Back door control method and device, vehicle and medium

Abstract

The invention provides a back door control method and device, a vehicle and a medium, the method is applied to the technical field of vehicle control, a back door comprises a first door body and a second door body which are oppositely opened, the first door body and the second door body can be independently opened or closed, and the method comprises the steps that after a target opening instruction of the back door is obtained, the first door body and the second door body are opened; the corresponding target linkage control strategy is determined according to the target running state of the rear scraping and washing assembly and the target type, carried by the target opening instruction, of the back door to be opened, and then the back door to be opened and the rear scraping and washing assembly are controlled in a linkage mode according to the target linkage control strategy to execute corresponding actions. Therefore, intelligent linkage control over the rear scraping and washing assembly and the back door is achieved, the problem that in the back door opening process, work of the rear scraping and washing assembly is affected or the rear scraping and washing assembly dirties the vehicle and the surrounding environment, and inconvenience is brought to a vehicle owner is solved, and the comfort and convenience in the vehicle using process are improved on the basis that no cost is increased.

Description

Technical Field

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

[0002] In recent years, with the rapid growth of social economy and the continuous improvement of people's living standards, people have put forward higher requirements for the safety and comfort of vehicles.

[0003] Since the tailgate of a vehicle occupies a large space, when the vehicle is close to a wall or other narrow area, not only will the opening angle of the tailgate be limited, but the tailgate will also be easily damaged after opening, and it will also be inconvenient for users to store and retrieve items in the trunk.

[0004] In the related art, vehicle rear wipers and rear washers often require manual control. If the rear wiper or rear washer is on and the tailgate is opened, forgetting to manually turn it off can cause the wiper to move erratically or the washer to spray washer fluid, contaminating the vehicle and surroundings, causing unnecessary trouble for the vehicle owner. Summary of the Invention

[0005] This application provides a tailgate control method, device, vehicle, and medium. This method can achieve intelligent linkage control of the rear scraper and washer assembly and the tailgate, preventing the tailgate opening process from affecting the operation of the rear scraper and washer assembly or causing the rear scraper and washer assembly to soil the vehicle and surrounding environment, causing inconvenience to the vehicle owner. This improves the comfort and convenience of vehicle use without any additional cost. The above technical solution is as follows:

[0006] In a first aspect, an embodiment of the present disclosure provides a method for controlling a rear tailgate, wherein the rear tailgate includes a first door and a second door, wherein the first door and the second door are arranged to open and close independently. The method includes:

[0007] Obtain a target opening instruction for the above-mentioned tailgate; the above-mentioned target opening instruction carries a target type of the tailgate to be opened; determine a target linkage control strategy corresponding to the above-mentioned target opening instruction according to the target operating state of the above-mentioned rear scraper and washer component and the above-mentioned target type; and control the above-mentioned tailgate to be opened and the above-mentioned rear scraper and washer component to perform corresponding actions in a linkage manner according to the above-mentioned target linkage control strategy.

[0008] Through the above technical solution, according to the target operating state of the rear scraper and washer component and the target type of the tailgate to be opened carried by the tailgate target opening instruction, the corresponding target linkage control strategy is determined, so as to linkage control the tailgate to be opened and the rear scraper and washer component to perform corresponding actions respectively, thereby realizing intelligent linkage control of the rear scraper and washer component and the tailgate, avoiding the problem that the tailgate opening process affects the operation of the rear scraper and washer component or causes the rear scraper and washer component to dirty the vehicle and the surrounding environment and bring inconvenience to the car owner, and improving the comfort and convenience during vehicle use without any increase in cost.

[0009] In conjunction with the first aspect, in some possible implementations, determining the target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type includes:

[0010] If the target operating state of the rear scraper and washer assembly is the operating open state, and the target type includes at least the door-opening type, determining that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to execute the closing action and then control the tailgate to be opened to execute the opening action;

[0011] If the target operating state of the rear scraper and wash assembly is the operating-on state and the target type is the lower door type, then when the rear washer in the rear scraper and wash assembly is in the operating-on state, the target linkage control strategy corresponding to the target opening instruction is determined to control the rear washer to perform a closing action and then control the second door of the lower door type to perform an opening action;

[0012] If the target operating state of the above-mentioned rear wiper and washer component is the operation-on state, and the above-mentioned target type is the lower door type, then when the above-mentioned rear wiper is in the operation-on state and the above-mentioned rear washer is in the operation-off state, the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to control the above-mentioned rear wiper to continue the current action, control the above-mentioned rear washer to maintain the operation-off state, and control the above-mentioned second door belonging to the lower door type to perform the opening action.

[0013] In combination with the first aspect and the above implementation, in some possible implementations, after controlling the rear scraper and washer assembly to close, controlling the tailgate to be opened to open includes:

[0014] When the rear wiper is in the on state and the rear washer is in the off state, controlling the rear wiper to close for a first period of time and then controlling the tailgate to be opened to open;

[0015] When the rear wiper is in the operation closed state and the rear washer is in the operation open state, controlling the rear washer to close for a second time period and then controlling the tailgate to be opened to open; the second time period is greater than the first time period;

[0016] When the rear wiper and the rear washer are both in the operating and on state, the rear wiper is controlled to perform the wiping action within the second time period after the rear washer is controlled to perform the closing action, and the rear wiper is controlled to perform the closing action after the second time period, and the rear tailgate to be opened is controlled to perform the opening action after the rear wiper performs the closing action for the first time period.

[0017] With the above technical solution, the rear wiper can be controlled to close for a first time (for example, but not limited to 0.5s, 1s, etc.) before the tailgate to be opened is controlled to open, thereby providing sufficient reaction time for the rear wiper to close, thus avoiding the problem that the rear wiper function is affected by the tailgate to be opened being controlled to open before the rear wiper returns to its initial position. The rear washer can also be controlled to close for a second time (for example, but not limited to 2s, 3s, etc.) before the tailgate to be opened is controlled to open, thus providing sufficient time for wiping and clearing water after the rear washer is controlled to close, thus avoiding the problem that the tailgate to be opened is controlled to open before the washing liquid or water sprayed by the rear washer is completely cleared, thus causing the washing liquid or water not completely cleared to flow into or around the vehicle, thus causing inconvenience to the vehicle owner.

[0018] In combination with the first aspect and the above implementation, in some possible implementations, the target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type, including:

[0019] If the target operating state of the rear scraper and washer assembly is the operating closed state, and the target type is the upper door type or the lower door type, then determining the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to maintain the operating closed state and control the tailgate to be opened to perform the opening action;

[0020] If the target operating state of the above-mentioned rear scraping and washing component is the operating closed state, and the above-mentioned target type includes the upper door type and the lower door type, then the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to control the above-mentioned rear scraping and washing component to maintain the operating closed state, and control the above-mentioned first door belonging to the upper door type and the above-mentioned second door belonging to the lower door type to perform the opening action.

[0021] Through the above technical solution, when the target opening instruction of the tailgate is received, if the rear scraper and washer component is in the operation closed state, the rear scraper and washer component will be controlled to remain in the operation closed state during the process of controlling the corresponding tailgate to be opened to perform the opening action, thereby avoiding the problem of accidentally touching the rear scraper and washer component to open during the process of opening the tailgate, which may affect the functional action of the rear scraper and washer component or cause inconvenience to the car owner due to the sudden opening of the rear scraper and washer component.

[0022] In combination with the first aspect and the above implementations, in some possible implementations, after obtaining the target opening instruction for the tailgate, and before determining the target linkage control strategy corresponding to the target opening instruction based on the target operating state of the rear scraper and washer assembly and the target type, the method further includes:

[0023] Detect the target seating state of the main driver's seat;

[0024] The target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type, including:

[0025] In a case where the target riding state is an unoccupied state, a target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraper and washer assembly and the target type.

[0026] Through the above technical solution, after obtaining the target opening instruction of the tailgate, if the target riding state is detected as no one riding, it means that the driver is not currently in the main driver's seat, and it is inconvenient to control the rear scraper and washer component and the tailgate through the switch in the car. The body domain controller can automatically determine the target linkage control strategy corresponding to the target opening instruction according to the target operating state and target type of the rear scraper and washer component. In the scenario where there is no one riding in the main driver's seat, the driver can avoid forgetting to close the rear scraper and washer component before leaving the main driver's seat, and when he wants to open the tailgate after leaving the main driver's seat, he needs to go into the car first or control the rear scraper and washer component through the remote control to perform the closing action to avoid the rear scraper and washer component from dirtying the vehicle and the surrounding environment, etc., which causes inconvenience to the car owner, and further improves the comfort and convenience during vehicle use.

[0027] In combination with the first aspect and the above implementation, in some possible implementations, after detecting the target seating state of the driver's seat, the method further includes:

[0028] When the target riding state is an occupied state, if the target operating state is an operating-on state, a corresponding target reminder message is issued to remind the vehicle owner that the rear scraper and washer component must be closed before the rear door to be opened can be opened; a target closing instruction of the rear scraper and washer component is obtained; in response to the target closing instruction, the rear scraper and washer component is controlled to perform a closing action; after the target operating state of the rear scraper and washer component changes from an operating-on state to an operating-off state, the rear door to be opened is controlled to perform an opening action.

[0029] Through the above technical solution, in the scenario where there is someone sitting in the main driver's seat, the target reminder information can be used to remind the car owner (driver) that he needs to close the rear scraper and washer component before opening the tailgate to be opened. It can also avoid the problem of the tailgate opening being accidentally triggered when the rear scraper and washer component is in the running state during the car owner's driving. It can also avoid the problem that the tailgate opening process affects the operation of the rear scraper and washer component or causes the rear scraper and washer component to dirty the vehicle and the surrounding environment, causing inconvenience to the car owner when the car owner (driver) really wants to open the tailgate.

[0030] In combination with the first aspect and the above implementation, in some possible implementations, the above method further includes:

[0031] When the rear door is opened, a control failure instruction is sent to the rear scraper and washer component to cause the rear scraper and washer component to shield the corresponding opening control instruction;

[0032] When the back door changes from being opened to being closed, a control recovery instruction is sent to the rear scraping and washing component to recover the control right over the rear scraping and washing component.

[0033] Through the above technical solution, when the tailgate is open, that is, when the tailgate is in the open state, the body domain controller can send a control failure instruction to the rear scraper and wash component or the rear scraper and wash component controller, so that the rear scraper and wash component or the rear scraper and wash component controller blocks the corresponding opening control instruction, thereby preventing the user from mistakenly triggering the opening of the rear scraper and wash component when the tailgate is in the open state, thereby affecting the working performance of the rear scraper and wash component or causing the rear scraper and wash component to dirty the vehicle and the surrounding environment, causing inconvenience to the owner, further ensuring the comfort and convenience during vehicle use. When the body domain controller detects that the tailgate changes from open to closed, it can send a control recovery instruction to the rear scraper and wash component to restore the body domain controller's control over the rear scraper and wash component. Therefore, after the tailgate changes from open to closed, the body domain controller automatically restores the control of the rear scraper and wash component to ensure that the user can subsequently normally control the rear scraper and wash component to achieve the cleaning function, further ensuring the comfort and convenience during vehicle use.

[0034] In a second aspect, an embodiment of the present disclosure provides a tailgate control device, wherein the tailgate includes a first door and a second door, the first door and the second door being arranged to open and close independently, and the device includes:

[0035] The first acquisition module is used to acquire the target opening instruction of the back door; the target opening instruction carries the target type of the back door to be opened;

[0036] a determination module, configured to determine a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type;

[0037] The first control module is used for controlling the tailgate to be opened and the rear scraper and washer assembly to perform corresponding actions in a linkage manner according to the target linkage control strategy.

[0038] With reference to the second aspect, in some possible implementations, the determining module includes:

[0039] a first determining unit configured to, if the target operating state of the rear scraper and washer assembly is an operating-on state and the target type includes at least a door-opening type, determine that a target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to execute a closing action and then control the tailgate to be opened to execute an opening action;

[0040] a second determining unit for, if the target operating state of the rear scraper and wash assembly is the operating-on state and the target type is the lower door type, determining, when the rear washer in the rear scraper and wash assembly is in the operating-on state, that the target linkage control strategy corresponding to the target opening instruction is to control the rear washer to perform a closing action and then control the second door of the lower door type to perform an opening action;

[0041] The third determination unit is used to determine that if the target operating state of the above-mentioned rear wiper and washer component is the operation-on state and the above-mentioned target type is the lower door type, then when the above-mentioned rear wiper is in the operation-on state and the above-mentioned rear washer is in the operation-off state, the target linkage control strategy corresponding to the above-mentioned target opening instruction is to control the above-mentioned rear wiper to continue the current action, control the above-mentioned rear washer to maintain the operation-off state, and control the above-mentioned second door belonging to the lower door type to perform the opening action.

[0042] In combination with the second aspect and the above implementations, in some possible implementations, the first determining unit, after controlling the rear scraper and washer assembly to close, controls the tailgate to be opened to open, specifically for:

[0043] When the rear wiper is in the on state and the rear washer is in the off state, controlling the rear wiper to close for a first period of time and then controlling the tailgate to be opened to open;

[0044] When the rear wiper is in the operation closed state and the rear washer is in the operation open state, controlling the rear washer to close for a second time period and then controlling the tailgate to be opened to open; the second time period is greater than the first time period;

[0045] When the rear wiper and the rear washer are both in the operating and on state, the rear wiper is controlled to perform the wiping action within the second time period after the rear washer is controlled to perform the closing action, and the rear wiper is controlled to perform the closing action after the second time period, and the rear tailgate to be opened is controlled to perform the opening action after the rear wiper performs the closing action for the first time period.

[0046] In combination with the second aspect and the above implementation, in some possible implementations, the determination module includes:

[0047] a fourth determining unit for determining, if the target operating state of the rear scraper and washer assembly is the operating-off state and the target type is the upper door type or the lower door type, that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to maintain the operating-off state and to control the tailgate to be opened to perform an opening action;

[0048] The fifth determination unit is used to determine that if the target operating state of the above-mentioned rear scraping and washing component is the operating closed state, and the above-mentioned target type includes the upper door type and the lower door type, the target linkage control strategy corresponding to the above-mentioned target opening instruction is to control the above-mentioned rear scraping and washing component to maintain the operating closed state, and control the above-mentioned first door belonging to the upper door type and the above-mentioned second door belonging to the lower door type to perform the opening action.

[0049] In combination with the second aspect and the above implementation, in some possible implementations, the tailgate control device further includes:

[0050] A detection module, used to detect the target sitting state of the main driver's seat;

[0051] The determination module is specifically configured to determine, when the target riding state is an unoccupied state, a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type.

[0052] In combination with the second aspect and the above implementation, in some possible implementations, the tailgate control device further includes:

[0053] a reminder module for, when the target occupancy state is an occupied state and the target operation state is an operation-on state, issuing a corresponding target reminder message to remind the vehicle owner that the rear scraper and washer assembly must be closed before the tailgate to be opened can be opened;

[0054] A second acquisition module is used to obtain a target closing instruction of the rear scraping and washing component;

[0055] a second control module, configured to control the rear scraping and washing assembly to perform a closing action in response to the target closing instruction;

[0056] The third control module is used to control the tailgate to be opened to perform an opening action after the target operating state of the rear scraper and washer assembly changes from the operating-on state to the operating-off state.

[0057] In combination with the second aspect and the above implementation, in some possible implementations, the tailgate control device further includes:

[0058] a first sending module, configured to send a control failure instruction to the rear scraper and washer assembly when the rear door is opened, so that the rear scraper and washer assembly blocks the corresponding opening control instruction;

[0059] The second sending module is used to send a control recovery instruction to the rear scraping and washing component when the rear door changes from being opened to being closed, so as to recover the control right of the rear scraping and washing component.

[0060] In a third aspect, embodiments of this specification provide a vehicle comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0061] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0062] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0064] Figure 1 1 is a schematic diagram of the architecture of a tailgate control system provided by an exemplary embodiment of the present application;

[0065] Figure 2A-2B This is a schematic diagram of the back door structure provided by an exemplary embodiment of the present application;

[0066] Figure 3 is a flowchart of a back door control method provided by an exemplary embodiment of the present application;

[0067] Figure 4 This is a schematic diagram of an implementation process of a back door control method provided by an exemplary embodiment of the present application;

[0068] Figure 5 1 is a schematic diagram of an implementation process of another back door control method provided by an exemplary embodiment of the present application;

[0069] Figure 6 is a flowchart of another back door control method provided by an exemplary embodiment of the present application;

[0070] Figure 7 1 is a schematic structural diagram of a back door control device provided by an exemplary embodiment of the present application;

[0071] Figure 8 It is a structural schematic diagram of a vehicle provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0072] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0073] 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.

[0074] The present application is described in detail below with reference to specific embodiments.

[0075] Please refer to the following Figure 1 , which is a schematic diagram of the architecture of a back door control system provided by an embodiment of the present application. Figure 1 As shown, the tailgate control system may include a vehicle body domain controller, a tailgate controller, a rear scraper and washer component controller, a tailgate, and a rear scraper and washer component.

[0076] Specifically, when the user needs to store items in the trunk or take items out of the trunk or needs to use the tailgate to keep out the rain, the user can send the target opening instruction of the tailgate to the body domain controller through the car key, the switch in the car, the voice in the car, the mobile phone app, Bluetooth, etc. The body domain controller is connected to the tailgate controller and the rear scraper and wash component controller. The vehicle receives the target opening instruction of any tailgate through the body domain controller. The body domain controller determines the corresponding linkage control strategy according to the target type of the tailgate to be opened and the target operating state of the rear scraper and wash component carried in the received target opening instruction, and sends corresponding control instructions to the tailgate controller and the rear scraper and wash component controller respectively according to the linkage control strategy to control the tailgate and the rear scraper and wash component in a linkage manner.

[0077] In some embodiments, the tailgate of the vehicle includes a first door and a second door, the first door and the second door are in a double-door type, and the first door and the second door can be opened or closed independently.

[0078] For example, Figure 2A As shown, the first door and the second door can be in an upper and lower split type, the above-mentioned first door can be an upper door, and the second door can be a lower door, more specifically a "┑"-shaped split type, the installation angle between the first door and the second door, and the opening angle of the first door and the second door depend on the actual vehicle model setting, and the embodiment of the present application does not limit this. Figure 2A From left to right, the upper and lower doors are shown as closed (closed state), and the upper door is open (closed state). Figure 2A In the tailgate shown, both the upper and lower doors are closed ( Figure 2A(As shown in the left figure), when the body domain controller receives a tailgate open command, it transmits the open command to the tailgate controller. The tailgate controller first controls the upper door to open, and then controls the lower door to open once the upper door is fully open. With both upper and lower doors open, when the body domain controller receives a tailgate close command, it transmits a close command to the tailgate controller. After controlling the lower door to fully close, it controls the upper door to close. Furthermore, while controlling the tailgate to execute corresponding actions based on the tailgate open command, the rear scraper and washer components are also controlled to execute corresponding actions in conjunction with the methods provided in the embodiments of this application.

[0079] For example, Figure 2B As shown, the first door and the second door can be independently opened in an upper and lower manner, and the first door can be an upper door and the second door can be a lower door. Figure 2B From left to right, the upper and lower doors are shown as follows: the closed state (upper door open state), the door closed state (upper door closed state), the door open state (upper door open state), and the upper door open state (open and closed state). Figure 2B As shown in the left figure), when the body domain controller receives the tailgate opening command (carrying the upper door type and the lower door type), it transmits the tailgate opening command to the tailgate controller to control the upper door and the lower door to open at the same time; both the upper and lower doors are in the closed state ( Figure 2B As shown in the left figure), when the body domain controller receives the back door opening command (carrying only the upper door type), it transmits the back door opening command to the back door controller to control the upper door to perform the opening action; both the upper and lower doors are in the closed state ( Figure 2B As shown in the left figure), when the body domain controller receives the tailgate opening command (carrying only the lower door type), it transmits the tailgate opening command to the tailgate controller to control the lower door to perform the opening action; both the upper and lower doors are in the open state ( Figure 2B As shown in the right figure, when the body domain controller receives a tailgate closing command (carrying both upper and lower door types), it transmits the tailgate closing command to the tailgate controller, controlling both the upper and lower doors to close simultaneously. Furthermore, while controlling the tailgate to execute corresponding actions based on the tailgate opening command, the rear scraper and washer assembly is also linked and controlled to execute corresponding actions based on the methods provided in the embodiments of this application.

[0080] Optionally, when the vehicle's four doors and the lower door of the tailgate are all in the closed state, after the user touches the tailgate upper door locking switch, if it is detected that the vehicle key is not inside the vehicle, the vehicle can be controlled to lock the entire vehicle, that is, all four doors and the tailgate are automatically locked, and when the windows are open, the headlights are illuminated, and the sunroof is not closed for models with sunroofs, the automatic closing of the windows, turning off the headlights, and closing of the sunroof are executed at the same time, thereby realizing the function of locking the entire vehicle with one click through the tailgate upper door locking switch, which saves the time of closing the tailgate by touching the tailgate switch and then closing the entire vehicle by the remote control key. At the same time, it also prevents the risk of passengers forgetting to lock the vehicle after closing the tailgate, thereby improving human-vehicle interaction.

[0081] Optionally, the tailgate may be equipped with a snow accumulation detection function or an ice risk detection function. When the vehicle is parked (engine off), if the amount of snow accumulated on the tailgate is detected to have reached a first snow accumulation threshold or the risk of the tailgate being frozen has reached a first risk threshold, and the tailgate and the rear scraper and washer assembly are both in a normally openable state, it may be considered that the current amount of snow is too heavy and the temperature is too low, and the tailgate and / or the rear scraper and washer assembly have not yet been frozen but are at great risk of being frozen. A corresponding ice risk reminder message may be sent to the vehicle owner's corresponding terminal to remind the vehicle owner that the tailgate and the rear scraper and washer assembly are at risk of being frozen. Is it necessary to turn on the rear scraper and washer component to promptly clear the snow on the tailgate to eliminate the risk of freezing? Alternatively, the rear scraper and washer component can be automatically turned on to promptly clear the snow on the tailgate until it is detected that the amount of snow on the tailgate is less than a second snow amount threshold or it is detected that the risk of the tailgate being frozen is less than a second risk threshold or equal to 0. It can be considered that the current freezing risk of the tailgate and / or the rear scraper and washer component has been eliminated, and the rear scraper and washer component can be turned off, which automatically avoids the problem of the tailgate and the rear scraper and washer component being frozen when the vehicle is turned off and the owner is not in the vehicle, affecting the owner's subsequent use, and avoids the problem of the rear scraper and washer component being kept on, resulting in energy waste of the vehicle.

[0082] It is understood that the second snow accumulation threshold is less than the first snow accumulation threshold, and the second risk threshold is less than the first risk threshold. The snow accumulation detection function can be implemented, but is not limited to, based on temperature detection and / or tailgate image detection. The ice risk detection function can be implemented, but is not limited to, using a risk detection model trained based on known ice risk indicators such as tailgate temperature and / or tailgate images. This embodiment of the present application is not limited to this.

[0083] Optionally, the back door may have a heating function, for example, but not limited to, a heating element is installed inside the back door. When a back door opening command is received, if it is detected that the back door is abnormally opened due to low temperature, it can be considered that the current situation is a winter freezing scene and the back door is frozen and cannot be opened. In this way, the heating function of the back door can be controlled to be turned on for a period of time before the back door is controlled to open, thereby avoiding the need for the user to manually thaw the back door when it is frozen and cannot be opened in winter freezing weather, thereby improving the convenience of back door control in winter freezing scenes and the user experience. The rear scraper and washer component may also have a heating function, for example, but not limited to, a heating element is installed inside the rear scraper and washer component. When the opening command of the rear scraper and washer component is received, if it is detected that the rear scraper and washer component is abnormally opened due to the low temperature, it can be considered that the current situation is in a winter freezing scene, and the rear scraper and washer component is frozen and cannot be opened. The heating function of the rear scraper and washer component can be controlled to turn on for a period of time, and the current is allowed to pass through the heating wire and other heating elements inside the rear scraper and washer component to make it heat up, thereby increasing the temperature of the surface of the rear scraper and washer component. After achieving the purpose of melting snow and ice, the rear scraper and washer component is controlled to turn on.

[0084] Optionally, a rear windshield may be installed on the tailgate. When a tailgate opening command is received but it is detected that the tailgate is abnormally opened due to low temperature, and / or when a rear wiper and washer assembly opening command is received but it is detected that the rear wiper and washer assembly is abnormally opened due to low temperature, the heating function of the rear windshield may be controlled to turn on, so as to automatically defrost the tailgate and / or the rear wiper and washer assembly, thereby flexibly and conveniently realizing the control of the tailgate and / or the rear wiper assembly in winter freezing scenarios.

[0085] It is understandable that the above-mentioned opening and closing instructions of the back door can be triggered by, but not limited to, any of the following methods: in-car switch, in-car voice, remote control key, mobile phone APP, Bluetooth, etc.

[0086] It is understood that the first door may be an upper door and the second door may be a lower door, or the first door may be a lower door and the second door may be an upper door, and this is not limited in the present embodiment. A rear windshield is mounted on the upper door, and the rear scraper and washer assembly is mounted on the upper door to clean the rear windshield to improve the driver's rearward visibility.

[0087] Based on the above technical solution, by dividing the back door into the first door and the second door, the user does not need to open the back door completely when placing things in the trunk, but only needs to open part of the back door; when the space behind the vehicle is narrow, only the first door or the second door can be opened to prevent damage to the back door, using a smaller space to meet user needs and save user time; when the user wants to place heavier and larger items in the trunk, the first door and the second door of the back door can be opened completely, making it convenient for the user to place large items.

[0088] Next, combine Figures 1-2B , taking the vehicle body domain controller to perform the back door control as an example, the back door control method provided by the embodiment of this application is introduced. Figure 3 , which is a flow chart of a back door control method provided by an embodiment of the present application. Figure 3 As shown, the method includes the following steps:

[0089] S301, obtaining a target opening instruction for the back door, where the target opening instruction carries a target type of the back door to be opened.

[0090] Specifically, when a user wishes to open the tailgate, a target opening command for the tailgate can be triggered, but is not limited to, through an in-vehicle switch, in-vehicle voice commands, a remote key, a mobile phone app, Bluetooth, or other methods. This target opening command carries the target type of the tailgate the user wishes to open. This target type can include, but is not limited to, at least one of the following: an upper door type or a lower door type. The upper door type refers to the tailgate in the upper middle portion of the vehicle (the upper tailgate). This upper tailgate is typically hinged to the top of the vehicle body and is primarily used to facilitate loading and accessing items. The upper tailgate typically has a wider opening angle, making it convenient for loading large items such as luggage and sports equipment. The lower door type refers to the tailgate in the lower middle portion of the vehicle (the lower tailgate). This lower tailgate is typically hinged to the bottom of the vehicle body and is primarily used to facilitate access to items within the vehicle. Lower tailgates are typically smaller in size and have a narrower opening angle, making it easy to access items stored in the trunk, such as drinks and tools.

[0091] S302: Determine a target linkage control strategy corresponding to a target start instruction according to a target operating state and a target type of the rear scraping and washing component.

[0092] Specifically, the rear wiper and washer assembly includes a rear wiper and a rear washer, and the target operating state includes an operation-on state or an operation-off state. When the rear wiper and / or the rear washer are in the operation-on state, the rear wiper and washer assembly is in the operation-on state; when both the rear wiper and the rear washer are in the operation-off state, the rear wiper and washer assembly is in the operation-off state.

[0093] Optionally, the above S302, determining the target linkage control strategy corresponding to the target opening instruction according to the target operating state and target type of the rear scraping and washing component may include: if the target operating state of the rear scraping and washing component is the operating opening state, and the target type includes at least the upper door type (for example, but not limited to including only the upper door type or including the upper door type and the lower door type), then it can be determined that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraping and washing component to perform the closing action, and then control the rear door to be opened to perform the opening action. If the target operating state of the rear scraping and washing component is the operating opening state, and the target type is the lower door type, then when the rear washer in the rear scraping and washing component is in the operating opening state, it can be determined that the target linkage control strategy corresponding to the target opening instruction is to control the rear washer to perform the closing action, and then control the second door belonging to the lower door type to perform the opening action (in this process, the rear wiper in the rear scraping and washing component maintains the current operating state). Figure 4 As shown, if the target operating state of the rear wiper and rear washer assembly is the operating open state (ie, at least one of the rear wiper and the rear washer is in the operating open state), the target type is the lower door type (ie, the target opening instruction is Figure 4 If the target opening instruction is provided, when the rear wiper is in the operation-on state and the rear washer is in the operation-off state, the target linkage control strategy corresponding to the target opening instruction is to control the rear wiper to continue the current action, control the rear washer to maintain the operation-off state, and control the second door (the tailgate to be opened) of the lower door type to perform the opening action.

[0094] Further, if Figure 4 As shown, if the target operating state of the rear wiper and the rear washer is the operating on state (i.e. at least one of the rear wiper and the rear washer is in the operating on state), the target type includes at least the door type (i.e. the target opening instruction is Figure 4 If the upper door opening instruction or the upper and lower door opening instruction shown is provided, when the rear wiper is in the operating on state and the rear washer is in the operating off state, the rear wiper can be controlled to execute the closing action for a first period of time (for example but not limited to 0.5s, 1s, etc.) and then the rear door to be opened (upper door or upper and lower door) can be controlled to execute the opening action. Thus, by controlling the rear wiper to execute the closing action for the first period of time and then controlling the rear door to be opened to execute the opening action, sufficient reaction time is provided for the rear wiper to execute the closing action, thereby avoiding the problem that the rear wiper's functional action is affected by controlling the rear door to be opened to execute the opening action before the rear wiper returns to its initial position.

[0095] Further, if Figure 4 As shown, if the target operating state of the rear wiper and the rear washer is the operating on state (i.e. at least one of the rear wiper and the rear washer is in the operating on state), the target type includes at least the door type (i.e. the target opening instruction is Figure 4If the upper door opening instruction or the upper and lower door opening instruction is shown, then when the rear wiper is in the operation closed state and the rear washer is in the operation open state, the rear washer can be controlled to perform the closing action for a second time period (for example but not limited to 2s, 3s, etc.) and then the tailgate to be opened (upper door or upper and lower door) can be controlled to perform the opening action. The above-mentioned second time period is greater than the first time period, thereby providing sufficient wiping and cleaning time after the rear washer is controlled to perform the closing action, thereby avoiding the problem that the washing liquid or water sprayed by the rear washer is not yet completely removed before the tailgate to be opened is controlled to perform the opening action, resulting in the unremoved washing liquid or water flowing into or around the car, causing inconvenience to the car owner.

[0096] Furthermore, if Figure 4 As shown, if the target operating state of the rear wiper and the rear washer is the operating on state (i.e. at least one of the rear wiper and the rear washer is in the operating on state), the target type includes at least the door type (i.e. the target opening instruction is Figure 4 If the rear wiper and the rear washer are both in the on state, the rear wiper can be controlled to wipe the water within a second time period after the rear washer is closed, and the rear wiper can be controlled to close after the second time period, and the rear tailgate to be opened (the upper door or the upper and lower doors) can be controlled to open after the rear wiper is closed for the first time period, thereby providing sufficient time for wiping and clearing water after the rear washer is closed, and avoiding the rear tailgate to be opened being controlled to open before the washing liquid or water sprayed by the rear washer is completely cleared. The problem of uncleaned washing fluid or water flowing into or around the car to cause inconvenience to the car owner is solved. The washing fluid or water sprayed by the rear washer is quickly removed by controlling the rear wiper to perform the wiping action within a second period after the rear washer performs the closing action, thereby increasing the opening speed of the tailgate to be opened. The rear wiper is controlled to perform the closing action for a first period and then the tailgate to be opened is controlled to perform the opening action, thereby providing sufficient reaction time for the rear wiper to perform the closing action, thereby avoiding the problem that the rear wiper has not yet returned to its initial position and the tailgate to be opened is controlled to perform the opening action, thereby affecting the functional action of the rear wiper.

[0097] Alternatively, as Figure 4 As shown, the above S302, according to the target operating state and target type of the rear scraper and washer component, determines the target linkage control strategy corresponding to the target opening instruction, which may include: if the target operating state of the rear scraper and washer component is the operation closed state (i.e., the rear wiper and rear washer are both in the operation closed state), and the target type is the upper door type or the lower door type (i.e., the target opening instruction is Figure 4If the target operation state of the rear wiper and washer assembly is the operation closed state (that is, the rear wiper and rear washer are both in the operation closed state), the target type includes the upper door type and the lower door type (that is, the target opening instruction is Figure 4 The target linkage control strategy corresponding to the target opening instruction is to control the rear wiper and washer component to maintain the operation closed state (that is, the rear wiper and the rear washer are both maintained in the operation closed state), and control the first door belonging to the upper door type and the second door belonging to the lower door type to perform the opening action, so that when the target opening instruction of the tailgate is received, if the rear wiper and washer component is in the operation closed state, the rear wiper and washer component will be controlled to maintain the operation closed state during the process of controlling the corresponding tailgate to be opened to perform the opening action, so as to avoid the problem that the rear wiper and washer component is accidentally touched to open during the process of opening the tailgate, resulting in the functional action of the rear wiper and washer component being affected or the rear wiper and washer component suddenly opening to cause inconvenience to the car owner.

[0098] S303: According to the target linkage control strategy, the tailgate to be opened and the rear scraper and washer assembly are controlled to perform corresponding actions respectively.

[0099] In an embodiment of the present application, a corresponding target linkage control strategy is determined based on the target operating state of the rear scraper and wash component and the target type of the tailgate to be opened carried by the tailgate target opening instruction, so as to linkage control the tailgate to be opened and the rear scraper and wash component to perform corresponding actions respectively, thereby realizing intelligent linkage control of the rear scraper and wash component and the tailgate, avoiding the problem that the tailgate opening process affects the operation of the rear scraper and wash component or causes the rear scraper and wash component to dirty the vehicle and the surrounding environment and bring inconvenience to the car owner, and improving the comfort and convenience during vehicle use without any increase in cost.

[0100] In some possible embodiments, such as Figure 5As shown, when the tailgate is open, that is, when the tailgate is in the open state, the body domain controller can send a control failure instruction to the rear scraper and wash component or the rear scraper and wash component controller, so that the rear scraper and wash component or the rear scraper and wash component controller blocks the corresponding opening control instruction, thereby preventing the user from accidentally triggering the opening of the rear scraper and wash component when the tailgate is in the open state, thereby affecting the working performance of the rear scraper and wash component or causing the rear scraper and wash component to dirty the vehicle and the surrounding environment, causing inconvenience to the owner, further ensuring the comfort and convenience during vehicle use. When the body domain controller detects that the tailgate changes from open to closed, it can send a control recovery instruction to the rear scraper and wash component to restore the body domain controller's control over the rear scraper and wash component. Therefore, after the tailgate changes from open to closed, the body domain controller automatically restores the control of the rear scraper and wash component to ensure that the user can subsequently control the rear scraper and wash component normally to achieve the cleaning function, further ensuring the comfort and convenience during vehicle use.

[0101] Please refer to the following Figure 6 , which is a flow chart of another back door control method provided by an embodiment of the present application. Figure 6 As shown, the method includes the following steps:

[0102] S601: Acquire a target opening instruction for the back door, where the target opening instruction carries a target type for opening the back door.

[0103] Specifically, S601 is consistent with S301 and will not be repeated here.

[0104] S602, detecting the target seating state of the main driver's seat.

[0105] Specifically, the target occupancy state indicates whether the driver's seat is occupied. After receiving the tailgate's target opening command, the vehicle body domain controller detects the target occupancy state of the driver's seat using a sensor located beneath the driver's seat. Such a sensor may include, but is not limited to, at least one of the following: a weight sensor, an infrared sensor, a pressure sensor, an ultrasonic sensor, a capacitive sensor, and the like.

[0106] S603 , when the target riding state is the unoccupied state, determining a target linkage control strategy corresponding to the target start instruction according to the target operating state and target type of the rear scraping and washing component.

[0107] Specifically, after obtaining the target opening instruction for the tailgate, if the target occupancy state is detected as unoccupied, indicating that the driver is not currently in the main driver's seat and is unable to control the rear scraper and wash assembly and the tailgate through switches inside the vehicle, the body domain controller can automatically determine the target linkage control strategy corresponding to the target opening instruction based on the target operating state and target type of the rear scraper and wash assembly. This prevents the driver from forgetting to close the rear scraper and wash assembly before leaving the main driver's seat, and from having to go inside the vehicle or use a remote control to control the rear scraper and wash assembly to close when leaving the main driver's seat and wanting to open the tailgate, thereby preventing the rear scraper and wash assembly from soiling the vehicle and surrounding environment, causing inconvenience to the driver, and further improving the comfort and convenience of vehicle use. The above-mentioned process of determining the target linkage control strategy corresponding to the target opening instruction based on the target operating state and target type of the rear scraper and wash assembly is consistent with S302 and will not be repeated here.

[0108] S604: According to the target linkage control strategy, the tailgate to be opened and the rear scraper and washer assembly are controlled to perform corresponding actions respectively.

[0109] Specifically, S604 is consistent with S303 and will not be repeated here.

[0110] Please continue to refer to Figure 6 ,like Figure 6 As shown, after detecting the target seating state of the main driver's seat in S602, the tailgate control method may further include:

[0111] S605, when the target riding state is the occupied state, if the target operating state is the operating-on state, a corresponding target reminder message is issued to remind the vehicle owner that the rear scraping and washing component must be closed before the tailgate to be opened can be opened.

[0112] Specifically, after receiving the tailgate's target opening command, if the target occupancy state is detected as occupied, indicating that the driver is currently in the main driver's seat, and if the target operating state of the rear scraper and washer assembly is the operating-on state, a corresponding target reminder message can be directly issued to remind the vehicle owner (driver) that they need to close the rear scraper and washer assembly before opening the tailgate to be opened. Furthermore, the target reminder message can also be used to avoid the problem of the tailgate being accidentally triggered to open when the rear scraper and washer assembly is in the operating-on state while the vehicle owner is driving. The target reminder message can be a target voice reminder message, or a target graphic reminder message displayed in text and / or images on the vehicle-mounted display screen, etc., and this embodiment of the application is not limited to this.

[0113] S606, obtaining the target closing instruction of the rear scraping and washing component.

[0114] Specifically, when the vehicle owner (driver) receives the target reminder information, if he or she really needs to open the tailgate, he or she may input a target closing instruction for the rear scraper and washer component through, but not limited to, a switch in the vehicle, voice, etc. The vehicle body domain controller may receive the target closing instruction for the rear scraper and washer component input by the vehicle owner (driver).

[0115] S607, in response to the target closing instruction, controlling the rear scraping and washing component to perform a closing action.

[0116] Specifically, after the body domain controller receives the target shutdown instruction of the rear scraper and washer component, it can respond to the target shutdown instruction and control the components in the rear scraper and washer component that are in the operation-on state to perform a shutdown action, that is, control the rear wiper and rear washer in the rear scraper and washer component to enter the operation-off state, so that the target operation state of the rear scraper and washer component changes from the operation-on state to the operation-off state.

[0117] S608, after the target operating state of the rear scraper and washer assembly changes from the operating-on state to the operating-off state, the tailgate to be opened is controlled to perform an opening action.

[0118] Specifically, after the target operating state of the rear scraper and washer assembly changes from the on-operation state to the off-operation state, the rear door to be opened can be controlled to open. When the rear door to be opened includes a first door and a second door, the above-mentioned control of the rear door to be opened can be to first control the first door to open and then control the second door to open, or to first control the second door to open and then control the first door to open, or to simultaneously control the first and second doors to open, etc., and this embodiment of the present application is not limited to this.

[0119] In an embodiment of the present application, after obtaining the target opening instruction of the tailgate, if it is detected that the target sitting state is the occupied state and the target operating state of the rear scraper and washer component is the operating and open state, the corresponding target reminder information can be directly issued, and after obtaining the target closing instruction of the rear scraper and washer component, the rear scraper and washer component is first controlled to perform the closing action, and then the tailgate to be opened is controlled to perform the opening action. Therefore, in the scenario where there is someone sitting on the main driver's seat, the target reminder information can be used to remind the owner (driver) that the rear scraper and washer component must be closed before the tailgate to be opened can be opened, and the problem of mistakenly triggering the opening of the tailgate when the rear scraper and washer component is in the operating and open state during the owner's driving process can be avoided. It can also avoid the problem that the tailgate opening process affects the operation of the rear scraper and washer component or causes the rear scraper and washer component to dirty the vehicle and the surrounding environment, causing inconvenience to the owner, when the owner (driver) really wants to open the tailgate.

[0120] Please refer to the following Figure 7 , which is a structural diagram of a back door control device provided by an embodiment of the present application. Figure 7As shown, the tailgate includes a first door and a second door, the first door and the second door are in a split-door type, and the first door and the second door can be opened or closed independently. The tailgate control device 700 includes:

[0121] The first acquisition module 710 is configured to acquire the target opening instruction of the tailgate; the target opening instruction carries the target type of the tailgate to be opened;

[0122] A determination module 720 is configured to determine a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type;

[0123] The first control module 730 is used to control the tailgate to be opened and the rear scraper and washer assembly to perform corresponding actions in a linkage manner according to the target linkage control strategy.

[0124] In some possible implementations, the determining module 720 includes:

[0125] a first determining unit configured to, if the target operating state of the rear scraper and washer assembly is an operating-on state and the target type includes at least a door-opening type, determine that a target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to execute a closing action and then control the tailgate to be opened to execute an opening action;

[0126] a second determining unit for, if the target operating state of the rear scraper and wash assembly is the operating-on state and the target type is the lower door type, determining, when the rear washer in the rear scraper and wash assembly is in the operating-on state, that the target linkage control strategy corresponding to the target opening instruction is to control the rear washer to perform a closing action and then control the second door of the lower door type to perform an opening action;

[0127] The third determination unit is used to determine that if the target operating state of the above-mentioned rear wiper and washer component is the operation-on state and the above-mentioned target type is the lower door type, then when the above-mentioned rear wiper is in the operation-on state and the above-mentioned rear washer is in the operation-off state, the target linkage control strategy corresponding to the above-mentioned target opening instruction is to control the above-mentioned rear wiper to continue the current action, control the above-mentioned rear washer to maintain the operation-off state, and control the above-mentioned second door belonging to the lower door type to perform the opening action.

[0128] In combination with the second aspect and the above implementations, in some possible implementations, the first determining unit, after controlling the rear scraper and washer assembly to close, controls the tailgate to be opened to open, specifically for:

[0129] When the rear wiper is in the on state and the rear washer is in the off state, controlling the rear wiper to close for a first period of time and then controlling the tailgate to be opened to open;

[0130] When the rear wiper is in the operation closed state and the rear washer is in the operation open state, controlling the rear washer to close for a second time period and then controlling the tailgate to be opened to open; the second time period is greater than the first time period;

[0131] When the rear wiper and the rear washer are both in the operating and on state, the rear wiper is controlled to perform the wiping action within the second time period after the rear washer is controlled to perform the closing action, and the rear wiper is controlled to perform the closing action after the second time period, and the rear tailgate to be opened is controlled to perform the opening action after the rear wiper performs the closing action for the first time period.

[0132] In some possible implementations, the determining module 720 includes:

[0133] a fourth determining unit for determining, if the target operating state of the rear scraper and washer assembly is the operating-off state and the target type is the upper door type or the lower door type, that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to maintain the operating-off state and to control the tailgate to be opened to perform an opening action;

[0134] The fifth determination unit is used to determine that if the target operating state of the above-mentioned rear scraping and washing component is the operating closed state, and the above-mentioned target type includes the upper door type and the lower door type, the target linkage control strategy corresponding to the above-mentioned target opening instruction is to control the above-mentioned rear scraping and washing component to maintain the operating closed state, and control the above-mentioned first door belonging to the upper door type and the above-mentioned second door belonging to the lower door type to perform the opening action.

[0135] In some possible implementations, the tailgate control device 700 further includes:

[0136] A detection module, used to detect the target sitting state of the main driver's seat;

[0137] The determination module 720 is specifically configured to determine, when the target riding state is an unoccupied state, a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type.

[0138] In some possible implementations, the tailgate control device 700 further includes:

[0139] a reminder module for, when the target occupancy state is an occupied state and the target operation state is an operation-on state, issuing a corresponding target reminder message to remind the vehicle owner that the rear scraper and washer assembly must be closed before the tailgate to be opened can be opened;

[0140] A second acquisition module is used to obtain a target closing instruction of the rear scraping and washing component;

[0141] a second control module, configured to control the rear scraping and washing assembly to perform a closing action in response to the target closing instruction;

[0142] The third control module is used to control the tailgate to be opened to perform an opening action after the target operating state of the rear scraper and washer assembly changes from the operating-on state to the operating-off state.

[0143] In some possible implementations, the tailgate control device 700 further includes:

[0144] a first sending module, configured to send a control failure instruction to the rear scraper and washer assembly when the rear door is opened, so that the rear scraper and washer assembly blocks the corresponding opening control instruction;

[0145] The second sending module is used to send a control recovery instruction to the rear scraping and washing component when the rear door changes from being opened to being closed, so as to recover the control right of the rear scraping and washing component.

[0146] The division of the modules in the above-described tailgate control device is for illustrative purposes only. In other embodiments, the tailgate control device may be divided into different modules as needed to perform all or part of the functions of the above-described tailgate control device. The various modules in the tailgate control device provided in the embodiments of this specification may be implemented in the form of a computer program. This computer program may be executed on a vehicle. The program modules comprising this computer program may be stored in a memory device in the vehicle. When executed by a processor, this computer program implements all or part of the steps of the tailgate control method described in the embodiments of this application.

[0147] Please refer to the following Figure 8 , which is a structural diagram of a vehicle provided in an embodiment of the present application. Figure 8 As shown, the vehicle 800 includes: at least one processor 810 , at least one communication bus 820 , a user interface 830 , at least one network interface 840 , a memory 850 , a tailgate 860 , and a rear scraper and washer assembly 870 .

[0148] The communication bus 820 may be used to implement connection and communication among the above components.

[0149] The user interface 830 may include a display screen (Display) and at least one camera (Camera), and the user interface 830 may also include a standard wired interface and a wireless interface.

[0150] The network interface 840 may optionally include a Bluetooth module, a Near Field Communication (NFC) module, a Wireless Fidelity (Wi-Fi) module, and the like.

[0151] The rear door 860 includes a first door and a second door. The first door and the second door are in a double-door type. Both the first door and the second door can be opened or closed independently.

[0152] The rear wiper and washer assembly 870 includes a rear wiper and a rear washer. The rear wiper is used to remove rain, snow, or other dirt from the tailgate windshield, ensuring a clear view for the driver when reversing or looking behind through the rearview mirror. The rear washer sprays detergent or water to help remove dirt from the tailgate windshield, further improving the driver's vision.

[0153] The processor 810 may include one or more processing cores. The processor 810 utilizes various interfaces and circuits to connect various components within the vehicle 800. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 850 and accessing data stored in the memory 850, it performs various functions for routing the vehicle 800 and processes data. Optionally, the processor 810 may be implemented using at least one of the following hardware forms: an Advanced RISC Machine (ARM), a Digital Signal Processing (DSP), a Field-Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA). The processor 810 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and applications; the GPU is responsible for rendering and drawing content displayed on the display screen; and the modem handles wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 810, but may be implemented by a separate chip.

[0154] Among them, the memory 850 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 850 includes a non-transitory computer-readable medium. The memory 850 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 850 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a linkage control function, an acquisition function, a linkage strategy determination function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 850 may also be optionally at least one storage device located away from the aforementioned processor 810. As Figure 8 As shown, the memory 850 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0155] In some possible embodiments, the vehicle 800 may Figure 7 In the tailgate control device 700 shown, the processor 810 can be used to call the program instructions stored in the memory 850, and specifically perform the following operations: obtain the target opening instruction of the above-mentioned tailgate 860; the above-mentioned target opening instruction carries the target type of the tailgate 860 to be opened; determine the target linkage control strategy corresponding to the above-mentioned target opening instruction according to the target operating state of the above-mentioned rear scraping and washing component 870 and the above-mentioned target type; according to the above-mentioned target linkage control strategy, the above-mentioned tailgate 860 to be opened and the above-mentioned rear scraping and washing component 870 are linked to control to perform corresponding actions respectively.

[0156] In some possible embodiments, when the processor 810 executes the target linkage control strategy corresponding to the target opening instruction determined according to the target operating state and the target type of the rear scraping and washing component 870, it is specifically used to execute: if the target operating state of the rear scraping and washing component 870 is the operating opening state, and the target type includes at least the upper door type, then the target linkage control strategy corresponding to the target opening instruction is to control the rear scraping and washing component 870 to perform the closing action and then control the rear door 860 to be opened to perform the opening action; if the target operating state of the rear scraping and washing component 870 is the operating opening state and the target type is the lower door type, then after the rear scraping and washing component 870 is closed, the target linkage control strategy corresponding to the target opening instruction is to control the rear scraping and washing component 870 to perform the closing action and then control the rear door 860 to be opened to perform the opening action; if the target operating state of the rear scraping and washing component 870 is the operating opening state and the target type is the lower door type, then after the rear scraping and washing component When the rear washer in 870 is in the operation-on state, the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to be controlling the above-mentioned rear washer to perform the closing action and then controlling the above-mentioned second door belonging to the lower door type to perform the opening action; if the target operation state of the above-mentioned rear scraping and washing component 870 is the operation-on state and the above-mentioned target type is the lower door type, then when the above-mentioned rear wiper is in the operation-on state and the above-mentioned rear washer is in the operation-off state, the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to be controlling the above-mentioned rear wiper to continue the current action, controlling the above-mentioned rear washer to maintain the operation-off state, and controlling the above-mentioned second door belonging to the lower door type to perform the opening action.

[0157] In some possible embodiments, after the processor 810 controls the rear scraper and washer assembly 870 to close, and then controls the tailgate 860 to open, the processor 810 is configured to execute the following operations:

[0158] When the rear wiper is in the on-state and the rear washer is in the off-state, the rear wiper is controlled to close for a first period of time and then the tailgate 860 to be opened is controlled to open; when the rear wiper is in the off-state and the rear washer is in the on-state, the rear washer is controlled to close for a second period of time and then the tailgate 860 to be opened is controlled to open; the second period of time is greater than the first period of time; when both the rear wiper and the rear washer are in the on-state, the rear wiper is controlled to wipe within the second period of time after the rear washer closes, and the rear wiper is controlled to close after the second period of time, and the tailgate 860 to be opened is controlled to open after the rear wiper closes for the first period of time.

[0159] In some possible embodiments, when the processor 810 executes the target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component 870 and the target type, the processor 810 is specifically configured to execute:

[0160] If the target operating state of the above-mentioned rear scraping and washing component 870 is the operating closed state, and the above-mentioned target type is the upper door type or the lower door type, then the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to control the above-mentioned rear scraping and washing component 870 to maintain the operating closed state, and control the above-mentioned back door 860 to be opened to perform the opening action; if the target operating state of the above-mentioned rear scraping and washing component 870 is the operating closed state, and the above-mentioned target type includes the upper door type and the lower door type, then the target linkage control strategy corresponding to the above-mentioned target opening instruction is determined to control the above-mentioned rear scraping and washing component 870 to maintain the operating closed state, and control the above-mentioned first door belonging to the upper door type and the above-mentioned second door belonging to the lower door type to perform the opening action.

[0161] In some possible embodiments, after the processor 810 executes the acquisition of the target opening instruction for the tailgate 860 and before determining the target linkage control strategy corresponding to the target opening instruction based on the target operating state of the rear scraper and washer assembly 870 and the target type, the processor 810 is further configured to execute:

[0162] Detect the target seating state of the main driver's seat.

[0163] When the processor 810 executes the target linkage control strategy corresponding to the target start instruction according to the target operating state and the target type of the rear scraping and washing component 870, it is specifically used to execute: when the target riding state is an unoccupied state, the target linkage control strategy corresponding to the target start instruction is determined according to the target operating state and the target type of the rear scraping and washing component 870.

[0164] In some possible embodiments, after executing the above-mentioned detection of the target sitting state of the main driver's seat, the processor 810 is further used to execute: when the above-mentioned target sitting state is an occupied state, if the above-mentioned target operating state is an operating-on state, a corresponding target reminder message is issued to remind the owner that the rear scraper and wash component 870 must be closed before the rear tailgate 860 to be opened can be opened; a target closing instruction of the rear scraper and wash component 870 is obtained; in response to the above-mentioned target closing instruction, the rear scraper and wash component 870 is controlled to perform a closing action; after the target operating state of the rear scraper and wash component 870 changes from an operating-on state to an operating-off state, the rear tailgate 860 to be opened is controlled to perform an opening action.

[0165] In some possible embodiments, the processor 810 is further configured to execute: when the rear door 860 is opened, a control failure instruction is sent to the rear scraping and washing component 870 so that the rear scraping and washing component 870 shields the corresponding opening control instruction; when the rear door 860 changes from open to closed, a control recovery instruction is sent to the rear scraping and washing component 870 so as to restore control over the rear scraping and washing component 870.

[0166] 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 back door control method provided by the above embodiment.

[0167] This embodiment further provides a computer program product. When executed on a computer, the computer executes the aforementioned steps to implement the tailgate control method provided in the aforementioned embodiment. The apparatus, computer-readable storage medium, computer program product, or chip provided in this embodiment are all configured to execute the corresponding methods provided above. Therefore, the beneficial effects achieved by the apparatus, computer-readable storage medium, computer program product, or chip provided in this embodiment are all configured to execute the corresponding methods provided above. Reference can be made to the beneficial effects of the corresponding methods provided above for their achievable benefits, and these benefits will not be further elaborated here.

[0168] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0169] In the embodiments provided in the present 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. There may be other division methods in actual implementation, 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. The above content is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A back door control method, characterized in that: The back door includes a first door and a second door, the first door and the second door are in a split-door type, and the first door and the second door can be opened or closed independently, and the method includes: Acquire the target opening instruction of the back door; the target opening instruction carries the target type of the back door to be opened; Determining a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type; According to the target linkage control strategy, the tailgate to be opened and the rear scraper and washer assembly are linked and controlled to perform corresponding actions respectively.

2. The method according to claim 1, characterized in that The target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type, including: If the target operating state of the rear scraper and washer assembly is the operating open state, and the target type includes at least the door-opening type, determining that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to perform a closing action and then control the tailgate to be opened to perform an opening action; If the target operating state of the rear scraper and wash assembly is the operating-on state and the target type is the lower door type, then when the rear washer in the rear scraper and wash assembly is in the operating-on state, determining that the target linkage control strategy corresponding to the target opening instruction is to control the rear washer to perform a closing action and then control the second door of the lower door type to perform an opening action; If the target operating state of the rear wiper and washer component is the operating-on state and the target type is the lower door type, then when the rear wiper is in the operating-on state and the rear washer is in the operating-off state, the target linkage control strategy corresponding to the target opening instruction is determined to control the rear wiper to continue the current action, control the rear washer to maintain the operating-off state, and control the second door belonging to the lower door type to perform the opening action.

3. The method according to claim 2, characterized in that After controlling the rear scraper and washer assembly to perform a closing action, controlling the tailgate to be opened to perform an opening action includes: When the rear wiper is in the on state and the rear washer is in the off state, controlling the rear wiper to perform a closing action for a first time period and then controlling the tailgate to be opened to perform an opening action; When the rear wiper is in the operation closed state and the rear washer is in the operation open state, controlling the rear washer to perform a closing action for a second time period and then controlling the tailgate to be opened to perform an opening action; the second time period is greater than the first time period; When the rear wiper and the rear washer are both in the on-operation state, the rear wiper is controlled to perform a wiping action within the second time period after the rear washer is controlled to perform a closing action, and the rear wiper is controlled to perform a closing action after the second time period, and the tailgate to be opened is controlled to perform an opening action after the rear wiper performs a closing action for the first time period.

4. The method according to claim 1, wherein The target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type, including: If the target operating state of the rear scraper and washer assembly is the operating closed state, and the target type is the upper door type or the lower door type, determining that the target linkage control strategy corresponding to the target opening instruction is to control the rear scraper and washer assembly to maintain the operating closed state and control the tailgate to be opened to perform an opening action; If the target operating state of the rear scraping and washing component is the operating closed state, and the target type includes an upper door type and a lower door type, then the target linkage control strategy corresponding to the target opening instruction is determined to control the rear scraping and washing component to maintain the operating closed state, and control the first door belonging to the upper door type and the second door belonging to the lower door type to perform the opening action.

5. The method according to any one of claims 1 to 4, characterized in that After acquiring the target opening instruction of the tailgate, and before determining the target linkage control strategy corresponding to the target opening instruction according to the target operating state and the target type of the rear scraper and washer assembly, the method further includes: Detect the target seating state of the main driver's seat; The target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type, including: When the target riding state is an unoccupied state, a target linkage control strategy corresponding to the target start instruction is determined according to the target operating state of the rear scraping and washing component and the target type.

6. The method according to claim 5, characterized in that After detecting the target seating state of the main driver's seat, the method further includes: When the target riding state is an occupied state, if the target operating state is an operating-on state, a corresponding target reminder message is issued to remind the vehicle owner that the rear scraper and washer assembly must be closed before the tailgate to be opened can be opened; Obtaining a target closing instruction for the rear scraping and washing component; In response to the target closing instruction, controlling the rear scraping and washing assembly to perform a closing action; After the target operating state of the rear scraper and washer assembly changes from the operating-on state to the operating-off state, the tailgate to be opened is controlled to perform an opening action.

7. The method according to claim 1, characterized in that The method further comprises: When the back door is opened, a control failure instruction is sent to the rear scraping and washing component to cause the rear scraping and washing component to shield the corresponding opening control instruction; When the back door changes from being opened to being closed, a control recovery instruction is sent to the rear scraping and washing component to recover the control right of the rear scraping and washing component.

8. A back door control device, characterized in that: The back door includes a first door and a second door, the first door and the second door are in a split-door type, and the first door and the second door can be opened or closed independently, and the device includes: A first acquisition module is configured to acquire a target opening instruction for the back door; the target opening instruction carries a target type of the back door to be opened; a determination module, configured to determine a target linkage control strategy corresponding to the target start instruction according to the target operating state of the rear scraping and washing component and the target type; The first control module is used for controlling the tailgate to be opened and the rear scraper and washer assembly to perform corresponding actions in a linkage manner according to the target linkage 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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