded that the third angle ∠odx = ∠bdx + ∠odb;

[0070] Furthermore, in the third triangle △odx, according to the cosine theorem of triangles, we can obtain:

[0071] (ox)2=(od)2+(dx)2-2(od)(dx)cos∠odx;

[0072] Among them, od, dx, and ∠odx are known, and the length of the third reference distance ox can be calculated according to the above calculation formula.

[0073] Step S103: When the third reference distance is greater than the trajectory radius of the electric tailgate when it is opened, the electric tailgate is controlled to open to a maximum opening angle.

[0074] Specifically, when the electric tailgate is opened, it rotates around the tailgate shaft within a certain angle range. The movement trajectory of the electric tailgate is as follows: Figure 3 As shown by the arc p in , the electric tailgate has the maximum opening angle when it is opened, and the trajectory radius when it is opened is op. Figure 4 As shown, when the third reference distance is greater than the trajectory radius when the electric tailgate is opened, that is, ox>op, there is no risk of collision between the electric tailgate and obstacles during the opening process, and the electric tailgate can be controlled to open to the maximum opening angle.

[0075] Step S104: When the third reference distance is less than or equal to the trajectory radius of the electric tailgate when it is opened, the electric tailgate is controlled to open to a limited opening angle.

[0076] Specifically, Figure 3 As shown, when the third reference distance is less than or equal to the trajectory radius when the electric tailgate is opened, that is, ox≤op, the electric tailgate is at risk of colliding with an obstacle during the opening process. At this time, if the electric tailgate is controlled to open, it may be damaged during the opening process. It is necessary to limit the opening angle of the electric tailgate to prevent the electric tailgate from colliding with an obstacle.

[0077] In one embodiment, controlling the electric tailgate to open to the limited opening angle includes: calculating the limited opening angle when the electric tailgate is opened based on a third reference distance; wherein the limited opening angle is smaller than the maximum opening angle.

[0078] In one embodiment, the calculation process of the limited opening angle of the electric tailgate includes: obtaining a fourth angle between the electric tailgate and the vertical direction when the electric tailgate is closed; based on a third reference distance, calculating a fifth angle between a line connecting the obstacle and the tailgate axis and the vertical direction; and determining the difference between the fifth angle and the fourth angle as the limited opening angle of the electric tailgate.

[0079] For example, assuming that the fourth angle between the electric tailgate and the vertical direction when it is fully closed is θ, the angle of the fourth angle can be obtained from the design parameters of the vehicle, such as Figure 3 As shown, the fifth angle between the line connecting the obstacle and the tailgate rotation axis and the vertical direction is ∠cox, and the limited opening angle of the electric tailgate = ∠cox-θ.

[0080] In one embodiment, the specific calculation process of the fifth angle between the line connecting the obstacle and the tailgate rotation axis and the vertical direction includes: based on the third reference distance and the side-angle relationship of the third triangle, calculating the sixth angle between the line connecting the tailgate rotation axis and the obstacle and the line connecting the tailgate rotation axis and the first ranging device; obtaining the seventh angle between the line connecting the tailgate rotation axis and the first ranging device and the vertical direction; and determining the sum of the sixth angle and the seventh angle as the fifth angle between the line connecting the obstacle and the tailgate rotation axis and the vertical direction.

[0081] For example, Figure 3 As shown, the sixth angle between the line connecting the tailgate shaft and the obstacle and the line connecting the tailgate shaft and the first distance measuring device is ∠dox, and the seventh angle between the line connecting the tailgate shaft and the first distance measuring device and the vertical direction is ∠cod.

[0082] In the third triangle △odx, according to the cosine theorem of triangle, we can get:

[0083] (dx)2=(od)2+(ox)2-2(od)(ox)cos∠dox;

[0084] Among them, dx, od, and ox are known, and the angle of the sixth angle ∠dox can be calculated according to the above calculation formula.

[0085] In the triangle △cod, according to the cosine theorem of the triangle, we can get: cos∠cod=oc / od; where oc and od are known, the angle of the seventh angle ∠cod can be calculated. Further, the fifth angle between the obstacle and the vertical direction ∠cox=∠cod+∠dox can be calculated.

[0086] It should be noted that the first distance measuring device and the second distance measuring device in the embodiment of the present application may not be in the same vertical direction. Figure 3 The reference point b in is not necessarily directly above the reference point d. When the obstacle is large, the reference point used to indicate the location of the obstacle (such as Figure 3 The point x in the figure may be the point on the obstacle that is closest to the first distance measuring device and / or the second distance measuring device. The specific calculation process of the third reference distance between the tailgate shaft and the obstacle and the limited opening angle of the electric tailgate in the above embodiment may also be obtained by calculation using other trigonometric function relationships, and the present application does not limit the trigonometric function formula used in the calculation process.

[0087] In summary, the electric tailgate anti-collision control method provided in the embodiment of the present application measures the first reference distance and the second reference distance between the tailgate and the obstacle respectively through the first distance measuring device and the second distance measuring device; calculates the third reference distance between the tailgate shaft and the obstacle according to the measured first reference distance and the second reference distance; when the third reference distance is greater than the trajectory radius when the electric tailgate is opened, controls the electric tailgate to open to the maximum opening angle; when the third reference distance is less than or equal to the trajectory radius when the electric tailgate is opened, controls the electric tailgate to open to the restricted opening angle; according to the relationship between the distance between the tailgate shaft and the obstacle and the trajectory radius when the electric tailgate is opened, it is possible to more accurately judge whether there is a risk of collision during the opening process of the electric tailgate, and then determine the angle at which the electric tailgate can be safely opened, which can avoid the situation where a low obstacle is misjudged as having a collision risk, reduce the probability of false detection, and improve the accuracy of anti-collision detection.

[0088] See also Figure 5 , is an electric tailgate anti-collision control system provided in the embodiment of the present application. Those skilled in the art can understand that, Figure 5 This is merely an example of an electric tailgate anti-collision control system and does not constitute a limitation on the system. The electric tailgate anti-collision control system may include a control unit 510 , a first distance measuring device 520 , a second distance measuring device 530 , and an execution device 540 .

[0089] Among them, the first distance measuring device 520 is used to send the measured first reference distance between the obstacle and the control unit 510; the second distance measuring device 230 is used to send the measured second reference distance between the obstacle and the control unit 510; the control unit 510 is used to calculate the third reference distance between the tailgate rotation axis and the obstacle based on the first reference distance and the second reference distance, and when the third reference distance is greater than the trajectory radius when the electric tailgate is opened, the electric tailgate is controlled to open to the maximum opening angle; when the third reference distance is less than or equal to the trajectory radius when the electric tailgate is opened, the electric tailgate is controlled to open to the limited opening angle; the actuator 540 is used to drive the electric tailgate to move under the control of the control unit 510.

[0090] In one embodiment, the electric tailgate anti-collision control system further includes a reminder unit 550, which is used to remind the user that there is a collision risk within the movement range of the electric tailgate and the electric tailgate cannot be opened to the maximum opening angle when the third reference distance between the tailgate rotation axis and the obstacle is less than or equal to the trajectory radius when the electric tailgate is opened. The reminder unit 550 includes a sound reminder and / or a light reminder.

[0091] It should be noted that the detailed functional implementation of each of the above modules can be referred to the introduction in the above method embodiment, and will not be repeated here. The electric tailgate anti-collision control method as described above is implemented through the cooperation between the above device and the modules set therein, and has exactly the same beneficial effects.

[0092] Based on the same inventive concept as the aforementioned embodiments, an embodiment of the present invention further provides a vehicle, which is equipped with the electric tailgate anti-collision control system described in the aforementioned embodiments. The electric tailgate anti-collision control system includes a processor and a memory storing a computer program. When the processor runs the computer program, the electric tailgate anti-collision control method described in the aforementioned embodiments is implemented.

[0093] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a readable storage medium, in which a computer program is stored, and the readable storage medium may be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a read-only optical disc (CD-ROM) and the like. When the computer program stored in the readable storage medium is run by the processor, the above-mentioned electric tailgate anti-collision control method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to the description of the above-mentioned embodiment, which will not be repeated here.

[0094] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0096] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An electric tailgate anti-collision control method, characterized in that: include: Respectively obtaining a first reference distance between the first distance measuring device and the obstacle, and a second reference distance between the second distance measuring device and the obstacle; Calculating a third reference distance between the tailgate rotation axis and the obstacle according to the first reference distance and the second reference distance; When the third reference distance is greater than the trajectory radius of the electric tailgate when it is opened, controlling the electric tailgate to open to a maximum opening angle; When the third reference distance is less than or equal to the trajectory radius of the electric tailgate when it is opened, the electric tailgate is controlled to open to a restricted opening angle.

2. The electric tailgate anti-collision control method according to claim 1, characterized in that: The first distance measuring device and the second distance measuring device are installed on the electric tailgate at intervals along a height direction.

3. The electric tailgate anti-collision control method according to claim 1, characterized in that: The calculating, according to the first reference distance and the second reference distance, a third reference distance between the tailgate rotation axis and the obstacle comprises: Determine a triangle formed by the first ranging device, the second ranging device and the obstacle as a first triangle; Determine a triangle formed by the first distance measuring device, the second distance measuring device and the tailgate rotating shaft as a second triangle; Determine a triangle formed by the first distance measuring device, the obstacle and the tailgate shaft as a third triangle; A third reference distance between the tailgate rotation axis and the obstacle is calculated according to the relationship between the sides and angles of the first triangle, the second triangle, and the third triangle.

4. The electric tailgate anti-collision control method according to claim 3, characterized in that: Calculating a third reference distance between the tailgate rotation axis and the obstacle according to the relationship between the sides and angles of the first triangle, the second triangle, and the third triangle includes: Calculating a first angle between a line connecting the first distance measuring device and the second distance measuring device and a line connecting the first distance measuring device and the obstacle according to the relationship between the sides and angles of the first triangle; Calculating a second angle between a line connecting the first distance measuring device and the tailgate shaft and a line connecting the first distance measuring device and the second distance measuring device according to the relationship between the sides and angles of the second triangle; The sum of the first angle and the second angle is determined as a third angle between a line connecting the first distance measuring device and the tailgate shaft and a line connecting the first distance measuring device and the obstacle; A third reference distance between the tailgate rotation axis and the obstacle is calculated according to the third included angle and the relationship between the sides and angles of the third triangle.

5. The electric tailgate anti-collision control method according to claim 1 or 4, characterized in that: The controlling the electric tailgate to open to a restricted opening angle includes: Calculating a limited opening angle when the electric tailgate is opened based on the third reference distance; Wherein, the limited opening angle is smaller than the maximum opening angle.

6. The electric tailgate anti-collision control method according to claim 5, characterized in that: The calculating, based on the third reference distance, a limited opening angle when the electric tailgate is opened includes: Acquiring a fourth angle between the electric tailgate and the vertical direction when the electric tailgate is closed; Based on the third reference distance, calculating a fifth angle between a line connecting the obstacle and the tailgate rotation axis and a vertical direction; The difference between the fifth angle and the fourth angle is determined as the limited opening angle of the electric tailgate.

7. The electric tailgate anti-collision control method according to claim 6, characterized in that: Calculating a fifth angle between a line connecting the obstacle and the tailgate rotation axis and a vertical direction based on the third reference distance includes: Based on the third reference distance and the relationship between the sides and angles of a third triangle, a sixth angle between a line connecting the tailgate rotation axis and the obstacle and a line connecting the tailgate rotation axis and the first distance measuring device is calculated, wherein the third triangle is a triangle formed by the first distance measuring device, the obstacle and the tailgate rotation axis; Acquire a seventh angle between a line connecting the tailgate rotation axis and the first distance measuring device and the vertical direction; The sum of the sixth angle and the seventh angle is determined as the fifth angle between the obstacle and the vertical direction.

8. The electric tailgate anti-collision control method according to claim 1, characterized in that: The first ranging device and the second ranging device are one of an ultrasonic radar, a millimeter wave radar, a laser radar, and a camera.

9. An electric tailgate anti-collision control system, characterized in that: The invention comprises a processor and a memory storing a computer program, and when the processor runs the computer program, the electric tailgate anti-collision control method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle is equipped with the electric tailgate anti-collision control system according to claim 9.

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