Method and device for determining arrangement position of side opening tail door of vehicle and electronic equipment

Abstract

The invention discloses a method and device for determining the arrangement position of a side-opening tail door of a vehicle and electronic equipment, the side-opening tail door comprises an infinite limiting supporting rod and a hinge shaft, and the method comprises the steps that initial arrangement position parameters of the side-opening tail door are obtained; based on the initial arrangement position parameters, the torque of multiple preset opening degree positions of the supporting rod and the gravity component torque of the side opening tail door are determined, and the gravity component torque is the torque generated by the gravity of the side opening tail door in the direction of a hinge shaft; according to the torques of the multiple preset opening positions of the supporting rod and the gravity component torques, tail door operating force of the supporting rod at the multiple preset opening positions is obtained; characteristic parameters in the initial arrangement position parameters are determined according to the tail door operation force of the supporting rod at the multiple preset opening degree positions; and the characteristic parameters are adjusted, so that the tail door operation force of the supporting rod at the multiple preset opening degree positions is within the preset operation force range, and target arrangement position parameters of the side opening tail door are determined based on the adjusted characteristic parameters.

Description

Technical Field

[0001] The present application relates to the technical field of automobile bodies, and in particular to a method, device, and electronic device for determining the layout position of a side-opening tailgate of a vehicle. Background Art

[0002] Because side-opening tailgates accommodate heavy spare tires or small backpacks, they typically utilize an unlimited-position strut that can hover in any position. Unlike the struts for hatchbacks that open and close, this strut incorporates a hydraulic cylinder, resulting in a force output that differs from that of standard struts. The basic principle behind this unlimited-position strut is that it applies to side-opening tailgate systems, requiring the tailgate to be able to stop at any angle and provide sufficient resistance (or locking force) when starting from a static position to maintain the tailgate's open angle despite wind, accidental collisions, and gravity. The resistance (operating force) during the opening and closing motion is minimal, ensuring easy and comfortable operation.

[0003] The displacement (or stroke)-force curve of the unlimited position support rod is as follows Figure 1 As shown, the function is as follows: when the product is initially compressed (or stretched) and activated, the output force is high (generating the locking force of the limit function). During operation, the force (operating force) decreases to a relatively low level, allowing the operator to open and close doors and windows with minimal force. However, the current method for calculating the locking position and operating force during operation of a side-opening tailgate does not yet have an accurate and effective systematic determination method. If the locking position and operating force targets are not met subsequently, it is impossible to identify which key parameters need to be optimized, making it difficult to achieve the target requirements. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, and electronic device for determining the layout position of a side-opening tailgate of a vehicle. The method can quickly determine the tailgate operating force of the side-opening tailgate support rod at multiple preset opening positions, optimize the characteristic parameters that affect the tailgate operating force, and thereby make the design of the side-opening tailgate meet the required layout position, achieve the purpose of saving more effort, and improve the user experience.

[0005] In the first aspect, the present application provides the following technical solutions through an embodiment of the present application:

[0006] A method for determining a layout position of a side-opening tailgate of a vehicle, the side-opening tailgate comprising an unlimited position support rod and a hinge axis, the method comprising: obtaining initial layout position parameters of the side-opening tailgate; determining, based on the initial layout position parameters, the torques at a plurality of preset opening positions of the support rod and the gravity component torque of the side-opening tailgate, wherein the gravity component torque is the torque generated by the gravity of the side-opening tailgate along the hinge axis direction; deriving tailgate operating forces of the support rod at the plurality of preset opening positions according to the torques at the plurality of preset opening positions of the support rod and the gravity component torque; determining characteristic parameters in the initial layout position parameters according to the tailgate operating forces of the support rod at the plurality of preset opening positions; adjusting the characteristic parameters so that the tailgate operating forces of the support rod at the plurality of preset opening positions are all within a preset operating force range, and determining target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

[0007] Optionally, the initial layout position parameters include: the initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point. After obtaining the initial layout position parameters of the side-opening tailgate, it also includes: performing coordinate conversion on the initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point to obtain the coordinates of the hinge axis, the coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the coordinates of the body installation point of the support rod, and the coordinates of the tailgate operation point after coordinate conversion, so that the hinge axis after coordinate conversion is perpendicular to the horizontal plane.

[0008] Optionally, the initial layout position parameters also include an angle between the strut and a horizontal plane. Based on the initial layout position parameters, the torque of multiple preset opening positions of the strut is determined, including: determining the strut lengths of multiple preset opening positions according to the vehicle body mounting point coordinates and the tailgate mounting point coordinates of the multiple preset opening positions; determining the strut force arm of multiple preset opening positions according to the vehicle body mounting point coordinates, the tailgate mounting point coordinates of the multiple preset opening positions, the hinge axis coordinates and the strut length; determining the torque of multiple preset opening positions of the strut based on the strut length, the strut force arm and the angle between the strut and a horizontal plane.

[0009] Optionally, the torque of multiple preset opening positions of the strut is determined based on the strut length, the strut lever arm and the angle between the strut and the horizontal plane, including: determining the strut locking force of multiple preset opening positions and the strut operating force of multiple preset opening positions based on the strut length and the angle between the strut and the horizontal plane; determining the torque of multiple preset opening positions of the strut based on the strut locking force, the strut operating force and the strut lever arm of the multiple preset opening positions.

[0010] Optionally, the initial layout position parameters also include the hinge axis inclination angle and the tailgate gravity arm. Based on the initial layout position parameters, the gravity component torque of the side-opening tailgate is determined, including: determining the initial angle of movement of the gravity component force around the hinge axis according to the hinge axis inclination angle, the hinge axis coordinates, the tailgate assembly center of gravity coordinates and the tailgate gravity arm; determining the gravity component torque of the side-opening tailgate according to the initial angle of movement, the tailgate gravity arm, the tailgate assembly center of gravity coordinates and the hinge axis inclination angle.

[0011] Optionally, determining the gravity component torque of the side-opening tailgate based on the initial angle of movement, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly and the inclination angle of the hinge axis includes: obtaining the corresponding inclination angle of the vehicle in an uphill or downhill state; determining the gravity component torque of the side-opening tailgate in an uphill or downhill state based on the initial angle of movement, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, the inclination angle of the hinge axis and the inclination angle.

[0012] Optionally, the torques of the multiple preset opening positions of the support rod include: compression locking torques of multiple preset opening positions, extension locking torques of multiple preset opening positions, compression running torques of multiple preset opening positions, and extension running torques of multiple preset opening positions. The tailgate operating force of the support rod at the multiple preset opening positions is obtained based on the torques of the multiple preset opening positions of the support rod and the gravity component torque, including: subtracting the gravity component torque from the compression locking torque, and then dividing by the closing force arm to obtain the tailgate locking position closing operation force of the multiple preset opening positions; dividing the extension force by the gravity component torque. The gravity component torque is subtracted from the expansion locking torque, and then the result is divided by the opening lever arm to obtain the tailgate locking position opening operating force for multiple preset opening positions; the gravity component torque is subtracted from the compression operating torque, and then the result is divided by the closing lever arm to obtain the tailgate operation closing operating force for multiple preset opening positions; the gravity component torque is subtracted from the extension operating torque, and then the result is divided by the opening lever arm to obtain the tailgate operation opening operating force for multiple preset opening positions, wherein the closing lever arm is obtained based on the hinge axis coordinates and the tailgate operation point coordinates, and the opening lever arm is equal to the closing lever arm.

[0013] Optionally, the adjusting of the characteristic parameters so that the tailgate operating forces of the support rod at a plurality of preset opening positions are all within a preset operating force range includes: respectively adjusting the characteristic parameters of the tailgate locking position closing operating force, the tailgate locking position opening operating force, the tailgate operation closing operating force and the tailgate operation opening operating force for the first time so that the tailgate locking position closing operating force, the tailgate locking position opening operating force, the tailgate operation closing operating force and the tailgate operation opening operating force are all within the preset operating force range; The method further comprises: determining a self-closing energy of the tailgate according to the tailgate operation closing operation force; adjusting the characteristic parameter of the tailgate operation closing operation force for a second time so that the self-closing energy of the tailgate is greater than or equal to a preset energy; and adjusting the characteristic parameter of the compression locking torque for a third time so that the compression locking torque is greater than a preset torque value, wherein the preset torque value is the sum of the gravity component torque and the dynamic inertia torque of the tailgate, and then subtracting a constant reaction torque when the tailgate is in a closed state, wherein the dynamic inertia torque of the tailgate and the constant reaction torque are constant values.

[0014] In a second aspect, the present application provides the following technical solutions through an embodiment of the present application:

[0015] A device for determining the layout position of a side-opening tailgate of a vehicle, comprising:

[0016] an acquisition module, configured to acquire initial layout position parameters of the side-opening tailgate;

[0017] a torque determination module, configured to determine, based on the initial arrangement position parameters, the torques at a plurality of preset opening positions of the support rod and the gravity component torque of the side-opening tailgate, wherein the gravity component torque is the torque generated by the gravity of the side-opening tailgate along the hinge axis;

[0018] an operating force determination module, configured to determine the tailgate operating force of the support rod at the plurality of preset opening positions based on the torque of the support rod at the plurality of preset opening positions and the gravity torque component;

[0019] a characteristic parameter determination module, configured to determine characteristic parameters of the initial arrangement position parameters based on tailgate operating forces of the support rod at a plurality of preset opening positions;

[0020] An optimization module is used to adjust the characteristic parameters so that the tailgate operating force of the support rod at multiple preset opening positions is within a preset operating force range, and determine the target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

[0021] In a third aspect, the present application provides the following technical solutions through an embodiment of the present application:

[0022] An electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods described in the first aspect are implemented.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] The side-opening tailgate layout position determination method provided in the embodiment of the present application first obtains the initial layout position parameters of the tailgate, determines the arbitrary opening position torque and gravity component torque of the support rod, and then obtains the tailgate operating force of the support rod at multiple preset opening positions. According to the tailgate operating forces at multiple preset opening positions, the characteristic parameters to be optimized can be obtained. Therefore, the present application identifies the characteristic parameters through the layout position determination method based on the initial layout position parameters, determines which parameters to optimize, and can achieve the purpose of better opening and closing the tailgate. Then, the characteristic parameters are adjusted so that the tailgate operating forces of the support rod at multiple preset opening positions are all within the preset operating force range, thereby realizing rapid optimization of the layout position parameters, rapidly optimizing the operating force requirements required to meet the required output, realizing the customer's operating needs, achieving the purpose of saving more effort, and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 A graph showing the locking position of the stepless strut and the operating force and stroke during operation in an embodiment of the present application;

[0027] Figure 2 This is a flow chart of a method for determining the layout position of a side-opening tailgate in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of the mechanics of a side-opening tailgate assembly in an embodiment of the present application;

[0029] Figure 4 Schematic diagram of the closing operation force of the tailgate support rod in the locking position in the embodiment of the present application;

[0030] Figure 5 Schematic diagram of the coordinates of the support rod tailgate installation points at any opening position in the embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the hinge axis coordinate transformation in the embodiment of the present application;

[0032] Figure 7 This is a schematic diagram of the gravity decomposition of the tailgate in an embodiment of the present application;

[0033] Figure 8 This is a schematic diagram of the decomposition of gravity G2 along the hinge axis in an embodiment of the present application;

[0034] Figure 9 A schematic diagram of the initial angle of the gravity component movement in an embodiment of the present application;

[0035] Figure 10 Schematic diagram of calculation of the lever arm at any opening position in the embodiment of the present application;

[0036] Figure 11 Schematic diagram of the curve of the tailgate operating force at any opening position in the embodiment of the present application;

[0037] Figure 12 A schematic diagram of the self-closing energy calculation in an embodiment of the present application;

[0038] Figure 13 This is a flowchart for optimizing the locking and operating force of the side-opening tailgate in an embodiment of the present application;

[0039] Figure 14 Schematic diagram of the structure of the device for determining the layout position of a side-opening tailgate in an embodiment of the present application;

[0040] Figure 15 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The embodiments of the present application provide a method, device, and electronic device for determining the layout position of a side-opening tailgate of a vehicle. The method can quickly determine the tailgate operating force of the side-opening tailgate support rod at multiple preset opening positions, optimize the characteristic parameters that affect the tailgate operating force, and thereby make the design of the side-opening tailgate meet the required layout position, achieve the purpose of saving more effort, and improve the user experience.

[0042] The technical solution of the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0043] A method for determining the layout position of a side-opening tailgate of a vehicle, the side-opening tailgate including an unlimited position support rod and a hinge axis, the method comprising: obtaining initial layout position parameters of the side-opening tailgate; determining the torque of the support rod at multiple preset opening positions and the gravity component torque of the side-opening tailgate based on the initial layout position parameters, wherein the gravity component torque is the torque generated by the gravity of the side-opening tailgate along the hinge axis; deriving the tailgate operating force of the support rod at the multiple preset opening positions based on the torque and gravity component torque at the multiple preset opening positions; determining characteristic parameters in the initial layout position parameters based on the tailgate operating forces of the support rod at the multiple preset opening positions; adjusting the characteristic parameters so that the tailgate operating forces of the support rod at the multiple preset opening positions are all within the preset operating force range, and determining the target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

[0044] It should be noted that the implementation scheme of the present application can be implemented in CATIA software, or other similar development software such as EXCEL and MATALB. The specific software used is not limited in this application.

[0045] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0046] In the first aspect, the embodiment of the present application provides a method for determining the layout position of a side-opening tailgate of a vehicle. Specifically, Figure 2 As shown, the method includes the following steps S101 to S105:

[0047] Step S101, obtaining initial layout position parameters of the side-opening tailgate;

[0048] Step S102 : determining the moments of the support rod at multiple preset opening positions and the gravity component moment of the side-opening tailgate based on the initial arrangement position parameters, wherein the gravity component moment is the moment generated by the gravity of the side-opening tailgate along the hinge axis.

[0049] like Figure 3 The figure shows the mechanics of the side-opening tailgate assembly. The hinge shaft may include an upper hinge shaft and a lower hinge shaft. The upper hinge shaft, the lower hinge shaft and the unlimited position support rod are all connected to the tailgate body. Figure 3 It shows the direction of the closing force when the vehicle is closed, the direction of the opening force when the vehicle is opened, and the strut force generated by the limit position strut itself under the influence of gravity.

[0050] In order to facilitate understanding of this solution, in this application, the connection point between the support rod and the vehicle body is represented as the support rod vehicle body mounting point, the end of the support rod away from the support rod vehicle body mounting point is represented as the support rod tailgate mounting point, and the tailgate handle operation point is represented as the tailgate operation point. Figure 4The figure shows the closing force of the tailgate strut in the locked position, viewed from above the side-opening tailgate. a represents the hinge axis, b the strut-body mounting point, c the strut-tailgate mounting point, and d the tailgate operating point.

[0051] Specifically, the tailgate opening lever L can be determined based on the tailgate operation point and the hinge axis position. 开 and closing lever arm L 关 According to the position of the center of gravity of the tailgate assembly and the position of the hinge axis, the motion component of gravity around the hinge axis can be determined, such as Figure 4 As shown, G2 is the component of gravity around the hinge axis, which can generate a kinetic torque. Based on the component of gravity around the hinge axis G2 and the hinge axis position, the tailgate gravity arm L0 can be determined. The force applied from the tailgate support mounting point toward the vehicle body mounting point is the tailgate compression locking force.

[0052] The initial layout position parameters may include: initial coordinates of the hinge axes (upper hinge axis coordinates, lower hinge axis coordinates), initial coordinates of the tailgate assembly's center of gravity, initial coordinates of the tailgate mounting points at multiple preset opening positions, initial coordinates of the strut's vehicle body mounting point, initial coordinates of the tailgate operating point (door opening and closing point coordinates), as well as the hinge axis inclination angle, tailgate gravity arm, angle between the strut and the horizontal plane, tailgate assembly weight, door opening angle, vehicle slope, and initial locking force and initial operating force of the strut. The multiple preset opening positions may be selected from multiple different opening positions.

[0053] Since the hinge axis has an inclination angle, in the specific implementation process, for the accuracy and convenience of calculation, after obtaining the initial layout position parameters of the side-opening tailgate, it can also include: performing coordinate conversion on the initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point, to obtain the coordinates of the hinge axis, the coordinates of the center of gravity of the tailgate assembly, the coordinates of the tailgate installation points at multiple preset opening positions, the coordinates of the body installation point of the support rod, and the coordinates of the tailgate operation point after coordinate conversion, so that the hinge axis after coordinate conversion is perpendicular to the horizontal plane.

[0054] Specifically, the coordinate conversion may include: pre-configuring a coordinate conversion matrix according to the initial layout position parameters of the side-opening tailgate, and multiplying the coordinates to be converted by the coordinate conversion matrix to obtain the converted coordinates of each parameter in the initial layout parameters.

[0055] Among them, the coordinates to be converted can be obtained by the following method: establish a coordinate system, the X-axis of the coordinate system is the projection direction of the rotation axis on the horizontal plane, the Y-axis is the direction perpendicular to the projection, and the Z-axis is the direction perpendicular to the horizontal plane. Take any point of the rotation axis as a fixed point, and rotate the hinge axis by a preset angle along the XZ plane where the Y=0 axis is located, so that the hinge axis is parallel to the Z axis, wherein the preset angle is equal to the hinge axis inclination angle α, and the fixed point is used as the origin of the coordinate system.

[0056] That is Figure 5 The figure shows the coordinates of the strut tailgate mounting points at any opening position. When viewing a side-opening tailgate from above, the projection of the hinge axis on the horizontal plane is perpendicular to the Y-axis. The direction of the projection is used as the X-axis. The point corresponding to the hinge axis coordinate is used as the origin to facilitate subsequent calculations. All position coordinates are transformed as described below, and the relative position relationships remain unchanged.

[0057] For example, taking the hinge point above as an example, Figure 6 The schematic diagram of the hinge axis coordinate transformation is shown in the figure. The coordinates of the upper hinge point 1 are (X1, Y1, Z1). The coordinates of the upper hinge point 1′ after transformation are (X1′, Y1, Z1 ′ ), the distance L4 between the coordinates of the upper hinge point 1 and the coordinates of the upper hinge point 1′ to the Y=0 axis position remains unchanged, and the converted coordinates are obtained according to the following method:

[0058]

[0059] Y1 remains unchanged, and the position after coordinate transformation is obtained. Subsequent calculations are performed according to this method.

[0060] During the specific implementation process, the initial layout position parameters also include the hinge axis inclination angle α and the tailgate gravity arm L0. Based on the initial layout position parameters, determining the gravity component torque of the side-opening tailgate can include: determining the initial angle of movement of the gravity component force around the hinge axis according to the hinge axis inclination angle, the hinge axis coordinates, the tailgate assembly center of gravity coordinates and the tailgate gravity arm; determining the gravity component torque of the side-opening tailgate according to the initial angle of movement, the tailgate gravity arm, the tailgate assembly center of gravity coordinates and the hinge axis inclination angle.

[0061] Specifically, if Figure 9The figure shows a schematic diagram of the initial angle of motion of the gravity component force. First, based on the hinge axis coordinates and the coordinates of the center of gravity of the tailgate assembly, the motion component force G1 of gravity parallel to the hinge axis around the hinge axis can be determined, and a random coordinate in the direction of the motion component force is used as the first coordinate H3. Based on the coordinates of the center of gravity of the tailgate assembly, the force G in the direction of gravity can also be determined, and a random coordinate in the direction of gravity is used as the second coordinate H4. Based on the hinge axis inclination angle, the hinge axis coordinates, the coordinates of the center of gravity of the tailgate assembly, the first coordinate, the second coordinate and the tailgate gravity arm, the initial angle of motion of the gravity component force around the hinge axis is determined.

[0062] like Figure 7 As shown in the schematic diagram of the tailgate gravity decomposition and the figure, G2 is the motion component of gravity around the hinge axis. The G1 component is parallel to the hinge axis and does not generate torque. It does not generate torque for the tailgate movement and can be ignored. Among them, G2 = G×sinα.

[0063] Draw a normal plane perpendicular to the hinge axis at the center of gravity G to obtain G2′. Figure 8 The decomposition diagram of the gravity G2 along the hinge axis, G2′ is the vertical motion component of gravity around the hinge axis, which can generate a motion torque. There is an angle R between G2 and G2′, and it can be concluded that: G2′=G2×cosR, where R can be determined by the initial position. The force decomposed by the gravity G2 along the hinge axis is G2″, and there is an angle R1 between G2 and G2″.

[0064] like Figure 9 As shown, assuming that the coordinates of the center of gravity of the tailgate assembly after coordinate conversion are G (Xg, Yg, Zg), the length of GH4 here is set to an arbitrary value S, and assuming that the coordinates of H4 before conversion are (Xg, Yg, Zg-S), the coordinates of H4 after coordinate conversion are (X′4, Yg, Z′4).

[0065] in:

[0066] Yg remains unchanged,

[0067] According to the hinge axis coordinates after coordinate conversion, if the coordinates of H1 are (X1′, Y1, Zg), it can be seen from the triangle GH3H4 that GH3=GH4×cosα=S×cosα, so H1H2=GH3=S×cosα, then the coordinates of H2 are (X1′, Y1, Zg-S×cosα), and the coordinates of H3 are (Xg, Yg, Zg-S×cosα).

[0068] Assuming that the length of H2H4 is S1, the length of H3H4 is S2, and H3H2=GH1, we can get R1:

[0069]

[0070] Where L0 is the tailgate gravity arm, H3H4 is obtained based on the first and second coordinates, and H2H4 is obtained based on the hinge axis coordinates, hinge axis inclination, and the second coordinate. Then, according to R1 = 90-R, the initial angle of motion R is obtained.

[0071] Specifically, the gravity component torque of the side-opening tailgate is determined based on the initial angle of movement, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, and the inclination angle of the hinge axis, including: according to M1=G2′×L0=G2×cosR×L0=G×sinα×cosR×L0, the gravity component torque M1 is obtained, wherein α is the inclination angle of the hinge axis, R is the initial angle of movement, L0 is the tailgate gravity arm, and G is the coordinates of the center of gravity of the tailgate assembly.

[0072] Furthermore, in order to improve the accuracy of obtaining the gravity component torque, the present application takes into account the influence of the tilt angle generated by the vehicle during the uphill or downhill process on the side-opening tailgate, and determines the gravity component torque of the side-opening tailgate based on the initial angle of movement, the tailgate gravity arm, the center of gravity coordinates of the tailgate assembly and the hinge axis inclination angle, which may include: obtaining the corresponding tilt angle of the vehicle in the uphill or downhill state; determining the gravity component torque of the side-opening tailgate in the uphill or downhill state based on the initial angle of movement, the tailgate gravity arm, the center of gravity coordinates of the tailgate assembly, the hinge axis inclination angle and the tilt angle.

[0073] The tilt angle may refer to a slope. In a specific embodiment, the tilt angle corresponding to the vehicle in an uphill or downhill state is obtained by obtaining a plurality of tilt angles pre-stored for experimental testing, or performing an experimental test on the vehicle.

[0074] If the vehicle is in a downhill state, then according to M2=G×sin(α+tan -1 A) × cosR × L0, if the vehicle is in a downhill state, then according to M3 = G × sin (α-tan -1 A) × cosR × L0, where A is the inclination angle (slope), α is the hinge axis inclination angle, R is the initial angle of motion, L0 is the tailgate gravity arm, and G is the coordinate of the center of gravity of the tailgate assembly.

[0075] In a specific embodiment, the initial layout position parameters may further include the angle μ between the strut and the horizontal plane. Based on the initial layout position parameters, determining the torque of multiple preset opening positions of the strut may include: determining the strut lengths of multiple preset opening positions based on the coordinates of the vehicle body installation point and the coordinates of the tailgate installation point of multiple preset opening positions; determining the strut lever arm of multiple preset opening positions based on the coordinates of the vehicle body installation point, the coordinates of the tailgate installation point of multiple preset opening positions, the hinge axis coordinates and the strut length; determining the torque of multiple preset opening positions of the strut based on the strut length, the strut lever arm and the angle between the strut and the horizontal plane.

[0076] First, according to the coordinates of the tailgate installation point (X 门 , Y 门 , Z 门 ), body installation point coordinates (X 车 , Y 车 , Z 车 ), and obtain the coordinates of the tailgate installation point after coordinate transformation (X′ 门 , Y′ 门 , Z′ 门 ), body mounting point coordinates (X′ 车 , Y′ 车 , Z′ 车 ), according to the kinematic relationship, the body mounting point will not change, while the tailgate mounting point will move and change with the door opening.

[0077] The following is to calculate the coordinates of the tailgate mounting point at any opening position:

[0078] Assume that the angle between the tailgate mounting point and the Y axis in the initial position (tailgate closed) is B, see Figure 5 As shown, the initial position coordinates of the support tailgate installation point (X′ 门 -X1′, Y′ 门 -Y1,0), B=arctan(Y′ 门 -Y1) / (X′ 门 -X1′), then the coordinates of the tailgate mounting point at any opening position N are (X N , Y N ), the position angle is β=(NB).

[0079] Then X N =R0×sinβ=R0×sin(NB)

[0080] Y N =R0×cosβ=R0×cos(NB)

[0081] Z N =Z′ 车, where R0 is the distance between the tailgate support mounting point and the hinge axis, which is a fixed value.

[0082] According to the position of any point of the tailgate support mounting point and the position of the vehicle body fixing point, the length L of the support at any opening position can be directly obtained. g .

[0083] Then, if Figure 10 The figure shows the calculation of the lever arm at any opening position. According to the coordinates of the hinge axis and the mounting point of the lever tailgate, R0 can be obtained. According to the coordinates of the hinge axis and the mounting point of the vehicle body, R1 can be obtained. Then the lever arm at any opening position is: L 力 =R0×sinδ, where L g is the length of the strut.

[0084] Then, based on the coordinates of the vehicle body installation point, the coordinates of the tailgate installation points at multiple preset opening positions, the coordinates of the hinge axis and the length of the strut, the strut lever arms at multiple preset opening positions are determined, which may include: determining the strut locking force at multiple preset opening positions and the strut operating force at multiple preset opening positions based on the strut length and the angle between the strut and the horizontal plane; determining the torque of the strut at multiple preset opening positions based on the strut locking force, the strut operating force and the strut lever arms at multiple preset opening positions.

[0085] In a specific embodiment, since there is an angle between the support rod and the XY plane, it is necessary to calculate the angle μ between the support rod and the XY plane. The length of the support rod projected onto the XY plane is Then μ=arcsin(Lp / L g ).

[0086] As an example, the strut locking force may include a compression locking force and an extension locking force, and the strut operating force may include a compression operating force and an extension operating force.

[0087] Assuming that the initial compression locking force of the strut is F5, the compression locking force at multiple preset opening positions is: F5×sinμ=F5×sin(arcsin(Lp / L g ));

[0088] Assuming that the initial extension locking force of the strut is F6, the extension locking force at multiple preset opening positions is F6×sinμ=F6×sin(arcsin(Lp / L g ));

[0089] Assuming that the initial compression operating force of the strut is F7, the compression operating force at multiple preset opening positions is F7×sinμ=F7×sin(arcsin(Lp / L g ));

[0090] Assuming that the initial extension force of the strut is F8, the extension force at multiple preset opening positions is F8×sinμ=F8×sin(arcsin(Lp / L g )). Based on the length of the strut and the angle between the strut and the horizontal plane, the strut locking force at multiple preset opening positions and the strut operating force at multiple preset opening positions are determined.

[0091] The torques of the plurality of preset opening positions may include compression locking torques of the plurality of preset opening positions, extension locking torques of the plurality of preset opening positions, extension locking torques of the plurality of preset opening positions, and extension running torques of the plurality of preset opening positions.

[0092] Specifically, according to the compression locking force at multiple preset opening positions and the strut lever arm L at multiple preset opening positions, 力 , the compression locking torque is obtained: M5=F5×sin(arcsin(Lp / L g ))×L 力 ;

[0093] According to the extension locking force of multiple preset opening positions and the strut force arm L of multiple preset opening positions 力 , the extension locking torque is obtained: M6=F6×sin(arcsin(Lp / L g ))×L 力 ;

[0094] According to the compression operating force of multiple preset opening positions and the strut force arm L of multiple preset opening positions 力 , the compression operating torque is obtained: M7=F7×sin(arcsin(Lp / L g ))×L 力 ;

[0095] According to the extension operation force of multiple preset opening positions and the support arm L of multiple preset opening positions 力 , the stretching operating torque is obtained: M8=F8×sin(arcsin(Lp / L g ))×L 力 Thus, the torques at multiple preset opening positions of the strut are determined.

[0096] Step S103 : deriving the tailgate operating force of the support rod at the plurality of preset opening positions according to the moments of the support rod at the plurality of preset opening positions and the gravity moment component.

[0097] In a specific embodiment, Figure 4 As shown, the following takes the calculation of the operating force during the closing process of the tailgate when it is in the locked position as an example:

[0098] Compression locking torque M5-gravity component torque M1=tailgate lock position closing operating torque (F11×L 关 ), that is, Formula 1: M5-M1=F11×L 关 , where F11 is the tailgate locking position closing operation force, L 关 To close the lever arm;

[0099] Similarly, we can get:

[0100] Extension locking torque M6 + gravity component torque M1 = tailgate lock position opening operating torque (F12×L 开 ), that is, Formula 2: M6-M1=F12×L 开 , where F12 is the tailgate lock position opening operation force, L 开 To open the lever arm;

[0101] The closing torque of the support rod M7-the gravity torque M1=the closing torque of the tailgate operation position (F13×L 关 ), that is, Formula 3: M7-M1=F13×L 关 , where F13 is the tailgate operating position closing force.

[0102] The extension torque of the support rod M8 + the gravity torque M1 = the tailgate opening torque (F14×L 开 ), that is, Formula 4: M8+M1=F14×L 开 , where F14 is the tailgate operating position opening force.

[0103] In a specific embodiment, the tailgate operating force of the support rod at multiple preset opening positions is obtained based on the torque of the support rod at multiple preset opening positions and the gravity component torque, which can include: subtracting the gravity component torque from the compression locking torque, and then dividing by the closing lever arm to obtain the tailgate locking position closing operating force at multiple preset opening positions; subtracting the gravity component torque from the extension locking torque, and then dividing by the opening lever arm to obtain the tailgate locking position opening operating force at multiple preset opening positions; subtracting the gravity component torque from the compression operating torque, and then dividing by the closing lever arm to obtain the tailgate operation closing operating force at multiple preset opening positions; subtracting the gravity component torque from the extension operating torque, and then dividing by the opening lever arm to obtain the tailgate operation opening operating force at multiple preset opening positions, wherein the closing lever arm is obtained based on the hinge axis coordinates and the tailgate operation point coordinates, and the opening lever arm is equal to the closing lever arm.

[0104] Specifically, according to formulas 1 to 4, we can obtain:

[0105] Tailgate lock position closing operation force F11 = (compression locking torque - gravity component torque) / closing arm = (M5 - M1) / L 关 , that is, Formula 5: F11 = (M5-M1) / L关 =(F5×sin(arcsin(Lp / L g ))×L 力 -G×sinα×cosR×L0) / L 关 ;

[0106] Tailgate lock position opening operating force F12 = (extension locking torque M6 + gravity component torque M1) / opening arm = (M6 + M1) / L 开 , that is, Formula 6: F12 = (M6 + M1) / L 开 =(F6×sin(arcsin(Lp / L g ))×L 力 +G×sinα×cosR×L0) / L 开 .

[0107] Tailgate closing force F13 = (compression moment M7 - gravity moment M1) / L 关 , that is, Formula 7: F13 = (M7-M1) / L 关 =(F7×sin(arcsin(Lp / L g ))×L 力 -G×sinα×cosR×L0) / L 关 .

[0108] Tailgate opening force F14 = (extension operating torque M8 + gravity component torque M1) / L 开 , that is, Formula 8: F14 = (M8 + M1) / L 开 =(F8×sin(arcsin(Lp / L g ))×L 力 +G×sinα×cosR×L0) / L 开 .

[0109] Step S104, determining characteristic parameters of the initial arrangement position parameters based on the tailgate operating forces of the support rod at multiple preset opening positions;

[0110] Step S105 , adjusting the characteristic parameters so that the tailgate operating forces of the support rod at multiple preset opening positions are all within a preset operating force range, and determining target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

[0111] As can be seen from the above, the tailgate operating force is obtained based on the torque and gravity torque at multiple preset opening positions. The torque at multiple preset opening positions can be changed according to the changes in the coordinates of the vehicle body installation point and the tailgate installation point, and the gravity torque can be changed according to the change in the hinge axis inclination angle. It can be determined that the optimization variables for the operating force to meet the requirements are the hinge axis inclination angle α, the tailgate installation point coordinates (X 门 , Y 门 , Z 门 ), body installation point coordinates (X 车 , Y 车 , Z 车 ). Therefore, the characteristic parameters include the hinge axis inclination angle, the tailgate installation point coordinates, and the body installation point coordinates.

[0112] In a specific embodiment, the characteristic parameters are adjusted so that the tailgate operating force of the support rod at multiple preset opening positions is within the preset operating force range, which may include: respectively adjusting the characteristic parameters of the tailgate locking position closing operating force, the tailgate locking position opening operating force, the tailgate operation closing operating force and the tailgate operation opening operating force for the first time, so that the tailgate locking position closing operating force, the tailgate locking position opening operating force, the tailgate operation closing operating force and the tailgate operation opening operating force are all within the preset operating force range.

[0113] The preset operating force range may be 0 to 60N.

[0114] Specifically, for the tailgate lock position closing operation force, according to Formula 9: 0≤F11=(F5×sin(arcsin(Lp / L g ))×L 力 -G×sinα×cosR×L0) / L 关 ≤60N for adjustment;

[0115] For the tailgate lock position opening operation force, according to formula 10: 0≤F12=(F6×sin(arcsin(Lp / L g ))×L 力 +G×sinα×cosR×L0) / L 开 ≤60N for adjustment;

[0116] For the tailgate closing operation force, according to formula 11: F13 = (M7-M1) / L 关 =(F7×sin(arcsin(Lp / L g ))×L 力 -G×sinα×cosR×L0) / L 关 ≤60N for adjustment. The F13 tailgate operation and closing operation force requirement is ≤60N during the operation process.

[0117] For the tailgate opening operating force, according to formula 12: 0≤F14=(M8+M1) / L 开 =(F8×sin(arcsin(Lp / L g ))×L 力 +G×sinα×cosR×L0) / L 开 The characteristic parameters are adjusted for the first time using the above combination until the tailgate lock position closing force, tailgate lock position opening force, tailgate operation closing force, and tailgate operation opening force are all within the range of 0 to 60N.

[0118] Furthermore, in order to meet the basic requirements of the layout position, the method also includes the following steps: 车 <Hinge axis coordinate X1, that is, X 车 <X1, optimize and adjust the coordinates of the vehicle body installation point.

[0119] Adjusting the characteristic parameters may also include: determining the tailgate self-closing energy based on the tailgate operation closing operation force; and adjusting the characteristic parameters in the tailgate operation closing operation force for a second time so that the tailgate self-closing energy is greater than or equal to a preset energy.

[0120] Specifically, in order to ensure that the tailgate is easy to close, the tailgate closing operation force F 13 The self-closing door energy is introduced for verification, which mainly involves optimizing and determining the hinge axis inclination angle α.

[0121] First, according to the tailgate locking position closing operation force F obtained above for the plurality of preset opening positions, 11 , tailgate lock position opening operation force F at multiple preset opening positions 12 , tailgate operation closing force F at multiple preset opening positions 13 And the tailgate opening operation force F at multiple preset opening positions 14 , the tailgate operating force curve at any opening position is obtained, that is, Figure 11 , which is a curve diagram of the tailgate operating force at any opening position, wherein the horizontal axis represents the opening angle of the tailgate, and the vertical axis represents the operating force value (unit: N).

[0122] In a specific embodiment, determining the tailgate self-closing energy according to the tailgate operation closing force may include: setting F 13 = 0, calculate the angle N1, and then determine the tailgate self-closing energy like Figure 12 The diagram of the self-closing energy calculation is shown in the figure. The shaded area represents the tailgate self-closing energy, where N1 is the tailgate closing operating force F. 13The slope angle corresponding to zero force.

[0123] Among them, the preset energy W 支撑 It can be obtained according to the following formula: 支撑 = Sealing reaction force consumption energy W 密封 +Buffer structure reaction force consumes energy W 缓冲 +Lock body reaction force consumes energy W 锁 +In-cabin resistance consumes energy W 气 , where W 密封 、W 缓冲 、W 锁 and W 气 are all constant values, where W 支撑 It is W0, which is a constant value when the system is determined.

[0124] The characteristic parameters of the tailgate closing operating force are adjusted for the second time using formula 14: Make the tailgate self-closing energy greater than or equal to the preset energy, ensuring that the tailgate self-closing energy can meet the minimum self-closing ability requirement.

[0125] The characteristic parameters of the compression locking torque are adjusted for a third time so that the compression locking torque is greater than a preset torque value. The preset torque value is the sum of the gravity component torque and the dynamic inertia moment of the tailgate, minus the constant reaction torque when the tailgate is closed. Among them, the dynamic inertia moment of the tailgate and the fixed reaction torque are constant.

[0126] Known, M 支撑 >M 重 +M 路面颠簸 , where M 支撑 It is the reaction torque in the closed state, including the reaction force of the sealing strip, the reaction force of the limit block, the reaction force of the lock engagement and the reaction force of the support rod, that is, M 支撑 =M 密封条 +M 缓冲块 +M 撑杆 +M 锁 +M 限位块 , where the constant reaction torque M0=M 密封条 +M 缓冲块 +M 锁 +M 限位块 .

[0127] M 重 is the gravity moment in the closed state, which is calculated using the previous gravity moment formula;

[0128] M 路面颠簸 is the dynamic inertia moment of the tailgate, which is generally a constant value obtained by testing the dynamic acceleration.

[0129] It can be concluded that: M0+M 撑杆 >M重 +M 路面颠簸 , where M 撑杆 The compression locking torque M5 in the closed state is obtained, and formula 15 is obtained: M 撑杆 >M 重 +M 路面颠簸 -M0. The preset torque value is M 重 +M 路面颠簸 -M0. Ensure that the dynamic abnormal noise in the tailgate closed state meets the requirements.

[0130] Combining the above formulas 9 to 15, the optimized hinge axis inclination angle and tailgate installation point coordinates (X 门1 , Y 门1 , Z 门1 ) and the body installation point coordinates (X 车1 , Y 车1 , Z 车1 In one example, the hinge axis inclination angle α0 is within 3°, so that all tailgate operating forces meet the target operating force requirements, the tailgate self-closing energy meets the minimum self-closing capacity requirements, and the dynamic abnormal sound of the tailgate in the closed state meets the requirements.

[0131] Therefore, during the design and development stage, the present application can quickly optimize the hinge axis inclination angle and the optimal layout position of the support rod according to the operating force requirements, the minimum energy requirements for tailgate self-closing and the optimization principle requirements for the dynamic abnormal noise of the tailgate, so as to meet the customer's usage requirements, save a lot of manpower and material resources, and improve the operational quality of the side-opening tailgate.

[0132] For ease of understanding, Figure 13 As shown, a flowchart for optimizing the locking and operating force of the side-opening tailgate proposed in this application is given. First, the initial layout position parameters are obtained, the hinge axis inclination angle, the initial position layout of the strut position, etc. are preliminarily set, and the initial locking force and initial operating force of the strut are set. Then, the motion torque of gravity around the hinge axis and the torque of the strut are obtained, so that the locking force and the operating force of the operation process can be determined. If the preliminarily determined operating force meets the requirements, the originally set layout position parameters can be determined and solidified as the formal input; if the requirements are not met, the hinge axis inclination angle and the position coordinates of the strut need to be optimized, which can quickly optimize the operating force requirements required to meet the required output.

[0133] The process of obtaining the gravity component torque in this application is to perform coordinate rotation conversion on the position point under the absolute coordinate so that the hinge axis is perpendicular to the horizontal plane, so as to quickly obtain the tangential inclination angle of the movement of gravity along the hinge rotation. The same method is used to calculate the torque of the support rod at different angles, and then obtain the locking position of the side-opening tailgate under multiple preset openings and the operating force during operation. Through this method, the operating force optimization efficiency during the development process is improved, the development time is saved, and the project development cycle can be shortened.

[0134] In summary, a method for determining the layout position of a side-opening tailgate of a vehicle provided by an embodiment of the present application identifies characteristic parameters through the layout position determination method based on initial layout position parameters, determines which parameters to optimize, and can achieve the purpose of better opening and closing the tailgate, and adjusts the characteristic parameters so that the tailgate operating force of the support rod at multiple preset opening positions is within the preset operating force range, thereby achieving rapid optimization of the layout position parameters, rapid optimization of the operating force requirements required to meet the required output, realizing the customer's operating needs, achieving the purpose of saving more effort, and improving user experience.

[0135] In the second aspect, based on the same inventive concept, the embodiment of the present application provides a device for determining the layout position of a side-opening tailgate of a vehicle, such as Figure 14 Shown, including:

[0136] An acquisition module 401 is configured to acquire initial layout position parameters of the side-opening tailgate;

[0137] a torque determination module 402 for determining, based on the initial arrangement position parameters, the torques at a plurality of preset opening positions of the support rod and the gravity component torque of the side-opening tailgate, wherein the gravity component torque is the torque generated by the gravity of the side-opening tailgate along the hinge axis;

[0138] an operating force determination module 403 for determining the tailgate operating force of the support rod at the plurality of preset opening positions based on the torque of the support rod at the plurality of preset opening positions and the gravity torque component;

[0139] a characteristic parameter determination module 404 for determining characteristic parameters of the initial arrangement position parameters based on the tailgate operating force of the support rod at a plurality of preset opening positions;

[0140] The optimization module 405 is used to adjust the characteristic parameters so that the tailgate operating force of the support rod at multiple preset opening positions is within a preset operating force range, and determine the target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

[0141] As an optional embodiment, the initial layout position parameters include: the initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point. The device also includes: a coordinate conversion module, which is used to convert the initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point to obtain the coordinates of the hinge axis, the coordinates of the center of gravity of the tailgate assembly, the coordinates of the tailgate installation points at multiple preset opening positions, the coordinates of the body installation point of the support rod, and the coordinates of the tailgate operation point after coordinate conversion, so that the hinge axis after coordinate conversion is perpendicular to the horizontal plane.

[0142] As an optional embodiment, the initial arrangement position parameter further includes an angle between the support rod and the horizontal plane, and the acquisition module specifically includes:

[0143] a strut length determination submodule, configured to determine the strut lengths at a plurality of preset opening positions based on the coordinates of the vehicle body mounting point and the coordinates of the tailgate mounting point at a plurality of preset opening positions;

[0144] a strut lever arm determination submodule, configured to determine the strut lever arms at the plurality of preset opening positions based on the vehicle body mounting point coordinates, the tailgate mounting point coordinates at the plurality of preset opening positions, the hinge axis coordinates, and the strut length;

[0145] The torque determination submodule is used to determine the torque of the strut at multiple preset opening positions based on the strut length, the strut lever arm, and the angle between the strut and the horizontal plane.

[0146] As an optional embodiment, the torque determination submodule is specifically used to: determine the strut locking force of multiple preset opening positions and the strut operating force of multiple preset opening positions based on the strut length and the angle between the strut and the horizontal plane; determine the torque of multiple preset opening positions of the strut based on the strut locking force, the strut operating force and the strut force arms of multiple preset opening positions.

[0147] As an optional embodiment, the initial arrangement position parameters further include a hinge axis inclination angle and a tailgate gravity arm, and the acquisition module specifically includes:

[0148] The initial motion angle determination submodule is used to determine the initial motion angle of the motion component of gravity around the hinge axis based on the hinge axis inclination angle, the hinge axis coordinates, the coordinates of the center of gravity of the tailgate assembly, and the tailgate gravity arm;

[0149] The gravity component moment determination submodule is used to determine the gravity component moment of the side-opening tailgate based on the initial angle of motion, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, and the inclination angle of the hinge axis.

[0150] As an optional embodiment, the gravity component torque determination submodule is specifically used to: obtain the corresponding tilt angle of the vehicle in the uphill or downhill state; based on the initial angle of movement, the tailgate gravity arm, the center of gravity coordinates of the tailgate assembly, the hinge axis inclination angle and the tilt angle, determine the gravity component torque of the side-opening tailgate in the uphill or downhill state.

[0151] As an optional embodiment, the torques of the multiple preset opening positions of the support rod include: compression locking torques of multiple preset opening positions, extension locking torques of multiple preset opening positions, compression operating torques of multiple preset opening positions, and extension operating torques of multiple preset opening positions. The operating force determination module is specifically used to: subtract the gravity component torque from the compression locking torque, and then divide it by the closing lever arm to obtain the tailgate locking position closing operating force of multiple preset opening positions; subtract the gravity component torque from the extension locking torque, and then divide it by the opening lever arm to obtain the tailgate locking position opening operating force of multiple preset opening positions; subtract the gravity component torque from the compression operating torque, and then divide it by the closing lever arm to obtain the tailgate operation closing operating force of multiple preset opening positions; subtract the gravity component torque from the extension operating torque, and then divide it by the opening lever arm to obtain the tailgate operation opening operating force of multiple preset opening positions, wherein the closing lever arm is obtained based on the hinge axis coordinates and the tailgate operation point coordinates, and the opening lever arm is equal to the closing lever arm.

[0152] As an optional embodiment, the optimization module is specifically used to: respectively adjust the characteristic parameters of the tailgate locking position closing operation force, the tailgate locking position opening operation force, the tailgate operation closing operation force and the tailgate operation opening operation force for the first time, so that the tailgate locking position closing operation force, the tailgate locking position opening operation force, the tailgate operation closing operation force and the tailgate operation opening operation force are all within a preset operation force range; adjusting the characteristic parameters also includes: determining the tailgate self-closing energy according to the tailgate operation closing operation force; adjusting the characteristic parameters of the tailgate operation closing operation force for the second time, so that the tailgate self-closing energy is greater than or equal to the preset energy; adjusting the characteristic parameters of the compression locking torque for the third time, so that the compression locking torque is greater than the preset torque value, the preset torque value is the sum of the gravity component torque and the dynamic inertia torque of the tailgate, and then subtracting the constant reaction torque when the tailgate is in the closed state, wherein the dynamic inertia torque of the tailgate and the constant reaction torque are constants.

[0153] The above modules can be implemented by software codes, in which case the above modules can be stored in the memory of the control device. The above modules can also be implemented by hardware such as integrated circuit chips.

[0154] The embodiment of the present application provides a device for determining the layout position of a side-opening tailgate of a vehicle. Its implementation principle and technical effects are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0155] In a third aspect, based on the same inventive concept, an embodiment of the present application provides an electronic device 500, such as Figure 15 As shown, it includes: a memory 501, a processor 502 and a computer program 503 stored in the memory and capable of running on the processor. When the processor 502 executes the program, the steps of the arrangement position determination method described in the first aspect are implemented.

[0156] Since the electronic device described in the embodiments of the present application is the electronic device used to implement the arrangement position determination method in the embodiments of the present application, based on the arrangement position determination method described in the embodiments of the present application, those skilled in the art will be able to understand the specific implementation of the electronic device in the embodiments of the present application and its various variations, so how the electronic device implements the method in the embodiments of the present application will not be described in detail here. As long as those skilled in the art implement the electronic device used in the arrangement position determination method in the embodiments of the present application, it falls within the scope of protection to be provided by this application.

[0157] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0158] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A module that specifies functions in one or more boxes.

[0159] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction module, which is implemented in the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0160] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0161] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0162] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for determining the layout position of a side-opening tailgate of a vehicle, characterized in that: The side-opening tailgate includes an unlimited position support rod and a hinge axis, and the method includes: Obtaining initial layout position parameters of the side-opening tailgate; Based on the initial arrangement position parameters, determining the moments at multiple preset opening positions of the support rod and the gravity component moment of the side-opening tailgate, wherein the gravity component moment is the moment generated by the gravity of the side-opening tailgate along the hinge axis direction; deriving tailgate operating forces of the support rod at the plurality of preset opening positions based on the moments at the plurality of preset opening positions of the support rod and the gravity moment component; determining characteristic parameters of the initial arrangement position parameters based on tailgate operating forces of the support rod at a plurality of preset opening positions; The characteristic parameters are adjusted so that the tailgate operating forces of the support rod at multiple preset opening positions are all within a preset operating force range, and the target layout position parameters of the side-opening tailgate are determined based on the adjusted characteristic parameters.

2. The method according to claim 1, wherein The initial layout position parameters include: initial coordinates of the hinge axis, initial coordinates of the center of gravity of the tailgate assembly, initial coordinates of tailgate mounting points at multiple preset opening positions, initial coordinates of the vehicle body mounting point of the support rod, and initial coordinates of the tailgate operating point. After obtaining the initial layout position parameters of the side-opening tailgate, the following steps are further included: The initial coordinates of the hinge axis, the initial coordinates of the center of gravity of the tailgate assembly, the initial coordinates of the tailgate installation points at multiple preset opening positions, the initial coordinates of the body installation point of the support rod, and the initial coordinates of the tailgate operation point are converted to obtain the coordinates of the hinge axis, the coordinates of the center of gravity of the tailgate assembly, the coordinates of the tailgate installation points at multiple preset opening positions, the coordinates of the body installation point of the support rod, and the coordinates of the tailgate operation point after coordinate conversion, so that the hinge axis after coordinate conversion is perpendicular to the horizontal plane.

3. The method according to claim 2, wherein The initial arrangement position parameters further include the angle between the support rod and the horizontal plane. Based on the initial arrangement position parameters, the moments of the support rod at multiple preset opening positions are determined, including: determining the lengths of the struts at the plurality of preset opening positions according to the coordinates of the vehicle body mounting point and the coordinates of the tailgate mounting points at the plurality of preset opening positions; Determining the strut lever arms at the plurality of preset opening positions based on the vehicle body mounting point coordinates, the tailgate mounting point coordinates at the plurality of preset opening positions, the hinge axis coordinates, and the strut length; Based on the length of the strut, the strut moment arm, and the angle between the strut and a horizontal plane, moments at a plurality of preset opening positions of the strut are determined.

4. The method according to claim 3, wherein The determining of the moments of the brace at a plurality of preset opening positions based on the brace length, the brace moment arm, and the angle between the brace and the horizontal plane comprises: Determining a locking force of the strut at a plurality of preset opening positions and a running force of the strut at a plurality of preset opening positions based on the length of the strut and the angle between the strut and a horizontal plane; Based on the strut locking force, the strut operating force and the strut moment arms at the plurality of preset opening positions, the moments at the plurality of preset opening positions of the strut are determined.

5. The method according to claim 2, wherein The initial arrangement position parameters further include a hinge axis inclination angle and a tailgate gravity arm. Based on the initial arrangement position parameters, determining the gravity component moment of the side-opening tailgate includes: determining an initial angle of motion of a component of gravity around the hinge axis according to the hinge axis inclination angle, the hinge axis coordinates, the coordinates of the center of gravity of the tailgate assembly, and the tailgate gravity arm; The gravity component moment of the side-opening tailgate is determined according to the initial angle of movement, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, and the hinge axis inclination angle.

6. The method according to claim 5, wherein The determining of the gravity component moment of the side-opening tailgate according to the initial movement angle, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, and the hinge axis inclination angle includes: Get the corresponding tilt angle of the vehicle when it is uphill or downhill; Based on the initial angle of movement, the tailgate gravity arm, the coordinates of the center of gravity of the tailgate assembly, the hinge axis inclination angle and the tilt angle, the gravity component torque of the side-opening tailgate in an uphill or downhill state is determined.

7. The method according to claim 2, wherein The torques at the multiple preset opening positions of the support rod include: compression locking torques at the multiple preset opening positions, extension locking torques at the multiple preset opening positions, compression operating torques at the multiple preset opening positions, and extension operating torques at the multiple preset opening positions. The tailgate operating force of the support rod at the multiple preset opening positions is derived based on the torques at the multiple preset opening positions of the support rod and the gravity component torque, including: Subtracting the gravity component torque from the compression locking torque and then dividing by the closing lever arm to obtain the tailgate locking position closing operating force at multiple preset opening positions; Subtracting the gravity component torque from the extension locking torque and then dividing the result by the opening lever arm to obtain the tailgate locking position opening operating force at multiple preset opening positions; Subtracting the gravity component torque from the compression operating torque and then dividing the result by the closing lever arm to obtain the tailgate closing operating force at multiple preset opening positions; The extension operating torque is subtracted from the gravity component torque, and then the result is divided by the opening lever arm to obtain the tailgate opening operating force at multiple preset opening positions, wherein the closing lever arm is obtained based on the hinge axis coordinates and the tailgate operating point coordinates, and the opening lever arm is equal to the closing lever arm.

8. The method according to claim 7, wherein The adjusting of the characteristic parameters so that the tailgate operating force of the support rod at a plurality of preset opening positions is within a preset operating force range includes: performing a first adjustment on characteristic parameters of the tailgate lock position closing operation force, the tailgate lock position opening operation force, the tailgate operation closing operation force, and the tailgate operation opening operation force, respectively, so that the tailgate lock position closing operation force, the tailgate lock position opening operation force, the tailgate operation closing operation force, and the tailgate operation opening operation force are all within a preset operation force range; The adjusting of the characteristic parameters further includes: determining a tailgate self-closing energy based on the tailgate operation closing operation force; and adjusting the characteristic parameters of the tailgate operation closing operation force a second time so that the tailgate self-closing energy is greater than or equal to a preset energy; The characteristic parameter of the compression locking torque is adjusted for a third time so that the compression locking torque is greater than a preset torque value, where the preset torque value is the sum of the gravity component torque and the dynamic inertia moment of the tailgate, minus a constant reaction torque when the tailgate is closed, wherein the dynamic inertia moment of the tailgate and the fixed reaction torque are constant.

9. A device for determining the position of a side-opening tailgate of a vehicle, characterized in that: include: an acquisition module, configured to acquire initial layout position parameters of the side-opening tailgate; a torque determination module, configured to determine, based on the initial arrangement position parameters, the torques at a plurality of preset opening positions of the support rod and the gravity component torque of the side-opening tailgate, wherein the gravity component torque is the torque generated by the gravity of the side-opening tailgate along the hinge axis; an operating force determination module, configured to determine the tailgate operating force of the support rod at the plurality of preset opening positions based on the torque of the support rod at the plurality of preset opening positions and the gravity torque component; a characteristic parameter determination module, configured to determine characteristic parameters of the initial arrangement position parameters based on tailgate operating forces of the support rod at a plurality of preset opening positions; An optimization module is used to adjust the characteristic parameters so that the tailgate operating force of the support rod at multiple preset opening positions is within a preset operating force range, and determine the target layout position parameters of the side-opening tailgate based on the adjusted characteristic parameters.

10. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 8 are implemented.

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