Cover plate control method and device, equipment and storage medium

Abstract

The invention discloses a cover plate control method, device and equipment and a storage medium, which are used for improving the anti-collision accuracy of an automobile split tail door. After a first control triggering operation triggered by a user is received, angle information corresponding to two cover plates of a vehicle is obtained, and then a corresponding control instruction is matched according to the angle information corresponding to the two cover plates and the first control triggering operation; and the first cover plate and / or the second cover plate are / is controlled according to the control instruction obtained through matching. In the application, different control instructions are respectively set for different angle information and control triggering operations, various states of the vehicle tail door can be covered, so that the control of the vehicle tail door is simpler, and different control is realized by setting different control instructions, so that the control operation is more flexible.

Description

Technical Field

[0001] The present invention relates to the technical field of terminals, and in particular, to a cover control method, device, equipment and storage medium. Background Art

[0002] With the rapid development of the automotive industry, people's requirements for the intelligence of automobiles are also getting higher and higher. The operating system of automobiles has also been continuously upgraded and updated along with the development of technology. At present, as part of the automated control system of automobiles, whether the opening, closing and braking of the automobile tailgate are smooth, safe and convenient are experiences and feelings that are highly valued by the majority of users.

[0003] The traditional rear door of an automobile is a single-tailgate system, and the tailgate can only move in one direction as a single-door structure. This structure is simple and easy to drive, but for medium and large-sized vehicles, the single-door structure is first not convenient for loading and unloading luggage, and is inconvenient to use. Secondly, the movement radius of the tailgate will be larger, and more space in the rear area will be occupied during the opening and closing movements. At the same time, the weight of the entire door is heavier, and the requirements for the driving motor are also more stringent.

[0004] Therefore, a correspondingly derived tailgate structure that opens and closes up and down is such as Figure 1 As shown, in order to avoid collisions between the two tailgates, in the related art, the opening angle of the tailgate is usually controlled to prevent the doors from colliding, but this method has low flexibility. Summary of the Invention

[0005] The purpose of the present invention is to provide a cover control method, device, equipment and storage medium to solve the technical problems in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a cover control method applied to a terminal device, and the method includes:

[0007] Receiving a first control trigger operation; obtaining first angle information of a first cover and second angle information of a second cover; in response to the first control trigger operation, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation; controlling the first cover and / or the second cover according to the first control instruction.

[0008] In the present application, different control instructions are respectively set for different angle information and control trigger operations, which can cover various states of the vehicle tailgate, making the control of the vehicle tailgate simpler, and realizing different controls by setting different control instructions, making the control operation more flexible.

[0009] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the second angle information is a first angle threshold and the first angle information is the first angle threshold, determining that the first control instruction is to execute a first execution program.

[0010] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the second angle information is a second angle threshold and the first angle information is the second angle threshold, determining that the first control instruction is to execute a second execution program.

[0011] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a forced opening area while the second cover plate is in a non-forced opening area, determining that the first control instruction is to execute a first execution program.

[0012] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and both the first cover plate and the second cover plate are in non-forced opening areas, determining that the first control instruction is to execute a second execution program.

[0013] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a non-forced opening area while the second cover plate is in a forced opening area, determining that the first control instruction is to execute a third execution program.

[0014] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in a forced opening area, determining that the first control instruction is to execute a first execution program.

[0015] In some possible embodiments, determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in a non-forced opening area, determining that the first control instruction is to execute a fourth execution program.

[0016] In some possible embodiments, before determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the method further includes: obtaining a second control instruction, where the second control instruction is the previous control instruction of the first control instruction;

[0017] Determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes:

[0018] Determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction.

[0019] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program, then determining that the first control instruction is to execute the second execution program.

[0020] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, then determining that the first control instruction is to execute the third execution program.

[0021] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determining that the first control instruction is to execute the first execution program.

[0022] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determining that the first control instruction is to execute the fourth execution program.

[0023] In some possible embodiments, before determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the method further includes: obtaining a third control instruction; the third control instruction is the control instruction currently being executed; determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction.

[0024] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction includes: if the first angle information is greater than a first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a non-forced opening area, the second cover plate is in a non-forced opening area, and based on the third control instruction being to execute a fifth execution program, determining that the first control instruction is to execute a second execution program.

[0025] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction includes: if the first angle information is greater than a first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a non-forced opening area, the second cover plate is in a forced opening area, and based on the third control instruction being to execute a fifth execution program, determining that the first control instruction is to execute a third execution program.

[0026] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction includes: if the first angle information is greater than a first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a forced opening area, the second cover plate is in a non-forced opening area, and based on the third control instruction being to execute a sixth execution program, determining that the first control instruction is to execute a first execution program.

[0027] In some possible embodiments, determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction includes: if the first angle information is greater than a first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in a non-forced opening area, and based on the third control instruction being to execute a sixth execution program, determining that the first control instruction is to execute a fourth execution program.

[0028] In some possible embodiments, the first execution program is: controlling the first cover plate to open at a first speed and controlling the second cover plate to open at a second speed, where the first speed is greater than the second speed; the second execution program is: controlling the first cover plate to close at a third speed and controlling the second cover plate to close at a fourth speed, where the third speed is less than the fourth speed; the third execution program is: controlling the first cover plate to close at a fifth speed and controlling the second cover plate to open at a sixth speed, where the fifth speed is less than the sixth speed; the fourth execution program is: controlling the second cover plate to open; the fifth execution program is: controlling the first cover plate to pause during the process of the first cover plate opening at the first speed and controlling the second cover plate to pause during the process of the second cover plate opening at the second speed; the sixth execution program is: controlling the first cover plate to pause during the process of the first cover plate closing at the third speed and controlling the second cover plate to pause during the process of the second cover plate closing at the fourth speed.

[0029] Second, an embodiment of the present application further provides a cover plate control device applied to an electronic device. The device includes:

[0030] A receiving module, configured to receive a first control trigger operation;

[0031] An information acquisition module, configured to acquire first angle information of the first cover plate and second angle information of the second cover plate;

[0032] An instruction determination module, configured to, in response to the first control trigger operation, determine a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation;

[0033] A cover plate control module, configured to control the first cover plate and / or the second cover plate according to the first control instruction.

[0034] In some possible embodiments, the instruction determination module is specifically configured to: if the second angle information is a first angle threshold and the first angle information is the first angle threshold, determine that the first control instruction is to execute the first execution program.

[0035] In some possible embodiments, the instruction determination module is specifically configured to: if the second angle information is a second angle threshold and the first angle information is the second angle threshold, determine that the first control instruction is to execute the second execution program.

[0036] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in a forced opening area and the second cover plate is in a non-forced opening area, determine that the first control instruction is to execute the first execution program.

[0037] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, determine that the first control instruction is to execute the second execution program.

[0038] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, determine that the first control instruction is to execute the third execution program.

[0039] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the forced opening area, determine that the first control instruction is to execute the first execution program.

[0040] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, determine that the first control instruction is to execute the fourth execution program.

[0041] In some possible embodiments, the instruction determination module is further configured to: obtain a second control instruction, where the second control instruction is the previous control instruction of the first control instruction; determine the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, including: determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction.

[0042] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program, determine that the first control instruction is to execute the second execution program.

[0043] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, determine that the first control instruction is to execute the third execution program.

[0044] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determine that the first control instruction is to execute the first execution program.

[0045] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determine that the first control instruction is to execute the fourth execution program.

[0046] In some possible embodiments, the instruction determination module is further configured to: obtain a third control instruction; the third control instruction is the control instruction currently being executed; determine the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, including: determine the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction.

[0047] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being to execute the fifth execution program, then determine that the first control instruction is to execute the second execution program.

[0048] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and based on the third control instruction being to execute the fifth execution program, then determine that the first control instruction is to execute the third execution program.

[0049] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being to execute the sixth execution program, then determine that the first control instruction is to execute the first execution program.

[0050] In some possible embodiments, the instruction determination module is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and based on the third control instruction being to execute the sixth execution program, then determine that the first control instruction is to execute the fourth execution program.

[0051] In some possible embodiments, the first execution program is: controlling the first cover plate to open at a first speed and controlling the second cover plate to open at a second speed, where the first speed is greater than the second speed; the second execution program is: controlling the first cover plate to close at a third speed and controlling the second cover plate to close at a fourth speed, where the third speed is less than the fourth speed; the third execution program is: controlling the first cover plate to close at a fifth speed and controlling the second cover plate to open at a sixth speed, where the fifth speed is less than the sixth speed; the fourth execution program is: controlling the second cover plate to open; the fifth execution program is: controlling the first cover plate to pause during the process of the first cover plate opening at the first speed and controlling the second cover plate to pause during the process of the second cover plate opening at the second speed; the sixth execution program is: controlling the first cover plate to pause during the process of the first cover plate closing at the third speed and controlling the second cover plate to pause during the process of the second cover plate closing at the fourth speed.

[0052] In a third aspect, another embodiment of the present application further provides an electronic device, including at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.

[0053] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to cause a computer to execute any method provided in the embodiment of the first aspect of the present application.

[0054] Other features and advantages of the present application will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0055] Figure 1 Schematic diagram showing that the matching identification information of a cover plate control method provided by an embodiment of the present application includes the serving cell ID and the neighbor cell ID stored in the form of an information table;

[0056] Figure 2 Overall flowchart of a cover plate control method provided by an embodiment of the present application;

[0057] Figure 3 Schematic diagram showing that the tailgate control button of a cover plate control method provided by an embodiment of the present application is set on one side of the vehicle tailgate;

[0058] Figure 4Schematic diagram of the tailgate control button provided by an embodiment of the present application being set in a remote control key;

[0059] Figure 5 Schematic diagram of the tailgate control button provided by an embodiment of the present application being set in an application program of a smart terminal such as a mobile phone;

[0060] Figure 6 Schematic diagram of setting two tailgate control buttons in an application program of a smart terminal such as a mobile phone provided by an embodiment of the present application;

[0061] Figure 7A Schematic diagram of setting four tailgate control buttons in an application program of a smart terminal such as a mobile phone provided by an embodiment of the present application;

[0062] Figure 7B Schematic diagram of the opening angle provided by an embodiment of the present application for a cover control method;

[0063] Figure 8 Schematic diagram of both the first cover and the second cover being in a closed state provided by an embodiment of the present application for a cover control method;

[0064] Figure 9 Schematic diagram of both the first cover and the second cover being in a fully opened state provided by an embodiment of the present application for a cover control method;

[0065] Figure 10 Schematic diagram of the first cover being in the forced opening area and the second cover being in the non-forced opening area provided by an embodiment of the present application for a cover control method;

[0066] Figure 11 Schematic diagram of the first cover being in the non-forced opening area and the second cover being in the non-forced opening area provided by an embodiment of the present application for a cover control method;

[0067] Figure 12 Schematic diagram of the first cover being in the non-forced opening area and the second cover being in the forced opening area provided by an embodiment of the present application for a cover control method;

[0068] Figure 13 Schematic diagram of the first cover being in the forced opening area when the second cover is in the closed state provided by an embodiment of the present application for a cover control method;

[0069] Figure 14 Schematic diagram of the first cover being in the non-forced opening area when the second cover is in the closed state provided by an embodiment of the present application for a cover control method;

[0070] Figure 15Schematic diagram of an apparatus for a cover plate control method provided in an embodiment of the present application;

[0071] Figure 16 Schematic diagram of an electronic device for a cover plate control method provided in an embodiment of the present application. Detailed implementation manners

[0072] The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0073] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0074] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0075] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0076] It should be understood that the term " / and / " used herein is only a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0077] With the rapid development of the automotive industry, people's requirements for the intelligence of automobiles are also getting higher and higher. The operating system of automobiles has also been continuously upgraded and updated with the development of technology. At present, as a part of the automated control system of automobiles, whether the opening, closing and braking of the automobile tailgate are smooth, safe and convenient is an experience and feeling that most users attach great importance to.

[0078] The traditional rear door of an automobile is a single-tailgate system, and the tailgate can only move in one direction as a single-door structure. This structure is simple and easy to drive. However, for medium and large-sized vehicles, if a single-door structure is used, firstly, it is not convenient to pick up and place luggage, and it is inconvenient to use. Secondly, the movement radius of the tailgate will be larger, more space in the rear area will be occupied during the opening and closing movement, and at the same time, the weight of the entire door is heavier, and the requirements for the driving motor are also more stringent.

[0079] Therefore, a corresponding tailgate structure that opens and closes up and down is derived. In the tailgate structure that opens and closes up and down, in the closed state, the upper door presses the lower door, asFigure 1 As shown, in the closed state, the top door presses the bottom door, and the two tail doors close into a plane. If the user only wants to open the bottom door, directly opening the bottom door without opening the top door will cause the two tail doors to collide. Therefore, in the related art, by judging the opening angles of the top door and the bottom door to determine whether the two doors will collide to prevent the car doors from colliding, but the flexibility of this method is relatively low.

[0080] It can be understood that similar tail door structures may also exist in the opposed side doors of the vehicle, the opposed front engine covers, etc., and the above problems also exist. Figure 1 For the above problems, the embodiments of the present application provide a cover control method, device, equipment and storage medium to solve the above problems. In the embodiments of the present application, taking the tail door structure of the vehicle as an example, a control method for a cover is described. It can be understood that the tail door structure in the following embodiments can also be doors with an opposed structure such as the side doors, front engine covers, charging port covers, fuel filler port covers, etc. of the vehicle.

[0081] In the embodiments of the present application, after receiving the control trigger operation of the user, the angle information corresponding to the two covers of the vehicle is obtained, and then the corresponding control instruction is matched according to the angle information corresponding to the two covers and the control trigger operation, and the first cover and / or the second cover is controlled according to the matched control instruction.

[0082] Further, in the embodiments of the present application, different control instructions are respectively set for different angle information of the two covers and the control trigger operation, which can cover various states of the vehicle tail door, making the control of the vehicle tail door simple, and realizing different controls by setting different control instructions, making the control operation more flexible.

[0083] The execution subject of a cover control method provided by the embodiments of the present application can be the whole vehicle, and at least the following are included in the whole vehicle: a vehicle controller, an in-vehicle terminal, and an angle sensor. For example: the vehicle controller receives the control operation triggered by the user based on the display screen of the in-vehicle terminal, and then obtains the angle information corresponding to the two covers through the angle sensor; the vehicle controller matches the corresponding control instruction according to the angle information corresponding to the two covers and the control trigger operation, and controls the first cover and / or the second cover based on the obtained control instruction.

[0084] It should be noted that the information obtained by the above angle sensor can also be obtained by a radar or a camera, and the present application does not make a limitation in this regard. In addition to triggering the control operation based on the display screen of the in-vehicle terminal, the user can also trigger the control operation based on a remote control key, an application program in the mobile phone, etc., and the present application does not make a limitation in this regard.

[0085]

[0086] ​For ease of understanding, the following provides a detailed description of a cover control method provided by an embodiment of the present application in conjunction with the accompanying drawings. For ease of description, hereinafter, the first cover is the sky door in the vehicle tailgate, the second cover is the ground door in the vehicle tailgate, and the first cover presses the second cover in the closed state is taken as an example; the execution entity is taken as the vehicle controller as an example for description. However, it should be noted that the covers in the present application include but are not limited to: other door covers of the vehicle with an opening and closing structure such as the side door, the front hood, the charging port cover, the fuel filling port cover, etc.

[0087] As Figure 2 shown, it is a schematic flowchart of a cover control method provided by an embodiment of the present application, wherein:

[0088] In step 201: Receive the first control trigger operation.

[0089] In some possible embodiments, the first control trigger operation can be triggered by the user based on the tailgate control button. Among them, the tailgate control button can be set on one side of the vehicle tailgate as Figure 3 shown. If the tailgate control button is set on one side of the vehicle tailgate, the vehicle controller can directly receive the first control trigger operation sent by the tailgate controller; it can also be set in the remote control key as Figure 4 shown. If the tailgate control button is set in the remote control key, the remote control key receives the first control trigger operation triggered by the user, and then sends the first control trigger operation to the vehicle controller; it can also be set in the application program of a smart terminal such as a mobile phone in the form of a soft button as Figure 5 shown. If the tailgate control button is set in the application program of the mobile phone, the mobile phone receives the first control trigger operation triggered by the user, and then sends the first control trigger operation to the vehicle controller; it can also be set in the display screen of the in-vehicle terminal. If the tailgate control button is set in the display screen of the in-vehicle terminal, the vehicle controller can directly obtain the first control trigger operation triggered by the user. In the present application, the setting position of the tailgate control button is not limited.

[0090] In order to facilitate the user to flexibly and conveniently trigger the first control trigger operation according to needs, different numbers of tailgate control buttons can also be set. Taking the tailgate control button set in the display screen of the vehicle in-vehicle terminal in the form of a soft button as an example for description, for example: as Figure 5 shown, only one tailgate control button is set in the application program of a smart terminal such as a mobile phone, or as Figure 6 shown, two tailgate control buttons are set in the application program of a smart terminal such as a mobile phone, which are respectively used to control the first cover and the second cover; or as Figure 7AAs shown, four tailgate control buttons are set in the application of intelligent terminals such as mobile phones, which are respectively used to control the opening of the first cover plate, the closing of the first cover plate, the opening of the second cover plate, and the closing of the second cover plate. In this application, the number of tailgate control buttons is not limited, and the number of tailgate control buttons can be set according to requirements. For example: only one tailgate control button can be set in places with a small space such as a remote control key, and multiple tailgate control buttons can be set in places with a large space such as the display screen of a vehicle-mounted terminal.

[0091] In step 202: Obtain the first angle information of the first cover plate and the second angle information of the second cover plate.

[0092] In this application, the first angle information of the first cover plate is the angle value of the opening angle of the first cover plate, and the second angle information of the second cover plate is the angle value of the opening angle of the second cover plate. Among them, the opening angle is the included angle between the plane where the cover plate is completely closed and the plane when the cover plate is opened, as Figure 7B shown.

[0093] In some possible embodiments, the cover plate has a maximum openable angle and a minimum openable angle. The minimum opening angle of the cover plate is 0 degrees, and the maximum opening angle of the cover plate is recorded as the angle when it is fully opened. Therefore, the angle when the cover plate is completely closed (the minimum openable angle) can be used as the first angle threshold, that is, 0 degrees. The angle when the cover plate is fully opened (the maximum openable angle) is used as the second angle threshold.

[0094] In step 203: In response to the first control trigger operation, determine the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation.

[0095] In this application, considering that there may be a collision area between the first cover plate and the second cover plate during the movement process, based on this, a forced opening area and a non-forced opening area are respectively set for the first cover plate and the second cover plate. The forced opening area of the first cover plate is an angle interval with the minimum opening angle and the maximum opening angle at which the first cover plate may collide with the second cover plate as endpoints, and the non-forced opening area is the angle interval in the openable angle interval of the first cover plate except the forced opening area. The forced opening area of the second cover plate is an angle interval with the minimum opening angle and the maximum opening angle at which the second cover plate may collide with the first cover plate as endpoints, and the non-forced opening area is the angle interval in the openable angle interval of the second cover plate except the forced opening area.

[0096] It should be noted that the sizes of the forced opening areas corresponding to the two cover plates are not necessarily the same. The sizes of the forced opening areas corresponding to the two cover plates are determined according to the structures corresponding to the two cover plates. For the sake of understanding, the method for determining the forced opening area is described below:

[0097] When determining the forced opening area of the first cover plate, it can be implemented as follows: control the opening angle of the first cover plate to gradually adjust from the first angle threshold to the second angle threshold according to a preset step size. After each adjustment, control the second cover plate to move from the first angle threshold to the second angle threshold. If it is determined that the first cover plate and the second cover plate collide at this angle, then this angle is determined as the collision angle. Through this method, multiple collision angles can be determined, and then the angle range formed by the maximum collision angle and the minimum collision angle is used as the forced opening area of the first cover plate.

[0098] For example: Assume that the first angle threshold of the first cover plate is 0 degrees, the second angle threshold is 100 degrees, and the preset step size is 5 degrees. When the angle information of the first cover plate is 0 degrees, it is determined that the first cover plate and the second cover plate collide; when the angle information of the first cover plate is 5 degrees, it is determined that the first cover plate and the second cover plate collide; when the angle information of the first cover plate is 10 degrees, it is determined that the first cover plate and the second cover plate collide;...; when the angle information of the first cover plate is 45 degrees, it is determined that the first cover plate and the second cover plate collide; when the angle information of the first cover plate is 50 degrees, it is determined that the first cover plate and the second cover plate do not collide; when the angle information of the first cover plate is 55 degrees, it is determined that the first cover plate and the second cover plate do not collide; when the angle information of the first cover plate is 60 degrees, it is determined that the first cover plate and the second cover plate do not collide;...; when the angle information of the first cover plate is 100 degrees, it is determined that the first cover plate and the second cover plate do not collide; then it can be determined that the forced opening area corresponding to the first cover plate is 0 degrees - 50 degrees. Correspondingly, the non-forced opening area of the first cover plate can be 51 degrees - 100 degrees.

[0099] Based on a similar method, the forced opening area and non-forced opening area of the second cover plate can be determined.

[0100] In step 204: Control the first cover plate and / or the second cover plate according to the first control instruction.

[0101] In this application, after determining the execution program corresponding to the first control instruction through the above method, the first cover plate and / or the second cover plate can be controlled by executing the corresponding execution program.

[0102] Next, in the case of setting one tailgate control button, that is, one sky gate control button and one ground gate control button, the process of determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation will be described in detail.

[0103] Next, taking only one tailgate control button as an example, an exemplary description will be given of the implementation of determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation in step 203.

[0104] In this application, different execution programs need to be executed for different situations. First, each execution program in this application will be described:

[0105] In some possible embodiments, the first execution program is: controlling the first cover plate to open at a first speed and controlling the second cover plate to open at a second speed, where the first speed is greater than the second speed; the second execution program is: controlling the first cover plate to close at a third speed and controlling the second cover plate to close at a fourth speed, where the third speed is less than the fourth speed; the third execution program is: controlling the first cover plate to close at a fifth speed and controlling the second cover plate to open at a sixth speed, where the fifth speed is less than the sixth speed; the fourth execution program is: controlling the second cover plate to open; the fifth execution program is: controlling the first cover plate to pause during the process of the first cover plate opening at the first speed and controlling the second cover plate to pause during the process of the second cover plate opening at the second speed; the sixth execution program is: controlling the first cover plate to pause during the process of the first cover plate closing at the third speed and controlling the second cover plate to pause during the process of the second cover plate closing at the fourth speed; the seventh execution program is: controlling the first cover plate to open; the eighth execution program is controlling the second cover plate to close; the ninth execution program is the first cover plate closing; the tenth execution program is the first cover plate opening at a seventh speed and the second cover plate closing at an eighth speed, where the seventh speed is greater than the eighth speed.

[0106] First, as Figure 8 shown, if both the first cover plate and the second cover plate of the vehicle are in the closed state, that is, both the first angle information and the second angle information are the first angle threshold (0 degrees), then the first control instruction is to execute the first execution program.

[0107] That is, when both the first cover plate and the second cover plate are in the closed state and the user triggers the first control trigger operation, it indicates that the user wants to open the first cover plate and the second cover plate at this time. Therefore, the first execution program needs to be executed. Since the tailgate of the vehicle is in the state of the sky door pressing the ground door when it is closed, when opening the first cover plate (sky door) and the second cover plate (ground door), the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate.

[0108] As Figure 9 shown, if the second angle information is the second angle threshold and the first angle information is the second angle threshold, then it is determined that the first control instruction is to execute the second execution program.

[0109] That is, when both the first cover plate and the second cover plate are in the fully open state and the user triggers the first control trigger operation, it indicates that the user wants to close the first cover plate and the second cover plate at this time. Therefore, the second execution program needs to be executed. Since the tailgate of the vehicle is in the state where the upper door presses the lower door when it is closed, when closing the first cover plate and the second cover plate, it is necessary to ensure that the closing speed of the second cover plate is greater than that of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes.

[0110] As Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, it is determined that the first control instruction is to execute the first execution program.

[0111] That is, when both the first cover plate and the second cover plate are not closed, if the first cover plate is in the forced opening area, it means that the first cover plate will affect the movement of the second cover plate. Therefore, the third execution program needs to be executed, that is, it is necessary to control the first cover plate to close at the fifth speed and control the second cover plate to open at the sixth speed, and it is necessary to ensure that the movement speed of the first cover plate is less than that of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide.

[0112] In some other possible embodiments, in Figure 10 the situation shown, since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, in addition to executing the first execution program, it is also possible to implement: controlling the first cover plate to open. At this time, only the first cover plate opens while the second cover plate remains in its current state.

[0113] As Figure 11 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, it is determined that the first control instruction is to execute the second execution program.

[0114] That is, when both the first cover plate and the second cover plate are not closed and both the first cover plate and the second cover plate are in the non-forced opening area, it means that the two cover plates will not affect each other's movement. Since the tailgate of the vehicle is in the state where the upper door presses the lower door when it is closed, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than that of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes.

[0115] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, it is determined that the first control instruction is to execute the third execution program.

[0116] That is, when both the first cover plate and the second cover plate are not closed, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. The first cover plate does not need to be forced to open, while the second cover plate must be forced to open. Therefore, it is necessary to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate.

[0117] Such as Figure 13 As shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the forced opening area, it is determined that the first control instruction is to execute the ninth execution program.

[0118] That is, when the first cover plate is not fully closed and the second cover plate is in the closed state, it is necessary to close the first cover plate. In this case, since the second cover plate is in the fully closed state, in addition to executing the ninth execution program, the first execution program can also be executed, that is, the first cover plate is in the forced opening area, indicating that the first cover plate will affect the movement of the second cover plate. Therefore, it is necessary to ensure that the opening speed of the first cover plate is greater than the opening speed of the second cover plate.

[0119] Such as Figure 14 As shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, it is determined that the first control instruction is to execute the ninth execution program.

[0120] That is, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area. At this time, it is necessary to close the first cover plate. In this case, it indicates that the first cover plate will not affect the movement of the second cover plate. Therefore, in addition to executing the ninth execution program, only the second cover plate can be opened.

[0121] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the second control instruction, that is, the control instruction of the previous time of the first control instruction, can also be combined to jointly determine the first control instruction. The method for determining the first control instruction in different cases is described below:

[0122] Such as Figure 10 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, it is determined that the first control instruction is to execute the first execution program.

[0123] The second control instruction is the sixth execution program, which means that during the closing of the first cover plate at the third speed, the first cover plate is controlled to pause, and during the closing of the second cover plate at the fourth speed, the second cover plate is controlled to pause; however, at this time, neither the first cover plate nor the second cover plate is closed or fully opened, and the first cover plate is in the forced opening area, indicating that the first cover plate will affect the movement of the second cover plate. Therefore, the first execution program needs to be executed, that is, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. In some other possible embodiments, Figure 10 In the situation shown, since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, in addition to executing the first execution program, it is also possible to implement: controlling the first cover plate to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state.

[0124] As Figure 11 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program, then it is determined that the first control instruction is to execute the second execution program.

[0125] The second control instruction is the fifth execution program, that is, during the opening of the first cover plate at the first speed, the first cover plate is controlled to pause, and during the opening of the second cover plate at the second speed, the second cover plate is controlled to pause; since it pauses during the opening of the second cover plate and the second cover plate, it means that the user triggered the first control trigger operation this time to close the first cover plate and the second cover plate. When neither the first cover plate nor the second cover plate is closed or fully opened, and both the first cover plate and the second cover plate are in the non-forced opening area, it indicates that the two cover plates will not affect each other's movement. Since the vehicle's tailgate is in the state where the sky door presses the ground door when it is closed, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes. Therefore, the second execution program needs to be executed.

[0126] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, then it is determined that the first control instruction is to execute the third execution program.

[0127] The second control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; however, at this time, both the first cover plate and the second cover plate are in a state of not being closed and not fully opened. The first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, the first cover plate does not need to be forced to open, and the second cover plate must be forced to open. Therefore, the first cover plate can be controlled to close, and the second cover plate can be controlled to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate.

[0128] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then it is determined that the first control instruction is to execute the fourth execution program.

[0129] The second control instruction is the sixth execution program, that is, to control the first cover plate to pause during the closing process of the first cover plate at the third speed, and to control the second cover plate to pause during the closing process of the second cover plate at the fourth speed; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, only the second cover plate can be opened.

[0130] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the third control instruction, that is, the currently executing control instruction, can also be combined to determine the first control instruction. The method for determining the first control instruction in different situations is described as follows:

[0131] As Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being to execute the sixth execution program, then it is determined that the first control instruction is to execute the first execution program.

[0132] The third control instruction is the sixth execution program, which means that during the process of closing the first cover plate at the third speed, the first cover plate is controlled to pause, and during the process of closing the second cover plate at the fourth speed, the second cover plate is controlled to pause; however, at this time, neither the first cover plate nor the second cover plate is closed or fully opened, and the first cover plate is in the forced opening area, indicating that the first cover plate will affect the movement of the second cover plate. Therefore, it is necessary to execute the first execution program, that is, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. In some other possible embodiments, in Figure 10 In the shown case, since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, in addition to executing the first execution program, the following can also be implemented: control the first cover plate to open. At this time, only the first cover plate opens while the second cover plate remains in its current state.

[0133] Such as Figure 11 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, and based on the third control instruction to execute the fifth execution program, then it is determined that the first control instruction is to execute the second execution program.

[0134] The third control instruction is the fifth execution program, that is, during the process of opening the first cover plate at the first speed, the first cover plate is controlled to pause, and during the process of opening the second cover plate at the second speed, the second cover plate is controlled to pause; since the pause occurs during the opening process of the second cover plate and the second cover plate, it means that the user triggered the first control trigger operation this time to close the first cover plate and the second cover plate. When both the first cover plate and the second cover plate are not closed and not fully opened, and both the first cover plate and the second cover plate are in the non-forced opening area, it indicates that the two cover plates will not affect each other's movement. Since the vehicle's tailgate is in the state where the sky door presses the ground door when it is closed, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes. Therefore, it is necessary to execute the second execution program.

[0135] Such as Figure 12 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, and based on the third control instruction to execute the fifth execution program, then it is determined that the first control instruction is to execute the third execution program.

[0136] The third control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; however, at this time, both the first cover plate and the second cover plate are in a state of not being closed and not fully opened. The first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, the first cover plate does not need to be forced to open, and the second cover plate must be forced to open. Therefore, it is possible to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate.

[0137] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, the first cover plate is in the non-forced opening area, and based on the third control instruction being the execution of the sixth execution program, then it is determined that the first control instruction is the execution of the fourth execution program.

[0138] The second control instruction is the sixth execution program, that is, it means to control the first cover plate to pause during the closing process of the first cover plate at the third speed, and to control the second cover plate to pause during the closing process of the second cover plate at the fourth speed; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, only the second cover plate can be opened.

[0139] The following is a detailed description of the process of determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation when there are two tailgate control buttons, that is, one sky gate control button and one ground gate control button:

[0140] First, as Figure 8 shown, if both the first cover plate and the second cover plate of the vehicle are in the closed state, that is, both the first angle information and the second angle information are the first angle threshold, and the user triggers the sky gate control button, then the first control instruction is the execution of the seventh execution program; if the user triggers the ground gate control button, then the first control instruction is the execution of the first execution program.

[0141] That is, when both the first cover plate and the second cover plate are in the closed state and the user triggers the sky gate control button, it means that the user wants to open the first cover plate at this time. Since the tailgate of the vehicle is in the state where the sky gate presses the ground gate when it is closed, the seventh execution program is executed to only open the first cover plate.

[0142] When the first cover plate and the second cover plate are both in the closed state and the user triggers the ground door control button, it indicates that the user wants to open the second cover plate at this time. Since the tailgate of the vehicle is in the state where the sky door presses the ground door when it is closed, it is impossible to directly open the second cover plate without opening the first cover plate first. Therefore, to execute the first execution program, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate.

[0143] As Figure 9 shown, if the second angle information is the second angle threshold and the first angle information is the second angle threshold, and the user triggers the sky door control button, the second execution program is executed; if the user triggers the ground door control button, the eighth execution program is executed.

[0144] That is, when the first cover plate and the second cover plate are both in the fully open state and the user triggers the sky door control button, it indicates that the user wants to close the first cover plate and the second cover plate at this time. Therefore, the second execution program needs to be executed. Since the tailgate of the vehicle is in the state where the sky door presses the ground door when it is closed, when closing the first cover plate and the second cover plate, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes. If the user triggers the ground door control button, only the second cover plate can be closed.

[0145] As Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, and the user triggers the sky door control button, the seventh execution program is executed; if the user triggers the ground door control button, the first execution program is executed.

[0146] That is, when the first cover plate and the second cover plate are both not closed and not fully open, if the first cover plate is in the forced opening area, it means that the first cover plate will affect the movement of the second cover plate. The user triggers the ground door control button. Therefore, the first execution program needs to be executed, that is, the movement speed of the first cover plate needs to be greater than the movement speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. Since only the first cover plate is in the forced opening area, if the user triggers the sky door control button, only the first cover plate can be controlled to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state.

[0147] As Figure 11 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, and the user triggers the sky door control button, the second execution program is executed; if the user triggers the ground door control button, the eighth execution program is executed.

[0148] That is, when both the first cover plate and the second cover plate are in a state of not being closed and not fully opened, both the first cover plate and the second cover plate are in the non-forced opening area, indicating that the two cover plates will not affect each other's movement. Since the tailgate of the vehicle is in the state of the upper door pressing the lower door when it is closed, if the user triggers the upper door control button, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate. If the user triggers the lower door control button, only the second cover plate can be closed.

[0149] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, and the user triggers the upper door control button, the third execution program is executed; if the user triggers the lower door control button, the fourth execution program is executed.

[0150] That is, when both the first cover plate and the second cover plate are in a state of not being closed and not fully opened, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. The first cover plate does not need to be forced to open, and the second cover plate must be forced to open. Therefore, if the user triggers the upper door control button, it is necessary to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the user triggers the lower door control button, only the second cover plate can be opened.

[0151] As Figure 13 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the forced opening area, and the user triggers the upper door control button, the seventh execution program is executed; if the user triggers the lower door control button, the first execution program is executed.

[0152] That is, when the first cover plate is in a state of not being fully closed and the second cover plate is in a closed state, the first cover plate is in the forced opening area, indicating that the first cover plate will affect the movement of the second cover plate. Therefore, if the user triggers the lower door control button, it is necessary to ensure that the opening speed of the first cover plate is greater than the opening speed of the second cover plate. If the user triggers the upper door control button, only the first cover plate is opened.

[0153] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, if the user triggers the upper door control button, the first control instruction is to execute the ninth execution program; if the user triggers the lower door control button, it is determined that the first control instruction is to execute the fourth execution program.

[0154] That is, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, if the user triggers the sky door control button, only the first cover plate needs to be closed. If the user triggers the ground door control button, only the second cover plate can be opened.

[0155] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the second control instruction, that is, the control instruction of the previous time of the first control instruction, can also be combined to jointly determine the first control instruction. The method for determining the first control instruction in different situations is described below:

[0156] Such as Figure 10 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program. If the user triggers the sky door control button, the first control instruction is determined to be the seventh execution program. If the user triggers the ground door control button, the first control instruction is determined to be to execute the first execution program.

[0157] The second control instruction is the sixth execution program, which means that the first cover plate is controlled to pause during the process of closing at the third speed, and the second cover plate is controlled to pause during the process of closing at the fourth speed. However, at this time, both the first cover plate and the second cover plate are neither closed nor fully opened, and the fact that the first cover plate is in the forced opening area indicates that the first cover plate will affect the movement of the second cover plate. If the user triggers the ground door control button, the first execution program needs to be executed, that is, the opening speed of the first cover plate needs to be greater than that of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. Since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, if the user triggers the sky door control button, only the first cover plate can be controlled to open. At this time, only the first cover plate opens while the second cover plate remains in its current state.

[0158] Such as Figure 11 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program. If the user triggers the sky door control button, the first control instruction is to execute the second execution program. If the user triggers the ground door control button, the first control instruction is determined to be to execute the eighth execution program.

[0159] The second control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; since the pause occurs during the opening process of the first cover plate and the second cover plate, it means that the user triggered the first control trigger operation this time to close the first cover plate and the second cover plate. When both the first cover plate and the second cover plate are in the state of not being closed and not fully opened, both the first cover plate and the second cover plate are in the non-forced opening area, indicating that the two cover plates will not affect each other's movement. Since the vehicle's tailgate is in the state of the sky door pressing the ground door when it is closed, if the user triggers the sky door control button, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes. Therefore, the second execution program needs to be executed. If the user triggers the ground door control button, only the second cover plate can be closed.

[0160] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, if the user triggers the sky door control button, it is determined that the first control instruction is to execute the third execution program. If the user triggers the ground door control button, it is determined that the first execution instruction is to execute the fourth execution program.

[0161] The second control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; however, at this time, when both the first cover plate and the second cover plate are in the state of not being closed and not fully opened, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, the first cover plate does not need to be forced to open, and the second cover plate must be forced to open. Therefore, if the user triggers the sky door control button, the first cover plate can be controlled to close, and the second cover plate can be controlled to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the user triggers the ground door control button, only the second cover plate can be controlled to open.

[0162] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, if the user triggers the sky door control button, the first control instruction is the ninth execution program, if the user triggers the ground door control button, it is determined that the first control instruction is to execute the fourth execution program.

[0163] The second control instruction is the sixth execution program, which means that during the process of closing the first cover plate at the third speed, the first cover plate is controlled to pause, and during the process of closing the second cover plate at the fourth speed, the second cover plate is controlled to pause; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, if the user triggers the sky door control button, only the first cover plate can be closed; if the user triggers the ground door control button, only the second cover plate can be opened.

[0164] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the third control instruction, that is, the currently executing control instruction, can also be combined at the same time to determine the first control instruction. The method for determining the first control instruction in different situations is described as follows:

[0165] Such as Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being the execution of the sixth execution program, if the user triggers the sky door control button, it is determined that the first control instruction is the seventh execution program; if the user triggers the ground door control button, it is determined that the first control instruction is to execute the first execution program.

[0166] The third control instruction is the sixth execution program, which means that during the process of closing the first cover plate at the third speed, the first cover plate is controlled to pause, and during the process of closing the second cover plate at the fourth speed, the second cover plate is controlled to pause; however, at this time, when both the first cover plate and the second cover plate are not closed and not fully opened, and the first cover plate is in the forced opening area, it indicates that the first cover plate will affect the movement of the second cover plate. Therefore, if the user triggers the ground door control button, the first execution program needs to be executed, that is, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. Since only the first cover plate is in the forced opening area, while the second cover plate is in the non-forced opening area, if the triggered button is the sky door control button, only the first cover plate needs to be controlled to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state.

[0167] Such as Figure 11 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being the execution of the fifth execution program, if the user triggers the sky door control button, it is determined that the first control instruction is to execute the second execution program; if the user triggers the ground door control button, it is determined that the first control instruction is the eighth execution program.

[0168] The third control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; since it pauses during the opening process of the first cover plate and the second cover plate, so the user's triggering of the first control trigger operation this time is to close the first cover plate and the second cover plate. When both the first cover plate and the second cover plate are in the state of not being closed and not fully opened, both the first cover plate and the second cover plate are in the non-forced opening area, indicating that the two cover plates will not affect each other's movement. Since the tailgate of the vehicle is in the state of the sky door pressing the ground door when it is closed, so if the button triggered by the user is the sky door control button, then when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes. Therefore, the second execution program needs to be executed. If the button triggered by the user is the ground door control button, only the second cover plate can be closed.

[0169] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and based on the third control instruction being to execute the fifth execution program, if the button triggered by the user is the sky door control button, then it is determined that the first control instruction is to execute the third execution program; if the button triggered by the user is the ground door control button, then it is determined that the first control instruction is to execute the fourth execution program.

[0170] The third control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; but at this time, when both the first cover plate and the second cover plate are in the state of not being closed and not fully opened, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, the first cover plate does not need to be forced to open, and the second cover plate must be forced to open. So if the button triggered by the user is the sky door control button, it is necessary to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the button triggered by the user is the ground door control button, only the second cover plate needs to be controlled to open.

[0171] As Figure 14As shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and based on the third control instruction to execute the sixth execution program, if the user triggers the sky door control button, the determined first control instruction is the ninth execution program; if the user triggers the ground door control button, the determined first control instruction is to execute the fourth execution program.

[0172] The second control instruction is the sixth execution program, which means that the first cover plate is controlled to pause during the closing process at the third speed, and the second cover plate is controlled to pause during the closing process at the fourth speed; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate does not affect the movement of the second cover plate. Therefore, if the user triggers the sky door control button, only the first cover plate can be controlled to close; if the user triggers the ground door control button, only the second cover plate can be opened.

[0173] The following details the process of determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation when there are four tail door control buttons, namely a sky door opening button, a sky door closing button, a ground door opening button, and a ground door closing button.

[0174] First, as Figure 8 shown, if both the first cover plate and the second cover plate of the vehicle are in the closed state, that is, both the first angle information and the second angle information are the first angle threshold, and the user triggers the sky door opening button, the first control instruction is to execute the seventh execution program; if the user triggers the ground door opening button, the first control instruction is to execute the first execution program.

[0175] That is, when both the first cover plate and the second cover plate are in the closed state and the user triggers the sky door opening button, it means that the user wants to open the first cover plate at this time. Since the vehicle's tail door is in the state where the sky door presses the ground door when closed, the seventh execution program is executed to only open the first cover plate.

[0176] When both the first cover plate and the second cover plate are in the closed state and the user triggers the ground door opening button, it means that the user wants to open the second cover plate at this time. Since the vehicle's tail door is in the state where the sky door presses the ground door when closed, it is impossible to directly open the second cover plate without opening the first cover plate. Therefore, to execute the first execution program, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate.

[0177] As Figure 9As shown, if the second angle information is the second angle threshold and the first angle information is the second angle threshold, and the user triggers the Tianmen closing button, it is determined that the first control instruction is to execute the second execution program; if the user triggers the Dimen closing button, it is determined that the first control instruction is to execute the eighth execution program.

[0178] That is, when both the first cover plate and the second cover plate are in the fully open state and the user triggers the Tianmen closing button, it indicates that the user wants to close the first cover plate and the second cover plate at this time. Therefore, the second execution program needs to be executed. Since the vehicle's tailgate is in the state where the Tianmen presses the Dimen when closed, when closing the first cover plate and the second cover plate, it is necessary to ensure that the closing speed of the second cover plate is greater than that of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate. If the user triggers the Dimen closing button, only the second cover plate can be closed.

[0179] As Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, and the user triggers the Tianmen opening button, it is determined that the first control instruction is to execute the seventh execution program; if the user triggers the Dimen opening button, it is determined that the first control instruction is to execute the first execution program; if the user triggers the Tianmen closing button, it is determined that the first control instruction is to execute the ninth execution program; if the user triggers the Dimen closing button, it is determined that the first control instruction is to execute the second execution program.

[0180] That is, when both the first cover plate and the second cover plate are not closed and not fully open, if the first cover plate is in the forced opening area, it means that the first cover plate will affect the movement of the second cover plate, and the second cover plate will not affect the movement of the first cover plate. Therefore, if the user triggers the Tianmen opening button, only the first cover plate can be controlled to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state. If the user triggers the Tianmen closing button, since the second cover plate does not affect the movement of the first cover plate, only the first cover plate can be controlled to close. If the user triggers the Dimen opening button, the first execution program needs to be executed, that is, the movement speed of the first cover plate needs to be greater than that of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. Since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, if the user triggers the Dimen closing button, only the second cover plate can be controlled to close.

[0181] As Figure 11As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, and the user triggers the sky door opening button, it is determined that the first control instruction is to execute the seventh execution program; if the user triggers the sky door closing button, it is determined that the first control instruction is to execute the second execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program, and if it is determined that the user triggers the ground door closing button, it is determined that the first control instruction is to execute the eighth execution program.

[0182] That is, when both the first cover plate and the second cover plate are in a state of not being closed and not fully opened, and both the first cover plate and the second cover plate are in the non-forced opening area, it indicates that the two cover plates will not affect each other's movement. Since the tailgate of the vehicle is in a state where the sky door presses the ground door when closed, if the user triggers the sky door closing button, it is necessary to ensure that the closing speed of the second cover plate is greater than that of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate. If the user triggers the sky door opening button, you can only open the first cover plate; if the user triggers the ground door opening button, you can only open the second cover plate; if the user triggers the ground door closing button, you can only close the second cover plate.

[0183] Such as Figure 12 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, and the user triggers the sky door opening button, it is determined that the first control instruction is to execute the first execution program; if the user triggers the sky door closing button, it is determined that the first control instruction is to execute the third execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program; if the user triggers the ground door closing button, it is determined that the first control instruction is to execute the eighth execution program.

[0184] That is, when both the first cover plate and the second cover plate are in a state of not being closed and not fully opened, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, when the first cover plate moves, the second cover plate needs to move simultaneously. If the user triggers the sky door opening button, the first cover plate and the second cover plate need to move simultaneously; if the user triggers the sky door closing button, it is necessary to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the user triggers the ground door opening button, only the second cover plate can be opened; if the user triggers the ground door closing button, since the sky door will not affect the movement of the ground door, only the second cover plate can be closed.

[0185] As Figure 13 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the forced opening area, and the user triggers the sky door opening button, then it is determined that the first control instruction is to execute the seventh execution program; if the user triggers the sky door closing button, then it is determined that the first control instruction is to execute the ninth execution program, and if the user triggers the ground door opening button, then it is determined that the first control instruction is to execute the first execution program.

[0186] That is, when the first cover plate is not fully closed and the second cover plate is in the closed state, and the first cover plate is in the forced opening area, it indicates that the first cover plate will affect the movement of the second cover plate. Therefore, if the user triggers the ground door opening button, it is necessary to ensure that the opening speed of the first cover plate is greater than that of the second cover plate. If the user triggers the sky door opening button, only the first cover plate is opened. If the user triggers the ground door closing button, only the first cover plate is closed.

[0187] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, if the user triggers the sky door opening button, the first control instruction is to execute the ninth execution program; if the user triggers the sky door closing button, it is determined that the first control instruction is to execute the ninth execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program.

[0188] That is, when the first cover plate is not fully closed and the second cover plate is in the closed state, and the first cover plate is in the non-forced opening area, it indicates that the first cover plate will not affect the movement of the second cover plate. Therefore, if the user triggers the sky door closing button, only the first cover plate needs to be closed. If the user triggers the sky door opening button, only the first cover plate needs to be opened; if the user triggers the ground door opening button, only the second cover plate can be opened.

[0189] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the second control instruction, that is, the control instruction of the previous time of the first control instruction, can also be combined to jointly determine the first control instruction; the method for determining the first control instruction in different situations is described below:

[0190] As Figure 10As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, if the user triggers the sky door opening button, it is determined that the first control instruction is the seventh execution program; if the user triggers the sky door closing button, it is determined that the first control instruction is the second execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the first execution program; if the user triggers the ground door closing button, it is determined that the first control instruction is the tenth execution program.

[0191] The second control instruction is the sixth execution program, which means that the first cover plate is controlled to pause during the closing process at the third speed, and the second cover plate is controlled to pause during the closing process at the fourth speed; however, at this time, both the first cover plate and the second cover plate are not closed and not fully opened, and the fact that the first cover plate is in the forced opening area indicates that the first cover plate will affect the movement of the second cover plate. If the user triggers the sky door opening button, only the first cover plate can be controlled to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state. If the user triggers the sky door closing button, both the first cover plate and the second cover plate need to be closed. If the user triggers the ground door opening button, the first execution program needs to be executed, that is, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate do not collide. If the user triggers the ground door closing button, it is necessary to ensure that the opening speed of the first cover plate is greater than the closing speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate do not collide.

[0192] As Figure 11 As shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program, if the user triggers the sky door opening button, it is determined that the first control instruction is the seventh execution program; if the user triggers the sky door closing button, the first control instruction is to execute the second execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program; if the user triggers the ground door closing button, it is determined that the first control instruction is to execute the eighth execution program.

[0193] The second control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; since it pauses during the opening process of the second cover plate and the second cover plate, so this time the user triggers the first control trigger operation to want to close the first cover plate and the second cover plate. When both the first cover plate and the second cover plate are in the unclosed and not fully opened state, both the first cover plate and the second cover plate are in the non-forced opening area, indicating that the two cover plates will not affect each other's movement. Since the vehicle's tailgate is in the state of the sky door pressing the ground door when it is closed, so if the user triggers the sky door closing button, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes, so the second execution program needs to be executed. If the user triggers the sky door opening button, only the first cover plate can be opened; if the user triggers the ground door opening button, only the second cover plate can be opened; if the user triggers the ground door closing button, only the second cover plate can be closed.

[0194] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, if the user triggers the sky door opening button, then it is determined that the first control instruction is the first execution program; if the user triggers the sky door closing button, then it is determined that the first control instruction is to execute the third execution program. If the user triggers the ground door opening button, then it is determined that the first execution instruction is to execute the fourth execution program. If the user triggers the ground door closing button, then it is determined that the first control instruction is the eighth execution program.

[0195] The second control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; but at this time, when both the first cover plate and the second cover plate are in the unclosed and not fully opened state, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. If the button triggered by the user is the sky door opening button, the first cover plate and the second cover plate need to be opened simultaneously; if the button triggered by the user is the sky door closing button, the first cover plate can be controlled to close, and the second cover plate can be controlled to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the button triggered by the user is the ground door opening button, only the second cover plate can be controlled to open; if the button triggered by the user is the ground door closing button, only the second cover plate can be controlled to close.

[0196] As Figure 14As shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, if the user triggers the Tianmen opening button, the first control instruction is the seventh execution program; if the user triggers the Tianmen closing button, the first control instruction is the ninth execution program; if the user triggers the Dimen opening button, it is determined that the first control instruction is to execute the fourth execution program.

[0197] The second control instruction is the sixth execution program, which means that the first cover plate is controlled to pause during the closing process at the third speed, and the second cover plate is controlled to pause during the closing process at the fourth speed; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, if the user triggers the Tianmen opening button, only the first cover plate can be opened; if the user triggers the Tianmen closing button, only the first cover plate can be closed; if the user triggers the Dimen opening button, only the second cover plate can be opened.

[0198] In some possible embodiments, in addition to determining the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, the third control instruction, that is, the currently executing control instruction, can also be combined to determine the first control instruction. The method for determining the first control instruction in different situations is described below:

[0199] As Figure 10 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being to execute the sixth execution program, if the user triggers the Tianmen opening button, it is determined that the first control instruction is the seventh execution program; if the user triggers the Tianmen closing button, it is determined that the first control instruction is the ninth execution program; if the user triggers the Dimen opening button, it is determined that the first control instruction is to execute the first execution program; if the user triggers the Dimen closing button, it is determined that the first control instruction is to execute the tenth execution program.

[0200] The third control instruction is the sixth execution program, which means that during the process of the first cover plate closing at the third speed, the first cover plate is controlled to pause, and during the process of the second cover plate closing at the fourth speed, the second cover plate is controlled to pause; however, at this time, neither the first cover plate nor the second cover plate is closed and not fully opened, and the first cover plate is in the forced opening area, indicating that the first cover plate will affect the movement of the second cover plate. Therefore, if the user triggers the ground door opening button, the first execution program needs to be executed, that is, the opening speed of the first cover plate needs to be greater than the opening speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate will not collide. Since only the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, if the triggered button is the sky door opening button, only the first cover plate needs to be controlled to open. At this time, only the first cover plate opens, while the second cover plate remains in its current state. If the user triggers the sky door closing button, only the first cover plate needs to be controlled to close. If the user triggers the ground door closing button, the first cover plate needs to be controlled to open and the second cover plate needs to be controlled to close, and the opening speed of the first cover plate needs to be greater than the closing speed of the second cover plate, so as to ensure that the first cover plate and the second cover plate do not collide.

[0201] As Figure 11 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being the execution of the fifth execution program, if the user triggers the sky door opening button, it is determined that the first control instruction is to execute the seventh execution program; if the user triggers the sky door closing button, it is determined that the first control instruction is to execute the second execution program; if the user triggers the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program; if the user triggers the ground door closing button, it is determined that the first control instruction is the eighth execution program.

[0202] The third control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; since it pauses during the opening process of the second cover plate and the second cover plate, the user's triggering of the first control trigger operation this time is to close the first cover plate and the second cover plate. When both the first cover plate and the second cover plate are in the unclosed and not fully opened state, both the first cover plate and the second cover plate are in the non-forced opening area, indicating that the two cover plates will not affect each other's movement. Since the vehicle's tailgate is in the state of the sky door pressing the ground door when it is closed, if the button triggered by the user is the sky door closing button, when closing the first cover plate and the second cover plate this time, it is necessary to ensure that the closing speed of the second cover plate is greater than the closing speed of the first cover plate, that is, it is necessary to ensure that the second cover plate closes before the first cover plate closes, so the second execution program needs to be executed. If the button triggered by the user is the ground door opening button, only the second cover plate needs to be opened; if the button triggered by the user is the ground door closing button, only the second cover plate can be closed.

[0203] As Figure 12 shown, if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, and based on the third control instruction being to execute the fifth execution program, if the button triggered by the user is the sky door opening button, it is determined that the first control instruction is to execute the first execution program; if the button triggered by the user is the sky door closing button, it is determined that the first control instruction is to execute the third execution program; if the button triggered by the user is the ground door opening button, it is determined that the first control instruction is to execute the fourth execution program; if the button triggered by the user is the ground door closing button, it is determined that the first control instruction is to execute the eighth execution program.

[0204] The third control instruction is the fifth execution program, that is, to control the first cover plate to pause during the opening process of the first cover plate at the first speed, and to control the second cover plate to pause during the opening process of the second cover plate at the second speed; but at this time, when both the first cover plate and the second cover plate are in the unclosed and not fully opened state, the first cover plate is in the non-forced opening area while the second cover plate is in the forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate, but the second cover plate will affect the movement of the first cover plate. Therefore, the first cover plate does not need to be forced to open, and the second cover plate must be forced to open. Therefore, if the button triggered by the user is the sky door closing button, it is necessary to control the first cover plate to close and control the second cover plate to open. The closing speed of the first cover plate needs to be less than the opening speed of the second cover plate, so as to ensure that the second cover plate can be quickly opened without affecting the closing of the first cover plate. If the button triggered by the user is the sky door opening button, it is necessary to open both the first cover plate and the second cover plate at the same time; if the button triggered by the user is the ground door opening button, only the second cover plate needs to be controlled to open; if the button triggered by the user is the ground door closing button, since the first cover plate will not affect the movement of the second cover plate, only the second cover plate needs to be closed.

[0205] As Figure 14 shown, if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and based on the third control instruction to execute the sixth execution program, if the user triggers the Tianmen opening button, it is determined that the first control instruction is the seventh execution program; if the user triggers the Tianmen closing button, the determined first control instruction is the ninth execution program; if the user triggers the Dimen opening button, it is determined that the first control instruction is to execute the fourth execution program.

[0206] The second control instruction is the sixth execution program, which means that the first cover plate is controlled to pause during the process of closing at the third speed, and the second cover plate is controlled to pause during the process of closing at the fourth speed; at this time, when the first cover plate is not fully closed and the second cover plate is in the closed state, the first cover plate is in the non-forced opening area, indicating that the first cover plate will not affect the movement of the second cover plate. Therefore, if the user triggers the Tianmen closing button, only the first cover plate can be controlled to close; if the user triggers the Tianmen opening button, only the first cover plate can be controlled to open; if the user triggers the Dimen opening button, only the second cover plate can be opened.

[0207] In this application, different control instructions are respectively set for different angle information and control trigger operations, which can cover various states of the vehicle tailgate, making the control of the vehicle tailgate simpler, and realizing different controls by setting different control instructions, making the control operation more flexible.

[0208] Based on the same inventive concept, after introducing a cover plate control method provided by an embodiment of the present application, as Figure 15 shown, a cover plate control device 1500 provided by an embodiment of the present application is described below. The cover plate control device 1500 can be set in the vehicle controller. The device includes:

[0209] A receiving module 15001, configured to receive a first control trigger operation;

[0210] An information acquisition module 15002, configured to acquire the first angle information of the first cover plate and the second angle information of the second cover plate;

[0211] An instruction determination module 15003, configured to determine a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation in response to the first control trigger operation;

[0212] A cover plate control module 15004, configured to control the first cover plate and / or the second cover plate according to the first control instruction.

[0213] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the second angle information is the first angle threshold and the first angle information is the first angle threshold, determine that the first control instruction is to execute the first execution program.

[0214] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the second angle information is the second angle threshold and the first angle information is the second angle threshold, determine that the first control instruction is to execute the second execution program.

[0215] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area and the second cover plate is in the non-forced opening area, determine that the first control instruction is to execute the first execution program.

[0216] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the non-forced opening area, determine that the first control instruction is to execute the second execution program.

[0217] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area and the second cover plate is in the forced opening area, determine that the first control instruction is to execute the third execution program.

[0218] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the forced opening area, determine that the first control instruction is to execute the first execution program.

[0219] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, determine that the first control instruction is to execute the fourth execution program.

[0220] In some possible embodiments, the instruction determination module 15003 is further configured to: obtain a second control instruction, where the second control instruction is the previous control instruction of the first control instruction; determine the corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, including: determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction.

[0221] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the fifth execution program, then determine that the first control instruction is to execute the second execution program.

[0222] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and the second control instruction is to execute the fifth execution program, then determine that the first control instruction is to execute the third execution program.

[0223] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determine that the first control instruction is to execute the first execution program.

[0224] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover plate is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then determine that the first control instruction is to execute the fourth execution program.

[0225] In some possible embodiments, the instruction determination module 15003 is further configured to: obtain a third control instruction; the third control instruction is the currently executing control instruction; determine a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation, including: determine the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction.

[0226] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover plate is in the non-forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction being to execute the fifth execution program, then determine that the first control instruction is to execute the second execution program.

[0227] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the non-forced opening area, the second cover plate is in the forced opening area, and based on the third control instruction, the fifth execution program is executed, then determine that the first control instruction is to execute the third execution program.

[0228] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover plate is in the forced opening area, the second cover plate is in the non-forced opening area, and based on the third control instruction, the sixth execution program is executed, then determine that the first control instruction is to execute the first execution program.

[0229] In some possible embodiments, the instruction determination module 15003 is specifically configured to: if the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, the first cover plate is in the non-forced opening area, and based on the third control instruction, the sixth execution program is executed, then determine that the first control instruction is to execute the fourth execution program.

[0230] In some possible embodiments, the first execution program is: controlling the first cover plate to open at a first speed and controlling the second cover plate to open at a second speed, where the first speed is greater than the second speed; the second execution program is: controlling the first cover plate to close at a third speed and controlling the second cover plate to close at a fourth speed, where the third speed is less than the fourth speed; the third execution program is: controlling the first cover plate to close at a fifth speed and controlling the second cover plate to open at a sixth speed, where the fifth speed is less than the sixth speed; the fourth execution program is: controlling the second cover plate to open; the fifth execution program is: controlling the first cover plate to pause during the process of opening at the first speed and controlling the second cover plate to pause during the process of opening at the second speed; the sixth execution program is: controlling the first cover plate to pause during the process of closing at the third speed and controlling the second cover plate to pause during the process of closing at the fourth speed.

[0231] Corresponding to the above embodiments, the present application further provides an electronic device, which may include the above vehicle controller. Figure 16 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device 1600 may include: a processor 1601, a memory 1602, and a communication unit 1603. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present invention. It may be a bus structure, a star structure, and may also include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0232] Among them, the communication unit 1603 is used to establish a communication channel so that the electronic device can communicate with other devices. It receives user data sent by other devices or sends user data to other devices.

[0233] The processor 1601 is the control center of the electronic device. It connects various parts of the entire electronic device using various interfaces and circuits. By running or executing software programs and / or modules stored in the memory 1602, and by calling the data stored in the memory, it performs various functions of the electronic device and / or processes data. The processor can be composed of an integrated circuit (IC). For example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions connected together. For example, the processor 1601 may only include a central processing unit (CPU). In the embodiments of the present invention, the CPU can be a single arithmetic core or can include multiple arithmetic cores.

[0234] The memory 1602 is used to store the execution instructions of the processor 1601. The memory 1602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc.

[0235] When the execution instructions in the memory 1602 are executed by the processor 1601, the electronic device 1600 is enabled to execute Figure 3 Some or all of the steps in the illustrated embodiments.

[0236] In a specific implementation, the present invention also provides a computer storage medium. Among them, this computer storage medium can store a program, and when this program is executed, it can include some or all of the steps in the embodiments of the call method provided by the present invention. The storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), or a random access memory (RAM), etc.

[0237] Those skilled in the art can clearly understand that the technologies in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present invention, in essence, or the parts that contribute to the prior art can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present invention.

[0238] For the same or similar parts among the various embodiments in this specification, reference can be made to each other. In particular, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A cover plate control method, characterized in that: The method comprises: Receiving a first control trigger operation; Acquire first angle information of the first cover plate and second angle information of the second cover plate; In response to the first control triggering operation, determining a corresponding first control instruction according to the first angle information, the second angle information and the first control triggering operation; The first cover plate and / or the second cover plate are controlled according to the first control instruction.

2. The method according to claim 1, characterized in that The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the second angle information is the first angle threshold, and the first angle information is the first angle threshold, it is determined that the first control instruction is to execute a first execution program.

3. The method according to claim 1, characterized in that The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the second angle information is a second angle threshold, and the first angle information is the second angle threshold, it is determined that the first control instruction is to execute a second execution program.

4. The method according to claim 1, characterized in that: The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in the forced opening area and the second cover is in the non-forced opening area, then the first control instruction is determined to execute the first execution program.

5. The method according to claim 1, characterized in that The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in a non-forced opening area, and the second cover is in a non-forced opening area, then the first control instruction is determined to execute a second execution program.

6. The method according to claim 1, characterized in that The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in a non-forced opening area and the second cover is in a forced opening area, then the first control instruction is determined to execute a third execution program.

7. The method according to claim 1, characterized in that The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover is in the forced opening area, then the first control instruction is determined to execute a first execution program.

8. The method according to claim 1, characterized in that: The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: If the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover is in a non-forced opening area, the first control instruction is determined to execute a fourth execution program.

9. The method according to claim 1, characterized in that: Before determining the corresponding first control instruction according to the first angle information, the second angle information and the first control trigger operation, the method further includes: Acquire a second control instruction, where the second control instruction is a control instruction previous to the first control instruction; The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: The first control instruction is determined according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction.

10. The method according to claim 9, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in a non-forced opening area, the second cover is in a non-forced opening area, and the second control instruction is to execute the fifth execution program, then the first control instruction is determined to execute the second execution program.

11. The method according to claim 9, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover is in a non-forced opening area, the second cover is in a forced opening area, and the second control instruction is to execute the fifth execution program, then the first control instruction is determined to execute the third execution program.

12. The method according to claim 9, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, the first cover is in the forced opening area, the second cover is in the non-forced opening area, and the second control instruction is to execute the sixth execution program, then the first control instruction is determined to execute the first execution program.

13. The method according to claim 9, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation, and the second control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, the first cover is in a non-forced opening area, and the second control instruction is to execute the sixth execution program, then the first control instruction is determined to execute the fourth execution program.

14. The method according to claim 1, characterized in that Before determining the corresponding first control instruction according to the first angle information, the second angle information and the first control trigger operation, the method further includes: Acquire a third control instruction; the third control instruction is the control instruction currently being executed; The determining a corresponding first control instruction according to the first angle information, the second angle information, and the first control trigger operation includes: The first control instruction is determined according to the first angle information, the second angle information, the first control trigger operation, and the third control instruction.

15. The method according to claim 14, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation and the third control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in a non-forced opening area, the second cover is in a non-forced opening area, and based on the third control instruction, the fifth execution program is executed, then the first control instruction is determined to execute the second execution program.

16. The method according to claim 14, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation and the third control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in a non-forced opening area, the second cover is in a forced opening area, and based on the third control instruction, the fifth execution program is executed, then the first control instruction is determined to execute the third execution program.

17. The method according to claim 14, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation and the third control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is greater than the first angle threshold, and the first cover is in the forced opening area, the second cover is in the non-forced opening area, and based on the third control instruction to execute the sixth execution program, then the first control instruction is determined to execute the first execution program.

18. The method according to claim 14, characterized in that The determining the first control instruction according to the first angle information, the second angle information, the first control trigger operation and the third control instruction includes: If the first angle information is greater than the first angle threshold, the second angle information is the first angle threshold, and the first cover is in a non-forced opening area, and based on the third control instruction to execute the sixth execution program, it is determined that the first control instruction is to execute the fourth execution program.

19. The method according to any one of claims 1 to 18, characterized in that: The first execution procedure is: controlling the first cover plate to open at a first speed, and controlling the second cover plate to open at a second speed, wherein the first speed is greater than the second speed; The second execution procedure is: controlling the first cover to close at a third speed, and controlling the second cover to close at a fourth speed, wherein the third speed is less than the fourth speed; The third execution procedure is: controlling the first cover to close at a fifth speed, and controlling the second cover to open at a sixth speed, wherein the fifth speed is less than the sixth speed; The fourth execution procedure is: controlling the second cover to open; The fifth execution procedure is: controlling the first cover plate to pause during the process of the first cover plate opening at the first speed, and controlling the second cover plate to pause during the process of the second cover plate opening at the second speed; The sixth execution procedure is: controlling the first cover to pause during the process of the first cover being closed at the third speed, and controlling the second cover to pause during the process of the second cover being closed at the fourth speed.

20. A cover control device, characterized in that: The device comprises: A receiving module, used for receiving a first control trigger operation; An information acquisition module, used to acquire first angle information of the first cover plate and second angle information of the second cover plate; an instruction determination module, configured to determine, in response to the first control trigger operation, a corresponding first control instruction according to the first angle information, the second angle information and the first control trigger operation; A cover plate control module is used to control the first cover plate and / or the second cover plate according to the first control instruction.

21. An electronic device, characterized in that: It comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 19.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 19.

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