Tail door automatic opening anti-collision method, equipment, medium and system

Abstract

The invention relates to a tail gate automatic opening anti-collision method, device, medium and system, and the method comprises the steps: awakening a first obstacle detection device and a second obstacle detection device when a user is monitored to move from the outside of a tail gate area to the inside of the tail gate area; when it is monitored that the user is in the safe area in the tail gate area and the tail gate opening operation condition is met, the tail gate is controlled to be opened; in the tail gate opening process, the following operations are executed: obstacle monitoring is carried out through the first obstacle detection device and the second obstacle detection device in real time, and when an obstacle is monitored, according to the distance between the current obstacle and the first obstacle detection device and the distance between the current obstacle and the second obstacle detection device and the current opening angle of the tail gate, the opening angle of the tail gate is determined. And calculating a first maximum angle or a second maximum angle at which the tail gate can be safely opened, and controlling the tail gate to stop after being opened to the first maximum angle or the second maximum angle. On the premise that additional hardware is not needed, the tail door can be automatically opened, and the problem that a user cannot open the tail door through a key when carrying heavy objects is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and in particular to a method, device, medium, and system for automatic tailgate opening and collision avoidance. Background Technology

[0002] With the development of technology, the market size of electric tailgate systems is also gradually expanding. Facing the development trends of intelligentization, electrification, and connectivity in the automotive industry, electric tailgate products are gradually transitioning from high-end luxury to mass-market appeal, and from the aftermarket to the OEM market. Currently, electric tailgate configurations are concentrated in mid-to-high-end models. In the future, with the popularization of electric tailgates and the reduction of production costs, it is expected that electric tailgates will gradually become a standard feature of major vehicle series, showing significant development potential.

[0003] Currently, the technologies used by users to open the tailgate of a vehicle mainly include manual tailgate unlocking, key remote tailgate unlocking, foot-activated tailgate opening, and Hall sensor tailgate anti-collision.

[0004] The principle of manually unlocking the tailgate is: it is unlocked by pressing the unlock button on the tailgate, but it requires manual lifting to open the tailgate.

[0005] The principle of key remote tailgate unlocking is as follows: the key communicates with the vehicle controller via Bluetooth. After pressing the tailgate opening button on the key, the vehicle controller is given a tailgate opening command, which controls the motor to open the tailgate automatically. However, it requires the user to actively press the button, which can be inconvenient for users when their hands are not convenient, such as when carrying heavy objects.

[0006] The principle behind the foot-activated tailgate opening is as follows: a capacitive sensor installed at the bottom of the rear bumper detects the user's actions. When the user kicks their foot within the detection range, causing a change in the capacitance value, a tailgate opening signal is transmitted to the vehicle controller, which then controls the motor to automatically open the tailgate. However, when the user is carrying heavy objects with both hands, the foot-activated tailgate can easily cause instability and pose a risk of falling. When other vehicles or walls are parked behind the vehicle, there is a risk that the tailgate will open and hit the user if the user walks behind and kicks the tailgate, resulting in low safety.

[0007] The principle of Hall sensor tailgate anti-collision is as follows: the Hall sensor in the main shaft motor monitors the motor speed. When the tailgate collides with an obstacle, the speed decreases and the tailgate opening is paused. However, it can only stop after the tailgate collides with the obstacle, which cannot avoid scratches caused during the collision and the risks to the person being hit.

[0008] Most of the above-mentioned technical solutions require additional sensors to provide information for tailgate opening, which is cost-effective and inconvenient for users in some special scenarios. In terms of collision avoidance, they only stop after the tailgate has hit an obstacle, which cannot guarantee the safety of the tailgate. Summary of the Invention

[0009] To address the aforementioned problems, this invention proposes a method, device, medium, and system for automatically opening and preventing collisions of the tailgate.

[0010] The specific plan is as follows:

[0011] A method for automatic tailgate opening and collision prevention includes the following steps:

[0012] S1: When a user is detected moving from outside the tailgate area to inside the tailgate area, the first obstacle detection device installed on the lower part of the tailgate is activated, and the second obstacle detection device installed on the rear of the vehicle body is activated at the same time.

[0013] S2: When the user is detected to be in a safe area within the tailgate area and the conditions for tailgate opening are met, control the tailgate to open.

[0014] S3: During the tailgate opening process, perform the following operations:

[0015] The system monitors obstacles in real time using the first obstacle detection device. When an obstacle is detected, the system calculates the first maximum angle at which the tailgate can be safely opened based on the distance between the obstacle and the first obstacle detection device, as well as the current opening angle of the tailgate. The system then controls the tailgate to open to the first maximum angle and then stops.

[0016] The system monitors obstacles in real time using a second obstacle detection device. When an obstacle is detected, it calculates the second maximum angle at which the tailgate can be safely opened based on the distance between the current obstacle and the second obstacle detection device, and then controls the tailgate to open to the second maximum angle and stop.

[0017] Furthermore, based on the distance L1 between the current obstacle and the first obstacle detection device, and the current tailgate opening angle β, the formula for calculating the first maximum angle β1 at which the tailgate can be safely opened is as follows:

[0018] β1=π-α-arccos(X-δ1+H2-H1+R2)

[0019] X = L1*cos(π-α-β-σ)

[0020]

[0021] Where α represents the midpoint angle formed by the upper and lower components of the tailgate, σ represents the angle between the upper component and the roof when the tailgate is closed; H2 represents the vertical distance between the current first obstacle detection device and the ground; X represents the vertical distance between the current first obstacle detection device and the obstacle; H1 represents the distance between the tailgate connection and the bottom of the tire; R1 represents the distance between the tailgate connection and the first obstacle detection device; R2 represents the distance between the tailgate corner and the tailgate connection; R3 represents the distance between the tailgate corner and the first obstacle detection device; δ1 represents the vertical collision margin.

[0022] Furthermore, based on the distance Y between the current obstacle and the second obstacle detection device, the formula for calculating the second maximum angle β2 at which the tailgate can be safely opened is as follows:

[0023]

[0024] Where α represents the midpoint between the upper and lower components of the tailgate, and σ represents the angle between the upper component and the roof when the tailgate is closed; L 2min R4 represents the horizontal distance between the bottom of the tailgate and the tailgate connection point when the tailgate is closed; R5 represents the distance between the tailgate connection point and the bottom of the tailgate; δ2 represents the horizontal collision margin; ε represents the horizontal distance between the second obstacle detection device and the bottom of the tailgate when the tailgate is closed.

[0025] Furthermore, the tailgate area includes a safety strategy area, a regular tailgate opening monitoring area, a rear monitoring area, and a side tailgate opening monitoring area. The safety strategy area, regular tailgate opening monitoring area, and rear monitoring area are all located directly behind the vehicle, with the safety strategy area closer to the tailgate and the rear monitoring area further away. The regular tailgate opening monitoring area is located between the safety strategy area and the rear monitoring area. The side tailgate opening monitoring area includes two sub-areas, located on either side of the safety strategy area. When an obstacle is detected in the rear monitoring area, the safety area includes both the regular tailgate opening monitoring area and the side tailgate opening monitoring area. When no obstacle is detected in the rear monitoring area, the safety area only includes the regular tailgate opening monitoring area.

[0026] Furthermore, the first obstacle detection device uses a reversing camera, and the second obstacle detection device uses ultrasonic radar.

[0027] An automatic tailgate opening anti-collision terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described above in the embodiments of the present invention.

[0028] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above in the embodiments of the present invention.

[0029] An automatic tailgate opening anti-collision system includes a first obstacle detection device, a second obstacle detection device, and the terminal device described in the embodiments of the present invention.

[0030] This invention adopts the above technical solution, based on the original vehicle's existing positioning system, ultrasonic radar system and reversing camera system, to realize automatic tailgate opening without adding extra hardware, solving the pain point that users cannot use buttons to open the tailgate when carrying heavy objects. It supports opening the tailgate from the side of the vehicle and supports tailgate anti-collision. According to the obstacle situation, the tailgate will be paused in advance to avoid the risk of scratching during the tailgate opening process. Attached Figure Description

[0031] Figure 1 The diagram shown is a flowchart of a method according to an embodiment of the present invention.

[0032] Figure 2 The diagram shown is a schematic of the tailgate area division in this embodiment.

[0033] Figure 3 The diagram shown illustrates how a user correctly triggers the tailgate opening in a safe area in this embodiment.

[0034] Figure 4 The diagram shown illustrates how a user opens the tailgate in a risky area in this embodiment.

[0035] Figure 5 The diagram shows the physical meaning of each parameter in the vehicle in this embodiment. Detailed Implementation

[0036] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention.

[0037] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0038] Example 1:

[0039] This invention provides a method for automatic tailgate opening and collision prevention, such as... Figure 1 As shown, the method includes the following steps:

[0040] S1: When a user is detected moving from outside the tailgate area to inside the tailgate area, the first obstacle detection device installed on the lower part of the tailgate is activated, and the second obstacle detection device installed on the rear of the vehicle body is activated at the same time.

[0041] In this embodiment, the tailgate is configured to include an upper component and a lower component, such as... Figure 5 As shown, the upper component ( Figure 5 In this context, FD is the component that connects to the roof, and its connection point to the roof is F. The lower component ( Figure 5 DE) in the figure refers to the component near the rear bumper of the vehicle, and the upper component and the lower component form a corner D.

[0042] In this embodiment, the first obstacle detection device is a reversing camera, and its specific installation location is as follows: Figure 5 As shown, the second obstacle detection device is an ultrasonic radar, which is installed on the rear bumper of the vehicle. Other devices may be used in other embodiments, and no restrictions are imposed here.

[0043] The tailgate area is a certain range of area near the tailgate. Those skilled in the art can determine the size and shape of the tailgate area according to actual needs. For example... Figure 2 As shown, the tailgate area includes a safety strategy area, a regular tailgate opening monitoring area, a rear monitoring area, and a side tailgate opening monitoring area. The safety strategy area, regular tailgate opening monitoring area, and rear monitoring area are all located directly behind the vehicle, with the safety strategy area closer to the tailgate and the rear monitoring area farther away. The regular tailgate opening monitoring area is located between the safety strategy area and the rear monitoring area. The side tailgate opening monitoring area includes two sub-areas, located on either side of the safety strategy area. The division of these areas can be based on actual needs. For example, the safety strategy area can be set according to different tailgate opening trajectories, i.e., the maximum distance from which the tailgate might hit a person when it opens.

[0044] User location can be detected using the vehicle's existing positioning system, such as PEPS, UWB, BLE, etc.

[0045] S2: When the system detects that the user is in a safe area within the tailgate area and the conditions for opening the tailgate are met, the system controls the tailgate to open.

[0046] The safety zone within the tailgate area must be configured such that it is located within the tailgate area and the tailgate opening process will not encounter a user already within the safety zone. Furthermore, when an obstacle is detected in the rear monitoring area (in which case the rear walkway is blocked, and the user is likely to open the tailgate from the sides), the safety zone is set to include both the regular tailgate opening monitoring area and the side tailgate opening monitoring area; when no obstacle is detected in the rear monitoring area, the safety zone is set to include only the regular tailgate opening monitoring area. In this embodiment, the safety zone is... Figure 2 The diagram illustrates the standard tailgate opening monitoring area, where the user correctly triggers tailgate opening within the safe zone. Figure 3 As shown in the diagram, this illustrates a user opening the tailgate in a high-risk area (security policy area). Figure 4 As shown.

[0047] The conditions for opening the tailgate can be: standing for 2 seconds, flashing the brake lights twice, taking one step forward and then one step back, etc. There are no restrictions here.

[0048] S3: During the tailgate opening process, the following two procedures are executed:

[0049] Process 1:

[0050] Based on images captured by the camera, obstacle recognition is performed in real time. When an obstacle is detected, the distance L1 between the obstacle and the camera is calculated, and combined with the current tailgate opening angle β, the vertical distance X from the camera to the obstacle is calculated.

[0051] X = L1 * cos(γ)

[0052] γ=π-α-β-σ

[0053] like Figure 5 As shown, α represents the midpoint angle formed by the upper and lower components of the tailgate, σ represents the angle between the upper component and the roof when the tailgate is closed, and γ represents the angle between the current vertical camera direction and the vertical direction.

[0054] Calculate the vertical distance H2 between the current camera and the ground:

[0055]

[0056] Where H1 represents the distance between the tailgate connection point F and the bottom of the tire; R1 represents the distance between the tailgate connection point F and the camera; and R3 represents the distance between the tailgate corner D and the camera.

[0057] Based on the maximum opening angle β of the tailgate max Calculate the maximum distance H between the tailgate corner D and the ground. 3max :

[0058] H3max =H1-R2cos(π-α-β) max )

[0059] R2 represents the distance between the tailgate corner D and the tailgate connection point F.

[0060] Calculate the sum of the vertical distance X from the current camera to the obstacle and the current distance H2 from the current camera to the ground, and the tailgate opening angle β. max When the tailgate is opened, the maximum distance H from the ground at the corner D is... 3max If the difference is greater than the vertical collision margin δ1, then the tailgate is determined to be safe to open and the tailgate is controlled to open normally; otherwise, the first maximum angle β1 at which the tailgate can be safely opened is calculated according to the following formula, and the tailgate is controlled to open to the first maximum angle β1 and then stopped.

[0061] β1=π-α-arccos(X+H2-H1+R2)

[0062] Step Two:

[0063] Calculate the tailgate opening angle when it is its maximum opening angle β. max The horizontal distance L between the bottom of the tailgate E and the connection point F of the tailgate 2max The horizontal distance L between the bottom E of the tailgate and the connection point F of the tailgate when it is closed. 2min Thus, the maximum horizontal movement distance ΔL2 of the tailgate is obtained;

[0064]

[0065] ΔL2=L2-L 2min

[0066] Wherein, R4 represents the distance between the tailgate connection point F and the bottom of the tailgate E; R5 represents the distance between the tailgate corner D and the bottom of the tailgate E;

[0067] When the ultrasonic radar detects an obstacle, it determines whether the difference between the current distance Y of the obstacle to the ultrasonic radar and the maximum horizontal movement distance ΔL2 of the tailgate is greater than the sum of the set horizontal collision margin δ2 and the horizontal distance ε between the ultrasonic radar and the bottom E of the tailgate when the tailgate is closed. If so, it determines that the tailgate is safe to open and controls the tailgate to open normally; otherwise, it calculates the second maximum angle β2 at which the tailgate can be safely opened according to the following formula and controls the tailgate to open to the second maximum angle β2 and then stops.

[0068]

[0069] It should be noted that the setting of vertical collision margin δ1 and horizontal collision margin δ2 can ensure that the tailgate is at a certain safe distance from the obstacle. The size of these margins can be set by those skilled in the art according to actual needs. When set to 0, it means that there is no margin. When the tailgate is opened at the calculated first maximum angle β1 and second maximum angle β2, it will be completely flush with the obstacle.

[0070] Additionally, when both the camera and ultrasonic radar detect an obstacle, the tailgate is opened at the minimum of the calculated first maximum angle β1 and second maximum angle β2.

[0071] Based on the vehicle's existing positioning system, ultrasonic radar system, and reversing camera system, this invention enables automatic tailgate opening without the need for additional hardware. It addresses the pain point of users being unable to open the tailgate using buttons when carrying heavy objects. It supports opening the tailgate from the side of the vehicle and also supports tailgate collision avoidance. Depending on the obstacle situation, the tailgate can be paused in advance to avoid the risk of scratching during the tailgate opening process.

[0072] Example 2:

[0073] The present invention also provides an automatic tailgate opening anti-collision terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the method embodiment described above in Embodiment 1 of the present invention.

[0074] Furthermore, as an executable solution, the automatic tailgate opening anti-collision terminal device can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The automatic tailgate opening anti-collision terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the automatic tailgate opening anti-collision terminal device is merely an example and does not constitute a limitation on the device. It may include more or fewer components, or combine certain components, or use different components. For example, the automatic tailgate opening anti-collision terminal device may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0075] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the automatic tailgate opening and anti-collision terminal device, connecting all parts of the device via various interfaces and lines.

[0076] The memory can be used to store the computer programs and / or modules. The processor, by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, realizes various functions of the automatic tailgate opening anti-collision terminal device. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0077] Example 3:

[0078] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0079] If the module / unit integrated into the automatic tailgate opening anti-collision terminal device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0080] Example 4:

[0081] This embodiment also provides an automatic tailgate opening collision avoidance system, including a first obstacle detection device, a second obstacle detection device, and the terminal device described in Embodiment 2. The first obstacle detection device uses a reversing camera, and the second obstacle detection device uses ultrasonic radar.

[0082] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A tailgate automatic opening anti-collision method, characterized in that: The following steps are involved: S1: When it is detected that the user moves from outside the tailgate area to inside the tailgate area, a first obstacle detection device installed on the lower component of the tailgate is awakened, and a second obstacle detection device installed on the rear body of the vehicle is awakened at the same time; S2: When it is detected that the user is in a safe area in the tailgate area and the tailgate opening operation conditions are met, the tailgate is controlled to open; S3: When the tailgate is opening, perform the following operations: Obstacle monitoring is performed in real time through the first obstacle detection device. When an obstacle is detected, a first maximum angle at which the tailgate can be safely opened is calculated according to the distance between the current obstacle and the first obstacle detection device and the current opening angle of the tailgate, and the tailgate is controlled to stop after opening to the first maximum angle; Obstacle monitoring is performed in real time through the second obstacle detection device. When an obstacle is detected, the second maximum angle at which the tailgate can be safely opened is calculated based on the distance between the current obstacle and the second obstacle detection device, and the tailgate is controlled to stop after opening to the second maximum angle.

2. The tailgate automatic opening anti-collision method according to claim 1, characterized in that: According to the distance L1 between the current obstacle and the first obstacle detection device, and the current opening angle β of the tailgate, a calculation formula for calculating the first maximum angle β1 at which the tailgate can be safely opened is: β1=π-α-arccos(X-δ1+H2-H1+R2) X=L1*cos(π-α-β-σ) H2=H1*R1cos(α+β-π / 4-arcsin((R3sinσ) / R1)) Wherein, α represents the middle angle formed by the upper and lower parts of the tailgate, σ represents the angle between the upper part of the tailgate and the roof when the tailgate is closed; H2 represents the vertical distance between the current first obstacle detection device and the ground; X represents the vertical distance between the current first obstacle detection device and the obstacle; H1 represents the distance between the connection of the tailgate and the bottom of the tire; R1 represents the distance between the connection of the tailgate and the first obstacle detection device; R2 represents the distance between the tailgate corner and the connection of the tailgate; R3 represents the distance between the tailgate corner and the first obstacle detection device; δ1 represents the vertical collision margin.

3. The tailgate automatic opening anti-collision method according to claim 1, characterized in that: According to the distance Y between the current obstacle and the second obstacle detection device, the calculation formula for calculating the second maximum angle β2 at which the tailgate can be safely opened is: β2=arccos((Y-δ2-ε+L 2min ) / R4)-α+π / 4+arcsin((R4sinσ) / R5) L 2min =R4*cos(α-π / 4-arcsin((R4sinσ) / R5)) Wherein, α represents the middle angle formed by the upper and lower parts of the tailgate, σ represents the angle between the upper part of the tailgate and the roof when the tailgate is closed; L 2min It represents the horizontal distance between the bottom of the tailgate and the connection point of the tailgate when the tailgate is closed; R4 represents the distance between the connection point of the tailgate and the bottom of the tailgate; R5 represents the distance between the corner of the tailgate and the bottom of the tailgate; δ2 represents the horizontal collision margin; ε represents the horizontal distance between the second obstacle detection device and the bottom of the tailgate when the tailgate is closed.

4. The tailgate automatic opening anti-collision method according to claim 1, characterized in that: The tailgate area includes a safety strategy area, a conventional tailgate opening monitoring area, a rear monitoring area, and a side tailgate opening monitoring area; wherein, the safety strategy area, the conventional tailgate opening monitoring area, and the rear monitoring area are all arranged directly behind the vehicle, and the safety strategy area is arranged close to the vehicle tailgate, the rear monitoring area is arranged far away from the vehicle tailgate, and the conventional tailgate opening monitoring area is arranged between the safety strategy area and the rear monitoring area; the side tailgate opening monitoring area includes two sub-areas, which are respectively distributed on both sides of the safety strategy area; when an obstacle is detected in the rear monitoring area, the safety area is set to include the conventional tailgate opening monitoring area and the side tailgate opening monitoring area; when it is detected that there is no obstacle in the rear monitoring area, the safety area is set to include only the conventional tailgate opening monitoring area.

5. The tailgate automatic opening anti-collision method according to claim 1, characterized in that: The first obstacle detection device adopts a reversing camera, and the second obstacle detection device adopts an ultrasonic radar.

6. A tailgate automatic opening anti-collision terminal device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the methods of claims 1 to 5 when executing the computer program.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A tailgate automatic opening anti-collision system, characterized in that: It comprises a first obstacle detection device, a second obstacle detection device and the terminal device as claimed in claim 6.

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