Vehicle tail door control method and device, electronic equipment and vehicle

Abstract

The invention discloses a vehicle tail door control method and device, electronic equipment and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps that in response to a starting instruction for the vehicle tail door, a supporting rod motor is controlled to rotate so as to drive the vehicle tail door to move; the rotating process of the stay bar motor at least comprises a plurality of speed stages; in any speed stage, the signal change trend of the stay bar motor is determined, and under the condition that the signal change trend is inconsistent with the preset trend of the speed stage, the vehicle tail door is controlled to execute first protection operation; the first protection operation comprises anti-pinch operation and / or anti-collision operation. The brushless motor is adopted, and the commutation characteristic of the brushless motor is combined to monitor and analyze the signal change trend of the motor in real time, so that the running state of the tail gate is accurately judged and protected, the accuracy and reliability of the anti-pinch and anti-collision function are improved, and the safety and convenience of a user in the using process are improved.

Description

Technical Field

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

[0002] As a key feature enhancing vehicle convenience and intelligence, tailgates have become widely used in recent years. A tailgate is a door installed at the rear of a vehicle, primarily used to close or open the trunk for easy loading and unloading. Its primary functions include automatic opening and closing via various methods, such as buttons inside the vehicle, remote controls, and kick sensors, greatly facilitating user convenience.

[0003] As a vital component of modern automobiles, tailgates' anti-pinch and anti-collision features are crucial for ensuring vehicle safety and the safety of users' lives and property. Related technologies for tailgate anti-pinch and anti-collision protection primarily rely on Hall effect sensors and current detection. Hall effect sensors detect motor speed and position changes, while current detection monitors motor load. When the tailgate encounters resistance during opening or closing, the vehicle uses the monitored current to determine whether there is an object trapped or a collision, triggering the anti-pinch and anti-collision protection mechanism.

[0004] However, the related technologies all judge the overall movement process of the vehicle tailgate, which does not conform to the movement characteristics of the vehicle tailgate in actual scenarios. It is easy to cause the anti-pinch and anti-collision triggering to be slow or even fail, posing a high safety hazard. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a vehicle tailgate control method, device, electronic device and vehicle to improve the safety and reliability of vehicle tailgate anti-pinch and anti-collision.

[0006] In a first aspect, the present application provides a vehicle tailgate control method, the method comprising:

[0007] In response to a start command for the tailgate of the vehicle, the support rod motor is controlled to rotate to drive the tailgate to move; the rotation process of the support rod motor includes multiple speed stages;

[0008] In any speed stage, the signal change trend of the strut motor is determined, and when the signal change trend is inconsistent with the preset trend of the speed stage, the tailgate is controlled to perform a first protection operation; wherein, the first protection operation includes an anti-pinch operation and / or an anti-collision operation.

[0009] According to the vehicle tailgate control method provided in an embodiment of the present application, by controlling the rotation of a strut motor to drive the tailgate in response to a tailgate start command, the strut motor's rotation process is divided into at least multiple speed stages. This allows for segmented detection of the tailgate's motion process, accurately determining the tailgate's operating status at different speed stages, reducing the occurrence of misjudgments and missed detections, and achieving precise and rapid safety risk control during the tailgate's motion. In any speed stage, the strut motor's signal change trend is determined. If the signal change trend is inconsistent with a preset trend for the current speed stage, the tailgate is quickly controlled to perform a first protection operation, specifically an anti-pinch operation and / or an anti-collision operation. This prevents damage to users or objects, ensures safe operation of the tailgate, and is suitable for tailgate control at different speed stages and under complex operating conditions. The method has strong adaptability and practicality, meeting the needs of modern automotive intelligent development. Furthermore, the brushless motor replaces the traditional brushed motor, reducing noise and improving the motor's reliability and service life.

[0010] According to one embodiment of the present application, the strut motor is a brushless motor provided with a three-phase Hall signal line; the multiple speed stages are divided according to the rotation speed of the strut motor, including at least a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage; determining the signal change trend of the strut motor includes: detecting the three-phase Hall signal of the strut motor, and determining the number of counts of XOR occurrence of the three-phase Hall signal; based on the count number, determining the signal change trend of the strut motor in the current speed stage.

[0011] According to one embodiment of the present application, when the signal change trend is inconsistent with the preset trend of the speed stage, the tailgate is controlled to perform the first protection operation, including: in the uniform acceleration stage, if the signal change trend does not conform to the decreasing trend, the tailgate is controlled to perform the first protection operation; in the uniform speed stage, if the signal change trend does not remain unchanged, the tailgate is controlled to perform the first protection operation; in the uniform deceleration stage, if the signal change trend does not conform to the increasing trend, the tailgate is controlled to perform the first protection operation.

[0012] According to one embodiment of the present application, the rotation process of the strut motor is divided into multiple duration stages according to the motor rotation duration; the method also includes: in any duration stage, detecting a first current value of the strut motor; when the first current value does not meet a first threshold condition, controlling the tailgate to perform a first protection operation.

[0013] According to one embodiment of the present application, the multiple duration stages include at least an initial startup stage after the motor is started, and a stable operation stage after the initial startup stage; the duration of the initial startup stage is shorter than the duration of the stable operation stage; the first current value does not meet the first threshold condition, including: in the initial startup stage, the first current value exceeds the first current threshold; and / or, in the stable operation stage, the first current value exceeds the second current threshold; wherein, the first current threshold is greater than the second current threshold.

[0014] According to one embodiment of the present application, the rotation process of the strut motor is divided into an end stroke stage during the tailgate opening process and an end stroke stage during the tailgate closing process according to the movement stroke of the tailgate; the method also includes: in any end stroke stage, detecting a second current value of the strut motor; when the second current value does not meet a second threshold condition, controlling the tailgate to perform a first protection operation.

[0015] According to one embodiment of the present application, the second current value fails to meet the second threshold condition, including: in the end stroke stage of the tailgate opening process, the second current value exceeds the third current threshold; and / or, in the end stroke stage of the tailgate closing process, the second current value exceeds the fourth current threshold.

[0016] According to one embodiment of the present application, controlling the tailgate to perform a first protection operation includes: controlling the tailgate to perform an anti-collision operation when the start instruction instructs to open the tailgate; and controlling the tailgate to perform an anti-pinch operation when the start instruction instructs to close the tailgate.

[0017] According to one embodiment of the present application, the method further includes: detecting the locking state of the tailgate; when the locking state is a semi-locked state, in response to a semi-locked trigger signal, detecting a third current value of the attraction motor; when the third current value exceeds a fifth current threshold, controlling the tailgate to perform a second protection operation.

[0018] According to one embodiment of the present application, controlling the tailgate to perform the second protection operation includes: controlling the suction motor to reverse to change the locked state into an unlocked state; and / or controlling the support rod motor to rotate to drive the tailgate to open.

[0019] In a second aspect, the present application provides a vehicle tailgate control device, the device comprising:

[0020] a response module, configured to control the rotation of the strut motor to drive the tailgate of the vehicle in response to a start instruction for the tailgate of the vehicle; wherein the rotation process of the strut motor includes multiple speed stages;

[0021] The control module is used to determine the signal change trend of the support rod motor in any speed stage, and control the tailgate to perform a first protection operation when the signal change trend is inconsistent with the preset trend of the current speed stage; the first protection operation includes an anti-pinch operation and / or an anti-collision operation.

[0022] According to the vehicle tailgate control device provided in an embodiment of the present application, by controlling the rotation of the strut motor to drive the vehicle tailgate in response to a start command for the vehicle tailgate, the rotation process of the strut motor is divided into at least multiple speed stages. This allows for segmented detection of the tailgate movement process, accurately determining the operating status of the tailgate at different speed stages, reducing the occurrence of misjudgments and missed detections, and achieving precise and rapid safety risk control during the tailgate movement process. In any speed stage, the signal change trend of the strut motor is determined. If the signal change trend is inconsistent with the preset trend of the current speed stage, the vehicle tailgate is quickly controlled to perform a first protection operation, specifically an anti-pinch operation and / or an anti-collision operation. This can prevent damage to users or objects and ensure the safe operation of the vehicle tailgate. The device is suitable for tailgate control in different speed stages and complex operating conditions, has strong adaptability and practicality, and meets the needs of the development of intelligent modern vehicles. In addition, the use of a brushless motor instead of a traditional brushed motor reduces noise and improves the reliability and service life of the motor.

[0023] In a third aspect, the present application provides a vehicle, comprising the vehicle tailgate control device as described in the second aspect.

[0024] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle tailgate control method as described in the first aspect above is implemented.

[0025] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle tailgate control method as described in the first aspect above.

[0026] In a sixth aspect, the present application provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the vehicle tailgate control method as described in the first aspect above.

[0027] In a seventh aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the vehicle tailgate control method as described in the first aspect above.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a schematic diagram of an application scenario of a vehicle tailgate control method provided in some embodiments of the present application;

[0031] Figure 2 is a flow chart of a vehicle tailgate control method provided in some embodiments of the present application;

[0032] Figure 3 is a schematic diagram of the principle of the speed stage provided in some embodiments of the present application;

[0033] Figure 4 1 is a timing diagram of a three-phase Hall signal provided in some embodiments of the present application;

[0034] Figure 5 This is a schematic diagram of the principle of the duration phase provided in some embodiments of the present application;

[0035] Figure 6 is a schematic diagram of the principle of the travel phase provided in some embodiments of the present application;

[0036] Figure 7 is a logic diagram of the overall process of vehicle tailgate control provided in some embodiments of the present application;

[0037] Figure 8 is a logic diagram of a tailgate control process in a semi-locked state provided in some embodiments of the present application;

[0038] Figure 9 is a schematic structural diagram of a vehicle tailgate control device provided in some embodiments of the present application;

[0039] Figure 10 It is a schematic structural diagram of an electronic device provided in some embodiments of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0041] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0042] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0044] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0045] The term "multiple" in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0046] In the prior art, the tailgate's anti-pinch and anti-collision functions primarily rely on Hall effect sensors and current detection for triggering. The Hall effect sensor monitors the motor's speed and position, while the current detection senses the motor's load. When the tailgate encounters resistance during opening or closing, the vehicle monitors current changes to determine whether there's an object trapped or a collision, triggering the anti-pinch and anti-collision protection mechanism. The prior art sets a fixed threshold for the entire tailgate's motion. However, in practice, tailgate movement often doesn't maintain a constant speed. For example, the tailgate's speed may be slow at the beginning or end of a movement, while it may be faster in the middle. This results in inaccurate anti-pinch and anti-collision judgments based on a fixed threshold throughout the entire process. Assuming the tailgate's motion is divided into a uniform acceleration phase, a uniform speed phase, and a uniform deceleration phase, if the threshold value is set too low, the anti-pinch and anti-collision function may be falsely triggered during the uniform speed phase. If the threshold value is set too high, the anti-pinch and anti-collision function may be delayed or even fail to trigger, posing a serious safety risk.

[0047] Secondly, the tailgate's anti-pinch and anti-collision function is driven by a motor (such as a strut motor). However, the current drawn by the motor at startup is relatively high. Using the aforementioned threshold determination method can easily lead to false triggering of the anti-pinch and anti-collision function at the moment of motor startup. This can also cause delays in triggering the function, or even render it ineffective, as the tailgate approaches locking.

[0048] Furthermore, the related art does not involve the anti-pinch situation when the tailgate is in a semi-locked state. For example, when the tailgate is in a semi-locked state, small objects, fingers or children's palms may be pinched, which poses a high safety hazard.

[0049] In addition, from the perspective of vehicle hardware, the support rod motor of the vehicle tailgate in related technologies generally adopts a DC brush motor, which has low reliability and high noise, and cannot provide users with a good user experience.

[0050] In view of this, an embodiment of the present application provides a vehicle tailgate control method, which combines the commutation characteristics of the brushless motor with the movement law of the vehicle tailgate, and realizes accurate judgment and protection of the tailgate operation status through real-time monitoring and analysis of the change trend of the support rod motor signal, overcomes the shortcomings of the existing technology, improves the accuracy and reliability of the anti-pinch and anti-collision functions, and enhances the safety and convenience of users during use, and has significant practical value and promotion prospects.

[0051] The vehicle tailgate control method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0052] The vehicle tailgate control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, vehicle 10 is equipped with a tailgate system. This system typically includes components such as a strut motor, a latch, and a sensor. These components work together to automatically open and close the tailgate 101, eliminating the need for the user to manually open or close it. This improves the vehicle's intelligence and enhances the user experience.

[0053] The prop motor utilizes a brushless motor, which not only minimizes its size but also significantly reduces noise during operation, ensuring the long-term stability of the vehicle's tailgate. A brushless motor is a type of electric motor that uses an electronic control system to achieve current commutation, replacing traditional brushes and commutators. It offers advantages such as high efficiency, low noise, and a long lifespan.

[0054] The vehicle 10 is equipped with electronic devices, which may be terminal devices or controllers. The terminal devices include, but are not limited to, one or more of an in-vehicle terminal, a tablet computer, a smartphone, an IoT device, or a portable wearable device. The IoT device may be one or more of a smart speaker, a smart TV, a smart air conditioner, or a smart in-vehicle device. The portable wearable device may be one or more of a smart watch, a smart bracelet, or a head-mounted device.

[0055] The controller may be a dedicated vehicle tailgate controller, a microcontroller unit (MCU) or a vehicle control unit (VCU).

[0056] The vehicle tailgate control method provided in an embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the vehicle tailgate control method, for example, it may be executed by hardware or software in the electronic device.

[0057] It should be noted that the vehicles mentioned in the embodiments of this application include but are not limited to fuel vehicles, plug-in hybrid vehicles or new energy vehicles, etc., and this application does not make specific limitations on this.

[0058] The following describes the vehicle tailgate control method provided in the embodiment of the present application by taking the controller as an example of the execution body.

[0059] like Figure 2 As shown, the vehicle tailgate control method includes: steps 210 to 220.

[0060] Step 210 : In response to a start instruction for the tailgate of the vehicle, control the strut motor to rotate to drive the tailgate to move; the rotation process of the strut motor includes at least a plurality of speed stages.

[0061] The tailgate movement refers to the position change process of the tailgate during the opening or closing process. The tailgate movement includes the opening movement and the closing movement.

[0062] The rotation process of the prop motor refers to the rotational motion of the prop motor during operation, including but not limited to starting, accelerating, maintaining a constant speed, decelerating, and stopping. In the embodiments of the present application, the prop motor rotation process is divided into different speed stages to closely match the prop motor's motion in actual scenarios and also reflect the movement characteristics of the tailgate in actual scenarios.

[0063] The speed stages may be divided according to actual conditions. Different speed stages may reflect the rotation of the strut motor, for example, each speed stage corresponds to a specific speed or speed range.

[0064] For example, the rotation process of the strut motor can be divided into a first speed stage, a second speed stage, ... an Nth speed stage (N is a positive integer). For example, in the first speed stage, the strut motor rotates at a slower speed to avoid the poor user experience caused by the tailgate opening suddenly, while also ensuring the safety of the tailgate and extending its service life as much as possible; as the tailgate moves, the strut motor rotates at a faster speed in the second speed stage than in the first speed stage, and at a faster speed in the third speed stage than in the second speed stage, ...; and when the tailgate is about to be fully opened / closed, the strut motor rotates at a slower speed in the N-1th speed stage than in the N-2th speed stage, and at a slower speed in the Nth speed stage than in the N-1th speed stage, ..., and so on.

[0065] It is easy to understand that the above division method is only an example, and the division of speed stages can also be determined in combination with the weight, material, model of the tailgate and the model of the vehicle.

[0066] The controller may receive a start command from a user or other device, for example, via an MCU. The start command is typically triggered by a user's remote control (e.g., a remote control, a key button), or may be issued by the user via a touchscreen or button within the vehicle, or by the user triggering a pre-set sensor. The start command may be a request to open or close the tailgate.

[0067] In some embodiments, after receiving the start command, the controller verifies the current operating conditions to ensure that the tailgate is safe to operate. For example, it verifies whether the tailgate is already open or closed, or whether the vehicle is in a state that allows the tailgate to be opened or closed. Only when these conditions are met will the tailgate opening or closing operation proceed.

[0068] Step 220: In any speed stage, determine the signal change trend of the strut motor, and if the signal change trend is inconsistent with the preset trend of the speed stage, control the tailgate to perform a first protection operation; wherein the first protection operation includes an anti-pinch operation and / or an anti-collision operation.

[0069] The signal change trend of the strut motor refers to the time-varying pattern of feedback signals from the Hall effect sensor and other sensors during the strut motor's operation, reflecting the motor's real-time operating status. If the motor's rotation process is divided into multiple speed stages, each speed stage has a corresponding preset trend. The preset trend refers to a pre-defined signal change pattern or characteristic at different motor speed stages, serving as a reference standard for normal motor operation or tailgate movement.

[0070] Since brushed motors are commonly used in related technologies, brushed motors are usually not equipped with Hall lines, and their commutation method relies on mechanical switches (such as brushes and commutators) to complete. In this application, a brushless motor is used, and a brushless motor is usually equipped with three Hall signal lines (HA, HB and HC) for detecting the position of the rotor, thereby achieving precise commutation control. These Hall signal lines are used in conjunction with the three-phase lines (U phase, V phase, W phase) of the strut motor, and the rotor position information is fed back by the Hall sensor, which can achieve efficient operation of the brushless motor. The output signal of the Hall sensor is a high or low level (usually 0 or 1). Depending on the rotor position, the signal combination of the three Hall lines will change. There are 6 common Hall signal combinations, including 000, 001, 011, 010, 110 and 111, corresponding to the 6 commutation states of the strut motor.

[0071] Exclusive OR (XOR) is a logical operation whose rule is: if the inputs are identical, the output is 0; if the inputs are different, the output is 1. For a strut motor, since the signal combination of its three Hall signal lines varies, the XOR operation can quickly determine the changes in the Hall signal, thereby detecting the motor's operating status. Furthermore, the XOR operation can detect the frequency of changes in the Hall signal and thus calculate the motor's speed.

[0072] Therefore, in some embodiments, the signal change trend of the strut motor can be, for example, the change trend of the cumulative number of times the three-phase Hall signal undergoes XOR. In each speed stage, by performing XOR counting on the three-phase Hall signal, a signal sequence corresponding to each speed stage can be obtained, and the signal sequence corresponding to each speed stage represents the cumulative number of times the three-phase Hall signal undergoes XOR within the corresponding speed stage, which can reflect the changes in the motor's speed and load. If the change trend of the cumulative number (e.g., uniform increase, sudden increase, unchanged, uniform decrease or sudden decrease, etc.) is inconsistent with the preset normal trend, it may mean that the strut motor has encountered abnormal resistance or failure, and there may be a risk of pinching / collision, and corresponding protective measures need to be taken.

[0073] In other embodiments, the signal variation trend of the strut motor may also be a variation trend of the motor's phase current, vibration signal, or electromagnetic torque.

[0074] If the controller detects abnormal motor rotation, abnormal tailgate movement, or potential danger, it initiates protective measures to ensure the safety of both the user and the vehicle. This protective measure typically involves controlling the tailgate to perform a protective operation, referred to as the first protective operation for purposes of distinction. Depending on the direction of tailgate movement (open or closed), the first protective operation can include anti-pinch and anti-collision operations.

[0075] In some embodiments, controlling the vehicle tailgate to perform a first protective operation includes: controlling the vehicle tailgate to perform an anti-collision operation when the start command instructs the vehicle tailgate to open; and controlling the vehicle tailgate to perform an anti-pinch operation when the start command instructs the vehicle tailgate to close. That is, if the tailgate is open and encounters an obstacle, posing a collision risk, the controller controls the vehicle tailgate to perform an anti-collision operation. For another example, if the tailgate is closed and encounters an obstacle, posing a pinching risk, the controller controls the vehicle tailgate to perform an anti-pinch operation. Thus, the vehicle tailgate control method can promptly execute corresponding protective measures for possible abnormal situations under different start commands, thereby improving user safety and enhancing the reliability of the vehicle tailgate.

[0076] The controller controls the vehicle tailgate to perform anti-collision operations, including but not limited to at least one of the following: controlling the tailgate to stop moving, controlling the tailgate to stay in its original position, or controlling the tailgate to move in the opposite direction (i.e., closing direction).

[0077] The controller controls the vehicle tailgate to perform anti-pinch operations, including but not limited to at least one of the following: controlling the tailgate to stop moving, controlling the tailgate to stay in its original position, or controlling the tailgate to move in the opposite direction (i.e., the direction of opening the door).

[0078] The vehicle tailgate control method provided in the embodiment of the present application controls the rotation of the strut motor to drive the movement of the vehicle tailgate in response to the start-up instruction of the vehicle tailgate, and divides the rotation process of the strut motor into at least multiple speed stages. It can perform segmented detection on the tailgate movement process, accurately judge the operating status of the tailgate in different speed stages, reduce the occurrence of misjudgment and missed judgment, and realize accurate and rapid safety risk control during the movement of the tailgate; in any speed stage, determine the signal change trend of the strut motor, and when the signal change trend is inconsistent with the preset trend of the speed stage, quickly control the vehicle tailgate to perform the first protection operation, specifically including anti-pinch operation and / or anti-collision operation, which can avoid damage to users or objects and ensure the safe operation of the vehicle tailgate.

[0079] The vehicle tailgate control method provided in this application is suitable for tailgate control at different speeds and under complex operating conditions. It has strong adaptability and practicality, meeting the needs of modern intelligent automobile development. In addition, this application uses a brushless motor instead of a traditional brushed motor, reducing noise, increasing motor reliability and service life, and enhancing the user experience.

[0080] Related technologies lack accurate monitoring of the signal change trends of the strut motor, potentially leading to misjudgments or delays in triggering protective actions. To address this, in some embodiments, multiple speed stages are divided based on the rotational speed of the strut motor, including at least a uniform acceleration stage, a uniform speed stage, and a uniform deceleration stage. Accordingly, determining the signal change trends of the strut motor includes: detecting the three-phase Hall effect signals of the strut motor and counting the number of times the three-phase Hall effect signals undergo exclusive-or operations; and determining the signal change trends of the strut motor in the current speed stage based on the counted number of times.

[0081] Specifically, the rotation process of the motor is divided into multiple speed stages according to the speed, including at least one or more of a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage, such as Figure 3 As shown, Figure 3 The various speed stages during the tailgate opening process are shown. When a hovering start or a return after anti-pinch operation occurs, the current position is used as a proportion of the total travel distance to determine the expected time for the next trip.

[0082] For example, during the initialization of the strut motor, the total travel time of the tailgate is set to T, that is, the motor rotates for T time, such as 5 seconds. Accordingly, the first 0.4*Ts can be set as a uniform acceleration segment, the middle 0.2*Ts as a uniform speed segment, and the last 0.4*Ts as a uniform deceleration segment.

[0083] The total travel distance of the tailgate can be pre-set, such as a default value configured when the vehicle leaves the factory. Alternatively, the total travel distance of the tailgate can be user-defined, such as by setting a time period or a position after the tailgate is opened that determines the tailgate is fully opened. The time period and / or travel distance between the time period and the position corresponds to the total travel distance of the tailgate.

[0084] At each speed stage, the controller detects the three-phase Hall signals of the strut motor and counts the number of times these signals are XORed. Based on this count, the controller can determine the changing trend of the motor's three-phase Hall signals in the current speed stage. Three Hall sensors can be evenly installed inside the motor, corresponding to the three phases, to detect the position of the rotor. When the rotor rotates, each Hall sensor outputs a high or low level signal, forming three digital signals. The controller can then collect the three signals in real time through the input pins and detect whether the three-phase Hall signals have been XORed.

[0085] For example, the MCU in the vehicle is an STM32F4 series and is configured with a TIM5 Hall sensor timer. Each time the three-phase Hall signals are XORed, the register Hall_TIM_CCRx records the count value from the last XOR to the current XOR.

[0086] Furthermore, the controller compares the actual detected signal change trend with the preset normal trend. If the two trends are inconsistent, the controller determines that there may be an obstacle blocking the tailgate and then triggers the first protection operation, including anti-pinch operation and / or anti-collision operation, to ensure the safety of the tailgate operation.

[0087] In the above embodiment, the speed stages of the motor are subdivided to accurately monitor the operating status of the strut motor in stages, and the operating status of the motor is monitored in real time based on the changing trend of the XOR count times of the three-phase Hall signal, so that anti-pinch or anti-collision operations are performed in time when an abnormality is detected, thereby improving the safety and reliability of the vehicle tailgate.

[0088] Compared with traditional methods that rely on current detection, the changing trend of the XOR count number of three-phase Hall signals is utilized to provide higher detection accuracy and response speed, thereby significantly improving the safety and user experience of the vehicle tailgate.

[0089] In some embodiments, when the signal change trend is inconsistent with the preset trend of the speed stage, the tailgate is controlled to perform a first protection operation, including: in the uniform acceleration stage, if the signal change trend does not conform to the decreasing trend, the tailgate is controlled to perform the first protection operation; in the uniform speed stage, if the signal change trend does not remain unchanged, the tailgate is controlled to perform the first protection operation; in the uniform deceleration stage, if the signal change trend does not conform to the increasing trend, the tailgate is controlled to perform the first protection operation.

[0090] Specifically, during the uniform acceleration phase, the speed of the strut motor is constantly increasing. During this phase, the motor's rotation angle increases per unit time, which means that the motor's rotation speed (rotational speed) continues to rise. The output signal of the Hall sensor changes periodically, and as the speed increases, the frequency of signal change increases. Therefore, the signal change time (such as pulse width) recorded in the register should gradually become shorter (i.e., gradually decrease), because the faster the motor speed, the shorter the signal period. Therefore, the numerical change trend of the cumulative number of XOR times of the three-phase Hall signal should be gradually decreasing. If the numerical change trend is increasing, the controller will determine that it is a stalled situation.

[0091] During the uniform speed stage, this value should remain basically unchanged. If it increases, the controller will determine that it is a stall situation.

[0092] During the uniform deceleration phase, the motor speed begins to decrease. As the speed decreases, the motor's rotation angle per unit time decreases, meaning the motor's rotation speed slows. Consequently, the period of the Hall effect sensor's output signal becomes longer. Accordingly, the cumulative number of XOR operations on the three-phase Hall effect signals should increase, as the signal period increases as the motor speed decreases.

[0093] For example, Figure 4As shown, the vehicle is equipped with a timer that XORs the Hall line signals from the three strut motors, with Hall_TIMx_CK_CNT serving as the basic timer clock signal. Whenever the Hall signal lines Hall_TIMx_T1, Hall_TIMx_T2, and Hall_TIMx_T3 are XORed, the controller transfers the count value stored in Hall_TIMx_CNT to the Hall_TIMx_CCR1 register (Hall_TIMx_CCR1 is one of the Hall_TIMx_CCRx registers). Hall_TIMx_CNT counts by the clock after each commutation and is cleared after the next commutation. After the motor begins moving, the overall motion process includes three speed stages: uniform acceleration, uniform speed, and uniform deceleration. At each speed stage, the corresponding flag changes from "0" to "1." The controller uses the corresponding flag to determine the current stage and derives the logic for determining whether Hall_TIM_CCRx triggers anti-pinch and anti-collision functions at different times. For example, during the uniform acceleration phase, the value recorded in the Hall_TIMx_CCR1 register should show a gradually decreasing trend. If Hall_TIM_CCR1 increases compared to the previous value, it indicates a stall. During the uniform speed phase, this value should remain essentially constant. If it increases, the controller indicates a stall. During the uniform deceleration phase, this value should show a gradually increasing trend. If it suddenly increases, the controller indicates a stall.

[0094] It should be noted that Figure 4 This function is used to illustrate the changing pattern of the three-phase Hall values of the strut motor during the tailgate opening and closing process. The Hall_TIMx_CCR1 marker value shown is only for illustrative purposes. In actual application scenarios, the value can fluctuate between tens of millions and millions, meeting the needs of accurate judgment and response.

[0095] In the above embodiment, by comparing the change trend of the brushless motor signal during the tailgate movement with the preset trend, it is possible to determine in real time whether the motor is operating within the normal speed stage, and accurately detect whether the tailgate encounters resistance or obstacles during movement, so as to timely trigger anti-pinch or anti-collision operations, thereby improving user safety and the stability of the vehicle tailgate.

[0096] As mentioned above, since the current at the moment of motor startup is relatively large, the traditional threshold judgment method can easily lead to the false triggering of the anti-pinch and anti-collision function at the moment of motor startup, and cause the anti-pinch and anti-collision function to be triggered slowly when the tailgate is close to locking, or even fail to work. Therefore, the relevant technology lacks accurate monitoring of the running time of the strut motor, which may lead to misjudgment or delay in the triggering of the protection operation.

[0097] To this end, in some embodiments, the rotation process of the strut motor is divided into multiple duration stages according to the motor rotation duration; accordingly, the vehicle tailgate control method provided in the embodiment of the present application also includes: in any duration stage, detecting the first current value of the strut motor; when the first current value does not meet the first threshold condition, controlling the tailgate to perform a first protection operation.

[0098] Specifically, the rotation process of the strut motor is divided into multiple duration stages according to the motor rotation duration, so as to accurately monitor the operating status of the motor through the running duration.

[0099] For example, the rotation process of the strut motor can be divided into a first duration phase, a second duration phase, and so on. For example, taking the tailgate opening as an example, the first duration phase corresponds to the duration from the start of the strut motor to within 1 second after start-up, the second duration phase corresponds to the duration from 1 second after start-up to within 2 seconds after start-up, and the Nth duration phase corresponds to the duration from m-1 seconds after start-up to within m seconds after start-up, and so on. It should be understood that the above values are merely illustrative and do not constitute a limitation on the scope of this application.

[0100] In each duration stage, the controller detects the current value of the strut motor, which is referred to as the first current value for the purpose of distinction from the following text. The controller determines whether the first current value meets a preset threshold condition, referred to as the first threshold condition. Specifically, since the current at the moment of motor startup is relatively large, a higher current threshold can be set for the first duration stage; the current thresholds for subsequent duration stages can be gradually reduced, etc. Whether the first current value meets the first threshold condition refers to whether the first current value exceeds the current threshold. Exemplarily, the controller can collect two phase currents of the real-time phase, and for the six-step commutation control method, respectively compare them with the current thresholds indicated by the first threshold condition, and only when the first threshold condition is met at the same time does it determine that the first threshold condition is met.

[0101] In any duration stage, if the detected first current value does not meet the threshold condition of the corresponding duration stage, that is, the first current value exceeds the current threshold, the controller triggers the first protection operation, including anti-pinch operation and / or anti-collision operation, to ensure the safety of the tailgate operation.

[0102] In the above embodiment, by accurately monitoring the running time of the strut motor, and combining the time stage division and current threshold judgment, higher detection accuracy and response speed are provided, which can timely detect and respond to abnormal situations and perform corresponding anti-pinch or anti-collision operations, thereby significantly improving the safety and user experience of the vehicle tailgate.

[0103] Wherein, in some embodiments, Figure 5 The figure shows the movement trajectory of the tailgate during closing and the corresponding duration stages. Figure 5 To illustrate, the multiple duration phases include at least an initial startup phase after the motor starts, and a stable operation phase after the initial startup phase; the duration of the initial startup phase is shorter than the duration of the stable operation phase. In other words, since the current at the moment of motor startup is relatively large, the initial startup phase after the motor starts can be specifically divided out to more accurately determine whether it is operating normally or a stall situation has occurred. After a period of time after the motor starts, compared to the previous phase when the motor just started, the motor begins to run stably, and the current value of the motor operation will be significantly lower. At this time, a relatively low current threshold can be set for more accurate judgment, which can better adapt to the current working conditions.

[0104] For example, the initial startup phase may be the first 1 second after the motor starts to rotate. The stable operation phase may be the continuous operation time after the motor rotates for more than 1 second.

[0105] Accordingly, the first current value does not meet the first threshold condition, including: in the initial startup phase, the first current value exceeds the first current threshold; and / or, in the stable operation phase, the first current value exceeds the second current threshold; wherein the first current threshold is greater than the second current threshold.

[0106] Because the current at the moment of motor startup is relatively high, a higher current threshold, namely the first current threshold Ia, can be set during the initial startup phase. After the motor enters stable operation, a lower current threshold, namely the second current threshold Ib, can be set during the stable operation phase. The first current threshold Ia is greater than the second current threshold Ib.

[0107] For example, the controller can discretize the motor startup duration, and the discretized motor motion duration can be converted into a timer count value for determining the motion trajectory. For example, within 1 second before the motor starts, the timer count value of the motion trajectory is determined to be greater than 1000 (after the trajectory is discretized, the count is once every 1ms), and then the first current threshold Ia or the second current threshold Ib is determined.

[0108] In the above embodiment, by dividing the motor operation process into different time stages, the characteristics of each stage can be accurately monitored, thereby improving the detection sensitivity of abnormal situations; and by setting corresponding current thresholds according to different stages, it is possible to effectively distinguish between normal operating conditions and abnormal situations, reduce misjudgments, and improve system reliability; and when an abnormal situation is detected, protective operations can be performed in a timely manner to prevent pinching or collision accidents, thereby improving the user's safety experience.

[0109] In addition to setting time points between motor startup and stable operation to divide the duration into different stages, in actual applications, due to the weight of the tailgate, the final stage of the tailgate opening or closing process must overcome greater gravity. To this end, in some embodiments, the rotation process of the strut motor is divided into the final stage of the tailgate opening process and the final stage of the tailgate closing process according to the tailgate's movement range.

[0110] Figure 6 The figure shows the movement trajectory of the tailgate during opening and closing and the corresponding end travel stage. Figure 6 For illustration, the end travel stage during the tailgate opening process may be a specific travel range before the tailgate is fully opened. The end travel stage during the tailgate closing process may be a specific travel range before the tailgate is fully closed.

[0111] For example, assuming the total travel is S, when the door opening distance exceeds 0.85*S, the remaining 0.15*S travel is the final stage of the tailgate opening process. When the door closing distance exceeds 0.85*S, the remaining 0.15*S travel is the final stage of the tailgate closing process. Of course, the above values are only examples and may vary in actual scenarios depending on the tailgate model, weight, or material.

[0112] Accordingly, the vehicle tailgate control method provided in the embodiment of the present application further includes: detecting the second current value of the strut motor in any end stroke stage; and controlling the vehicle tailgate to perform a first protection operation when the second current value does not meet the second threshold condition.

[0113] Because the tailgate may face higher resistance or require more precise control at the end of its travel, a specific current threshold is set to monitor motor load. At any end of its travel, the controller detects the second current value of the strut motor and determines whether it meets the preset second threshold to trigger the protection mechanism.

[0114] For example, in a specific implementation, the controller can update the stroke value after each motor phase change. For example, during a door opening motion, the stroke value increments after each motor phase change; during a door closing motion, the stroke value decrements after each motor phase change. Thus, by discretely counting the stroke value, it is possible to conveniently and quickly determine whether the end-of-stroke stage has been reached, thereby switching between different current thresholds for determination. Furthermore, compared to measuring the actual distance traveled through sensors, stroke counting can significantly reduce resource consumption, thereby lowering hardware costs.

[0115] In the above embodiment, by dividing the tailgate travel into different stages and focusing on the end-travel stage, the characteristics of the key stages can be accurately monitored, and the corresponding current threshold is set according to the end-travel stage. This can effectively distinguish between normal operating conditions and abnormal conditions, reduce misjudgments, improve the reliability of the anti-pinch and anti-collision functions, and increase the detection sensitivity of abnormal conditions.

[0116] The second current value fails to meet the second threshold condition, including: in the end stroke stage of the tailgate opening process, the second current value exceeds the third current threshold; and / or, in the end stroke stage of the tailgate closing process, the second current value exceeds the fourth current threshold.

[0117] That is, at the end stroke stage of the tailgate opening process, if the second current value is detected to exceed the third current threshold Ic, it may indicate that the tailgate encounters an obstruction or abnormal load at the end of opening, and the controller triggers the first protection operation, such as stopping the opening or reverse movement, to prevent collision or damage.

[0118] During the final stage of the tailgate closing process, if the second current value is detected to exceed the fourth current threshold value Id, it may indicate that the tailgate encounters an obstacle or an object at the final stage of closing. Then, the controller triggers a first protection operation, such as stopping closing or opening in the reverse direction, to prevent people from being trapped or objects from being damaged.

[0119] For example, the third current threshold Ic and the fourth current threshold Id can be obtained based on actual measurement, wherein the third current threshold Ic and the fourth current threshold Id can be independent of each other or have a preset numerical relationship, which is not limited in this application.

[0120] In the above embodiment, by setting corresponding current thresholds at the end stroke stage of the vehicle tailgate opening or closing process, monitoring the current value of the strut motor, and setting corresponding current thresholds, the resistance or obstacles encountered by the tailgate at the end stroke stage can be accurately detected, and anti-pinch or anti-collision operations can be triggered in time, thereby improving user safety and the stability of the vehicle tailgate.

[0121] In addition, in existing vehicle tailgate control technologies, the automatic closing function of electric tailgates has been applied as a comfort feature in some models. It uses electromagnetic force to automatically close the door that is not fully closed to the fully closed state, improving the user experience. However, the control of electric suction doors in related technologies mainly focuses on achieving the closing function, lacks a detection and protection mechanism for abnormal conditions during the closing process, and does not involve the judgment of anti-pinch and anti-collision during the closing process. In related technologies, when the vehicle tailgate is in a semi-locked state, if the closing motor encounters resistance or abnormality during the closing operation, it will directly lead to closing failure or damage, affecting the safety of the vehicle and the user experience.

[0122] To this end, the vehicle tailgate control method provided in an embodiment of the present application also includes: detecting the locking state of the vehicle tailgate; when the locking state is a semi-locked state, in response to a semi-locked trigger signal, detecting the third current value of the suction motor; when the third current value exceeds the fifth current threshold, controlling the vehicle tailgate to perform a second protection operation.

[0123] The locking state includes one or more of an unlocked state, a semi-locked state and a fully locked state.

[0124] Specifically, the controller can monitor the lock status of the tailgate in real time through the lock sensor and other means to determine whether the tailgate is fully locked, partially locked, or unlocked. When the tailgate is detected to be partially locked, the controller detects a half-lock signal and triggers the closing motor (or lock closing motor) to close the tailgate. When the closing motor closes the tailgate, the controller can detect a rising edge transition in the half-lock signal, for example, a transition from a low level to a high level, indicating that the tailgate is beginning to automatically close.

[0125] During this process, the controller monitors the current of the pull-in motor in real time, referred to as the third current value. The controller then compares this third current value with a preset fifth current threshold. If the third current value exceeds the fifth threshold, indicating that the pull-in motor may be encountering resistance or an abnormality, the controller controls the vehicle's tailgate to perform a second protective operation.

[0126] For example, when the tailgate is half-locked, the strut motor stops moving. The controller then uses the current drawn by the closing motor to determine whether an anti-pinch condition has occurred. For example, a fifth current threshold, Ipawl, can be pre-set. When the half-lock signal rises, the controller checks whether the third current drawn by the closing motor exceeds this fifth current threshold, Ipawl. If so, the anti-pinch condition is triggered.

[0127] In the above embodiment, by monitoring the current changes of the pull-in motor in real time when the tailgate is in a semi-locked state, abnormal situations can be discovered and handled in a timely manner to prevent the tailgate from failing to lock completely or the pull-in motor from being damaged, thereby ensuring the safety of the vehicle and passengers.

[0128] Accordingly, in some embodiments, controlling the vehicle tailgate to perform the second protection operation includes: controlling the suction motor to reverse to change the locked state to the unlocked state; and / or controlling the support rod motor to rotate to drive the vehicle tailgate to open.

[0129] When the tailgate controller performs the second protection operation, unlike when the tailgate is opened or closed, the controller can directly invoke the door-opening function by controlling the prop motor to rotate, because there is no Hall_TIM_CCRx condition to trigger the anti-pinch function. Furthermore, the controller can also reverse the lock motor to unlock, changing the locked state to the unlocked state.

[0130] In the above embodiment, by timely reversing the suction motor and changing the locked state to the unlocked state, and / or timely rotating the support rod motor to drive the tailgate to open, people or objects in the tailgate lock can be effectively prevented from being trapped, ensuring the safety of users and the reliability of the vehicle tailgate.

[0131] The following uses a specific example to illustrate the overall judgment logic of the vehicle tailgate control method provided by the embodiment of the present application. First, the strut motor is initialized. During the initialization, the stroke is set to Ts, which is 5s by default. When it starts after hovering, or returns after anti-pinch, etc., the time it should take for the next stroke is determined by the current position according to the proportion of the total stroke. The first 0.4*Ts is divided into a uniform acceleration section, the middle 0.2*Ts is a uniform speed section, and the last 0.4*Ts is a uniform deceleration section. Each time the three-phase Hall signal is XORed, Hall_TIM_CCRx will record the count value from the last XOR to this XOR. As Figure 7 As shown, the controller detects the current state flag. Different state flags indicate which speed stage the motor is currently in, such as the uniform acceleration stage, the uniform speed stage, or the uniform deceleration stage.

[0132] In different speed stages, the controller uses the Hall_TIM_CCRx register to count the number of times the motor's three-phase Hall signals undergo exclusive ORing to determine the signal change trend of the strut motor in each speed stage and compare it with the preset trend of the corresponding speed stage to determine whether the two are consistent. For example, during the uniform acceleration stage, Hall_TIM_CCRx should gradually decrease. If Hall_TIM_CCRx increases compared to the previous value, it is judged to be a stall. During the uniform speed stage, Hall_TIM_CCRx should remain basically unchanged compared to the previous value. If it increases, it is judged to be a stall. During the uniform deceleration stage, Hall_TIM_CCRx should gradually increase. If there is a sudden increase, it is judged to be a stall.

[0133] At any speed stage, if the signal change trend is inconsistent with the preset trend for the current speed stage, the controller controls the vehicle's tailgate to perform anti-pinch and / or anti-collision operations. For example, if the tailgate is opening, the controller invokes the anti-collision program; if the tailgate is closing, the controller invokes the anti-pinch program.

[0134] If the signal change trend is consistent with the preset trend of the current speed stage, the controller continues further monitoring. Assume that the first 1s after the motor starts moving is divided into the initial startup stage and the stable operation stage, and 1s corresponds to Hall_TIM_CK_CNT=1000. Therefore, when CNT is not greater than 1000, it means that the motor has not been started for more than 1s and is in the initial startup stage. The controller then detects the first current value of the motor and compares the first current value with the first current threshold Ia. If the first current value is greater than the first current threshold Ia, it means that an obstacle may be encountered or there is a safety risk. The controller then controls the vehicle tailgate to perform anti-pinch operation and / or anti-collision operation. If the first current value is not greater than the first current threshold Ia, the controller returns to the step of obtaining the current status flag and makes a new judgment.

[0135] When CNT is greater than 1000, indicating that the motor has been running for more than 1 second and is in the stable operation phase, the controller then detects the motor's first current value. Furthermore, when CNT is greater than 1000, the controller also determines whether the remaining stroke is greater than 0.85*total stroke to determine whether the vehicle is currently in the end-of-stroke phase. If the remaining stroke is not greater than 0.85*total stroke, indicating that the vehicle has not yet reached the end-of-stroke phase, the controller then compares the first current value with the second current threshold Ib. If the first current value is greater than the second current threshold Ib, indicating that an obstacle may be encountered or a safety risk exists, the controller then controls the vehicle's tailgate to perform anti-pinch and / or anti-collision operations. If the first current value is not greater than the second current threshold Ib, the controller returns to the step of obtaining the current status flag and re-determines the current state.

[0136] If the remaining stroke is greater than 0.85 times the total stroke, indicating the vehicle is currently at the end of its travel, the controller then detects the motor's second current value. The controller also determines whether the tailgate is currently opening or closing. During the end of its travel, if the second current value exceeds the third current threshold Ic, the controller controls the tailgate to perform anti-pinch and / or anti-collision operations. During the end of its travel, if the second current value exceeds the fourth current threshold Id, the controller controls the tailgate to perform anti-pinch and / or anti-collision operations. Otherwise, the controller returns to the step of obtaining the current status flag and re-determines the status.

[0137] After the uniform acceleration stage, uniform speed stage and uniform speed stage, the tailgate enters the semi-locked state. At this time, the support rod motor stops moving. The controller then determines whether the anti-pinch situation occurs by the current value of the pull-in motor. Figure 8As shown, a fifth current threshold, Ipawl, is set. When the half-lock signal transitions to a rising edge, the controller detects the third current value of the closing motor and determines whether it exceeds the fifth current threshold, Ipawl. If the third current value of the closing motor exceeds the fifth current threshold, Ipawl, the controller stops the closing motor and / or reverses to unlock, and invokes the door opening program to open the tailgate.

[0138] The vehicle tailgate control method provided in the embodiment of the present application can be executed by a vehicle tailgate control device. In the embodiment of the present application, the vehicle tailgate control device provided in the embodiment of the present application is described by taking the vehicle tailgate control device executing the vehicle tailgate control method as an example.

[0139] The embodiment of the present application also provides a vehicle tailgate control device, which is applied to a controller. Figure 9 As shown, the vehicle tailgate control device includes a response module 901 and a control module 902.

[0140] The response module 901 is used to control the rotation of the strut motor to drive the vehicle tailgate to move in response to the start instruction of the vehicle tailgate; wherein the rotation process of the strut motor includes multiple speed stages.

[0141] The control module 902 is used to determine the signal change trend of the strut motor in any speed stage, and control the vehicle tailgate to perform a first protection operation when the signal change trend is inconsistent with the preset trend of the current speed stage; the first protection operation includes an anti-pinch operation and / or an anti-collision operation.

[0142] According to the vehicle tailgate control device provided in an embodiment of the present application, by controlling the rotation of the strut motor to drive the vehicle tailgate in response to a start command for the vehicle tailgate, the rotation process of the strut motor is divided into at least multiple speed stages. This allows for segmented detection of the tailgate movement process, accurately determining the operating status of the tailgate at different speed stages, reducing the occurrence of misjudgments and missed detections, and achieving precise and rapid safety risk control during the tailgate movement process. In any speed stage, the signal change trend of the strut motor is determined. If the signal change trend is inconsistent with the preset trend of the current speed stage, the vehicle tailgate is quickly controlled to perform a first protection operation, specifically an anti-pinch operation and / or an anti-collision operation. This can prevent damage to users or objects and ensure the safe operation of the vehicle tailgate. The device is suitable for tailgate control in different speed stages and complex operating conditions, has strong adaptability and practicality, and meets the needs of the development of intelligent modern vehicles. In addition, the use of a brushless motor instead of a traditional brushed motor reduces noise and improves the reliability and service life of the motor.

[0143] In some embodiments, the strut motor is a brushless motor provided with a three-phase Hall signal line; multiple speed stages are divided according to the rotation speed of the strut motor, including at least a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage; the control module is also used to detect the three-phase Hall signal of the strut motor, and determine the number of counts of XOR occurrence of the three-phase Hall signal; based on the number of counts, determine the signal change trend of the strut motor in the current speed stage.

[0144] In some embodiments, the control module is also used to control the tailgate to perform a first protection operation during the uniform acceleration phase if the signal change trend does not conform to a decreasing trend; to control the tailgate to perform a first protection operation during the uniform speed phase if the signal change trend does not remain unchanged; and to control the tailgate to perform a first protection operation during the uniform deceleration phase if the signal change trend does not conform to an increasing trend.

[0145] In some embodiments, the rotation process of the strut motor is divided into multiple duration stages according to the motor rotation duration; the control module is also used to detect the first current value of the strut motor in any duration stage; when the first current value does not meet the first threshold condition, the tailgate is controlled to perform a first protection operation.

[0146] In some embodiments, the multiple duration stages include at least an initial startup stage after the motor is started, and a stable operation stage after the initial startup stage; the duration of the initial startup stage is shorter than the duration of the stable operation stage; the first current value does not meet the first threshold condition, including: in the initial startup stage, the first current value exceeds the first current threshold; and / or, in the stable operation stage, the first current value exceeds the second current threshold; wherein the first current threshold is greater than the second current threshold.

[0147] In some embodiments, the rotation process of the strut motor is divided into: an end stroke stage during the tailgate opening process, and an end stroke stage during the tailgate closing process according to the stroke length of the vehicle tailgate; the control module is also used to detect a second current value of the strut motor in any end stroke stage; if the second current value does not meet a second threshold condition, the tailgate is controlled to perform a first protection operation.

[0148] In some embodiments, the second current value fails to meet the second threshold condition, including: in the end stroke stage of the tailgate opening process, the second current value exceeds the third current threshold; and / or, in the end stroke stage of the tailgate closing process, the second current value exceeds the fourth current threshold.

[0149] In some embodiments, the control module is further configured to control the tailgate to perform an anti-collision operation when the start instruction instructs the tailgate to be opened; and to control the tailgate to perform an anti-pinch operation when the start instruction instructs the tailgate to be closed.

[0150] In some embodiments, the control module is also used to detect the locking state of the tailgate; when the locking state is a semi-locked state, in response to the semi-locked trigger signal, the third current value of the suction motor is detected; when the third current value exceeds the fifth current threshold, the tailgate is controlled to perform a second protection operation.

[0151] In some embodiments, the control module is further configured to control the pull-in motor to reverse to change the locked state to an unlocked state; and / or control the support rod motor to rotate to drive the tailgate to open.

[0152] The vehicle tailgate control device in the embodiment of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a vehicle-mounted terminal or a controller, etc. For example, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc. It can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., and the embodiment of the present application does not specifically limit it.

[0153] The embodiment of the present application further provides a vehicle, which includes: Figure 9 Vehicle's tailgate controls shown.

[0154] The vehicle tailgate control device in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0155] The vehicle tailgate control device provided in the embodiment of the present application can implement each process implemented in each method embodiment. To avoid repetition, it will not be described here.

[0156] In some embodiments, as Figure 10As shown, an embodiment of the present application also provides an electronic device 1000, including a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor 1001. When the program is executed by the processor 1001, the various processes of the above-mentioned method embodiments are implemented, and the same technical effects can be achieved. To avoid repetition, they will not be described here.

[0157] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0158] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned vehicle tailgate control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0159] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0160] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned vehicle tailgate control method when executed by a processor.

[0161] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0162] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle tailgate control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0163] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0164] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0165] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0166] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0167] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0168] Unless otherwise specified, all embodiments and optional embodiments of the present application can be combined with each other to form a new technical solution.

[0169] Unless otherwise specified, all technical features and optional technical features of this application can be combined with each other to form a new technical solution.

[0170] Unless otherwise specified, all steps of the present application may be performed sequentially or randomly, preferably sequentially. For example, the method includes steps (a) and (b), which means that the method may include steps (a) and (b) performed sequentially, or may include steps (b) and (a) performed sequentially. For example, it is mentioned that the method may also include step (c), which means that step (c) may be added to the method in any order, for example, the method may include steps (a), (b) and (c), or may include steps (a), (c) and (b), or may include steps (c), (a) and (b), etc.

[0171] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A vehicle tailgate control method, characterized in that: The method comprises: In response to a start command for the tailgate of the vehicle, the support rod motor is controlled to rotate to drive the tailgate to move; the rotation process of the support rod motor includes at least a plurality of speed stages; In any speed stage, determining a signal change trend of the strut motor, and controlling the tailgate to perform a first protection operation if the signal change trend is inconsistent with a preset trend of the speed stage; The first protection operation includes an anti-pinch operation and / or an anti-collision operation.

2. The method according to claim 1, characterized in that The strut motor is a brushless motor provided with a three-phase Hall signal line; the multiple speed stages are divided according to the rotation speed of the strut motor, and at least include a uniform acceleration stage, a uniform speed stage, and a uniform deceleration stage; and determining the signal change trend of the strut motor includes: Detecting the three-phase Hall signal of the strut motor and determining the number of counts of XOR occurrence of the three-phase Hall signal; Based on the counted times, a signal change trend of the strut motor in the current speed stage is determined.

3. The method according to claim 2, characterized in that When the signal change trend is inconsistent with the preset trend of the speed stage, controlling the tailgate to perform the first protection operation includes: During the uniform acceleration phase, if the signal change trend does not conform to a decreasing trend, controlling the tailgate to perform a first protection operation; In the uniform speed stage, if the signal change trend does not remain unchanged, controlling the tailgate to perform a first protection operation; During the uniform deceleration phase, if the signal change trend does not conform to an increasing trend, the tailgate is controlled to perform a first protection operation.

4. The method according to claim 1, wherein The rotation process of the strut motor is divided into a plurality of duration stages according to the motor rotation duration; the method further includes: In any time period, detecting a first current value of the strut motor; When the first current value does not meet a first threshold condition, the tailgate is controlled to perform a first protection operation.

5. The method according to claim 4, characterized in that The multiple duration phases include at least an initial startup phase after the motor is started, and a stable operation phase after the initial startup phase; The duration of the initial startup phase is shorter than the duration of the stable operation phase; The first current value does not meet a first threshold condition, including: During the initial startup phase, the first current value exceeds a first current threshold; and / or In a stable operation phase, the first current value exceeds a second current threshold; wherein the first current threshold is greater than the second current threshold.

6. The method according to claim 1, characterized in that The rotation process of the strut motor is divided into an end stroke stage during the tailgate opening process and an end stroke stage during the tailgate closing process according to the movement stroke of the tailgate; The method further comprises: In any end stroke stage, detecting a second current value of the strut motor; When the second current value does not meet a second threshold condition, the tailgate is controlled to perform a first protection operation.

7. The method according to claim 6, characterized in that The second current value does not meet the second threshold condition, including: During the end stroke phase of the tailgate opening process, the second current value exceeds a third current threshold; and / or During an end-stroke phase of the tailgate closing process, the second current value exceeds a fourth current threshold.

8. The method according to any one of claims 1 to 6, characterized in that The controlling the tailgate to perform the first protection operation includes: When the start instruction indicates to open the tailgate, controlling the tailgate to perform an anti-collision operation; When the start instruction instructs closing the tailgate, the tailgate is controlled to perform an anti-pinch operation.

9. The method according to claim 1, characterized in that The method further comprises: Detect the locking status of the tailgate; When the locking state is a semi-locked state, in response to a semi-locked trigger signal, detecting a third current value of the pull-in motor; When the third current value exceeds a fifth current threshold, the tailgate is controlled to perform a second protection operation.

10. The method according to claim 9, characterized in that The controlling the tailgate to perform the second protection operation includes: Controlling the pull-in motor to reverse to change the locked state into an unlocked state; and / or The support rod motor is controlled to rotate to drive the tailgate to open.

11. A vehicle tailgate control device, characterized in that: The device comprises: a response module, configured to control the rotation of the strut motor to drive the tailgate to move in response to a start instruction for the tailgate of the vehicle; wherein the rotation process of the strut motor includes multiple speed stages; The control module is used to determine the signal change trend of the support rod motor in any speed stage, and control the tailgate to perform a first protection operation when the signal change trend is inconsistent with the preset trend of the speed stage; the first protection operation includes an anti-pinch operation and / or an anti-collision operation.

12. A vehicle, characterized in that: The vehicle includes the vehicle tailgate control device according to claim 10 .

13. An electronic device comprising 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 vehicle tailgate control method according to any one of claims 1 to 10 is implemented.

14. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle tailgate control method according to any one of claims 1 to 10 is implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle tailgate control method according to any one of claims 1 to 10 is implemented.

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