Vehicle tail door control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle tail door control method and device, a vehicle and a storage medium. The method comprises the steps that the current driving mode of the vehicle and the current state of a tail door in the current driving mode are obtained; if the current state of the tail gate does not meet the preset state of the tail gate in the current driving mode, the current vehicle speed of the vehicle is obtained; comparing the current vehicle speed with a preset vehicle speed threshold value in the current driving mode to obtain a vehicle speed detection result; and calling a tail gate control strategy corresponding to the current driving mode based on the vehicle speed detection result, and controlling the tail gate based on the tail gate control strategy. According to the method, the vehicle tail gate state in the current driving mode is obtained, the driving speed of the vehicle in different modes is detected, and the vehicle tail gate is controlled through the corresponding tail gate control strategies in different modes, so that the safety of the vehicle and the vehicle driving experience of a user are improved.

Description

Technical Field

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

[0002] With the continuous development of computer technology, the application areas and functions of vehicles are also constantly improving. Users can manually set vehicle parameters according to their actual needs when using the vehicle. For example, users can manually set the vehicle door to close at a certain time. Another example is manually setting a reminder time, which will trigger a reminder message when the user fails to close the vehicle and the reminder time has expired.

[0003] In related technologies, users manually set control parameters to control the vehicle. However, since these manually set parameters are typically fixed and cannot be automatically adjusted based on specific application scenarios, the vehicle cannot adapt to different driving environments, thus affecting the user's driving experience. Furthermore, frequently manually adjusting control parameters to adapt to different application scenarios increases the complexity of driving the vehicle, distracting the user and increasing driving risks. Summary of the Invention

[0004] The present application provides a vehicle tailgate control method, device, vehicle, and storage medium, which can improve vehicle safety and enhance user experience.

[0005] In a first aspect, a method for controlling a vehicle tailgate is provided, the method comprising:

[0006] Acquire a current driving mode of the vehicle and a current state of the tailgate in the current driving mode;

[0007] If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current driving speed of the vehicle;

[0008] Comparing the current driving speed with a preset speed threshold in the current driving mode to obtain a speed detection result;

[0009] Based on the vehicle speed detection result, a tailgate control strategy corresponding to the current driving mode is called, and the tailgate is controlled based on the tailgate control strategy.

[0010] In a second aspect, a vehicle tailgate control device is provided, the device comprising:

[0011] an acquisition module, configured to acquire a current driving mode of the vehicle and a current state of the tailgate in the current driving mode;

[0012] a driving speed obtaining module, configured to obtain a current driving speed of the vehicle if the current state of the tailgate does not satisfy a preset state of the tailgate in the current driving mode;

[0013] a comparison module, configured to compare the current driving speed with a preset speed threshold in the current driving mode to obtain a speed detection result;

[0014] A calling module is used to call the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result, and control the tailgate based on the tailgate control strategy.

[0015] In a third aspect, a vehicle is provided, comprising:

[0016] a memory for storing executable program code;

[0017] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle tailgate control method as described in any one of the above.

[0018] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle tailgate control method as described in any one of the above items is implemented.

[0019] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least: the vehicle tailgate control method provided by the present application obtains the tailgate status of the vehicle in the current driving mode, detects the driving speed of the vehicle in different modes, and automatically controls the vehicle tailgate through the corresponding tailgate control strategies in different modes, thereby eliminating the need for manual parameter configuration, thereby improving the safety of the vehicle and the user's vehicle driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a first flow chart of the vehicle tailgate control method provided in an embodiment of the present application.

[0022] Figure 2 This is a second flow chart of the vehicle tailgate control method provided in an embodiment of the present application.

[0023] Figure 3This is a third flow chart of the vehicle tailgate control method provided in an embodiment of the present application.

[0024] Figure 4 This is a fourth flow chart of the vehicle tailgate control method provided in an embodiment of the present application.

[0025] Figure 5 This is a fifth flow chart of the vehicle tailgate control method provided in an embodiment of the present application.

[0026] Figure 6 It is a structural schematic diagram of the vehicle tailgate control device provided in an embodiment of the present application.

[0027] Figure 7 This is a first structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0028] Figure 8 This is a second structural schematic diagram of the vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the features and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0030] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0031] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0032] In order to improve vehicle safety, the present invention provides a method for controlling a vehicle tailgate. The execution subject of the method can be a vehicle. The following are detailed descriptions. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments. Figure 1 , Figure 1This is a schematic diagram of the first flow chart of the vehicle tailgate control method provided by the embodiment of the present application. The specific flow of the vehicle tailgate control method can be as follows:

[0033] It should be noted that, in this application, the vehicle tailgate includes the upper and lower doors of the vehicle's rear tailgate, wherein the upper and lower doors are designed to open side by side and are both electrically controlled, either individually or in conjunction with each other. The upper and lower doors are controlled by a door control module, which can include at least two control methods: one is to use multiple control modules, each of which controls the door lock corresponding to a tailgate, such as using the upper door control module to control the upper door lock and the lower door control module to control the lower door lock. When multiple door control modules are used, each door control module controls the corresponding door lock upon receiving a control command and only allows other door control modules to control other door locks after receiving a door lock feedback signal. The other is to use a single door control module to control all door locks, such as using a single door control module to control the upper and lower door locks in conjunction with each other. When a single door lock control module is used, multiple door locks can be controlled simultaneously.

[0034] S101, obtaining the current driving mode of the vehicle and the current state of the tailgate in the current driving mode.

[0035] In this embodiment, the vehicle can be set to different driving modes according to different application scenarios, such as the default mode, the cargo mode, etc. Since the safety of the vehicle needs to be judged when the vehicle is in the driving state, it is necessary to obtain the tailgate status of the vehicle in different modes to detect whether the tailgate status poses a safety hazard to the vehicle in the current driving mode.

[0036] Specifically, the user can control the vehicle to change the current driving mode through the on-board terminal device. When the vehicle control module obtains the mode switching designation issued by the on-board terminal device, it will switch the vehicle to the corresponding driving mode. For example, the user switches the vehicle's driving mode to the cargo mode through the on-board terminal device. When the user switches the driving mode, the vehicle control system will obtain the status sensor data of the vehicle's tailgate, wherein the status sensor can detect whether the tailgate is in an open or closed state and feed back the status information to the vehicle control system to detect whether the current tailgate status meets the requirements of the tailgate status of the current driving mode. If the tailgate status does not meet the requirements of the current driving mode, the system will issue a corresponding prompt message. For example, if the vehicle control system detects that the data of the vehicle's upper door status sensor is in an open state, the upper door status prompt information will be displayed on the vehicle terminal, user terminal device, or a prompt message will be issued.

[0037] Optionally, the user can control the vehicle's current driving mode through a mobile device linked to the vehicle. Specifically, the user can open the vehicle-linked application on their mobile device and find the driving mode control interface. The driving mode control interface includes multiple driving modes for the user to select. When the user clicks to select the desired driving mode, such as the default mode, the application sends a mode switch instruction to the vehicle control module. Upon receiving the instruction, the vehicle control module executes the corresponding driving mode switch operation. When the driving mode switch is complete, it sends a completion signal to the application to inform the user that the driving mode has been successfully changed.

[0038] Optionally, the user can use the voice interaction mode to control the vehicle to change the current driving mode. In the voice interaction mode, the on-board terminal will monitor the audio emitted by the user in real time. In the voice interaction mode, the vehicle control system will monitor the audio emitted by the user in real time and perform voice recognition operations to convert the user's voice instructions into text and then parse the user's voice instruction text to extract key information, such as the driving mode name. After determining the driving mode required by the user based on the analysis results, the on-board system will generate a corresponding driving mode switching instruction to control the vehicle control module to switch modes.

[0039] S102: If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, the current speed of the vehicle is obtained.

[0040] Specifically, when the vehicle is in motion, the vehicle control system can obtain information about the preset tailgate state for the current driving mode. Each different driving mode corresponds to a different preset tailgate state. For example, in the default mode, the preset state of the upper and lower tailgates is closed. The vehicle control system compares the obtained current tailgate state with the preset tailgate state for the corresponding driving mode. If the current state does not meet the preset state, for example, if the upper tailgate state obtained in the default mode is open, the vehicle control system will determine that the upper tailgate state does not meet the preset tailgate state for the current mode. The vehicle control system will then obtain the vehicle's current speed in the current default mode from the vehicle's speed sensor to further determine whether the vehicle speed meets the speed threshold for the current mode.

[0041] S103 : Compare the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result.

[0042] In this embodiment, after detecting that the tailgate state in the current driving mode does not conform to the preset tailgate state, it is necessary to compare the current vehicle speed with the preset vehicle speed threshold, and obtain the vehicle speed detection result to determine whether there is a driving risk in the tailgate state at the current vehicle speed.

[0043] Specifically, the vehicle control system obtains the corresponding preset speed threshold based on the user's selected driving mode. For example, in cargo mode, the preset speed threshold is less than or equal to 50 km / h. The control system then compares the current vehicle speed, obtained by the speed sensor, with the preset speed threshold for the corresponding driving mode. If the current speed exceeds the preset speed threshold, the speed detection result is speeding; if the current speed is less than or equal to the preset speed threshold, the speed detection result is normal. The control system then analyzes whether there is a driving risk based on the tailgate status and speed detection results in the current driving mode. For example, if the vehicle's upper door is open in the default mode and the current speed exceeds the preset speed threshold of 5 km / h, a driving risk is determined, a warning is generated, and the tailgate, which is still open, is controlled to close.

[0044] S104 : Based on the vehicle speed detection result, a tailgate control strategy corresponding to the current driving mode is called, and the tailgate is controlled based on the tailgate control strategy.

[0045] In this embodiment, when it is detected that the vehicle speed detection result in the current driving mode of the vehicle is abnormal, the tailgate control strategy in the current mode will be obtained, and the corresponding control instruction will be generated to convert the state of the tailgate into the corresponding preset state in the current mode.

[0046] Specifically, upon receiving the vehicle speed detection results, the vehicle control system analyzes whether there are any anomalies. If so, it invokes the tailgate control strategy corresponding to the current driving mode to generate corresponding tailgate control instructions. These instructions can include open or close instructions, as well as instructions to issue an alarm, to switch the tailgate to the corresponding preset state for the current mode. The vehicle control system then sends the generated tailgate control instructions to the door control module, which then switches the tailgate to the corresponding state to ensure driving safety.

[0047] From the above, we can see that by obtaining the tailgate status of the vehicle in the current driving mode and detecting the driving speed of the vehicle in different modes, the tailgate of the vehicle is controlled by the corresponding tailgate control strategy in different modes, and prompting the user in time when abnormal detection results occur, the vehicle safety and the user's vehicle driving experience can be effectively improved.

[0048] Optional, see Figure 2 , Figure 2 This is a second flow chart of the vehicle tailgate control method provided by the embodiment of the present application. The specific process of the vehicle tailgate control method may include:

[0049] S201: If the current driving mode of the vehicle is the default mode, determine whether the upper door and / or the lower door are in an open state.

[0050] Specifically, when the vehicle's current driving state is detected as default mode, where the vehicle's preset tailgate state in default mode is the upper and lower doors being closed, the vehicle control module will obtain upper and lower door sensor data in default mode, including the corresponding tailgate status flag; for example, a flag of 1 indicates the tailgate is open, and a flag of 0 indicates the tailgate is closed. The module determines whether the tailgate is open in default mode by detecting whether the tailgate sensor status data is 1. If any sensor status data is 1, it indicates that the tailgate is open, triggering a corresponding alarm or processing strategy to further ensure driving safety.

[0051] S202, if yes, obtain the first current speed of the vehicle;

[0052] Specifically, for example, in the default mode, the door-opening state obtained is the open state. At this time, the vehicle control system will determine that the door-opening state does not meet the tailgate preset state of the current mode, and then obtain the first current vehicle speed of the vehicle in the current default mode through the vehicle speed sensor to further determine whether the vehicle speed meets the speed threshold in the current mode.

[0053] S203: Determine whether a first current vehicle speed is greater than or equal to a first preset vehicle speed threshold.

[0054] S204: If yes, the first vehicle speed detection result corresponding to the first current vehicle speed is abnormal.

[0055] S205, if the first vehicle speed detection result is abnormal, generating a first prompt message;

[0056] Specifically, in S203-S205, the vehicle's current driving mode is the default mode. Assuming that the first preset speed threshold of the vehicle in the default mode is 5 km / h, the vehicle control module will perform a vehicle speed determination upon determining that the tailgate state of the vehicle in the default mode does not conform to the preset tailgate state of the current mode, i.e., determine whether the vehicle's first current speed exceeds the first preset speed threshold. For example, if the vehicle's first current speed is 10 km / h, the vehicle control system determines that the vehicle's first current speed exceeds the first preset speed threshold. At this time, the vehicle control module will generate a first prompt message and send it to the vehicle-mounted terminal device, the user's mobile terminal device, or provide a voice prompt, etc.

[0057] Optionally, the preset speed threshold can be changed by the user according to actual needs. Specifically, the user can change the preset speed threshold in the vehicle terminal or the mobile terminal. For example, the user changes the preset second speed threshold of the first cargo mode to 40 kilometers per hour.

[0058] S206 : Based on the first prompt information, calling a first tailgate control strategy corresponding to the default mode, and closing the opened upper door and / or lower door based on the first tailgate control strategy.

[0059] Specifically, when the vehicle is in the default mode and receives the first prompt message, the vehicle control module will call the first tailgate control strategy of the default mode to generate a control instruction, wherein the first tailgate control strategy is used to generate a control instruction for the tailgate that does not conform to the preset tailgate state in the default mode, wherein the control instruction includes an open or close instruction. For example, when the vehicle is in the default mode, it receives the first prompt message, and the first prompt message shows that the vehicle upper door is in the open state. At this time, the vehicle control module generates an upper door closing control instruction according to the first tailgate control strategy to control the door control module to close the upper door.

[0060] As can be seen from the above, in this embodiment, the tailgate state of the vehicle in the default mode is compared with the preset tailgate state, and then the first current vehicle speed is detected to obtain the first current vehicle speed detection result. When the first current vehicle speed detection result exists, the corresponding first tailgate control strategy is executed, which can further improve the driving safety of the vehicle in the default mode.

[0061] Optional, see Figure 3 , Figure 3 This is a third flow chart of the vehicle tailgate control method provided in an embodiment of the present application. The specific process of the vehicle tailgate control method may include:

[0062] S301: If the current driving mode of the vehicle is the first cargo mode, determine whether the upper door or the lower door is in an open state.

[0063] Specifically, when it is detected that the vehicle's current driving state is the first cargo mode, where the preset tailgate state of the vehicle in the first cargo mode is that the upper door and lower door are closed, the vehicle control module will obtain the upper door and lower door sensor data in the first cargo mode, where the sensor data includes the corresponding tailgate status flag bit. For example, when the flag bit is 1, it indicates that the tailgate is in the open state, and when the flag bit is 0, it indicates that the tailgate is in the closed state. By detecting whether the tailgate sensor status data is 1, the vehicle control module can determine whether the tailgate is in the open state according to the sensor data. If any sensor status data is 1, it indicates that the tailgate is in the open state, thereby triggering a corresponding alarm or processing strategy to ensure driving safety.

[0064] S302: If yes, obtain the second current speed of the vehicle.

[0065] Specifically, for example, if the tailgate status obtained in the first cargo mode is open, the vehicle control system will determine that the tailgate status does not meet the preset tailgate status for the current mode, and then obtain the second current vehicle speed in the first cargo mode through the vehicle speed sensor to further determine whether the vehicle speed meets the speed threshold for the first cargo mode.

[0066] S303: Determine whether the second current vehicle speed is greater than or equal to a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the first preset vehicle speed threshold.

[0067] S304: If yes, the second vehicle speed detection result corresponding to the second current vehicle speed is abnormal.

[0068] S305: If the second vehicle speed detection result is abnormal, generate a second prompt message.

[0069] Specifically, in S203-S205, the vehicle's current driving mode is the first cargo mode. The initial first preset speed threshold for the vehicle in the first cargo mode is 50 km / h. Upon determining that the tailgate state of the vehicle in the first cargo mode does not conform to the preset tailgate state for the current mode, the vehicle control module performs a second speed determination, namely, determining whether the vehicle's second current speed exceeds the second preset speed threshold. For example, if the vehicle's second current speed is 80 km / h, the vehicle control system determines that the second current speed exceeds the second preset speed threshold. At this point, the vehicle control module generates a second prompt message and sends it to the vehicle terminal device, the user's mobile terminal device, or provides a voice prompt.

[0070] S306: Based on the second prompt information, call the second tailgate control strategy corresponding to the first loading mode, and close the opened upper door and / or lower door based on the second tailgate control strategy.

[0071] Specifically, when the vehicle is in the first cargo mode and receives the second prompt information, the vehicle control module will call the second tailgate control strategy in the first cargo mode to generate a control instruction, wherein the second tailgate control strategy is used to generate a control instruction for the tailgate that does not conform to the preset tailgate state in the first cargo mode, wherein the control instruction includes an open or close instruction. For example, when it is detected that the upper door of the vehicle is in the open state and it is detected that the current second vehicle speed exceeds the second vehicle speed threshold, the vehicle control module generates an upper door closing control instruction according to the second tailgate control strategy to control the door control module to close the upper door.

[0072] From the above, it can be seen that in this embodiment, the tailgate state of the vehicle in the first cargo mode is compared with the preset tailgate state in the first cargo mode, and then the second current vehicle speed of the vehicle is detected to obtain a second vehicle speed detection result. When there is an abnormal detection result in the second vehicle speed detection result, the corresponding second tailgate control strategy is executed, which can further improve the driving safety of the vehicle in the first cargo mode.

[0073] Optional, see Figure 4 , Figure 4 This is a third flow chart of the vehicle tailgate control method provided in an embodiment of the present application. The specific process of the vehicle tailgate control method may include:

[0074] S401: If the current driving mode of the vehicle is the second cargo mode, determine whether the upper door and the lower door are in an open state.

[0075] Specifically, when the vehicle's current driving state is detected as the second cargo mode, the vehicle control module can determine whether the tailgate is open based on the sensor data. If any sensor status data is 1, it indicates that the tailgate is open, thereby triggering a corresponding alarm or processing strategy to ensure driving safety.

[0076] S402: If yes, obtain the third current speed of the vehicle.

[0077] Specifically, for example, the door-opening status obtained in the second loading mode is the open state. At this time, the vehicle control system will determine that the door-opening status does not meet the tailgate preset state of the current mode, and then obtain the third current vehicle speed of the vehicle in the current second loading mode through the vehicle speed sensor to further determine whether the vehicle speed meets the speed threshold in the first loading mode.

[0078] S403 , determining whether the third current vehicle speed is greater than or equal to a third preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the third preset vehicle speed threshold, and the third preset vehicle speed threshold is greater than the first preset vehicle speed threshold.

[0079] S404: If yes, the third vehicle speed detection result corresponding to the third current vehicle speed is abnormal.

[0080] S405: If the third vehicle speed detection result is abnormal, generate a third prompt message.

[0081] Specifically, in S403-S405, the vehicle's current driving mode is the second cargo mode. The initial third preset speed threshold for the vehicle in the second cargo mode is 30 km / h. Upon determining that any tailgate state in the second cargo mode does not conform to the preset tailgate state for the current mode, the vehicle control module performs a second vehicle speed determination, i.e., determines whether the vehicle's second current vehicle speed exceeds the second preset speed threshold. For example, if the vehicle's third current vehicle speed is 50 km / h, it is determined that the third preset speed threshold has been exceeded. The vehicle control module then generates a third prompt message and sends it to the vehicle-mounted terminal device and the user's mobile terminal device, and issues a voice prompt.

[0082] S406 : Based on the third prompt information, call a third tailgate control strategy corresponding to the second loading mode, and close the opened upper door and lower door based on the third tailgate control strategy.

[0083] Specifically, when the vehicle is in the second cargo mode and receives the third prompt information, the vehicle control module will call the third tailgate control strategy in the second cargo mode to generate a control instruction, wherein the third tailgate control strategy is used to generate a control instruction for the tailgate that does not conform to the preset tailgate state in the second cargo mode, wherein the control instruction includes an open or close instruction. For example, when it is detected that the upper door of the vehicle is in the open state and it is detected that the current third vehicle speed exceeds the third vehicle speed threshold, the vehicle control module generates a closing control instruction for the upper door and / or lower door according to the third tailgate control strategy to control the door control module to close the upper door and / or lower door.

[0084] As can be seen from the above, in this embodiment, the tailgate state of the vehicle in the second loading mode is compared with the preset tailgate state in the second loading mode, and then the third current vehicle speed of the vehicle is detected to obtain a third vehicle speed detection result. When there is an abnormal detection result in the third vehicle speed detection result, the corresponding third tailgate control strategy is executed, which can further improve the driving safety of the vehicle in the second loading mode.

[0085] Optional, see Figure 5 , Figure 5 This is a fifth flow chart of the vehicle tailgate control method provided in the embodiment of the present application. The specific process of the vehicle tailgate control method may include:

[0086] S501, obtaining a vehicle speed detection result of the current driving mode.

[0087] For step S501, please refer to the description of the above-mentioned embodiment of S103, which will not be repeated here.

[0088] S502: If the first vehicle speed detection result is abnormal in the default mode, a first tailgate control strategy corresponding to the default mode is invoked to close the opened upper door and / or lower door.

[0089] For step S502, please refer to the description of the above-mentioned embodiment of S206, which will not be repeated here.

[0090] S503: If the second vehicle speed detection result in the first cargo mode is abnormal, a second tailgate control strategy corresponding to the first cargo mode is invoked to close the opened upper door or lower door.

[0091] For step S503, please refer to the description of the above-mentioned embodiment of S306, which will not be repeated here.

[0092] S504: If the third vehicle speed detection result in the second cargo mode is abnormal, a third tailgate control strategy corresponding to the second cargo mode is invoked to close the opened upper door and / or lower door.

[0093] For step S504, please refer to the description of the above-mentioned embodiment of S406, which will not be repeated here.

[0094] S505: Receive an unlocking signal for the tailgate, and determine whether a response signal corresponding to the unlocking signal is received.

[0095] S506: If not, the door lock corresponding to the tailgate is recorded based on the preset vehicle lock fault control strategy, and a fault prompt message is generated.

[0096] In S505-S506, after the vehicle door control module executes the corresponding tailgate control instruction, it is necessary to determine whether the completion signal fed back by the tailgate is received to ensure that the door lock is fault-free. If it is detected that no completion signal is received, it is necessary to generate corresponding fault prompt information according to the vehicle lock fault control strategy, wherein the fault prompt information records the information of the specific tailgate where the fault occurs, such as the fault time, the fault lock number, etc. The fault prompt information is sent to the vehicle terminal device or a voice prompt is given or the fault information is sent to the user's mobile terminal device or the vehicle-mounted terminal device.

[0097] Specifically, the door control module sends the corresponding tailgate control command to the corresponding tailgate. If the door control module does not receive the completion signal from the door lock, it means that the tailgate is faulty or has not closed properly. The door control module then determines whether the door lock is faulty based on the vehicle lock fault control strategy. If so, the door control module sends the faulty door lock information to the vehicle terminal device, provides a voice prompt, and sends it to the user terminal device so that the user is promptly informed of the door lock fault. For example, if the door control module does not receive the completion signal from the door lock after issuing the closing command for the upper door lock, it determines that the upper door lock is faulty and records the fault time, number, and other information and sends it to the user terminal device.

[0098] Optionally, the system detects whether a corresponding tailgate completion signal is received when a user initiates a tailgate opening command while the vehicle is in a disabled state. Specifically, if the door control module does not receive a corresponding tailgate completion signal after executing the tailgate opening command, a fault prompt message is generated. At this time, the vehicle's internal camera device is used to detect whether the user is inside the vehicle. If the user is not inside the vehicle, the fault prompt message is sent to the user terminal device. If the user is inside the vehicle, the fault prompt message is sent to the vehicle-mounted terminal device.

[0099] S507: If it is detected that the vehicle speed corresponding to any current driving mode exceeds a preset vehicle speed threshold, it is determined whether a tailgate opening instruction is received.

[0100] S508: If yes, do not respond to the tailgate opening instruction to keep the tailgate closed.

[0101] In S507-S508, if the user initiates the tailgate opening control command actively or due to an accidental touch in an unsafe driving environment, the vehicle control module is required to control the opening control command.

[0102] Specifically, in any driving mode, the vehicle control system will monitor the current speed of the vehicle and detect whether there is any abnormality in the current speed detection result. When the door lock opening control command issued by the user is received when the current speed detection result is abnormal, the vehicle control module will ignore the control command to keep the tailgate in the closed state. For example, assuming that in the first cargo mode, the vehicle control system detects that the second current speed of the vehicle is 80 kilometers per hour, and since the second speed threshold of the first cargo mode is greater than or equal to 50 kilometers per hour, the vehicle control system determines that the second current speed detection result is abnormal. At this time, when the vehicle control module receives the door opening control command issued by the user, it will ignore the control command to keep the door in the closed state and issue a prompt message, such as a warning audio, so as to ensure the vehicle's driving safety in the event of an accidental touch.

[0103] S509: If the vehicle meets the preset conditions for locking the entire vehicle, it is determined whether a vehicle locking control instruction is received, wherein the vehicle locking control instruction is generated by triggering the tailgate control based on the tailgate control strategy.

[0104] S510: If a vehicle locking control command is received, the entire vehicle is locked.

[0105] In S509-S510, the vehicle is locked when the vehicle meets the locking conditions.

[0106] Specifically, it detects whether the vehicle is in a closed state, where the closed state refers to whether the vehicle is turned off and whether the vehicle key is not in the vehicle. If it is in a closed state, the door control module is used to detect whether the vehicle's body doors are completely closed, where the body doors are the left and right doors of the vehicle. If the vehicle's doors are in a completely closed state, a Bluetooth device or infrared signal is used to detect whether the vehicle key is inside the vehicle. If not, it detects whether the vehicle control module receives a lock control command. If the lock control command is received, the tailgate in the open state is controlled to close and then the body doors and tailgate are locked.

[0107] Optionally, the vehicle control system will adjust the opening and closing of the tailgate according to the size or stacking method of the items inside the vehicle.

[0108] Specifically, the vehicle control system detects the quantity and stacking position of the cargo inside the vehicle through a camera or a weight sensor. For example, the camera obtains an image of the interior of the vehicle compartment and uses an image processing algorithm to analyze the quantity and position of the items. Based on the analysis results, the current stacking position of the cargo is determined to adjust the opening and closing degree of the tailgate. For example, based on the results of the image analysis, the vehicle control system determines that the upper tailgate needs to be half opened so that the user can easily take out small packages on the upper layer, and the lower tailgate needs to be fully opened so that the user can take out large cargo on the lower layer. At this time, the system sends an instruction to the vehicle tailgate control device to control the upper tailgate to be half opened and the lower tailgate to be fully opened.

[0109] Optionally, the vehicle control system will remind the user based on the distribution of the weight of items inside the vehicle.

[0110] Specifically, in freight mode, in order to keep the vehicle balanced while driving, a weight sensor can be installed on the bottom of the vehicle or the load-bearing part of the tailgate to monitor the weight distribution of the items in the vehicle in real time to determine whether the current distribution of the goods is reasonable. For example, when it is detected that the weight of the items near the door is greater than the weight of the items inside the vehicle, a prompt message is generated and sent to the vehicle terminal or user terminal device. After receiving the prompt message, the user can rearrange the stacking order of the goods. During this process, the vehicle control system will monitor the weight distribution of the items in real time. In addition, when loading goods, if the items in the vehicle are mainly concentrated under the tailgate and the total weight exceeds a preset threshold, the vehicle control system will determine whether the lower tailgate needs to be opened to facilitate unloading. After the goods are unloaded, if there is other goods in the vehicle that need to be loaded, the vehicle control system will again detect the distribution of the items in the vehicle and decide whether to open the upper tailgate as needed to facilitate the user's loading operation.

[0111] Optionally, the vehicle control module can detect whether other devices are turned on inside the vehicle. If so, the module will generate a corresponding closing control instruction to close the devices. For example, if the module detects that the sunroof is open, it will generate a closing control instruction to close the sunroof. For another example, if the module detects that the vehicle's lights are on, it will generate a closing control instruction to turn the lights off. This helps improve driving safety and energy efficiency.

[0112] Optionally, when the door control module controls the corresponding door to open or close, the vehicle control module obtains the vehicle's sensor data to determine whether there are people working in the dangerous area, and generates a blocking control instruction to prevent the tailgate from pinching people when closing.

[0113] Specifically, the vehicle control module acquires sensor data at the tailgate, such as infrared sensor data or pressure sensor data, to detect whether there is human activity around the tailgate. The vehicle control module analyzes the collected sensor data to determine whether the position of the person near the tailgate is within the danger range. If a person is detected in the danger range, a blocking instruction is generated and sent to the door control module to prevent the door from closing. A prompt message is also generated to alert nearby people, such as an audible alarm.

[0114] Optionally, when the vehicle is in loading mode, the weight of the vehicle will be detected and a recommended driving speed will be generated based on the current environmental characteristic data.

[0115] Specifically, the vehicle's current weight is acquired through its weight sensor, and cloud-based data from the vehicle terminal is used to obtain characteristic data about the current environment, such as weather conditions and road slipperiness. A recommendation algorithm generates a recommended driving speed based on the weight measurement results and the environmental characteristic data. For example, if the vehicle's current gross weight is 1 ton and the vehicle terminal obtains the current environmental characteristic data and analyzes it to determine that the current environment is rainy and the road is slippery, a recommended driving speed of 60 km / h is generated. The vehicle control module compares the recommended speed with the vehicle's actual speed and makes real-time adjustments as needed. If the vehicle's current speed exceeds the recommended speed, the vehicle control module issues a deceleration command to ensure the vehicle travels within a safe range. For example, if the vehicle's actual speed is 70 km / h, the vehicle control module issues a deceleration command to reduce the speed to the recommended 60 km / h, thereby improving driving safety and stability in cargo mode.

[0116] From the above, it can be seen that by detecting whether the tailgate opening command is received under the vehicle speed detection result, by detecting whether a feedback signal is received after executing the control command to open or close the tailgate, it can be determined whether there is a door lock fault, and by locking the entire vehicle when the vehicle meets the preset conditions, the safety of the vehicle during driving can be further guaranteed.

[0117] In addition, the present application also provides a vehicle tailgate control device. Figure 6 , Figure 6 6 is a schematic diagram of the structure of the vehicle tailgate control device provided in an embodiment of the present application. The vehicle tailgate control device 600 may include an acquisition module 601, a driving speed acquisition module 602, a comparison module 603, and a call module 604 as follows:

[0118] The acquisition module 601 is used to acquire the current driving mode of the vehicle and the current state of the tailgate in the current driving mode.

[0119] The driving speed acquisition module 602 is configured to acquire the current speed of the vehicle if the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode.

[0120] The comparison module 603 is used to compare the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result.

[0121] The calling module 604 is used to call the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result, and control the tailgate based on the tailgate control strategy.

[0122] In some embodiments, the driving speed acquisition module 602 may further include a first judgment module, which is configured to: if the current driving mode of the vehicle is a default mode, determine whether the upper door and / or the lower door is in an open state.

[0123] Optionally, the driving speed acquisition module 602 may further include a first current driving speed acquisition module, and the first current driving speed acquisition module is used to: if yes, acquire the first current vehicle speed of the vehicle.

[0124] Optionally, the comparison module 603 may further include a first vehicle speed judgment module, which may be used to: judge whether the first current vehicle speed is greater than or equal to a first preset vehicle speed threshold; if so, the first vehicle speed detection result corresponding to the first current vehicle speed is abnormal.

[0125] Optionally, the calling module 604 may further include a first prompt information generating module, which may be used to: generate a first prompt information if the first vehicle speed detection result is abnormal; based on the first prompt information, call a first tailgate control strategy corresponding to the default mode, and close the opened upper door and / or lower door based on the first tailgate control strategy.

[0126] In some embodiments, the comparison module 603 may further include a second judgment module, which may be used to: if the current driving mode of the vehicle is the first loading mode, determine whether the upper door or the lower door is in an open state; if so, obtain the second current speed of the vehicle.

[0127] Optionally, the driving speed acquisition module 602 may further include a second current driving speed acquisition module, and the first current driving speed acquisition module is used to: if yes, acquire the second current speed of the vehicle.

[0128] Optionally, the comparison module 603 may further include a second preset vehicle speed judgment module, which may be used to judge whether the second current vehicle speed is greater than or equal to a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the first preset vehicle speed threshold.

[0129] Optionally, the comparison module 603 may also include a second prompt information generation module, which may be used to: generate a second prompt information if the second vehicle speed detection result is abnormal; based on the second prompt information, call the second tailgate control strategy corresponding to the first loading mode, and close the opened upper door and / or lower door based on the second tailgate control strategy.

[0130] In some embodiments, the comparison module 603 may further include a third judgment module, which may be used to: if the current driving mode of the vehicle is the second loading mode, determine whether the upper door and / or lower door are in an open state; if so, obtain the third current vehicle speed of the vehicle.

[0131] Optionally, the comparison module 603 may also include a third preset vehicle speed judgment module, which may be used to determine whether the third current vehicle speed is greater than or equal to a third preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the third preset vehicle speed threshold, and the third preset vehicle speed threshold is greater than the first preset vehicle speed threshold.

[0132] Optionally, the comparison module 603 may further include a third prompt information generation module, which may be used to: generate a third prompt information if the third vehicle speed detection result is abnormal; based on the third prompt information, call a third tailgate control strategy corresponding to the third loading mode, and close the opened upper and lower doors based on the third tailgate control strategy.

[0133] In some embodiments, the calling module 604 may further include a signal receiving module, and the signal receiving module may be configured to receive a tailgate unlocking signal.

[0134] Optionally, the calling module 604 may further include a signal response signal determination module, and the response signal determination module may be configured to determine whether a response signal corresponding to the unlocking signal is received.

[0135] Optionally, the calling module 604 may further include a fault information generating module, which is used to: if not, record the door lock corresponding to the tailgate based on a preset vehicle lock fault control strategy and generate fault prompt information.

[0136] In some embodiments, the calling module 604 may also include a tailgate opening command control module, which may be used to: if it is detected that the corresponding vehicle speed in any driving mode exceeds a preset vehicle speed threshold, determine whether a tailgate opening command is received; if so, do not respond to the tailgate opening command to keep the tailgate closed.

[0137] In some embodiments, the calling module 604 may also include a vehicle locking control module, which may be used to: if the vehicle meets the preset conditions for locking the entire vehicle, determine whether a vehicle locking control instruction is received, wherein the vehicle locking control instruction is generated based on the tailgate control strategy to control the tailgate; if the vehicle locking control instruction is received, control the entire vehicle to be locked.

[0138] In this embodiment, the vehicle tailgate control device 600 obtains the vehicle's current driving mode and the current state of the tailgate under the current driving mode through an acquisition module 601; through a driving speed acquisition module 602, if the current state of the tailgate does not meet the preset state of the tailgate under the current driving mode, the current vehicle speed is obtained; through a comparison module 603, the current vehicle speed is compared with the preset speed threshold under the current driving mode to obtain a vehicle speed detection result; through a calling module 604, based on the vehicle speed detection result, the tailgate control strategy corresponding to the current driving mode is called, and the tailgate is controlled based on the tailgate control strategy, thereby eliminating the need for manual user intervention, improving the user's attention, and further ensuring the vehicle's driving safety and the user's vehicle driving experience.

[0139] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle tailgate control method provided by the above embodiment.

[0140] The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0141] Since the instructions stored in the storage medium can execute the steps in any vehicle tailgate control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any vehicle tailgate control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0142] Accordingly, the embodiment of the present application further provides a vehicle 700, which may include devices such as an onboard terminal. Figure 7 , Figure 7 FIG. 7 is a schematic diagram of a first structure of a vehicle provided in an embodiment of the present application. The vehicle 700 includes a processor 701 and a memory 702. The processor 701 is electrically connected to the memory 702.

[0143] Processor 701 is the control center of vehicle 700. It uses various interfaces and lines to connect various parts of the entire vehicle. By running or calling computer programs stored in memory 702, and calling data stored in memory 702, it executes various functions of the vehicle and processes data, thereby monitoring the vehicle as a whole.

[0144] Memory 702 can be used to store software programs and modules. Processor 701 executes various functional applications and data processing by running computer programs and modules stored in memory 702. Memory 702 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and computer programs required for at least one function, while the data storage area may store data generated based on vehicle use.

[0145] In addition, the memory 702 may include a high-speed random access memory and a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 702 may also include a memory controller to provide the processor 701 with access to the memory 702.

[0146] In this embodiment, the processor 701 in the vehicle 700 loads instructions corresponding to one or more computer program processes into the memory 702 according to the following steps, and the processor 701 runs the computer program stored in the memory 702 to implement various functions as follows:

[0147] Get the current driving mode of the vehicle and the current status of the tailgate under the current driving mode;

[0148] If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current speed of the vehicle;

[0149] Compare the current vehicle speed with the preset vehicle speed threshold under the current driving mode to obtain a vehicle speed detection result;

[0150] Based on the vehicle speed detection result, the tailgate control strategy corresponding to the current driving mode is called, and the tailgate is controlled based on the tailgate control strategy.

[0151] In some embodiments, see Figure 8 , Figure 8 FIG2 is a schematic diagram of a second structural embodiment of a vehicle provided in an embodiment of the present application. Vehicle 700 may include a processor 701, a memory 702, a display 703, a camera assembly 704, an audio circuit 705, a sensor 706, and a power supply 707. Processor 701 is electrically connected to display 703, camera assembly 704, audio circuit 705, sensor 706, and power supply 707, respectively.

[0152] The display screen 703 may be used to display information input by a user or information provided to a user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces may be composed of images, texts, icons, videos, and any combination thereof.

[0153] The camera component 704 may include an image processing circuit, which may be implemented using hardware and / or software components and may include various processing units that define an image signal processing (Image Signal Processing) pipeline. The image processing circuit may include at least: multiple cameras, an image signal processor (ISP processor), control logic, and image memory. Each camera may include at least one or more lenses and an image sensor. The image sensor may include a color filter array (such as a Bayer filter). The image sensor may obtain light intensity and wavelength information captured by each imaging pixel of the image sensor and provide a set of raw image data that can be processed by the image signal processor.

[0154] The audio circuit 705 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 705 includes a microphone. The microphone is electrically connected to the processor 701 and is used to receive voice information input by the user.

[0155] Sensor 706 is used to collect information about the vehicle itself, the user, or the external environment. For example, sensor 706 may include one or more sensors such as a vibration sensor, a temperature sensor, a distance sensor, a magnetic field sensor, a light sensor, an acceleration sensor, a fingerprint sensor, a Hall sensor, a position sensor, a gyroscope, an inertial sensor, a posture sensor, a barometer, and a heart rate sensor.

[0156] The power supply 707 is used to supply power to various components of the vehicle 700. In some embodiments, the power supply 707 can be logically connected to the processor 701 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system.

[0157] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0158] For the vehicle tailgate control device of the embodiment of the present application, its various functional modules can be integrated into a single processing chip, each module can exist physically separately, or two or more modules can be integrated into a single module. The aforementioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

[0159] The above describes in detail the vehicle tailgate control method, device, vehicle, and storage medium provided in the embodiments of the present application. The principles and implementation methods of the present application are explained using specific examples herein. The above examples are intended only to help understand the method and core concept of the present application. Furthermore, those skilled in the art will appreciate that variations in the specific implementation methods and scope of application may occur based on the concepts of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A method for controlling a vehicle tailgate, characterized in that: include: Acquire a current driving mode of the vehicle and a current state of the tailgate in the current driving mode; If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current speed of the vehicle; Comparing the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result; Based on the vehicle speed detection result, a tailgate control strategy corresponding to the current driving mode is called, and the tailgate is controlled based on the tailgate control strategy.

2. The vehicle tailgate control method according to claim 1, characterized in that: The tailgate includes an upper door and a lower door that are arranged opposite to each other, and the current driving mode of the vehicle includes a default mode and at least one loading mode; If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current speed of the vehicle includes: If the current driving mode of the vehicle is the default mode, determining whether the upper door and / or the lower door is in an open state; If yes, obtaining a first current speed of the vehicle; The comparing the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result includes: determining whether the first current vehicle speed is greater than or equal to a first preset vehicle speed threshold; If so, the first vehicle speed detection result corresponding to the first current vehicle speed is abnormal; The step of calling a tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy includes: If the first vehicle speed detection result is abnormal, generating a first prompt message; Based on the first prompt information, a first tailgate control strategy corresponding to the default mode is called, and the opened upper door and / or the lower door is closed based on the first tailgate control strategy.

3. The vehicle tailgate control method according to claim 2, characterized in that: The loading mode includes a first loading mode and a second loading mode; If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current speed of the vehicle includes: If the current driving mode of the vehicle is the first cargo mode, determining whether the upper door or the lower door is in an open state; If yes, obtaining a second current speed of the vehicle; The comparing the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result includes: determining whether the second current vehicle speed is greater than or equal to a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the first preset vehicle speed threshold; If so, the second vehicle speed detection result corresponding to the second current vehicle speed is abnormal; The step of calling a tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy includes: If the second vehicle speed detection result is abnormal, generating a second prompt message; Based on the second prompt information, a second tailgate control strategy corresponding to the first loading mode is called, and the opened upper door and / or lower door is closed based on the second tailgate control strategy.

4. The vehicle tailgate control method according to claim 3, characterized in that: If the current state of the tailgate does not satisfy the preset state of the tailgate in the current driving mode, obtaining the current speed of the vehicle includes: If the current driving mode of the vehicle is the second cargo mode, determining whether the upper door and the lower door are in an open state; If yes, obtaining a third current speed of the vehicle; The comparing the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result includes: determining whether the third current vehicle speed is greater than or equal to a third preset vehicle speed threshold, wherein the second preset vehicle speed threshold is greater than the third preset vehicle speed threshold, and the third preset vehicle speed threshold is greater than the first preset vehicle speed threshold; If yes, the third vehicle speed detection result corresponding to the third current vehicle speed is abnormal; The step of calling a tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy includes: If the third vehicle speed detection result is abnormal, generating a third prompt message; Based on the third prompt information, a third tailgate control strategy corresponding to the second loading mode is called, and the opened upper door and the lower door are closed based on the third tailgate control strategy.

5. The vehicle tailgate control method according to claim 1, characterized in that: After calling the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy, the method further includes: receiving an unlocking signal for the tailgate; determining whether a response signal corresponding to the unlock signal is received; If not, the door lock corresponding to the tailgate is recorded based on the preset vehicle lock fault control strategy, and a fault prompt message is generated.

6. The vehicle tailgate control method according to claim 1, characterized in that: After calling the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy, the method further includes: If it is detected that the vehicle speed corresponding to any of the current driving modes exceeds the preset vehicle speed threshold, determining whether a tailgate opening instruction is received; If so, the tailgate opening instruction is not responded to so that the tailgate remains in a closed state.

7. The vehicle tailgate control method according to claim 1, characterized in that: After calling the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result and controlling the tailgate based on the tailgate control strategy, the method further includes: If the vehicle meets the preset conditions for locking the entire vehicle, determining whether a vehicle locking control instruction is received, wherein the vehicle locking control instruction is generated based on the tailgate control strategy to control the tailgate; If the vehicle locking control instruction is received, the entire vehicle is locked.

8. A vehicle tailgate control device, characterized in that: The device comprises: an acquisition module, configured to acquire a current driving mode of the vehicle and a current state of the tailgate in the current driving mode; a driving speed acquisition module, configured to acquire a current speed of the vehicle if the current state of the tailgate does not satisfy a preset state of the tailgate in the current driving mode; a comparison module, configured to compare the current vehicle speed with a preset vehicle speed threshold in the current driving mode to obtain a vehicle speed detection result; A calling module is used to call the tailgate control strategy corresponding to the current driving mode based on the vehicle speed detection result, and control the tailgate based on the tailgate control strategy.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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