Vehicle tailgate movement calibration method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of vehicles and discloses a vehicle tail door movement calibration method and device, an electronic device and a storage medium, which calibrates a vehicle tail door by displaying a vehicle model data interface to obtain input vehicle model data of a to-be-calibrated vehicle tail door, displaying a tail door movement calibration requirement interface to obtain calibration requirement data of the to-be-calibrated vehicle tail door, obtaining an output result and displaying the output result in response to a data input completion operation of the vehicle model data and the calibration requirement data, and transmitting the output result to a target controller of the vehicle in response to a data download operation, so that the target controller controls the to-be-calibrated vehicle tail door to move according to the output result. The algorithm, such as a preset vehicle tail door movement calibration algorithm, for obtaining the output result is deployed on a third party outside the target controller to calibrate the vehicle tail door, thereby saving calibration cost, and the algorithm of the target controller does not need to be updated when the algorithm is modified, so that cost is low and implementation is simple.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and particularly relates to a vehicle tail door movement calibration method and device, an electronic device and a storage medium. BACKGROUND

[0002] During opening and closing of a vehicle tail door, the movement speed of the vehicle tail door needs to be calibrated. In related technologies, CANape (a vehicle-mounted controller matching and calibration system based on the ASAP standard) or CANoe (a bus development environment) and the like are often used to calibrate the vehicle tail door, and the calibration parameters in the ECU (Electronic Control Unit) are modified through a bus protocol. However, when calibration is performed in this way, some algorithms for calibration need to be deployed in the ECU, and if the algorithms need to be modified, a new version needs to be compiled and integrated, and the original algorithms in the ECU need to be updated, which is a relatively complex process and has a high cost. SUMMARY

[0003] The embodiments of the present application provide a vehicle tail door movement calibration method and device, an electronic device and a storage medium, to solve the technical problem that in related technologies, some algorithms for calibration are deployed in the ECU, and if the algorithms need to be modified, a new version needs to be compiled and integrated, and the original algorithms in the ECU need to be updated, which is a relatively complex process and has a high cost.

[0004] The embodiments of the present application provide a vehicle tail door movement calibration method, which comprises the following steps: 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 vehicle tail door to be calibrated; displaying a tail door movement calibration requirement interface to obtain a data input area corresponding to the tail door movement calibration requirement interface, and inputting calibration requirement data of the vehicle tail door to be calibrated; in response to a data input completion operation of the vehicle model data and the calibration requirement data, obtaining an output result and displaying the output result, wherein the output result comprises a plurality of observed strut position information of the vehicle tail door to be calibrated in a movement process, 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 vehicle tail door to be calibrated to move according to the output result through the target controller.

[0005] In an embodiment of the present application, the determination manner of the output result comprises: determining a tailgate closed strut length and a tailgate fully open strut length of the tailgate of the vehicle to be calibrated according to the vehicle model data; determining a tailgate full stroke opening degree, an acceleration zone stroke interval opening degree, a constant speed zone stroke interval opening degree and a deceleration zone stroke interval opening degree of the tailgate of the vehicle to be calibrated according to the vehicle model data and the calibration requirement data; obtaining a plurality of observation strut position observation opening degrees, determining an observation strut length of each observation strut position according to the observation opening degrees and the vehicle model data, wherein the plurality of observation strut positions at least include a constant speed zone start position, a constant speed zone end position and a deceleration zone stop position; determining a strut elongation length of each observation strut position based on the tailgate closed strut length and the observation strut length of each observation strut position; determining an absolute position of each observation strut position according to a strut extension and retraction speed and the strut elongation length of each observation strut position, and obtaining a plurality of observation strut position information, at this time, the plurality of observation strut position information at least include constant speed zone start position information, constant speed zone end position information and deceleration zone stop position information, wherein the vehicle model data includes the strut extension and retraction speed; determining a constant speed area speed according to a tailgate movement time, the constant speed zone start position information, the constant speed zone end position information and the deceleration zone stop position information, wherein the constant speed area speed is a target speed corresponding to the constant speed zone start position and the constant speed zone end position, and the calibration requirement data includes the tailgate movement time; determining a target speed corresponding to each observation strut position according to the plurality of observation strut position information and the constant speed area speed; and determining the plurality of observation strut position information and the target speed corresponding to each observation strut position as the output result.

[0006] In an embodiment of the present application, the determination of the tailgate full stroke opening degree of the tailgate of the vehicle to be calibrated according to the vehicle model data and the calibration requirement data, and the determination of the acceleration zone stroke interval opening degree, the constant speed zone stroke interval opening degree and the deceleration zone stroke interval opening degree comprise: determining a first sub-opening degree according to a tailgate calibration height, a vehicle body height and a tailgate length of the vehicle to be calibrated; determining a second sub-opening degree according to a tailgate closing angle, and determining the tailgate full stroke opening degree of the tailgate of the vehicle to be calibrated based on the first sub-opening degree and the second sub-opening degree; determining the acceleration zone stroke interval opening degree according to an acceleration zone proportion and the tailgate full stroke opening degree, determining the constant speed zone stroke interval opening degree according to a constant speed zone proportion and the tailgate full stroke opening degree, and determining the deceleration zone stroke interval opening degree according to a deceleration zone proportion and the tailgate full stroke opening degree; wherein the vehicle model data includes a vehicle body height of a vehicle to which the tailgate of the vehicle to be calibrated belongs, a tailgate length of the vehicle to be calibrated, and a tailgate closing angle, and the calibration requirement data includes a tailgate calibration height, an acceleration zone proportion, a constant speed zone proportion and a deceleration zone proportion.

[0007] In an embodiment of the present application, the method further comprises: determining the support rod length when the tail door is closed and the support rod length when the tail door is fully opened according to the vehicle type data, including: determining the support rod length when the tail door is closed according to the first distance and the second distance; determining the support rod length when the tail door is fully opened according to the first distance, the second distance and the full stroke opening degree of the tail door; wherein the vehicle type data comprises the first distance from the first end of the support rod installation position to the top of the vehicle body and the second distance from the second end of the support rod installation position to the top of the vehicle body; and determining the observed support rod length of each observed support rod position according to the observed opening degree and the vehicle type data, including: determining the observed support rod length of each observed support rod position according to the observed opening degree, the first distance and the second distance.

[0008] In an embodiment of the present application, after the tail door movement calibration requirement interface is displayed, the method further comprises at least one of the following: if the tail door movement time is the tail door opening time, the acceleration zone proportion is the opening door acceleration zone proportion, the uniform speed zone proportion is the opening door uniform speed zone proportion, and the deceleration zone proportion is the opening door deceleration zone proportion, the output result comprises the plurality of observed support rod position information of the tail door of the vehicle to be calibrated in the opening process and the corresponding opening door target speed of each observed support rod position; if the tail door movement time is the tail door closing time, the acceleration zone proportion is the closing door acceleration zone proportion, the uniform speed zone proportion is the closing door uniform speed zone proportion, and the deceleration zone proportion is the closing door deceleration zone proportion, the output result comprises the plurality of observed support rod position information of the tail door of the vehicle to be calibrated in the closing process and the corresponding closing door target speed of each observed support rod position.

[0009] In an embodiment of the present application, the plurality of observed support rod position information comprises: the acceleration zone starting position information, at least one acceleration zone intermediate position information, the uniform speed zone starting position information, the uniform speed zone ending position information, at least one deceleration zone intermediate position information, and the acceleration zone stopping position information.

[0010] In an embodiment of the present application, if the plurality of observed support rod position information comprises the plurality of observed support rod position information of the tail door of the vehicle to be calibrated in the closing process and the plurality of observed support rod position information of the tail door of the vehicle to be calibrated in the opening process, the method further comprises: each of the at least one observed support rod position information of the tail door of the vehicle to be calibrated in the closing process is different from the observed support rod position information of the tail door of the vehicle to be calibrated in the opening process; or the observed support rod position information of the tail door of the vehicle to be calibrated in the closing process is the same as the corresponding observed support rod position information of the tail door of the vehicle to be calibrated in the opening process.

[0011] In an embodiment of the present application, the displaying the output result comprises: generating a movement schematic diagram of the stay rod of the vehicle tail door in the movement process based on the plurality of observed stay rod position information and the target speed corresponding to each observed stay rod position; and displaying the movement schematic diagram, the plurality of observed stay rod position information and the target speed corresponding to each observed stay rod position on a preset display interface.

[0012] In an embodiment of the present application, the method further comprises: if the preset vehicle tail door movement calibration algorithm needs to be modified, obtaining a modified vehicle tail door movement calibration algorithm; and performing data processing on the newly input vehicle model data and calibration requirement data by using the modified vehicle tail door movement calibration algorithm to obtain a new output result.

[0013] The embodiments of the present application further provide a vehicle tail door movement calibration device. The vehicle tail door movement calibration device comprises a display module, a data processing module and a data transmission module. The display module is configured to display a vehicle model data interface to obtain a data input area corresponding to the vehicle model data interface, and input vehicle model data of a vehicle tail door to be calibrated. The display module is further configured to display a tail door movement calibration requirement interface to obtain a data input area corresponding to the tail door movement calibration requirement interface, and input calibration requirement data of the vehicle tail door to be calibrated. The data processing module is configured to obtain an output result in response to a data input completion operation of the vehicle model data and the calibration requirement data. The output result comprises a plurality of observed stay rod position information of the vehicle tail door to be calibrated in a movement process and a target speed corresponding to each observed stay rod position. The display module is further configured to display the output result. The data transmission module is configured to transmit the output result to a target controller of the vehicle in response to a data download operation, so that the vehicle tail door to be calibrated moves according to the output result by using the target controller.

[0014] The embodiments of the present application further provide an electronic device. The electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. The processor implements the method of any of the above embodiments when executing the computer program.

[0015] The embodiments of the present application further provide a computer readable storage medium. The computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the method of any of the above embodiments.

[0016] The vehicle tailgate movement calibration method, device, electronic equipment and storage medium provided by the above-mentioned solution display a vehicle model data interface to obtain vehicle model data of a to-be-calibrated vehicle tailgate input by a data input area corresponding to the vehicle model data interface, display a tailgate movement calibration requirement interface to obtain calibration requirement data of the to-be-calibrated vehicle tailgate input by a data input area corresponding to the tailgate movement calibration requirement interface, obtain an output result and display in response to a data input completion operation of the vehicle model data and the calibration requirement data, and transmit the output result to a target controller of the vehicle in response to a data download operation, so that the target controller controls the to-be-calibrated vehicle tailgate to move according to the output result. The calibration of the vehicle tailgate is performed by deploying the calculation part of the output result to 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. In one aspect, the calibration cost is saved. In another aspect, when the calculation method of the output result (such as a vehicle tailgate movement calibration algorithm) is modified, the vehicle tailgate movement calibration algorithm in the target controller of the vehicle itself does not need to be updated, but the overall preset vehicle tailgate movement calibration algorithm is adjusted, which is lower in cost and simpler in implementation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 An exemplary system architecture diagram for vehicle tailgate movement calibration according to the embodiments of the present application;

[0019] Figure 2 A flowchart of a vehicle tailgate movement calibration method provided by the embodiments of the present application;

[0020] Figure 3 A schematic diagram of a vehicle model data interface provided by the embodiments of the present application;

[0021] Figure 4 A schematic diagram of a tailgate movement calibration requirement interface provided by the embodiments of the present application;

[0022] Figure 5 A schematic diagram of a full-closed position of a tailgate during vehicle tailgate movement provided by the embodiments of the present application;

[0023] Figure 6 A schematic diagram of a 50% open position of a tailgate during vehicle tailgate movement provided by the embodiments of the present application;

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

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

[0026] Figure 9 A schematic diagram of a definition of a closing movement interval of a tailgate of a vehicle provided by an embodiment of the present application;

[0027] Figure 10 A schematic diagram of a solution of a full stroke opening degree algorithm of a tailgate of a vehicle provided by an embodiment of the present application;

[0028] Figure 11 A schematic diagram of a solution of a stroke interval of an opening stage algorithm of a tailgate of a vehicle provided by an embodiment of the present application;

[0029] Figure 12 A schematic diagram of a solution of a stroke interval of a closing stage algorithm of a tailgate of a vehicle provided by an embodiment of the present application;

[0030] Figure 13 A schematic diagram of a solution of an observation strut length for observing a position of an observation strut during a tailgate movement process of a vehicle provided by an embodiment of the present application;

[0031] Figure 14 A schematic diagram of a definition of a movement interval on a strut mapped from an opening stage provided by an embodiment of the present application;

[0032] Figure 15 A schematic diagram of a definition of a movement interval on a strut mapped from a closing stage provided by an embodiment of the present application;

[0033] Figure 16 A schematic diagram of a display interface of an output result provided by an embodiment of the present application;

[0034] Figure 17 A structural schematic diagram of a tailgate movement calibration device of a vehicle provided by an embodiment of the present application;

[0035] Figure 18 A structural schematic diagram of an electronic device in an embodiment of the present application;

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

[0037] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

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

[0039] Please refer to Figure 1 , Figure 1 An exemplary system architecture diagram of the vehicle tailgate movement calibration that can apply the embodiments of the present application is shown. As Figure 1 indicated, the system architecture can include a terminal device 101 and a vehicle 102, wherein a communication link exists between the terminal device and the vehicle, which can 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. The user can use the terminal device 101 to interact with the vehicle 102 to deliver data in the terminal device 101 to the target controller in the vehicle 102. The terminal device 101 can be hardware or software. When the terminal device 101 is hardware, it can be various electronic devices such as a tablet computer, a mobile phone, a notebook computer, a desktop computer, etc. When the terminal device 101 is software, it can be installed in the above electronic devices. It can be implemented as multiple software or software modules, or as a single software or software module. It is not specifically limited here.

[0040] The vehicle 102 can be a fuel car, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in HEV, a range extended EV, a hybrid electric vehicle (HEV), a gas car, a methanol car, a solar car, or other new energy vehicles, etc. The vehicle 102 can be a passenger car such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), etc., or a passenger car, a truck, a semi-trailer, etc. The present application does not specifically limit this.

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

[0042] The vehicle tail gate movement calibration method provided in the embodiments of the present application is generally executed by the terminal device 101, and correspondingly, the vehicle tail gate movement calibration apparatus is generally arranged in the terminal device 101.

[0043] It should be noted that, Figure 1 The number of the terminal device 101 and the vehicle 102 in the above-mentioned system is only illustrative. According to the implementation needs, there can be any number of terminal devices 101 and vehicles 102. One terminal device 101 can support the movement calibration of the tail gate of multiple vehicles 102 of the same or different models.

[0044] Please refer to Figure 2 , Figure 2 A flowchart of the vehicle tail gate movement calibration method provided in the embodiments of the present application is shown in the figure, and the method comprises the following steps:

[0045] In step S210, a vehicle model data interface is displayed to obtain a data input area corresponding to the vehicle model data interface, and input the vehicle model data of the tail gate to be calibrated.

[0046] Among them, as an example, the vehicle model data includes the tail gate closing angle φ 关门 , the support rod telescopic speed, the first distance L1 from the first end mounting position of the support rod to the top of the vehicle body, the second distance L2 from the second end mounting position of the support rod to the top of the vehicle body, the length L3 of the tail gate to be calibrated, and the vehicle body height h 车身 of the vehicle where the tail gate to be calibrated is located. The vehicle model data can be obtained based on the fixed size of the vehicle model of the vehicle where the tail gate to be calibrated is located. Among them, the support rod telescopic speed can be represented by the support rod motor stroke turn ratio or the number of Halls corresponding to each millimeter. The motor stroke turn ratio can be regarded as the number of motor turns corresponding to each 1mm of the electric support rod. The number of Halls corresponding to each millimeter can be regarded as the number of Halls corresponding to each millimeter of the support rod telescopic speed.

[0047] The vehicle model data interface is used to input the vehicle model data of the tail gate to be calibrated, and has a plurality of data areas respectively used to input each type of vehicle model data. The user can input the vehicle model data to the data input area corresponding to the vehicle model data interface through the keyboard, voice, Bluetooth, etc. As an example, please refer to Figure 3 , Figure 3 A schematic diagram of the vehicle model data interface provided in the embodiments of the present application is shown in the figure, which comprises a plurality of vehicle model data input prompts (such as the vehicle body height h, the tail gate closing angle φ, L1, L2, L3, and the support rod motor stroke turn ratio α1) and data areas (rectangular boxes beside each input prompt). In order to enable the user to more clearly understand the meaning of the parameters represented by each vehicle model data, the parameters represented by each vehicle model data can also be displayed in the data area, as shown in Figure 3 Figure 2 ​The schematic diagram shown on the right side of the middle provides a schematic diagram of the meaning of each vehicle data specifically represented. Among them, the tailgate closing angle φ can be represented by φ 关门 , and the vehicle body height can be represented by h 车身 . Among them, the meanings of L1, L2, L3 can refer to the foregoing embodiments, which will not be repeated here.

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

[0049] In the above manner, the vehicle data can be flexibly input, so that the method can support the calibration requirements of different vehicle models. When the vehicle data of a certain vehicle model changes, it can also be modified in time through this way, which is more flexible, simple and efficient compared with the way of re-flashing the data in the ECU in related technical ways.

[0050] Step S220, a tailgate motion calibration requirement interface is displayed to obtain the data input area corresponding to the tailgate motion calibration requirement interface, and input the calibration requirement data of the tailgate of the vehicle to be calibrated.

[0051] Among them, as an example, the calibration requirement data includes tailgate calibration height, tailgate motion time, acceleration zone ratio, constant speed zone ratio and deceleration zone ratio. Among them, the acceleration zone ratio includes at least one of the opening door acceleration zone ratio (opening door acceleration ratio) and the closing door acceleration zone ratio (closing acceleration zone ratio), the constant speed zone ratio includes at least one of the opening door constant speed zone ratio (opening constant speed zone ratio) and the closing door constant speed zone ratio (closing constant speed zone ratio), and the deceleration zone ratio includes at least one of the opening door deceleration zone ratio (opening deceleration zone ratio) and the closing door deceleration zone ratio (closing deceleration zone ratio).

[0052] The tailgate motion calibration requirement interface is used to input the calibration requirement data of the tailgate of the vehicle to be calibrated, which has a plurality of data areas respectively used to input each type of calibration requirement data. The user can input the calibration requirement data to the data input area corresponding to the tailgate motion calibration requirement interface by keyboard, voice, Bluetooth, etc. As an example, please refer to Figure 4 , Figure 4 A schematic diagram of the tailgate motion calibration requirement interface provided by the embodiments of the present application is shown in Figure 4As shown, the tailgate motion calibration requirement interface includes input prompts for multiple calibration requirement data (such as tailgate calibration height h, tailgate opening time t, tailgate closing time t, percentage of the acceleration zone A1, percentage of the constant speed zone A2, percentage of the deceleration zone A3, percentage of the acceleration zone A4, percentage of the constant speed zone A5, and percentage of the deceleration zone A6) and data areas (rectangular boxes next to each input prompt). To help users better understand the meaning of the parameters represented by each calibration requirement data, they can also use methods such as... Figure 3 The diagram shown on the right provides data for each calibration requirement (i.e.) Figure 3 The diagram shows the specific meaning of the tailgate calibration data for the vehicle model. The tailgate calibration height h is defined as h... 标定高度 It indicates that the tailgate opening time is in t 开 This indicates that the tailgate closing time is expressed in t. 关 This indicates that the percentage of the acceleration zone (A1) is represented by the acceleration zone percentage A1, the percentage of the constant speed zone (A2) is represented by the constant speed zone percentage A2, the percentage of the deceleration zone (A3) is represented by the deceleration zone percentage A3, the percentage of the acceleration zone (A4) is represented by the acceleration zone percentage A4, the percentage of the constant speed zone (A5) is represented by the constant speed zone percentage A5, and the percentage of the deceleration zone (A6) is represented by the deceleration zone percentage A6. For example... Figure 3 As shown in the figure, as an example, the tailgate's rated height can be understood as the height of the tailgate from the ground when it is fully opened.

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

[0054] Vehicle model data is determined by the structure of a particular vehicle model and is relatively fixed, based on the actual dimensions of the vehicle. However, calibration requirement data can be flexibly set according to the needs of those skilled in the art. Therefore, when the calibration requirement data changes, the relevant technical methods also require rewriting the ECU of a particular vehicle to obtain the new calibrated data. In contrast, the method of the embodiments in this application can flexibly modify the calibration requirement data of a particular vehicle model, and then the obtained output results can be applied to every vehicle of that model, thus having a wider range of applications.

[0055] In one embodiment, after displaying the tailgate movement 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 percentage is the opening acceleration zone percentage, the constant speed zone percentage is the opening constant speed zone percentage, and the deceleration zone percentage is the opening deceleration zone percentage, the output results include multiple observation support rod position information of the tailgate of the vehicle to be calibrated during the opening process and the target opening speed corresponding to each observation support rod position.

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

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

[0059] As an example, if the multiple observed strut position information includes multiple observed strut position information of the tailgate of the vehicle to be calibrated in the closing process and multiple observed strut position information of the tailgate of the vehicle to be calibrated in the opening process, the method further includes: at least one observed strut position information of the tailgate of the vehicle to be calibrated in the closing process is different from each observed strut position information of the tailgate of the vehicle to be calibrated in the opening process; or, the observed strut position information of the tailgate of the vehicle to be calibrated in the closing process is the same as the corresponding observed strut position information of the tailgate of the vehicle to be calibrated in the opening process. It can be understood that in the selection process of the observation point, one or more observation points (observed 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 completion operation of the vehicle type data and the calibration requirement data, the output result is obtained and displayed.

[0061] The output result includes multiple observed strut position information of the tailgate of the vehicle to be calibrated in the movement process and a target speed corresponding to each observed strut position. The target speed can be understood as the movement speed of the tailgate when it moves to a certain observed strut position. The observed strut position information can be the coordinate data of the observed strut position in the coordinate system set by those skilled in the art.

[0062] In an embodiment, the determination manner of the output result comprises: determining the strut rod length when the tailgate of the to-be-calibrated vehicle is closed and the strut rod length when the tailgate is fully opened according to the vehicle model data; determining the full stroke opening degree of the tailgate of the to-be-calibrated vehicle according to the vehicle model data and the calibration requirement data, and further determining the stroke interval opening degree of the acceleration zone, the stroke interval opening degree of the constant speed zone and the stroke interval opening degree of the deceleration zone; obtaining a plurality of observation opening degrees of preset observation strut rod positions, and determining the observation strut rod length of each observation strut rod position according to the observation opening degrees and the vehicle model data, wherein the plurality of observation strut rod positions at least include the start position of the constant speed zone, the end position of the constant speed zone and the stop position of the deceleration zone; determining the strut rod elongation length of each observation strut rod position based on the strut rod length when the tailgate is closed and the observation strut rod length of each observation strut rod position; determining the absolute position of each observation strut rod position according to the strut rod extension and retraction speed and the strut rod elongation length of each observation strut rod position, and obtaining a plurality of observation strut rod position information, at this time, the plurality of observation strut rod position information at least include the start position information of the constant speed zone, the end position information of the constant speed zone and the stop position information of the deceleration zone, and the vehicle model data includes the strut rod extension and retraction speed; determining the constant speed zone speed according to the tailgate movement time, the start position information of the constant speed zone, the end position information of the constant speed zone and the stop position information of the deceleration zone, and the constant speed zone speed is the target speed corresponding to the start position of the constant speed zone and the end position of the constant speed zone, and the calibration requirement data includes the tailgate movement time; determining the target speed corresponding to each observation strut rod position according to the plurality of observation strut rod position information and the constant speed zone speed; and determining the plurality of observation strut rod position information and the target speed corresponding to each observation strut rod position as the output result.

[0063] According to the above embodiment, the determination of the full stroke opening degree of the tailgate of the to-be-calibrated vehicle according to the vehicle model data and the calibration requirement data, and the determination of the stroke interval opening degree of the acceleration zone, the stroke interval opening degree of the constant speed zone and the stroke interval opening degree of the deceleration zone further comprise: determining a first sub-opening degree according to the tailgate calibration height, the vehicle body height and the length of the tailgate of the to-be-calibrated vehicle; determining a second sub-opening degree according to the tailgate closing angle, and determining the full stroke opening degree of the tailgate of the to-be-calibrated vehicle based on the first sub-opening degree and the second sub-opening degree; determining the stroke interval opening degree of the acceleration zone according to the acceleration zone proportion and the full stroke opening degree of the tailgate, determining the stroke interval opening degree of the constant speed zone according to the constant speed zone proportion and the full stroke opening degree of the tailgate, and determining the stroke interval opening degree of the deceleration zone according to the deceleration zone proportion and the full stroke opening degree of the tailgate; wherein the vehicle model data includes the vehicle body height of the vehicle to which the tailgate of the to-be-calibrated vehicle belongs, the length of the tailgate of the to-be-calibrated vehicle, and the tailgate closing angle, and the calibration requirement data includes the tailgate calibration height, the acceleration zone proportion, the constant speed zone proportion and the deceleration zone proportion.

[0064] In the above embodiment, the strut length when the tailgate is closed and the strut length when the tailgate is fully opened of the tailgate to be calibrated are determined according to the vehicle type data, including: determining the strut length when the tailgate is closed according to the first distance and the second distance; determining the strut length when the tailgate is fully opened according to the first distance, the second distance and the full stroke opening degree of the tailgate; wherein the vehicle type data includes the first distance from the first end mounting position of the strut to the top of the vehicle body and the second distance from the second end mounting position of the strut to the top of the vehicle body.

[0065] In the above embodiment, the observed strut length of each observed strut position is determined according to the observed opening degree and the vehicle type data, including: determining the observed strut length of each observed strut position according to the observed opening degree, the first distance and the second distance.

[0066] It can be understood that the determination manner of the output result includes: determining a first sub-opening degree 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 degree according to the tailgate closing angle, and determining the full stroke opening degree of the tailgate to be calibrated based on the first sub-opening degree and the second sub-opening degree; determining the strut length when the tailgate is closed according to the first distance and the second distance; determining the strut length when the tailgate is fully opened according to the first distance, the second distance and the full stroke opening degree of the tailgate; determining the opening degree of the acceleration zone stroke interval according to the acceleration zone proportion and the full stroke opening degree of the tailgate, determining the opening degree of the constant speed zone stroke interval according to the constant speed zone proportion and the full stroke opening degree of the tailgate, and determining the opening degree of the deceleration zone stroke interval according to the deceleration zone proportion and the full stroke opening degree of the tailgate; obtaining the observed opening degrees of a plurality of observed strut positions, determining the observed strut length of each observed strut position according to the observed opening degree, the first distance and the second distance, wherein the plurality of observed strut positions at least include the start position of the constant speed zone, the end position of the constant speed zone and the stop position of the deceleration zone; determining the strut elongation 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; determining the absolute position of each observed strut position according to the strut extension speed and the strut elongation length of each observed strut position, and obtaining the plurality of observed strut position information, at this time, the plurality of observed strut position information at least includes the start position information of the constant speed zone, the end position information of the constant speed zone and the stop position information of the deceleration zone; determining the constant speed area speed according to the tailgate movement time, the start position information of the constant speed zone, the end position information of the constant speed zone and the stop position information of the deceleration zone, the constant speed area speed being the target speed corresponding to the start position of the constant speed zone and the end position of the constant speed zone; determining the target speed corresponding to each observed strut position according to the plurality of observed strut position information and the constant speed area speed; and determining the plurality of observed strut position information and the target speed corresponding to each observed strut position as the output result.

[0067] The calculation manner of the output result is exemplarily described below with reference to a specific embodiment. Figure 5 Figure 6 and Figure 7 ,​Figure 5 A schematic diagram of a full closed position of a tailgate during a movement process of a tailgate of a vehicle provided by an embodiment of the present application, Figure 6 A schematic diagram of a 50% opening position of a tailgate during a movement process of a tailgate of a vehicle provided by an embodiment of the present application, Figure 7 A schematic diagram of a 100% opening position of a tailgate during a movement process of a tailgate of a vehicle provided by an embodiment of the present application, as shown in Figure 5 , Figure 6 and Figure 7 , the movement process of the tailgate can be divided into an acceleration zone, a constant speed zone and a deceleration zone. In the opening door interval corresponding to the opening door process, the tailgate bottom closed position to the highest position of the tailgate is divided into an acceleration zone, a constant speed zone and a deceleration zone, as shown in Figure 8 , Figure 8 A schematic diagram of a definition of a tailgate opening movement interval of a vehicle provided by an embodiment of the present application. In the closing door interval corresponding to the closing door process, the tailgate bottom closed position to the highest position of the tailgate is divided into a deceleration zone, a constant speed zone and a deceleration zone, as shown in Figure 9 , Figure 9 A schematic diagram of a definition of a tailgate closing movement interval of a vehicle provided by an embodiment of the present application. An exemplary calculation process of an output result is as follows:

[0068] Step 1: please refer to Figure 10 , Figure 10 A schematic diagram of a solution of a tailgate full stroke opening degree algorithm of a vehicle provided by an embodiment of the present application. As shown in Figure 10 , according to formula (1), formula (2) and formula (3), the opening degree φ 开合 of the tailgate full stroke is solved.

[0069] φopen and close = φ1 + φ2 formula (1),

[0070]

[0071] φ2 = 90° - φ 关门 formula (3),

[0072] Wherein, φ 开合 is the tailgate full stroke opening degree, φ1 is the first sub-opening degree, φ2 is the second sub-opening degree, h 车身 is the vehicle body height, h 标定高度为 is the tailgate calibration height, φ 关门 is the tailgate closing angle, and L3 is the length of the tailgate to be calibrated.

[0073] Step 2: continue to refer to Figure 10 , according to formula (4) and formula (5), the stroke L of the supporting rod motor is solved.

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

[0075]

[0076] wherein L 尾门闭合时撑杆长度 is the brace length 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 brace length when the tailgate is fully open, L2 is the second distance, L1 is the first distance, φ 开合 is the full stroke opening of the tailgate.

[0078] Step 3: see Figure 11 and Figure 12 , Figure 11 is a schematic diagram of the vehicle tailgate opening stage algorithm provided by the embodiment of the application to solve the stroke interval, Figure 12 is a schematic diagram of the vehicle tailgate closing stage algorithm provided by the embodiment of the application to solve the stroke interval, as shown in Figure 11 and Figure 12 , the stroke interval of the opening acceleration zone is calculated through the stroke ratio parameters (acceleration zone ratio, uniform speed zone ratio and deceleration zone ratio) input by the user.

[0079] φopening acceleration zone=A1*φopen-close formula (6),

[0080] φopening uniform speed zone=A2*φopen-close formula (7),

[0081] φopening deceleration zone=A3*φopen-close formula (8),

[0082] φclosing acceleration zone=A4*φopen-close formula (9),

[0083] φclosing uniform speed zone=A5*φopen-close formula (10),

[0084] φclosing deceleration zone=A6*φopen-close formula (11),

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

[0086] The travel interval (the angle relative to the tailgate locking point as the reference point) can be obtained by the above solving:

[0087] The opening door acceleration region: 0°->φ 开门加速区 ;

[0088] The opening door uniform speed region: φopening door acceleration region->(φopening door acceleration region+φopening door uniform speed region);

[0089] The opening door deceleration region: (φopening door acceleration region+φopening door uniform speed region)->φopen-close;

[0090] The closing door acceleration region: (φclosing door deceleration region+φclosing door uniform speed region)->φopen-close;

[0091] The closing door uniform speed region: φclosing door deceleration region->(φclosing door deceleration region+φclosing door uniform speed region);

[0092] The closing door deceleration region: 0°->φ 关门减速区 .

[0093] Step 4: A plurality of observation strut positions are preset. For example, continuing to refer to Figure 11 and Figure 12 , as shown in Figure 11 and Figure 12 , three sampling points are obtained in the acceleration region and the deceleration region according to the angle, and the tailgate opening stage is set to the point position (observation strut position) Z1, Z2, Z3, Z4, Z5, Z6, Z7, and the closing stage is set to the point position (observation strut position) M1, M2, M3, M4, M5, M6, M7.

[0094] The purpose of setting a plurality of observation strut positions in the acceleration region and the deceleration region is to make the tailgate movement smoother in the acceleration region and the deceleration region.

[0095] Step 5: According to the setting of the observation strut positions of Figure 11 and Figure 12 , the tailgate obtains seven movement segments when opening and closing, continuing to refer to Figure 11 and Figure 12 . The opening movement segment: Z0->Z1, Z1->Z2, Z2->Z3, Z3->Z4, Z4->Z5, Z5->Z6, Z6->Z7; The closing movement segment: M7->M6, M6->M5, M5->M4, M4->M3, M3->M2, M2->M1, M1->M0.

[0096] Step 6: The actual length of each point strut is obtained. Refer to Figure 13 , Figure 13 The vehicle tailgate movement process provided by the embodiment of the application is an algorithm for solving the observation strut length of the observation strut position, combined with Figure 13The observed strut length of each observed strut position can be obtained by referring to formula (12).

[0097]

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

[0099] Step 7: the elongation length of each point strut (the strut elongation length of each observed strut position) is obtained, and the opening door movement area and the closing door movement area are mapped to the strut. Please refer to Figure 14 and Figure 15 , Figure 14 is a schematic diagram of the definition of the movement area interval of the opening door stage mapped to the strut provided by the embodiment of the application, Figure 15 is a schematic diagram of the definition of the movement area interval of the closing door stage mapped to the strut provided by the embodiment of the application, in combination with Figure 14 and Figure 15 , a determination method of the strut elongation length is as follows:

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

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

[0102] Step 7: continue to refer to Figure 14 and Figure 15 , according to the input motor parameter stroke revolution ratio α (herein, the strut extension speed is taken as an example of the motor parameter stroke revolution ratio), the absolute position Pn of each point (observed strut position) is calculated by taking the strut length when the tail door is in the closed state as the 0-point reference point.

[0103] Pn = Ly *α formula (14),

[0104] wherein Pn is the absolute position of the observed support rod position n (observed support rod position information), n takes the value of SZ1, SZ2…SZ7 in the opening door phase and SM1…SM7 in the closing door phase, Ly is the support rod elongation length corresponding to the observed support rod position x, x takes the value of Z1, Z2…Z7 in the opening door phase and M1…M7 in the closing door phase, and a is the motor parameter stroke-turn ratio.

[0105] Step 8: Calculate the constant speed area speed.

[0106] Continuing to refer to Figure 14 and Figure 15 , an example determination method of the constant speed area speed in the opening door phase is as follows:

[0107]

[0108] wherein t 开加速区 is the acceleration area running duration in the opening door phase, t 开减速区 is the deceleration area running duration in the opening door phase, t 开匀速区 is the constant speed area running duration in the opening door phase, P SZ3 , P SZ4 , and P Sz7 are the absolute position of the observed support rod position Z3, the absolute position of the observed support rod position Z4, and the absolute position of the observed support rod position Z7 respectively, V 开匀速区 is the constant speed area speed in the opening door phase (i.e. the target speed corresponding to the constant speed area start position and the constant speed area end position).

[0109] In addition, the tailgate movement time in the opening door phase is composed of the acceleration area running duration in the opening door phase, the deceleration area running duration in the opening door phase, and the constant speed area running duration in the opening door phase, i.e.

[0110] topen= topenacceleration area+ tdeceleration area+ tconstant speed area Formula (18),

[0111] wherein t 开 is the tailgate movement time in the opening door phase, t 开加速区 is the acceleration area running duration in the opening door phase, t 开减速区 is the deceleration area running duration in the opening door phase, and t 开匀速区 is the constant speed area running duration in the opening door phase.

[0112] Based on formula (15), formula (16), formula (17), and formula (18), the following can be derived:

[0113]

[0114] wherein t 开Let t be the tailgate movement time during the opening phase. 开加速区 For the acceleration zone running time during the opening phase, t 开减速区 t is the running time in the deceleration zone during the door opening phase. 开匀速区 P is the duration of the uniform speed zone during the opening phase. SZ3 P SZ4 P Sz7 These are the absolute positions of the observation struts at positions Z3, Z4, and Z7, respectively. V 开匀速区 The velocity is the constant velocity during the opening phase.

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

[0116] Similarly, the velocity in the uniform region during the closing phase can be obtained by referring to the principle of the opening phase described above, which will not be elaborated here.

[0117] The derivation principles of formulas (15) and (16) can be found in the following formulas:

[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 accelerates from rest), t is time, and a is acceleration.

[0120] V = at (Formula 21)

[0121] Where V is the velocity, t is the running time, and a is the corresponding acceleration.

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

[0123]

[0124] Where t is the running time, S is the distance the object travels, and V is the velocity. Based on formula (22), formulas (15) and (16) can be obtained.

[0125] wherein if S takes Psz3 in the acceleration zone of the opening stage, takes (P SZ7 -P SZ4 ), V is the speed of the uniform speed zone. Then the speed V of the opening uniform speed zone can be calculated, VSZ3 = VSZ4 = V.

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

[0127] In addition to the target speed corresponding to the start position of the uniform speed zone and the end position of the uniform speed zone obtained above, the target speed of other positions can be obtained by first obtaining the acceleration of the acceleration zone and the acceleration of the deceleration zone according to the target speed corresponding to the start position of the uniform speed zone and the end position of the uniform speed zone, and then calculating the running time corresponding to each observed strut position according to the initial speed of 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 that position), and then obtaining the corresponding target speed based on the running time corresponding to the observed strut position and the corresponding acceleration.

[0128] Continuing to refer to Figure 14 and Figure 15 , an example of a determination method of the target speed corresponding to each observed strut position in the opening stage is as follows:

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

[0130] According to formula (20), the running time tsz1 of the small section Sz0->Sz1 in the 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 solved.

[0131] Then, according to formula (21), the target speed of each interval, Vsz1, Vsz2, Vsz5, and Vsz6, can be solved.

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

[0133] The data solving in the closing stage is similar to that in the opening stage, which will not be repeated here.

[0134] In an embodiment, the output result is calculated by a preset vehicle tailgate movement calibration algorithm, and the method further comprises: if the preset vehicle tailgate movement calibration algorithm needs to be modified, obtaining a modified vehicle tailgate movement calibration algorithm; and performing data processing on new input vehicle model data and calibration requirement data by using the modified vehicle tailgate movement calibration algorithm to obtain a new output result.

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

[0136] It can be seen that, by using the method provided in the embodiment, the preset vehicle tailgate movement calibration algorithm can be flexibly modified, and it is not necessary to re-flash the ECU of each vehicle every time the algorithm is modified, which is more flexible. The method can be applied to multiple vehicle models.

[0137] In an embodiment, the output result is displayed by: generating a movement schematic diagram of a support rod of the vehicle tailgate in a movement process based on the multiple observed support rod position information and the target speed corresponding to each observed support rod position; and displaying the movement schematic diagram, the multiple observed support rod position information, and the target speed corresponding to each observed support rod position on a preset display interface.

[0138] See Figure 16 , Figure 16 For an example of a schematic diagram of a display interface of the output result provided in the embodiment, as shown in Figure 16 , taking the door opening stage as an example, the observed support rod position information P SZ1 , P SZ0 , P SZ3 , P SZ4 , P SZ5 , P SZ6 , and P SZ7 corresponding to each preset observed support rod position can be displayed in the corresponding text box (the rectangular box in the left column), and the target speed corresponding to each observed support rod position, i.e., Vsz0→sz1, Vsz1→sz2, Vsz2→sz3, Vsz3→sz4, Vsz4→sz5, Vsz5→sz6, and Vsz6→sz7 can be displayed in the corresponding text box (the rectangular box in the right column). For ease of understanding, a movement schematic diagram can also be generated based on the above data, as shown by the graph on the right side in Figure 16 .

[0139] As an example, the algorithm corresponding to the method can be pre-configured in a third party other than the controller of the vehicle, such as a host computer, and then the host computer obtains vehicle model data and calibration requirement data through the interface examples of Figure 3 and Figure 4 , and then jumps toFigure 16 The user can click "one-click generation" to automatically obtain the output result based on the algorithm and display it.

[0140] The display of the output result in the closing stage can refer to Figure 16 , which will not be described here.

[0141] In the above manner, the output result can be clearly and explicitly displayed to the user, facilitating the user to view and understand.

[0142] In 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 to-be-calibrated vehicle tailgate to move according to the output result.

[0143] Continuing to refer to Figure 16 , the user can click the "one-click download" control to download the output result, and subsequently (which can be based on the user's instruction or directly triggered) transmit the output result to the target controller of the corresponding vehicle, so that the target controller controls the opening and closing of the tailgate based on the batch of calibration data. For example, the "one-click download" button is clicked on the host computer interface, and then the host computer downloads the positions and target speed values of the seven points of the opening and closing of the tailgate to the ECU through the CAN bus.

[0144] The vehicle tailgate movement calibration method provided in the above embodiment obtains the vehicle model data of the to-be-calibrated vehicle tailgate by displaying the vehicle model data interface, obtains the calibration requirement data of the to-be-calibrated vehicle tailgate by displaying the tailgate movement calibration requirement interface, obtains the output result and displays it in response to the data input completion operation, transmits the output result to the target controller of the vehicle in response to the data download operation, so that the target controller controls the to-be-calibrated vehicle tailgate to move according to the output result, and deploys the preset vehicle tailgate movement calibration algorithm for calculating the output result in 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, the algorithm inside the target controller does not need to be updated, which is low in cost and simple in implementation.

[0145] In addition, the method provided in the embodiment can realize agile development of tailgate calibration software, rapid prototyping of software, reduce calibration work of tailgate algorithms 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 application range.

[0146] The method provided in this embodiment is based on product experience and user needs. It deploys some calibration algorithms for the tailgate on a host computer. Engineers input relevant parameters from the host computer's UI interface, and the host computer calculates the required calibration parameters (output results). Then, it sends the 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, which is used to perform the vehicle tailgate motion calibration method provided in any of the above embodiments. Please refer to [link to previous document]. Figure 17 , Figure 17 A schematic diagram of the vehicle tailgate motion calibration device provided in the embodiments of this application is shown below. Figure 17 As shown, the vehicle tailgate motion calibration device 1700 includes a display module 1701, a data processing module 1702, and a data transmission module 1703. The display module 1701 displays a vehicle model data interface to obtain the vehicle model data of the tailgate to be calibrated, input into the corresponding data input area. The display module 1701 also displays a tailgate motion calibration requirement interface to obtain the calibration requirement data of the tailgate to be calibrated, input into the corresponding data input area. The data processing module 1702 completes the data input operation in response to the vehicle model data and calibration requirement data, obtaining an output result. The output result includes multiple observation strut position information of the tailgate during its movement, and the target speed corresponding to each observation strut position. The display module 1701 also displays the output result. The data transmission module 1703 transmits the output result to the vehicle's target controller in response to a data download operation, so that the target controller can control the tailgate of the vehicle to be calibrated to move according to the output result.

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

[0149] In one embodiment, the calculation of the output result is achieved through 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 to process the newly input vehicle model data and calibration requirement data with the modified vehicle tailgate motion calibration algorithm to obtain a new output result.

[0150] The specific limitations of the vehicle tailgate movement calibration device can refer to the limitations of the vehicle tailgate movement calibration method described above, and will not be repeated here. Each module in the vehicle tailgate movement calibration device described above can be implemented in whole or in part by software, hardware, and combinations thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory in the electronic device in software form, so that the processor calls and executes the operations corresponding to each of the above modules.

[0151] In this embodiment, the vehicle tailgate movement calibration device is essentially provided with a plurality of modules to execute the vehicle tailgate movement calibration method in any of the above embodiments. The specific functions and technical effects can refer to the above embodiments, which will not be repeated here.

[0152] In one embodiment, an electronic device, which can be a server, is provided, and its internal structure diagram can be as shown in Figure 18 The electronic device includes a processor, a memory, a network interface, and a database connected through a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes non-volatile and / or volatile storage media, 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 operating system and the computer program in the non-volatile storage medium to run. The network interface of the electronic device is used to communicate with the external client through the network connection. The computer program is executed by the processor to implement the functions or steps of the server side of the above method.

[0153] In one embodiment, an electronic device, which can be a client, is provided, and its internal structure diagram can be as shown in Figure 19 The electronic device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes non-volatile storage media and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the electronic device is used to communicate with the external server through the network connection. The computer program is executed by the processor to implement the functions or steps of the client side of the above method.

[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 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 calibration requirement data of the vehicle tailgate to be calibrated; in response to a data input completion operation of the vehicle model data and the calibration requirement data, obtaining and displaying an output result, the output result comprising a plurality of observed strut position information of the vehicle tailgate to be calibrated in a motion process, and a target speed corresponding to each observed strut position; and in response to a data download operation, transmitting the output result to a target controller of the vehicle, so as to control the vehicle tailgate to be calibrated to move according to the output result through the target controller.

[0155] In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, wherein the computer program is executable by a processor to implement the following steps: 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 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 calibration requirement data of the vehicle tailgate to be calibrated; in response to a data input completion operation of the vehicle model data and the calibration requirement data, obtaining and displaying an output result, the output result comprising a plurality of observed strut position information of the vehicle tailgate to be calibrated in a motion process, and a target speed corresponding to each observed strut position; and in response to a data download operation, transmitting the output result to a target controller of the vehicle, so as to control the vehicle tailgate to be calibrated to move according to the output result through the target controller.

[0156] It should be noted that the functions or steps that the above computer readable storage medium or electronic device can implement can correspond to the related descriptions of the server side and the client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0157] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments of each method can be included. Any reference to memory, storage, database or other medium used in each embodiment provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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 can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units and modules is exemplified. In actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the above-mentioned device and system is divided into different functional units or modules to complete all or part of the above-mentioned functions.

[0159] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features. The modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for calibrating the movement of a vehicle tailgate, characterized in that, The method includes: Display the vehicle model data interface to obtain the data input area corresponding to the vehicle model data interface, and input the vehicle model data of the tailgate of the vehicle to be calibrated; Display the tailgate motion calibration requirement interface to obtain the data input area corresponding to the tailgate motion calibration requirement interface, and input the calibration requirement data of the tailgate of the vehicle to be calibrated. In response to the data input completion operation of the vehicle model data and the calibration requirement data, the output results are obtained and displayed. The output results include the position information of multiple observation struts of the tailgate of the vehicle to be calibrated during the movement process, and the 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 according to the output result; wherein, the method for determining the output result includes: The tailgate strut length when the tailgate is closed and the tailgate length when the tailgate is fully open are determined based on the vehicle model data. Based on the vehicle model data and the calibration requirement data, the full-stroke opening of the tailgate of the vehicle to be calibrated is determined, and then the stroke interval opening in the acceleration zone, the stroke interval opening in the constant speed zone, and the stroke interval opening in the deceleration zone are determined. The observation opening of multiple preset observation strut positions is obtained, and the observation strut length of each observation strut position is determined according to the observation opening and the vehicle model data. The multiple observation strut positions include at least the starting position of the uniform speed zone, the ending position of the uniform speed zone, and the stopping position of the deceleration zone. The extension length of the strut at each observed strut position is determined based on the strut length when the tailgate is closed and the strut length at each observed strut position. The absolute position of each observed strut is determined based on the strut extension speed and the strut extension length at each observed strut position, resulting in multiple observed strut position information. At this time, the multiple observed strut position information includes at least 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. The vehicle model data includes the strut extension speed. The speed of the uniform speed zone is determined based on the tailgate movement time, the start position information of the uniform speed zone, the end position information of the uniform speed zone, and the stop position information of the deceleration zone. The speed of the uniform speed zone is the target speed corresponding to the start position and end position of the uniform speed zone. The calibration requirement data includes the tailgate movement time. The target velocity corresponding to each observed strut position is determined based on multiple observed strut position information and the velocity in the uniform velocity region. The output result is determined by the position information of multiple observation struts and the target velocity corresponding to each observation strut position.

2. The vehicle tailgate motion calibration method as described in claim 1, characterized in that, Based on the vehicle model data and the calibration requirement data, the full-stroke opening of the tailgate of the vehicle to be calibrated is determined, and then the opening of the acceleration zone, the constant speed zone, and the deceleration zone is determined, including: The first sub-opening degree is determined based on the tailgate calibration height, vehicle height, and tailgate length of the vehicle to be calibrated. The second sub-opening degree is determined based on the tailgate closing angle, and the full-stroke tailgate opening degree of the vehicle to be calibrated is determined based on the first sub-opening degree and the second sub-opening degree. The acceleration zone travel interval opening is determined based on the proportion of the acceleration zone and the full travel opening of the tailgate; the constant speed zone travel interval opening is determined based on the proportion of the constant speed zone and the full travel opening of the tailgate; and the deceleration zone travel interval opening is determined based on the proportion of the deceleration zone and the full travel opening of the tailgate. The vehicle model data includes the vehicle body height, tailgate length, and tailgate closing angle of the vehicle to be calibrated, while the calibration requirement data includes tailgate calibration height, acceleration zone percentage, constant speed zone percentage, and deceleration zone percentage.

3. The vehicle tailgate motion calibration method as described in claim 1, characterized in that, Determining the tailgate strut length when the tailgate is closed and the tailgate length when it is fully open based on the vehicle model data includes: The length of the strut when the tailgate is closed is determined based on the first and second distances. The length of the strut when the tailgate is fully open is determined based on the first distance, the second distance, and the full opening of the tailgate. The vehicle model data includes a first distance between the installation position of the first end of the strut and the top of the vehicle body, and a second distance between the installation position of the second end of the strut and the top of the vehicle body. In addition, determining the length of the observation strut at each observation strut position based on the observed opening and the vehicle model data includes: determining the length of the observation strut at each observation strut position based on the observed opening, the first distance, and the second distance.

4. The vehicle tailgate motion calibration method as described in claim 2, 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 percentage is the opening acceleration zone percentage, the constant speed zone percentage is the opening constant speed zone percentage, and the deceleration zone percentage is the opening deceleration zone percentage, the output result includes multiple observation support rod position information of the tailgate of the vehicle to be calibrated during the opening process and the target opening speed corresponding to each observation support rod position. If the tailgate movement time is the tailgate closing time, the acceleration zone percentage is the closing acceleration zone percentage, the constant speed zone percentage is the closing constant speed zone percentage, and the deceleration zone percentage is the closing deceleration zone percentage, the output result includes multiple observation support rod position information of the tailgate of the vehicle to be calibrated during the closing process and the closing target speed corresponding to each observation support rod position.

5. The vehicle tailgate motion calibration method as described in claim 1, characterized in that, If the multiple observation strut position information includes 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 further includes: The position information of at least one observation strut of the tailgate of the vehicle to be calibrated during the closing process is different from the position information of each observation strut 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 of the tailgate of the vehicle to be calibrated during the opening process.

6. The vehicle tailgate motion calibration method according to any one of claims 1-5, characterized in that, The output results are displayed as follows: Based on multiple observation strut position information and the target velocity corresponding to each observation strut position, a schematic diagram of the strut motion during the movement of the tailgate of the vehicle to be calibrated is generated. The motion diagram, the position information of multiple observation struts, and the target velocity corresponding to each observation strut position are displayed on a preset display interface.

7. A vehicle tailgate motion calibration device, characterized in that, The apparatus, applied to the vehicle tailgate motion calibration method as described in any one of claims 1-6, comprises: The display module is used to display the vehicle model data interface to obtain the vehicle model data of the tailgate of the vehicle to be calibrated in the data input area corresponding to the vehicle model data interface. The display module is also used to display the tailgate motion calibration requirement interface to obtain the data input area corresponding to the tailgate motion calibration requirement interface, and input the calibration requirement data of the tailgate of the vehicle to be calibrated. The data processing module is used to complete the data input operation in response to the vehicle model data and the calibration requirement data, and obtain the output result. The output result includes the position information of multiple observation struts 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 is also used to display the output results; 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 according to the output result through the target controller.

8. 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, it implements the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as claimed in any one of claims 1 to 6.

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