Vehicle tail door motion calibration method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle tail gate motion calibration method and device, electronic equipment and a storage medium, and the method comprises the steps: displaying a vehicle model data interface to obtain input vehicle model data of a vehicle tail gate to be calibrated, and displaying a tail gate motion calibration demand interface to obtain calibration demand data of the vehicle tail gate to be calibrated; and in response to the data input completion operation of the vehicle type data and the calibration demand data, obtaining and displaying an output result, and in response to the data downloading operation, transmitting the output result to a target controller of the vehicle, so that the target controller controls the to-be-calibrated vehicle tail door to perform vehicle tail door movement according to the output result. According to the vehicle tail gate calibration method and device, the algorithms, such as the preset vehicle tail gate motion calibration algorithm, of which the output results are obtained through calculation are deployed on the third party outside the target controller to calibrate the vehicle tail gate, on one hand, calibration cost is saved, on the other hand, the algorithm of the target controller does not need to be updated when the algorithm is modified, cost is low, and implementation is easy.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle tailgate motion calibration method, device, electronic device and storage medium. Background Art

[0002] The movement speed of the vehicle tailgate needs to be calibrated during the opening and closing process. In the related technology, the vehicle tailgate calibration often uses tools such as CANape (an on-board controller matching and calibration system based on the ASAP standard) or CANoe (CAN open environment, a bus development environment) to modify the calibration parameters inside the ECU (Electronic Control Unit) through the bus protocol. However, when calibrating in this way, some calibration algorithms need to be deployed inside the ECU. If the algorithm needs to be modified, a new version must be recompiled and integrated, and the original algorithm inside the ECU must be updated. The implementation process is relatively complicated and costly. Summary of the invention

[0003] The embodiments of the present application provide a vehicle tailgate motion calibration method, device, electronic device and storage medium to solve the technical problem that some calibration algorithms in the related technology are deployed inside the ECU. If the algorithm needs to be modified, a new version must be recompiled and integrated, and the original algorithm inside the ECU must be updated, resulting in a complex implementation process and high cost.

[0004] An embodiment of the present application provides a vehicle tailgate motion calibration method, which includes: displaying a vehicle model data interface to obtain a data input area corresponding to the vehicle model data interface, and inputting the vehicle model data of the vehicle tailgate to be calibrated; displaying a tailgate motion calibration requirement interface to obtain a data input area corresponding to the tailgate motion calibration requirement interface, and inputting the calibration requirement data of the vehicle tailgate to be calibrated; in response to the data input completion operation of the vehicle model data and the calibration requirement data, obtaining and displaying an output result, the output result including a plurality of observed support rod position information of the vehicle tailgate to be calibrated during the movement process, and a target speed corresponding to each observed support rod position; in response to a data download operation, transmitting the output result to the target controller of the vehicle, so as to control the vehicle tailgate to be calibrated to perform vehicle tailgate movement according to the output result through the target controller.

[0005] In one embodiment of the present application, the method for determining the output result includes: determining the length of the strut when the tailgate is closed and the length of the strut when the tailgate is fully opened of the tailgate of the vehicle to be calibrated according to the vehicle model data; determining the full stroke opening of the tailgate of the vehicle to be calibrated according to the vehicle model data and the calibration requirement data, and then determining the stroke interval opening of the acceleration zone, the stroke interval opening of the uniform speed zone and the stroke interval opening of the deceleration zone; obtaining the observed openings of multiple preset observation strut positions, and determining the observed strut length of each observation strut position according to the observed openings and the vehicle model data, wherein the multiple observation strut positions at least include the starting position of the uniform speed zone, the ending position of the uniform speed zone and the stopping position of the deceleration zone; determining the strut extension length of each observation strut position based on the strut length when the tailgate is closed and the observed strut length of each observation strut position; determining the strut extension length of each observation strut position based on the strut extension speed and each observation strut position The extended length of the strut at an observed strut position determines the absolute position of each observed strut position, and a plurality of observed strut position information are obtained. At this time, the plurality of observed strut position information at least includes the starting position information of the uniform speed zone, the ending position information of the uniform speed zone, and the stopping position information of the deceleration zone, and the vehicle type data includes the stretching and retracting speed of the strut; the uniform speed area speed is determined according to the tailgate movement time, the starting position information of the uniform speed zone, the ending position information of the uniform speed zone, and the stopping position information of the deceleration zone, and the uniform speed area speed is the target speed corresponding to the starting position of the uniform speed zone and the ending position of the uniform speed zone, and the calibration requirement data includes the tailgate movement time; the target speed corresponding to each observed strut position is determined according to the plurality of observed strut position information and the uniform speed area speed; the plurality of observed strut position information and the target speed corresponding to each observed strut position are determined as the output result.

[0006] In one embodiment of the present application, the full stroke opening of the tailgate of the vehicle to be calibrated is determined according to the vehicle model data and the calibration requirement data, and then the acceleration zone stroke interval opening, the uniform speed zone stroke interval opening and the deceleration zone stroke interval opening are determined, including: determining a first sub-opening according to the tailgate calibration height, the vehicle body height and the tailgate length of the vehicle to be calibrated; determining a second sub-opening according to the tailgate closing angle, and determining the full stroke opening of the tailgate of the vehicle to be calibrated based on the first sub-opening and the second sub-opening; determining the acceleration zone stroke interval opening according to the acceleration zone proportion and the tailgate full stroke opening, determining the uniform speed zone stroke interval opening according to the uniform speed zone proportion and the tailgate full stroke opening, and determining the deceleration zone stroke interval opening according to the deceleration zone proportion and the tailgate full stroke opening; wherein the vehicle model data includes the vehicle body height of the vehicle where the tailgate of the vehicle to be calibrated is located, the tailgate length of the vehicle to be calibrated, and the tailgate closing angle, and the calibration requirement data includes the tailgate calibration height, the acceleration zone proportion, the uniform speed zone proportion and the deceleration zone proportion.

[0007] In one embodiment of the present application, the length of the strut when the tailgate is closed and the length of the strut when the tailgate is fully open of the tailgate of the vehicle to be calibrated are determined according to the vehicle model data, including: determining the length of the strut when the tailgate is closed according to the first distance and the second distance; determining the length of the strut when the tailgate is fully open according to the first distance, the second distance and the full stroke opening of the tailgate; wherein the vehicle model data includes a first distance from the mounting position of the first end of the strut to the top of the vehicle body, and a second distance from the mounting position of the second end of the strut to the top of the vehicle body; and determining the observed strut length of each observed strut position according to the observed opening and the vehicle model data, including: determining the observed strut length of each observed strut position according to the observed opening, the first distance and the second distance.

[0008] In one embodiment of the present application, after displaying the tailgate motion calibration requirement interface, the method further includes at least one of the following: if the tailgate movement time is the tailgate opening time, the acceleration zone proportion is the door opening acceleration zone proportion, the uniform speed zone proportion is the door opening uniform speed zone proportion, and the deceleration zone proportion is the door opening deceleration zone proportion, the output result includes a plurality of observed strut position information of the tailgate of the vehicle to be calibrated during the opening process and the door opening target speed corresponding to each observed strut position; if the tailgate movement time is the tailgate closing time, the acceleration zone proportion is the door closing acceleration zone proportion, the uniform speed zone proportion is the door closing uniform speed zone proportion, and the deceleration zone proportion is the door closing deceleration zone proportion, the output result includes a plurality of observed strut position information of the tailgate of the vehicle to be calibrated during the closing process and the door closing target speed corresponding to each observed strut position.

[0009] In one embodiment of the present application, the plurality of observed strut position information includes: acceleration zone starting position information, at least one acceleration zone intermediate position information, uniform speed zone starting position information, uniform speed zone ending position information, at least one deceleration zone intermediate position information, and acceleration zone stop position information.

[0010] In one embodiment of the present application, if multiple observation strut position information include multiple observation strut position information of the tailgate of the vehicle to be calibrated during the closing process, and multiple observation strut position information of the tailgate of the vehicle to be calibrated during the opening process, the method also includes: at least one observation strut position information of the tailgate of the vehicle to be calibrated during the closing process is different from each observation strut position information of the tailgate of the vehicle to be calibrated during the opening process; or, the observation strut position information of the tailgate of the vehicle to be calibrated during the closing process is the same as the corresponding observation strut position information of the tailgate of the vehicle to be calibrated during the opening process.

[0011] In one embodiment of the present application, displaying the output results includes: generating a movement schematic diagram of the support rod of the tailgate of the vehicle to be calibrated during movement based on multiple observed support rod position information and a target speed corresponding to each observed support rod position; and displaying the movement schematic diagram, multiple observed support rod position information, and the target speed corresponding to each observed support rod position on a preset display interface.

[0012] In one embodiment of the present application, the method also includes: if the preset vehicle tailgate motion calibration algorithm needs to be modified, obtaining a modified vehicle tailgate motion calibration algorithm; using the modified vehicle tailgate motion calibration algorithm to process the newly input vehicle model data and calibration requirement data to obtain a new output result.

[0013] The embodiment of the present application also provides a vehicle tailgate motion calibration device, which includes a display module for displaying a vehicle model data interface to obtain the vehicle model data of the vehicle tailgate to be calibrated in the data input area corresponding to the vehicle model data interface; the display module is also used to display a tailgate motion calibration requirement interface to obtain the calibration requirement data of the vehicle tailgate to be calibrated in the data input area corresponding to the tailgate motion calibration requirement interface; a data processing module is used to complete the operation in response to the data input of the vehicle model data and the calibration requirement data to obtain an output result, the output result includes a plurality of observed support rod position information of the vehicle tailgate to be calibrated during the movement process, and a target speed corresponding to each observed support rod position; the display module is also used to display the output result; a data transmission module is used to transmit the output result to the target controller of the vehicle in response to the data download operation, so as to control the vehicle tailgate to be calibrated to perform vehicle tailgate movement according to the output result through the target controller.

[0014] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the above embodiments when executing the computer program.

[0015] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of any of the above embodiments is implemented.

[0016] In the scheme implemented by the vehicle tailgate motion calibration method, device, electronic device and storage medium provided above, the vehicle tailgate motion calibration method displays a vehicle model data interface to obtain the vehicle model data of the vehicle tailgate to be calibrated input in the data input area corresponding to the vehicle model data interface, displays a tailgate motion calibration requirement interface to obtain the calibration requirement data of the vehicle tailgate to be calibrated input in the data input area corresponding to the tailgate motion calibration requirement interface, completes the operation in response to the data input of the vehicle model data and the calibration requirement data, obtains the output result and displays it, and transmits the output result to the target controller of the vehicle in response to the data download operation, so as to communicate with the target controller through the tailgate motion calibration requirement interface. The target controller controls the tailgate of the vehicle to be calibrated to move the tailgate according to the output result. The vehicle tailgate is calibrated by deploying the calculation part of the output result on a third party outside the target controller, and the calibration result is transmitted to the target controller to realize the calibration of the vehicle tailgate. On the one hand, the calibration cost is saved. On the other hand, when the calculation method of the output result (such as the vehicle tailgate motion calibration algorithm) is modified, there is no need to update the vehicle tailgate motion calibration algorithm inside the vehicle's own target controller, but the overall preset vehicle tailgate motion calibration algorithm is adjusted, which has lower cost and simpler solution implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 An exemplary system architecture diagram for vehicle tailgate motion calibration to which the embodiments of the present application can be applied;

[0019] Figure 2 A schematic flow chart of a vehicle tailgate motion calibration method provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of a vehicle model data interface provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of a tailgate motion calibration requirement interface provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of a fully closed position of a tailgate during movement of a vehicle tailgate provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of a 50% opening position of a tailgate during movement of a vehicle tailgate provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of a 100% opening position of a tailgate during movement of a vehicle tailgate provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the definition of the vehicle tailgate opening movement range provided in an embodiment of the present application;

[0026] Fig. 9 A schematic diagram of the definition of the vehicle tailgate closing movement range provided in an embodiment of the present application;

[0027] Fig.10 A schematic diagram of a vehicle tailgate full stroke opening algorithm solution provided in an embodiment of the present application;

[0028] Fig.11 A schematic diagram of solving the travel range of the vehicle tailgate opening phase algorithm provided in an embodiment of the present application;

[0029] Fig.12 A schematic diagram of solving the travel range of the vehicle tailgate closing phase algorithm provided in an embodiment of the present application;

[0030] Fig.13 A schematic diagram of solving the observation support rod length of the observation support rod position by an algorithm during the vehicle tailgate movement process provided by an embodiment of the present application;

[0031] Fig.14 A schematic diagram of the door opening phase mapped to the definition of the motion interval on the support pole provided in the embodiment of the present application;

[0032] Fig.15 A schematic diagram of mapping the door closing phase to the definition of the motion interval on the pole provided in an embodiment of the present application;

[0033] Fig.16 A schematic diagram of an output result display interface provided in an embodiment of the present application;

[0034] Fig.17 A schematic diagram of the structure of a vehicle tailgate motion calibration device provided in an embodiment of the present application;

[0035] Fig.18 A schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0036] Fig.19 Another structural schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] In order to enable those skilled in the art to better understand the improvements of the technical solution provided by the present disclosure, the present disclosure briefly introduces the implementation scenarios and related information of the vehicle tailgate motion calibration method in the related art.

[0039] See also Figure 1 , Figure 1 FIG. 1 is an exemplary system architecture diagram for vehicle tailgate motion calibration to which the present application embodiment can be applied. Figure 1 As shown, the system architecture may include a terminal device 101 and a vehicle 102, wherein there is a communication link between the terminal device and the vehicle, and the communication link may support various link types selected by those skilled in the art, such as a wired communication link, a wireless communication link, or other communication connection methods. A user may use the terminal device 101 to interact with the vehicle 102 to pass the data in the terminal device 101 to the target controller in the vehicle 102. The terminal device 101 may be hardware or software. When the terminal device 101 is hardware, it may be various electronic devices, such as a tablet computer, a mobile phone, a laptop computer, a desktop computer, and other host computers. When the terminal device 101 is software, it may be installed in the above-mentioned electronic device. It may be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0040] The vehicle 102 may be a fuel vehicle, an electric vehicle (EV), a hybrid vehicle, a plug-in HEV, a range extended EV, a hybrid electric vehicle (HEV), a gas vehicle, a methanol vehicle, a solar vehicle, or other new energy vehicles. The vehicle 102 may be a passenger vehicle such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), or a bus, a truck, a semi-trailer, etc. This application does not impose any specific restrictions on this.

[0041] It should be noted that the vehicle 102 needs to have a tailgate that can support automatic opening and / or automatic closing.

[0042] The vehicle tailgate motion calibration method provided in the embodiment of the present application is generally executed by the terminal device 101 , and accordingly, the vehicle tailgate motion calibration device is generally disposed in the terminal device 101 .

[0043] It should be noted that Figure 1 The number of terminal devices 101 and vehicles 102 in the figure is only for illustration. According to the implementation requirements, there may be any number of terminal devices 101 and vehicles 102. One terminal device 101 may support the motion calibration of the tailgates of multiple vehicles 102 of the same or different models.

[0044] See also Figure 2 As shown, Figure 2 A schematic flow chart of a vehicle tailgate motion calibration method provided in an embodiment of the present application, the method comprising the following steps:

[0045] Step S210, displaying the vehicle model data interface to obtain the data input area corresponding to the vehicle model data interface, and inputting the vehicle model data of the tailgate to be calibrated.

[0046] As an example, the vehicle model data includes the tailgate closing angle φ 关门 , the extension and retraction speed of the support rod, the first distance L1 between the installation position of the first end of the support rod and the top of the vehicle body, the second distance L2 between the installation position of the second end of the support rod and the top of the vehicle body, the length L3 of the tailgate of the vehicle to be calibrated, and the height h of the vehicle where the tailgate of the vehicle to be calibrated is located 车身 . The vehicle model data can be obtained based on the factory fixed dimensions of the vehicle model of the tailgate of the vehicle to be calibrated. Among them, the extension and retraction speed of the strut can be characterized by the strut motor stroke turn ratio or the number of Halls per millimeter. The motor stroke turn ratio can be regarded as the number of motor turns corresponding to each extension and retraction of the electric strut by 1mm. The number of Halls per millimeter can be regarded as the number of Halls corresponding to each millimeter of the strut extension and retraction.

[0047] The vehicle model data interface is used to input the vehicle model data of the tailgate to be calibrated. It has multiple data areas, each for inputting different types of vehicle model data. Users can input vehicle model data into the corresponding data input area of ​​the vehicle model data interface through keyboard, voice, Bluetooth, etc. As an example, see Figure 3 , Figure 3 A schematic diagram of the vehicle model data interface provided in the embodiment of the present application, such as Figure 3 As shown in the figure, the vehicle model data interface includes multiple vehicle model data input prompts (such as vehicle body height h, tailgate closing angle φ, L1, L2, L3, strut motor rotation ratio α1) and data areas (rectangular boxes next to each input prompt). In order to enable users to have a clearer understanding of the meaning of the parameters represented by each vehicle model data, they can also be viewed through Figure 2The diagram on the right provides a schematic diagram of the specific meaning of each vehicle model data. Among them, the tailgate closing angle φ can be expressed as φ 关门 To express the height of the vehicle, h 车身 The meanings of L1, L2, and L3 can be referred to in the above embodiments and will not be described in detail here.

[0048] The input method of the vehicle model data can be implemented in a manner known to those skilled in the art, such as a keyboard, a virtual keyboard popped up on a touch screen, etc., which is not limited here.

[0049] Through the above method, the vehicle model data can be flexibly input, so that the method can support the calibration requirements of different vehicle models. When the vehicle model data of a certain vehicle model changes, it can also be modified synchronously in time through this method. Compared with the method in the related technical method that requires re-writing the data in the ECU, it is more flexible, simple and efficient.

[0050] Step S220, displaying the tailgate motion calibration requirement interface to obtain the calibration requirement data of the tailgate of the vehicle to be calibrated in the data input area corresponding to the tailgate motion calibration requirement interface.

[0051] As an example, the calibration requirement data includes the tailgate calibration height, tailgate movement time, acceleration zone ratio, uniform speed zone ratio and deceleration zone ratio. The acceleration zone ratio includes at least one of the door opening acceleration zone ratio (door opening acceleration ratio) and the door closing acceleration zone ratio (door closing acceleration zone ratio), the uniform speed zone ratio includes at least one of the door opening uniform speed zone ratio (door opening uniform speed zone ratio) and the door closing uniform speed zone ratio (door closing uniform speed zone ratio), and the deceleration zone ratio includes at least one of the door opening deceleration zone ratio (door opening deceleration zone ratio) and the door closing deceleration zone ratio (door closing deceleration zone ratio).

[0052] The Tailgate Movement Calibration Requirement interface is used to input the calibration requirement data of the tailgate of the vehicle to be calibrated. It has multiple data areas, each for inputting different types of calibration requirement data. Users can input the calibration requirement data into the corresponding data input area of ​​the Tailgate Movement Calibration Requirement interface through keyboard, voice, Bluetooth, etc. As an example, please refer to Figure 4 , Figure 4 A schematic diagram of a tailgate motion calibration requirement interface provided in an embodiment of the present application, such as Figure 4As shown in FIG. 1 , the tailgate motion calibration requirement interface includes multiple input prompts for calibration requirement data (such as tailgate calibration height h, tailgate opening time t, tailgate closing time t, opening acceleration area ratio A1, opening uniform speed area ratio A2, opening deceleration area ratio A3, closing acceleration area ratio A4, closing uniform speed area ratio A5, closing deceleration area ratio A6) and data areas (rectangular boxes next to each input prompt). In order to enable the user to have a clearer understanding of the meaning of the parameters represented by each calibration requirement data, it is also possible to use the following methods: Figure 3 The schematic diagram shown on the right provides each calibration requirement data (i.e. Figure 3 The tailgate calibration data of the vehicle model shown in FIG. 1 is a schematic diagram of the specific meaning of the tailgate calibration data. The tailgate calibration height h is expressed as h 标定高度 Indicates that the tailgate opening time is t 开 Indicates that the tailgate closing time is t 关 The percentage of the acceleration zone A1 is expressed as the percentage of the acceleration zone A1, the percentage of the uniform speed zone A2 is expressed as the percentage of the uniform speed zone A2, the percentage of the deceleration zone A3 is expressed as the percentage of the deceleration zone A3, the percentage of the acceleration zone A4 is expressed as the percentage of the acceleration zone A4, the percentage of the uniform speed zone A5 is expressed as the percentage of the uniform speed zone A5, and the percentage of the deceleration zone A6 is expressed as the percentage of the deceleration zone A6. Figure 3 As shown, as an example, the tailgate calibrated height can be understood as the height from the ground when the tailgate is fully opened.

[0053] The input method of the calibration requirement data can be implemented in a manner known to those skilled in the art, such as a keyboard, a virtual keyboard popped up on a touch screen, etc., which is not limited here.

[0054] The vehicle model data is data determined by the structure of a certain vehicle model, which is relatively fixed and is obtained based on the actual size of the vehicle, while the calibration requirement data can be flexibly set according to the needs of technical personnel in this field. Therefore, when the calibration requirement data changes, the related technical method also needs to flash the ECU of a certain vehicle and then obtain new calibrated data. Relatively speaking, the method of the embodiment of the present application can flexibly modify the calibration requirement data of a certain vehicle model, and then the obtained output result can be applied to each vehicle of the model, which has a wider range of applications.

[0055] In one embodiment, after displaying the tailgate motion calibration requirement interface, the method further includes at least one of the following:

[0056] If the tailgate movement time is the tailgate opening time, the acceleration zone ratio is the door opening acceleration zone ratio, the uniform speed zone ratio is the door opening uniform speed zone ratio, and the deceleration zone ratio is the door opening deceleration zone ratio, the output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the opening process and the door opening target speed corresponding to each observation strut position;

[0057] If the tailgate movement time is the tailgate closing time, the acceleration zone ratio is the door closing acceleration zone ratio, the uniform speed zone ratio is the door closing uniform speed zone ratio, and the deceleration zone ratio is the door closing deceleration zone ratio, the output result includes multiple observed strut position information of the tailgate of the vehicle to be calibrated during the closing process and the door closing target speed corresponding to each observed strut position.

[0058] As an example, the plurality of observation strut position information includes: acceleration zone starting position information, at least one acceleration zone middle position information, uniform speed zone starting position information, uniform speed zone end position information, at least one deceleration zone middle position information, and acceleration zone stop position information. That is, when setting the observation strut position, at least the boundary position of each speed change zone should be set as an observation point for subsequent control. As for whether to set observation points during the acceleration zone and deceleration zone, and the number of observation points to be set, it can be selected according to the needs of those skilled in the art.

[0059] As an example, if the plurality of observation strut position information includes a plurality of observation strut position information of the tailgate of the to-be-calibrated vehicle during the closing process, and a plurality of observation strut position information of the tailgate of the to-be-calibrated vehicle during the opening process, the method further includes: at least one observation strut position information of the tailgate of the to-be-calibrated vehicle during the closing process is different from each observation strut position information of the tailgate of the to-be-calibrated vehicle during the opening process; or, the observation strut position information of the tailgate of the to-be-calibrated vehicle during the closing process is the same as the corresponding observation strut position information of the tailgate of the to-be-calibrated vehicle during the opening process. It can be understood that in the process of selecting observation points, one or more observation points (observation strut positions) with the same actual physical position can be used in the closing stage and the opening stage, or completely different observation points can be selected.

[0060] Step S230, in response to the data input of the vehicle model data and the calibration requirement data, the operation is completed, and the output result is obtained and displayed.

[0061] The output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the movement process, and a target speed corresponding to each observation strut position. The target speed can be understood as the movement speed that the tailgate should have when it moves to a certain observation strut position. The observation strut position information can be the coordinate data of the observation strut position in the coordinate system set by a technician in this field.

[0062] In one embodiment, the method for determining the output result includes: determining the length of the support rod when the tailgate of the vehicle to be calibrated is closed and the length of the support rod when the tailgate is fully opened according to the vehicle model data; determining the full stroke opening of the tailgate of the vehicle to be calibrated according to the vehicle model data and the calibration requirement data, and then determining the stroke interval opening in the acceleration zone, the stroke interval opening in the uniform speed zone, and the stroke interval opening in the deceleration zone; obtaining the observed openings of multiple preset observation strut positions, and determining the observed strut length of each observation strut position according to the observed openings and the vehicle model data, wherein the multiple observation strut positions at least include the starting position of the uniform speed zone, the ending position of the uniform speed zone, and the stopping position of the deceleration zone; determining the extension length of the strut at each observation strut position based on the strut length when the tailgate is closed and the observed strut length of each observation strut position; determining the extension length of the strut at each observation strut position based on the strut extension speed and the extension speed of the strut at each observation strut position. The extended length of the strut position is measured to determine the absolute position of each observed strut position, and multiple observed strut position information is obtained. At this time, the multiple observed strut position information at least includes the starting position information of the uniform speed area, the ending position information of the uniform speed area and the stopping position information of the deceleration area, and the vehicle model data includes the strut extension and retraction speed; the uniform speed area speed is determined according to the tailgate movement time, the uniform speed area starting position information, the uniform speed area ending position information and the deceleration area stopping position information, the uniform speed area speed is the target speed corresponding to the uniform speed area starting position and the uniform speed area ending position, and the calibration requirement data includes the tailgate movement time; the target speed corresponding to each observed strut position is determined according to the multiple observed strut position information and the uniform speed area speed; the multiple observed strut position information and the target speed corresponding to each observed strut position are determined as the output result.

[0063] Continuing from the above embodiment, the full stroke opening of the tailgate of the vehicle to be calibrated is determined according to the vehicle model data and the calibration requirement data, and then the travel interval opening of the acceleration zone, the travel interval opening of the uniform speed zone and the travel interval opening of the deceleration zone are determined, including: determining a first sub-opening according to the tailgate calibration height, the vehicle body height and the tailgate length of the vehicle to be calibrated; determining a second sub-opening according to the tailgate closing angle, and determining the full stroke opening of the tailgate of the vehicle to be calibrated based on the first sub-opening and the second sub-opening; determining the acceleration zone travel interval opening according to the acceleration zone proportion and the tailgate full stroke opening, determining the uniform speed zone travel interval opening according to the uniform speed zone proportion and the tailgate full stroke opening, and determining the deceleration zone travel interval opening according to the deceleration zone proportion and the tailgate full stroke opening; wherein the vehicle model data includes the vehicle body height of the vehicle where the tailgate of the vehicle to be calibrated is located, the tailgate length of the vehicle to be calibrated, and the tailgate closing angle, and the calibration requirement data includes the tailgate calibration height, the acceleration zone proportion, the uniform speed zone proportion and the deceleration zone proportion.

[0064] Continuing from the above embodiment, the length of the support rod when the tailgate is closed and the length of the support rod when the tailgate is fully opened of the tailgate of the vehicle to be calibrated are determined according to the vehicle model data, including: determining the length of the support rod when the tailgate is closed according to the first distance and the second distance; determining the length of the support rod when the tailgate is fully opened according to the first distance, the second distance and the full stroke opening of the tailgate; wherein the vehicle model data includes a first distance from the installation position of the first end of the support rod to the top of the vehicle body, and a second distance from the installation position of the second end of the support rod to the top of the vehicle body.

[0065] Following the above embodiment, determining the observed strut length of each observed strut position according to the observed opening and vehicle type data includes: determining the observed strut length of each observed strut position according to the observed opening, the first distance and the second distance.

[0066] It can be understood that the method for determining the output result includes: determining a first sub-opening according to the calibrated height of the tailgate, the height of the vehicle body and the length of the tailgate of the vehicle to be calibrated; determining a second sub-opening according to the closing angle of the tailgate, and determining the full stroke opening of the tailgate of the vehicle to be calibrated based on the first sub-opening and the second sub-opening; determining the length of the strut when the tailgate is closed according to the first distance and the second distance; determining the length of the strut when the tailgate is fully opened according to the first distance, the second distance and the full stroke opening of the tailgate; determining the stroke interval opening of the acceleration zone according to the proportion of the acceleration zone and the full stroke opening of the tailgate, determining the stroke interval opening of the uniform speed zone according to the proportion of the uniform speed zone and the full stroke opening of the tailgate, and determining the stroke interval opening of the deceleration zone according to the proportion of the deceleration zone and the full stroke opening of the tailgate; obtaining the observed openings of multiple preset observation strut positions, and determining the observed strut length of each observation strut position according to the observed openings, the first distance and the second distance, wherein the multiple observation strut positions include at least the starting position of the uniform speed zone, the starting position of the uniform speed zone, the starting position of the uniform speed zone, the starting position of the uniform speed zone, the starting position of the uniform speed zone, and the starting position of the uniform speed zone. zone end position and deceleration zone stop position; determine the strut extension length of each observed strut position based on the strut length when the tailgate is closed and the observed strut length of each observed strut position; determine the absolute position of each observed strut position according to the strut extension and retraction speed and the strut extension length of each observed strut position, and obtain multiple observed strut position information, at this time, the multiple observed strut position information at least includes the uniform speed zone starting position information, the uniform speed zone ending position information and the deceleration zone stopping position information; determine the uniform speed zone speed according to the tailgate movement time, the uniform speed zone starting position information, the uniform speed zone ending position information and the deceleration zone stopping position information, the uniform speed zone speed is the target speed corresponding to the uniform speed zone starting position and the uniform speed zone ending position; determine the target speed corresponding to each observed strut position according to the multiple observed strut position information and the uniform speed zone speed; determine the multiple observed strut position information and the target speed corresponding to each observed strut position as the output result.

[0067] The following is an example of a specific embodiment to illustrate the calculation method of the output result. Figure 5 , Figure 6 and Figure 7 , Figure 5 A schematic diagram of a fully closed position of a tailgate during movement of a vehicle tailgate provided in an embodiment of the present application, Figure 6 A schematic diagram of a 50% opening position of a tailgate during movement of a vehicle tailgate provided in an embodiment of the present application, Figure 7 A schematic diagram of the 100% opening position of the tailgate of a vehicle during the movement of the tailgate provided in the embodiment of the present application, such as Figure 5 , Figure 6 and Figure 7 As shown in , the movement process of the tailgate can be divided into an acceleration zone, a uniform speed zone and a deceleration zone. In the door opening interval corresponding to the door opening process, from the tailgate bottom closing position to the tailgate highest position, it is divided into an acceleration zone, a uniform speed zone and a deceleration zone, as shown in Figure 8 As shown, Figure 8 A schematic diagram of the definition of the vehicle tailgate opening movement range provided in the embodiment of the present application. In the door closing range corresponding to the door closing process, the tailgate bottom closing position to the tailgate highest position is divided into a deceleration zone, a uniform speed zone, and a deceleration zone, such as Fig. 9 As shown, Fig. 9 A schematic diagram of the vehicle tailgate closing movement range definition provided in the embodiment of the present application. An exemplary calculation process of the output result is as follows:

[0068] Step 1: See Fig.10 , Fig.10 A schematic diagram of the vehicle tailgate full stroke opening algorithm solution provided in the embodiment of the present application. Fig.10 As shown, according to formula (1), formula (2) and formula (3), the opening angle φ of the tailgate in full stroke is calculated: 开合 .

[0069] φOpening and Closing=φ 1 +φ 2 Formula (1),

[0070]

[0071] φ 2 =90°-φ 关门 Formula (3),

[0072] Among them, φ 开合 is the full stroke opening of the tailgate, φ 1 is the first sub-opening, φ 2 is the second sub-opening, h 车身 is the vehicle height, h 标定高度为 Tailgate rated height, φ 关门 is the tailgate closing angle, and L3 is the tailgate length of the vehicle to be calibrated.

[0073] Step 2: Continue to see Fig.10 According to formula (4) and formula (5), the extension and retraction stroke L of the strut motor is calculated.

[0074] L 尾门闭合时撑杆长度 = L2 - L1 formula (4),

[0075]

[0076] Among them, L 尾门闭合时撑杆长度 is the length of the support rod when the tailgate is closed, L2 is the second distance, L1 is the first distance,

[0077] L 尾门全开时撑杆长度 is the length of the support rod when the tailgate is fully opened, L2 is the second distance, L1 is the first distance, φ 开合 The tailgate is fully opened.

[0078] Step 3: See Fig.11 and Fig.12 , Fig.11 A schematic diagram of the vehicle tailgate opening phase algorithm solving the travel range provided in the embodiment of the present application, Fig.12 A schematic diagram of the vehicle tailgate closing phase algorithm solving the travel interval provided in the embodiment of the present application, such as Fig.11 and Fig.12 As shown, the travel range of the door opening acceleration zone is calculated through the travel proportion parameters (acceleration zone proportion, uniform speed zone proportion and deceleration zone proportion) input by the user.

[0079] φOpen door acceleration zone = A 1 *φ opening and closing formula (6),

[0080] φ Door opening uniform speed area = A 2 *φ opening and closing formula (7),

[0081] φ Door opening deceleration area = A 3 Aφ opening and closing formula (8),

[0082] φ Door closing acceleration zone = A 4 *φ opening and closing formula (9),

[0083] φ Door closing uniform speed area = A 5 *φ opening and closing formula (10),

[0084] φ Door closing deceleration area = A 6 *φ opening and closing formula (11),

[0085] Among them, φ 开合 is the full stroke opening of the tailgate. In the door opening stage, φ 开门加速区 is the opening of the door opening acceleration zone travel interval, φ 开门匀速区 is the opening of the door opening uniform speed zone travel interval, φ 开门减速区is the opening degree of the travel interval in the door opening deceleration zone, A1 is the proportion of the opening acceleration zone, A2 is the proportion of the opening uniform speed zone, and A3 is the proportion of the opening deceleration zone; in the door closing stage, φ 关门加速区 is the opening of the door closing acceleration zone travel interval, φ 关门匀速区 is the opening of the travel interval in the door closing uniform speed zone, φ 关门减速区 is the travel interval opening of the door closing deceleration zone, A4 is the proportion of the door closing acceleration zone, A5 is the proportion of the door closing uniform speed zone, and A6 is the proportion of the door closing deceleration zone.

[0086] The travel range can be obtained from the above solution (the angle is relative to the tailgate locked as the reference point):

[0087] Door opening acceleration area: 0°->φ 开门加速区 ;

[0088] Door opening uniform speed area: φ door opening acceleration area -> (φ door opening acceleration area + φ door opening uniform speed area);

[0089] Door opening deceleration area: (φ door opening acceleration area + φ door opening uniform speed area) -> φ opening and closing;

[0090] Door closing acceleration area: (φ door closing deceleration area + φ door closing uniform speed area) -> φ opening and closing;

[0091] Door closing uniform speed area: φ door closing deceleration area -> (φ door closing deceleration area + φ door closing uniform speed area);

[0092] Door closing deceleration area: 0°->φ 关门减速区 .

[0093] Step 4: Preset multiple observation strut positions. For example, continue to see Fig.11 and Fig.12 ,like Fig.11 and Fig.12 As shown, three sampling points are evenly divided according to the angle in the acceleration zone and the deceleration zone to obtain the set points (observation support rod positions) Z1, Z2, Z3, Z4, Z5, Z6, and Z7 in the tailgate opening stage, and the set points (observation support rod positions) M1, M2, M3, M4, M5, M6, and M7 in the tailgate closing stage.

[0094] The purpose of setting multiple observation support rod positions in the acceleration zone and the deceleration zone is to make the tailgate movement smoother in the acceleration zone and the deceleration zone.

[0095] Step 5: Follow Fig.11 and Fig.12 The observation strut position setting, the tailgate has seven movement segments when opening and closing the door, continue to see Fig.11 and Fig.12Door opening motion section: Z0–>Z1, Z1–>Z2, Z2–>Z3, Z3–>Z4, Z4–>Z5, Z5–>Z6, Z6–>Z7; door closing motion section: M7–>M6, M6–>M5, M5–>M4, M4–>M3, M3–>M2, M2–>M1, M1–>M0.

[0096] Step 6: Find the actual length of the brace at each point. Fig.13 , Fig.13 A schematic diagram of the vehicle tailgate movement process provided by the embodiment of the present application using an algorithm to solve the observation support rod position observation support rod length, combined with Fig.13 The observed strut length at each observed strut position can be obtained by referring to formula (12).

[0097]

[0098] Among them, L x is the observed strut length at the observed strut position x. In the door opening stage, x takes values ​​of Z1, Z2…Z7, and in the door closing stage, x takes values ​​of M1…M7. L2 is the second distance, L1 is the first distance, and φ x To obtain the observed opening at the observed strut position x, the observed opening at each observed strut position may be known when the observed strut position is preset.

[0099] Step 7: Calculate the extension length of each point strut (the extension length of each observed strut position), and map the door opening motion area and door closing motion area to the strut. Fig.14 and Fig.15 , Fig.14 A schematic diagram of the door opening phase mapped to the definition of the motion interval on the support pole provided in an embodiment of the present application, Fig.15 A schematic diagram of the mapping of the door closing phase to the definition of the motion interval on the pole provided in the embodiment of the present application, combined with Fig.14 and Fig.15 , one way to determine the extension length of the strut is as follows:

[0100] Ly = Lx –L 尾门闭合时撑杆长度 Formula (13),

[0101] Wherein, Ly is the extension length of the strut corresponding to the observed strut position x. In the door opening stage, x takes values ​​of Z1, Z2…Z7, and in the door closing stage, x takes values ​​of M1…M7. L 尾门闭合时撑杆长度It is the length of the support rod when the tailgate is closed. The corresponding door opening motion section on the support rod is: Sz0->Sz1, Sz1->Sz2, Sz2->Sz3, Sz3->Sz4, Sz4->Sz5, Sz5->Sz6, Sz6->Sz7; the corresponding door closing motion section on the support rod is: Sm7->Sm6, Sm6->Sm5, Sm5->Sm4, Sm4>Sm3, Sm3->Sm2, Sm2->Sm1, Sm1->Sm0.

[0102] Step 7: Continue to see Fig.14 and Fig.15 According to the input motor parameter stroke-turn ratio α (here the strut extension speed is taken as the motor parameter stroke-turn ratio as an example), the strut length when the tailgate is in the closed state is taken as the reference point of 0, and the absolute position Pn of each point (observation strut position) is calculated.

[0103] Pn = Ly *α Formula (14),

[0104] Among them, Pn is the absolute position of the observed strut position n (observed strut position information), n is SZ1, SZ2...SZ7 in the door opening stage, and is SM1...SM7 in the door closing stage, Ly is the strut extension length corresponding to the observed strut position x, x is Z1, Z2...Z7 in the door opening stage, and is M1...M7 in the door closing stage, and α is the motor parameter stroke-turn ratio.

[0105] Step 8: Calculate the uniform area velocity.

[0106] Continue to see Fig.14 and Fig.15 An example method for determining the uniform speed area speed during the door opening phase is as follows:

[0107]

[0108] Among them, t 开加速区 is the running time in the acceleration zone during the door opening phase, t 开减速区 is the running time in the deceleration zone during the door opening phase, t 开匀速区 is the running time in the uniform speed zone during the door opening phase, P SZ3 , P SZ4 , P Sz7 are the absolute positions of the observed strut position Z3, the absolute positions of the observed strut position Z4, and the absolute positions of the observed strut position Z7, respectively. 开匀速区 It is the speed in the uniform speed area during the door opening stage (that is, the target speed corresponding to the starting position and the ending position of the uniform speed area).

[0109] In addition, the tailgate movement time during the door opening stage is composed of the running time in the acceleration zone during the door opening stage, the running time in the deceleration zone during the door opening stage, and the running time in the uniform speed zone during the door opening stage, that is:

[0110] topen = topen acceleration zone + topen deceleration zone + topen uniform speed zone Formula (18),

[0111] Among them, t 开 is the tailgate movement time during the door opening phase, t 开加速区 is the running time in the acceleration zone during the door opening phase, t 开减速区 is the running time in the deceleration zone during the door opening phase, t 开匀速区 It is the running time in the uniform speed zone during the door opening phase.

[0112] Based on formula (15), formula (16), formula (17) and formula (18), it can be deduced that:

[0113]

[0114] Among them, t 开 is the tailgate movement time during the door opening phase, t 开加速区 is the running time in the acceleration zone during the door opening phase, t 开减速区 is the running time in the deceleration zone during the door opening phase, t 开匀速区 is the running time in the uniform speed zone during the door opening phase, P SZ3 , P SZ4 , P Sz7 are the absolute positions of the observed strut position Z3, the absolute positions of the observed strut position Z4, and the absolute positions of the observed strut position Z7, respectively. 开匀速区 is the uniform area speed during the door opening phase.

[0115] Because P SZ3 , P SZ4 and P SZ7 It can be obtained from the above formula (14), t is also a known quantity, and V can be obtained based on formula (19) 开匀速区 Substituting into formula (15), formula (16) and formula (14), we can get topen acceleration zone is the running time of the acceleration zone in the door opening stage, t 开减速区 is the running time in the deceleration zone during the door opening phase, t 开匀速区 It is the running time in the uniform speed zone during the door opening phase.

[0116] Similarly, the uniform speed in the door closing stage can be obtained by referring to the principle of the door opening stage mentioned above, which will not be elaborated here.

[0117] The derivation principle formulas of formula (15) and formula (16) can refer to the following formula:

[0118]

[0119] Where S is the distance traveled by the object, u is the initial velocity of the object (in this problem, the initial velocity is 0 because the object is accelerating from rest), t is the time, and a is the acceleration.

[0120] V = at Formula (21),

[0121] Among them, V is the speed, t is the running time, and a is the corresponding acceleration.

[0122] Then, based on formula (20) and formula (21), the following formula can be derived:

[0123]

[0124] Wherein, t is the running time, S is the distance traveled by the object, and V is the speed. Based on formula (22), the above formulas (15) and (16) can be obtained.

[0125] Among them, if S is Psz3 in the acceleration zone of the door opening stage, and (P SZ7 -P SZ4 ), V is the speed in the uniform speed zone. Then we can calculate the speed V in the uniform speed zone of the door opening, VSZ3=VSZ4=V.

[0126] Step 9: Determine the target speed corresponding to each observed strut position.

[0127] In addition to the target speeds corresponding to the starting position and the ending position of the uniform speed zone obtained above, the target speeds at other positions can be first obtained according to the target speeds corresponding to the starting position and the ending position of the uniform speed zone and the running times of the acceleration zone and the deceleration zone to obtain the acceleration of the acceleration zone and the deceleration zone respectively, and then the running time corresponding to each observed strut position is calculated according to the initial speed corresponding to each observed strut position (the initial speed of each position may be different) and the absolute position of each observed strut position (the length of the strut at this position), and then the corresponding target speed is obtained based on the running time corresponding to the observed strut position and the corresponding acceleration.

[0128] Continue to see Fig.14 and Fig.15 An exemplary method for determining the target speed corresponding to each observed strut position during the door opening phase is as follows:

[0129] Based on formula (21), the acceleration a in the acceleration zone during the door opening phase can be calculated. Similarly, the acceleration a (which can be understood as deceleration) in the deceleration zone during the door opening phase can also be solved. The running time in the acceleration zone during the door opening phase and the running time in the deceleration zone during the door opening phase are known, and the corresponding speeds are all the speeds V in the door opening uniform speed zone.

[0130] According to formula (20), the running time tsz1 of the small segment Sz0->Sz1 in the door opening acceleration zone, the running time tsz2 of Sz1->Sz2, the running time tsz5 of Sz4->Sz5, and the running time tsz6 of Sz5->Sz6 can be calculated.

[0131] Then, according to formula (21), the target speed of each interval is calculated, Vsz1, Vsz2, Vsz5, Vsz6.

[0132] In this way, the position information and target speed of each interval are obtained, that is, the target speed corresponding to each observed strut position in the door opening stage can be obtained.

[0133] The data solution in the closing stage is similar to that in the opening stage, so it will not be elaborated here.

[0134] In one embodiment, the output result is calculated by a preset vehicle tailgate motion calibration algorithm. The method also includes: if the preset vehicle tailgate motion calibration algorithm needs to be modified, obtaining a modified vehicle tailgate motion calibration algorithm; using the modified vehicle tailgate motion calibration algorithm to process newly input vehicle model data and calibration requirement data to obtain a new output result.

[0135] As an example, the preset vehicle tailgate motion calibration algorithm can be deployed in a host computer and other equipment, and the host computer can correspond to the calibration requirements of multiple models and multiple vehicles.

[0136] It can be seen that by calibrating the tailgate through the method provided in this embodiment, the preset vehicle tailgate motion calibration algorithm can be flexibly modified, and the ECU of each vehicle does not need to be refreshed every time the algorithm is modified, which is more flexible and can be applied to a variety of vehicle models.

[0137] In one embodiment, displaying the output results includes: generating a movement schematic diagram of the support rod during the movement of the tailgate of the vehicle to be calibrated based on multiple observed support rod position information and the target speed corresponding to each observed support rod position; and displaying the movement schematic diagram, multiple observed support rod position information, and the target speed corresponding to each observed support rod position on a preset display interface.

[0138] See also Fig.16 , Fig.16 A schematic diagram of the display interface of the output result provided in the embodiment of the present application, such as Fig.16 As shown, taking the door opening stage as an example, the observation support rod position information P corresponding to each preset observation support rod position can be SZ1 , P SZ0 , P SZ3 , P SZ4 , P SZ5 , P SZ6 , P SZ7 The corresponding values ​​are displayed in the corresponding text boxes (rectangular boxes in the left column), and the target speeds corresponding to each observed pole position, i.e., Vsz0→sz1, Vsz1→sz2, Vsz2→sz3, Vsz3→sz4, Vsz4→sz5, Vsz5→sz6, Vsz6→sz7, are displayed in the corresponding text boxes (rectangular boxes in the right column). For ease of understanding, a motion diagram can also be generated based on the above data, such as Fig.16 The graphic shown on the right.

[0139] As an example, the algorithm corresponding to the method can be pre-configured in a third party other than the vehicle controller, such as a host computer, and then the host computer can Figure 3 and Figure 4 The interface example is used to obtain the vehicle model data and calibration requirement data, and then jump to Fig.16 In the interface shown, users can click "One-click Generate" to automatically obtain and display the output results based on the algorithm.

[0140] The output results of the closing stage can be displayed by referring to Fig.16 , which will not be elaborated here.

[0141] Through the above method, the output results can be clearly displayed to the user, making it easier for the user to view and understand.

[0142] Step S240, in response to the data download operation, the output result is transmitted to the target controller of the vehicle, so that the target controller controls the tailgate of the vehicle to be calibrated to move the tailgate of the vehicle according to the output result.

[0143] Continue to refer Fig.16 , the user clicks the "one-click download" control to download the output results, and then transmits the output results to the target controller of the corresponding vehicle (based on the user's instructions or directly triggered) so that the target controller can control the opening and closing of the tailgate based on this batch of calibration data. For example, click the "one-click download" button on the host computer interface, and then the host computer downloads the positions and target speed values ​​of the seven points of opening and closing the door to the ECU through the CAN bus.

[0144] The vehicle tailgate motion calibration method provided in the above embodiment obtains the input vehicle model data of the vehicle tailgate to be calibrated by displaying the vehicle model data interface, displays the tailgate motion calibration requirement interface, obtains the calibration requirement data of the vehicle tailgate to be calibrated, completes the operation in response to the data input, obtains and displays the output result, transmits the output result to the target controller of the vehicle in response to the data download operation, so as to control the tailgate of the vehicle to be calibrated to move the vehicle tailgate according to the output result through the target controller, and deploys the preset vehicle tailgate motion calibration algorithm used to calculate the output result to a third party outside the target controller to calibrate the vehicle tailgate. On the one hand, the calibration cost is saved, and on the other hand, when the algorithm is modified, there is no need to update the algorithm inside the target controller, the cost is low, and the solution is simple to implement.

[0145] In addition, the method provided in this embodiment can realize agile development of tailgate calibration software and rapid software prototyping, which can reduce the calibration work of tailgate algorithm in the development process and reduce the calibration cost of software. Moreover, the method can be adapted to different vehicle platforms such as sedans and SUVs, and has a wider range of applications.

[0146] The method provided in this embodiment is based on product experience and user needs. Some calibration algorithms of the tailgate are deployed on the host computer. Engineers input relevant parameters from the host computer UI interface. The host computer calculates the required calibration parameters (output results) and then sends its parameters to the ECU (target controller), making the calibration process more intelligent and improving work efficiency.

[0147] In one embodiment, a vehicle tailgate motion calibration device is provided, and the vehicle tailgate motion calibration device is used to execute the vehicle tailgate motion calibration method provided in any of the above embodiments. Fig.17 , Fig.17 A schematic diagram of a vehicle tailgate motion calibration device provided in an embodiment of the present application is shown in FIG. Fig.17As shown, the vehicle tailgate motion calibration device 1700 includes a display module 1701, a data processing module 1702 and a data transmission module 1703, wherein: the display module 1701 is used to display the vehicle model data interface to obtain the vehicle model data of the tailgate to be calibrated in the data input area corresponding to the vehicle model data interface; the display module 1701 is also used to display the tailgate motion calibration requirement interface to obtain the calibration requirement data of the tailgate to be calibrated in the data input area corresponding to the tailgate motion calibration requirement interface; the data processing module 1702 is used to complete the operation in response to the data input of the vehicle model data and the calibration requirement data, and obtain the output result, the output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the movement process, and the target speed corresponding to each observation strut position; the display module 1701 is also used to display the output result; the data transmission module 1703 is used to transmit the output result to the target controller of the vehicle in response to the data download operation, so as to control the tailgate of the vehicle to be calibrated to perform the vehicle tailgate movement according to the output result through the target controller.

[0148] As an example, the vehicle model data includes the tailgate closing angle, the extension and retraction speed of the strut, the first distance between the installation position of the first end of the strut and the top of the vehicle body, the second distance between the installation position of the second end of the strut and the top of the vehicle body, the length of the tailgate of the vehicle to be calibrated, and the body height of the vehicle where the tailgate of the vehicle to be calibrated is located; the calibration requirement data includes the tailgate calibration height, the tailgate movement time, the acceleration area ratio, the uniform speed area ratio and the deceleration area ratio.

[0149] In one embodiment, the calculation of the output result is implemented by a preset vehicle tailgate motion calibration algorithm. The device also includes an algorithm modification module, which is used to obtain a modified vehicle tailgate motion calibration algorithm if the preset vehicle tailgate motion calibration algorithm needs to be modified; and use the modified vehicle tailgate motion calibration algorithm to process the newly input vehicle model data and calibration requirement data to obtain a new output result.

[0150] The specific definition of the vehicle tailgate motion calibration device can be found in the definition of the vehicle tailgate motion calibration method above, which will not be repeated here. Each module in the above-mentioned vehicle tailgate motion calibration device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0151] In this embodiment, the vehicle tailgate motion calibration device is essentially provided with multiple modules for executing the vehicle tailgate motion calibration method in any of the above embodiments. The specific functions and technical effects can be referred to the above embodiments and will not be repeated here.

[0152] In one embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure diagram may be as follows: Fig.18 As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0153] In one embodiment, an electronic device is provided. The electronic device may be a client, and its internal structure diagram may be as follows: Fig.19 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external server via a network connection. When the computer program is executed by the processor, the functions or steps of the client side of the above method are implemented.

[0154] In one embodiment, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: displaying a vehicle model data interface to obtain a data input area corresponding to the vehicle model data interface, and inputting vehicle model data of a tailgate to be calibrated; displaying a tailgate motion calibration requirement interface to obtain a data input area corresponding to the tailgate motion calibration requirement interface, and inputting calibration requirement data of a tailgate to be calibrated; completing an operation in response to data input of the vehicle model data and the calibration requirement data, obtaining and displaying an output result, wherein the output result includes a plurality of observed strut position information of the tailgate to be calibrated during movement, and a target speed corresponding to each observed strut position; and transmitting the output result to a target controller of the vehicle in response to a data download operation, so as to control the tailgate of the vehicle to be calibrated to move the tailgate according to the output result through the target controller.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: displaying a vehicle model data interface to obtain the vehicle model data of the tailgate of the vehicle to be calibrated, which is input in the data input area corresponding to the vehicle model data interface; displaying a tailgate motion calibration requirement interface to obtain the calibration requirement data of the tailgate of the vehicle to be calibrated, which is input in the data input area corresponding to the tailgate motion calibration requirement interface; completing an operation in response to the data input of the vehicle model data and the calibration requirement data, obtaining and displaying an output result, the output result including a plurality of observed strut position information of the tailgate of the vehicle to be calibrated during the movement, and a target speed corresponding to each observed strut position; in response to a data download operation, transmitting the output result to a target controller of the vehicle, so as to control the tailgate of the vehicle to be calibrated to move the tailgate of the vehicle according to the output result through the target controller.

[0156] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0157] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0158] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device or system can be divided into different functional units or modules to complete all or part of the functions described above.

[0159] The embodiments provided above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle tailgate motion calibration method, characterized in that: The method comprises: Displaying a vehicle model data interface to obtain the data input area corresponding to the vehicle model data interface, and inputting the vehicle model data of the tailgate to be calibrated; Displaying a tailgate motion calibration requirement interface to obtain calibration requirement data of the tailgate of the vehicle to be calibrated in a data input area corresponding to the tailgate motion calibration requirement interface; In response to the data input of the vehicle model data and the calibration requirement data, an output result is obtained and displayed, wherein the output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the movement process, and a target speed corresponding to each observation strut position; In response to the data download operation, the output result is transmitted to the target controller of the vehicle, so that the target controller controls the tailgate of the vehicle to be calibrated to move the tailgate according to the output result.

2. The vehicle tailgate motion calibration method according to claim 1, characterized in that: The output result is determined by: Determine, according to the vehicle model data, the length of the support rod when the tailgate of the vehicle to be calibrated is closed and the length of the support rod when the tailgate is fully opened; Determine the full travel opening of the tailgate of the to-be-calibrated vehicle according to the vehicle model data and the calibration requirement data, and then determine the travel interval opening in the acceleration zone, the travel interval opening in the uniform speed zone, and the travel interval opening in the deceleration zone; Obtaining observation openings of a plurality of preset observation strut positions, and determining an observation strut length of each observation strut position according to the observation openings and the vehicle type data, wherein the plurality of observation strut positions at least include a uniform speed zone starting position, a uniform speed zone ending position, and a deceleration zone stopping position; determining a strut extension length at each observed strut position based on the strut length when the tailgate is closed and the observed strut length at each observed strut position; Determine the absolute position of each observed strut position according to the strut extension speed and the strut extension length of each observed strut position, and obtain multiple observed strut position information, wherein the multiple observed strut position information at least includes the starting position information of the uniform speed zone, the ending position information of the uniform speed zone, and the stopping position information of the deceleration zone, and the vehicle type data includes the strut extension speed; Determine the uniform speed area speed according to the tailgate movement time, the uniform speed area starting position information, the uniform speed area ending position information and the deceleration area stop position information, wherein the uniform speed area speed is the target speed corresponding to the uniform speed area starting position and the uniform speed area ending position, and the calibration requirement data includes the tailgate movement time; Determine a target speed corresponding to each observed strut position according to the plurality of observed strut position information and the uniform speed area speed; A plurality of observed strut position information and a target speed corresponding to each observed strut position are determined as the output result.

3. The vehicle tailgate motion calibration method according to claim 2, characterized in that: Determining the full travel opening of the tailgate of the to-be-calibrated vehicle according to the vehicle model data and the calibration requirement data, and then determining the travel interval opening of the acceleration zone, the travel interval opening of the uniform speed zone, and the travel interval opening of the deceleration zone, including: Determine a first sub-opening according to the tailgate calibrated height, the vehicle body height and the tailgate length of the vehicle to be calibrated; Determine a second sub-opening according to the tailgate closing angle, and determine a tailgate full stroke opening of the tailgate of the vehicle to be calibrated based on the first sub-opening and the second sub-opening; The opening of the travel interval in the acceleration zone is determined according to the proportion of the acceleration zone and the full stroke opening of the tailgate; the opening of the travel interval in the uniform speed zone is determined according to the proportion of the uniform speed zone and the full stroke opening of the tailgate; and the opening of the travel interval in the deceleration zone is determined according to the proportion of the deceleration zone and the full stroke opening of the tailgate; Among them, the vehicle model data includes the body height of the vehicle where the tailgate of the vehicle to be calibrated is located, the tailgate length of the vehicle to be calibrated, and the tailgate closing angle; the calibration requirement data includes the tailgate calibration height, acceleration area ratio, uniform speed area ratio and deceleration area ratio.

4. The vehicle tailgate motion calibration method according to claim 2, characterized in that: Determining, according to the vehicle model data, a length of a support rod when the tailgate of the vehicle to be calibrated is closed and a length of a support rod when the tailgate is fully opened, including: determining a length of the support rod when the tailgate is closed according to the first distance and the second distance; Determine the length of the support rod when the tailgate is fully opened according to the first distance, the second distance and the full stroke opening of the tailgate; The vehicle model data includes a first distance between the mounting position of the first end of the support rod and the top of the vehicle body, and a second distance between the mounting position of the second end of the support rod and the top of the vehicle body; And, determining the observed strut length of each observed strut position according to the observed opening and the vehicle type data includes: determining the observed strut length of each observed strut position according to the observed opening, the first distance and the second distance.

5. The vehicle tailgate motion calibration method according to claim 3, characterized in that: After displaying the tailgate motion calibration requirement interface, the method further includes at least one of the following: If the tailgate movement time is the tailgate opening time, the acceleration zone ratio is the door opening acceleration zone ratio, the uniform speed zone ratio is the door opening uniform speed zone ratio, and the deceleration zone ratio is the door opening deceleration zone ratio, the output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the opening process and the door opening target speed corresponding to each observation strut position; If the tailgate movement time is the tailgate closing time, the acceleration zone ratio is the door closing acceleration zone ratio, the uniform speed zone ratio is the door closing uniform speed zone ratio, and the deceleration zone ratio is the door closing deceleration zone ratio, the output result includes multiple observation strut position information of the tailgate of the vehicle to be calibrated during the closing process and the door closing target speed corresponding to each observation strut position.

6. The vehicle tailgate motion calibration method according to claim 1, characterized in that: If the plurality of observation strut position information includes the plurality of observation strut position information of the tailgate of the to-be-calibrated vehicle during the closing process and the plurality of observation strut position information of the tailgate of the to-be-calibrated vehicle during the opening process, the method further includes: At least one observation strut position information of the tailgate of the vehicle to be calibrated during the closing process is different from each observation strut position information of the tailgate of the vehicle to be calibrated during the opening process; or, The observation strut position information of the tailgate of the vehicle to be calibrated during the closing process is the same as the observation strut position information corresponding to the tailgate of the vehicle to be calibrated during the opening process.

7. The vehicle tailgate motion calibration method according to any one of claims 1 to 6, characterized in that: Displaying the output result includes: Generate a motion diagram of the support rod of the tailgate of the vehicle to be calibrated during the motion process based on the plurality of observed support rod position information and the target speed corresponding to each observed support rod position; The motion diagram, multiple observation strut position information, and the target speed corresponding to each observation strut position are displayed on a preset display interface.

8. A vehicle tailgate motion calibration device, characterized in that: The device comprises: A display module is used to display a vehicle model data interface to obtain the vehicle model data of the tailgate to be calibrated input in the data input area corresponding to the vehicle model data interface; The display module is further used to display a tailgate motion calibration requirement interface to obtain calibration requirement data of the tailgate of the vehicle to be calibrated inputted in a data input area corresponding to the tailgate motion calibration requirement interface; A data processing module, used to complete the operation in response to the data input of the vehicle model data and the calibration requirement data, and obtain an output result, wherein the output result includes a plurality of observation strut position information of the tailgate of the vehicle to be calibrated during the movement process, and a target speed corresponding to each observation strut position; The display module is also used to display the output result; The data transmission module is used to transmit the output result to the target controller of the vehicle in response to the data download operation, so as to control the tailgate of the vehicle to be calibrated to move the tailgate according to the output result through the target controller.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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

Images