Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of automobiles. Opening degree information corresponding to the site is obtained; and controlling a lifting tail gate of the vehicle based on the opening degree information. Therefore, the opening degree of the lifting tail gate of the vehicle can be matched with the current site, the situation that the opening degree set value of the current lifting tail gate is not matched with the height of the environment where the lifting tail gate is located is avoided, and the accident probability of collision caused by the fact that the tail gate is lifted too high is reduced.

Description

Technical Field

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

[0002] Amidst the wave of advancements in modern automotive design and technology, automatic tailgates, a key feature that enhances vehicle convenience and a sense of luxury, have gradually become standard on mid- to high-end models. By integrating advanced sensors, motor control units, and user interfaces, these systems enable automatic tailgate opening and closing, significantly enhancing the user experience. However, despite the current maturity of automatic tailgate systems on the market, certain limitations and challenges remain in controlling tailgate opening.

[0003] In related technologies, the opening degree of the lifting tailgate usually relies on the user's manual real-time operation, lacking intelligence and automation. The user needs to continuously press or adjust buttons to control the opening degree of the tailgate, which is not only cumbersome to operate, but may also cause inconvenience in some cases. Summary of the Invention

[0004] The present disclosure proposes a vehicle control method, a vehicle control device, a vehicle, and a storage medium, aiming to solve one of the technical problems in the related art at least to a certain extent.

[0005] A first embodiment of the present disclosure provides a vehicle control method, including:

[0006] Determine the site where the vehicle is located;

[0007] Acquiring opening information corresponding to the venue;

[0008] Based on the opening information, a liftgate of the vehicle is controlled.

[0009] A second embodiment of the present disclosure provides a vehicle control device, comprising:

[0010] The tailgate opening memory unit, high-precision positioning unit, map unit and controller, among which,

[0011] The high-precision positioning unit and the map unit are used in conjunction with each other to obtain the location of the vehicle;

[0012] The tailgate opening memory unit is used to associate and store the site and the corresponding opening information;

[0013] The controller is used to control the lifting tailgate of the vehicle according to the opening information corresponding to the site where the vehicle is located.

[0014] The third aspect embodiment of the present disclosure proposes a vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle control method of the embodiment of the present disclosure.

[0015] The fourth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute the vehicle control method disclosed in the embodiment of the present disclosure.

[0016] In the disclosed embodiment, the vehicle's location is first determined, and then the opening information corresponding to the location is obtained. The vehicle's tailgate is then controlled based on the opening information. This ensures that the vehicle's tailgate opening matches the current location, preventing the current tailgate opening setting from mismatching the height of the surrounding environment and reducing the probability of collisions caused by the tailgate being raised too high.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure, in which:

[0019] Figure 1 is a flow chart of a vehicle control method provided according to the first embodiment of the present disclosure;

[0020] Figure 2 A flowchart of a vehicle control method;

[0021] Figure 3 is a flow chart of a vehicle control method provided according to a second embodiment of the present disclosure;

[0022] Figure 4 is a flowchart of a vehicle control method provided according to a third embodiment of the present disclosure;

[0023] Figure 5 is a flow chart of a vehicle control method provided according to a fourth embodiment of the present disclosure;

[0024] Figure 6 A flowchart of another vehicle control method;

[0025] Figure 7 is a flowchart of a vehicle control method provided according to a fifth embodiment of the present disclosure;

[0026] Figure 8 is a schematic diagram of a control device for a vehicle according to an embodiment of the present disclosure;

[0027] Figure 9 A block diagram of a vehicle for implementing the vehicle control method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Some embodiments of the present disclosure will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications and equivalents of the methods, devices and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but may be changed as becomes apparent after understanding the present disclosure, except for operations that must be performed in a specific order. In addition, for the sake of clarity and brevity, descriptions of features known in the art may be omitted.

[0029] The embodiments described in the following examples of the present disclosure do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0030] In related technologies, users can control the tailgate opening in real time using buttons. This control method relies on real-time user interaction and lacks intelligence and automation. Users need to continuously press or adjust buttons to control the tailgate opening, which is not only cumbersome but can also be inconvenient in certain situations (such as when holding items with both hands). In other cases, the tailgate opening height is controlled by a button with a fixed opening value preset on the vehicle. Once set, the opening value cannot automatically adapt to the needs of different environments or scenarios. For example, in an underground parking lot or a low-ceiling garage, the preset opening value may be too high, causing the tailgate to collide with overhead obstacles. In other cases, the opening value is set based on the user account. While this method increases personalization, it also suffers from the problem of not being able to dynamically adapt to environmental changes. Users need to understand and set the opening value that suits their current environment in advance. If the environment changes (such as changing the parking location), manual adjustment is required, which reduces the convenience and intelligence of use.

[0031] Therefore, in order to solve at least one of the above problems, the embodiments of the present disclosure propose a vehicle control method that can automatically sense and adapt to changes in the external environment, such as parking lots with different height restrictions, obstacle distribution, etc., thereby reducing the risk of tailgate collision and improving versatility and adaptability in different environments.

[0032] It should be noted that the execution subject of the vehicle control method of this embodiment may be a vehicle control device, which may be implemented by software and / or hardware, and may be configured in any type of equipment.

[0033] In the embodiments of the present disclosure, the control method of the vehicle will be described with the “vehicle” as the execution subject, and no limitation is given here.

[0034] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to the first embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0035] S101: Determine the location of the vehicle.

[0036] Among them, the types of sites can be outdoor parking lots, accompanying parking lots, underground parking lots, administrative sites, ground parking buildings, residential parking lots, on-street parking lots, public parking lots, etc., which are not limited here.

[0037] Taking a residential parking lot as an example, the sites could be Community A Parking Lot C1, Community A Parking Lot C2, or Community B Parking Lot, with no specific restrictions here. Taking a built-in parking lot as an example, the sites could be Shopping Mall Parking Lot C, Office Building Parking Lot C2, or Hospital E Parking Lot C3, with no specific restrictions here.

[0038] As a possible implementation method, the current geographical location of the vehicle may be determined first, and then the location of the vehicle may be determined based on the geographical location.

[0039] For example, if it is determined that the current latitude and longitude of the vehicle belongs to the parking lot of community A, then the venue can be determined to be the parking lot of community A, and this is not limited here.

[0040] As an exemplary application, the vehicle in the embodiment of the present disclosure may be an intelligent connected car with an automatically lifting tailgate, which is not limited here.

[0041] S102: Acquire opening information corresponding to the venue.

[0042] As a possible implementation manner, the opening information corresponding to the venue in the first mapping relationship table may be read.

[0043] The first mapping table is used to record the tailgate openings corresponding to different locations. The opening information in the first mapping table may refer to a specific opening value or an opening range, which is not limited here.

[0044] The types of venues in the first mapping table include at least one or more of the following:

[0045] Outdoor parking lots;

[0046] Provide parking spaces;

[0047] underground parking lot;

[0048] administrative venues;

[0049] Ground parking structure;

[0050] Residential parking lot;

[0051] On-street parking spaces;

[0052] Public parking lot.

[0053] It should be noted that for different types of parking lots, the opening limit of the vehicle's lift tailgate is mainly affected by site space, height restrictions, safety requirements and environmental factors.

[0054] 1. Outdoor parking lots may have uneven terrain, trees, rocks, and other natural obstacles that may affect the maximum tailgate opening. While open, the outdoors may have certain spatial limitations due to terrain or man-made structures (such as campgrounds and picnic areas). Therefore, the tailgate opening should ensure that it avoids collisions with surrounding obstacles while also allowing for easy entry and exit, as well as access to items. Therefore, there is no specific fixed opening value for outdoor parking lots; it can be adjusted flexibly based on actual conditions.

[0055] 2. For attached parking lots, which are often adjacent to buildings, the tailgate opening may be restricted by the building's exterior walls, columns, pipelines, and other structures. The parking lot may also have overhead features such as suspended ceilings and ventilation ducts, which may impose height restrictions on the tailgate opening. Therefore, the tailgate opening should be less than or equal to the vertical distance between the parking lot ceiling and the rear of the vehicle to prevent collision with overhead features.

[0056] 3. Underground parking lots must meet certain clear height requirements to ensure safe passage and parking. Fire sprinkler, lighting, ventilation, and other pipelines may be located overhead, restricting the tailgate opening. Therefore, the tailgate opening can be less than or equal to the clear height of the parking lot minus the vehicle height and a safety margin.

[0057] 4. For administrative sites, which have higher safety requirements, tailgate opening must be wide enough to avoid collisions with surrounding facilities or personnel. Administrative sites may have dedicated parking areas, where tailgate opening must be planned and managed. Tailgate opening must comply with the parking regulations and safety requirements of the administrative site.

[0058] 5. For above-ground parking structures, each floor has a fixed height limit. Columns and beams within the structure may restrict the tailgate opening. Therefore, the tailgate opening should be less than or equal to the floor height minus the vehicle height and a safety margin.

[0059] 6. Residential parking lots must be designed with residents' safety and convenience in mind. Due to limited parking space, tailgate openings must be wide enough to avoid collisions with surrounding vehicles or facilities. The tailgate opening should be wide enough to ensure it does not affect the safety of surrounding vehicles or residents.

[0060] 7. For on-street parking, which is limited by road width, the tailgate opening must be wide enough to avoid impacting traffic flow and pedestrian safety. Traffic signs and markings may regulate parking locations and tailgate openings. Therefore, the tailgate opening should be wide enough to avoid impacting traffic flow and pedestrian safety.

[0061] 8. For public parking lots with high pedestrian and vehicle traffic, the tailgate opening must be wide enough to avoid collisions with surrounding vehicles and pedestrians. The tailgate opening should comply with the parking regulations and site planning requirements of the public parking lot.

[0062] It should be noted that the first mapping table can be generated by the vehicle itself, or sent to the vehicle by other vehicles. The information recorded in the first mapping table can be updated autonomously, or can be updated synchronously based on information sent by other vehicles, which is not limited here.

[0063] It is understandable that in some cases, when a vehicle arrives at a certain venue for the first time, the opening information of the venue may not be recorded in the first mapping table, and the vehicle may obtain the opening information corresponding to the venue through other means.

[0064] As an optional implementation method, the opening information corresponding to the venue can be obtained based on the Internet of Things devices in the venue.

[0065] It should be noted that in some venues, IoT devices will be pre-installed, such as parking space detection sensors, radio frequency identification readers, wireless communication modules, Bluetooth devices, electric actuators, remote control devices, monitoring systems, etc., which are not limited here.

[0066] Optionally, the vehicle can establish communication with an IoT device through a built-in communication module, such as a Bluetooth module or a WiFi module, and obtain the opening information corresponding to the venue from the IoT device.

[0067] As an optional implementation method, the opening information corresponding to the site can also be obtained based on the obstacle recognition result of the site.

[0068] For example, real-time data about the site's surroundings can be collected through data acquisition devices in vehicles, such as sensors on the vehicles (e.g., radar, lidar, cameras, etc.). The collected data can then be processed to identify potential obstacles. For example, image processing algorithms or machine learning models can be used to analyze and interpret sensor data, thereby distinguishing between static obstacles (e.g., walls, pillars, trees, etc.) and dynamic obstacles (e.g., pedestrians, other vehicles, etc.), which are not limited here.

[0069] Furthermore, by evaluating the impact of obstacles, a safe tailgate opening angle can be calculated, which ensures that the tailgate will not collide or contact any obstacles during opening.

[0070] S103: Based on the opening information, controlling the vehicle's tailgate lift.

[0071] Among them, the lifting tailgate, which may also be called a lifting gate or an electric tailgate, is used on a car.

[0072] As an example of how this works, the vehicle's control module determines the opening angle and activates the drive mechanism. The motor generates lifting force through the gearbox and transmission, lifting the tailgate upward. Simultaneously, the anti-pinch strip monitors the surrounding environment to prevent pinching injuries. When the tailgate reaches the preset position, the power lock module locks it.

[0073] For example, if the opening information corresponding to location A is an opening value n, the vehicle's lift tailgate can be controlled to adjust the opening to f, which is not limited here.

[0074] Alternatively, if the opening information corresponding to the location A is in the opening value range m1 to m2, the vehicle's lift tailgate may be controlled to adjust the opening to any opening m in the opening value range m1 to m2, which is not limited here.

[0075] It should be noted that the tailgate opening angle is affected by a variety of factors, including vehicle design, tailgate dimensions, vehicle height, trunk space, and safety requirements. Therefore, users can adjust and modify the tailgate opening angle based on actual conditions.

[0076] Alternatively, users can set the tailgate opening height based on their needs and preferences. The vehicle can provide a reference opening range based on the geographical characteristics of the site, so that the user can set the opening value neither too low to affect the retrieval of items nor too high.

[0077] In the disclosed embodiment, the vehicle's location is first determined, and then the opening information corresponding to the location is obtained. The vehicle's tailgate is then controlled based on the opening information. This ensures that the vehicle's tailgate opening matches the current location, preventing the current tailgate opening setting from mismatching the height of the surrounding environment and reducing the probability of collisions caused by the tailgate being raised too high.

[0078] Figure 2 FIG. 1 is a flow chart of a vehicle control method. Figure 2 As shown, when the user triggers the liftgate open button, the liftgate opening memory unit requests high-precision positioning data for the vehicle's current position from the high-precision positioning unit. The high-precision positioning unit returns this data, which the liftgate opening memory unit then sends to the mapping unit, requesting the corresponding administrative location name. The mapping unit then returns the corresponding administrative location name. The liftgate opening memory unit then queries the database based on the administrative location name to retrieve the liftgate opening value corresponding to that location. If no value is found, the default opening value set by the user is used. This can be implemented by the liftgate actuator.

[0079] Figure 3 FIG. 1 is a flow chart of a vehicle control method according to the second embodiment of the present disclosure. Figure 3 As shown, the method includes:

[0080] S201: In response to triggering a tailgate lift opening request, obtaining current positioning data of the vehicle.

[0081] The tailgate lift opening request is used to request to start the tailgate lift so that the tailgate lift is lifted.

[0082] As a possible implementation, the user can trigger the opening request by using a designated button on the vehicle, such as by touching or long pressing it, without limitation. The designated button can be a mechanical button or a button on a human-machine interface, without limitation. Alternatively, the user can trigger the tailgate lift opening request by using a joystick or other type of control device, without limitation.

[0083] Alternatively, the user can also trigger the opening request by voice control of the vehicle computer.

[0084] Alternatively, the user may also send an opening request to the vehicle through an electronic device associated with the vehicle, such as a mobile phone, watch, or bracelet.

[0085] As a possible implementation, when obtaining the current positioning data of the vehicle, a high-precision positioning data acquisition request may be first sent to the high-precision positioning unit, and then the positioning data returned by the high-precision positioning unit may be acquired.

[0086] Among them, the high-precision positioning unit can integrate multiple positioning technologies, including but not limited to the global navigation satellite system (GNSS), inertial navigation system (INS), map matching positioning and multi-sensor fusion positioning, to provide vehicles with high-precision and high-reliability positioning services.

[0087] It is understandable that the vehicle can send a positioning request to the high-precision positioning unit through its built-in communication module (such as 4G / 5G, on-board Wi-Fi, etc.). The positioning request can include basic information such as the vehicle's current position, speed, direction, as well as the required positioning accuracy and response time requirements.

[0088] The high-precision positioning unit can transmit the calculated high-precision positioning data to the vehicle via the communication module. The positioning data can be sent in the form of a data packet containing detailed information such as the vehicle's longitude, latitude, altitude, speed, and direction, which are not limited here.

[0089] S202: Determine the location of the vehicle based on the positioning data.

[0090] It should be noted that after obtaining the positioning data, the positioning data may be sent to the map unit to request the name of the site where the vehicle is located.

[0091] As an implementation method, the vehicle can send positioning data to a mapping unit or a related positioning service server. After receiving the positioning data, the mapping unit or positioning service server analyzes it and extracts the vehicle's current precise location information. Map matching technology can then be used to match the vehicle's positioning data with a high-precision map to determine the vehicle's current precise location. After determining the vehicle's location, further querying the venue information corresponding to the precise location can be performed, such as residential parking lot A, hospital parking lot B, road section J, commercial district N, etc., without limitation here.

[0092] Furthermore, the map unit or positioning service server returns the retrieved venue name and related information to the vehicle.

[0093] S202: Sending an opening information acquisition request to the cloud server to acquire the opening information returned by the cloud server, wherein the opening information acquisition request includes a site identifier.

[0094] The cloud server may store a second mapping relationship table.

[0095] The identifier of the venue may be the name of the venue, or a unique identifier corresponding to the venue, which is not limited here.

[0096] The second mapping table records the opening information corresponding to each different venue. The second mapping table may record more mapping relationships than the first mapping table. The second mapping table may be the sum of all mapping relationships recorded in all first mapping tables.

[0097] As a possible implementation, if the vehicle fails to find the corresponding opening information for the current location using the first mapping table, it can send a request to the cloud server to obtain the opening information. After receiving the request, the cloud server can query the corresponding opening information using the second mapping table and return it to the vehicle.

[0098] Alternatively, the vehicle may also directly send an opening information acquisition request to the cloud server to obtain the opening information returned by the cloud server.

[0099] Optionally, the locally stored first mapping relationship table is sent to the cloud server, so that the cloud server updates the second mapping relationship table.

[0100] As a possible implementation, the vehicle may send the locally stored first mapping relationship table to the cloud server at a certain time period. Alternatively, the vehicle may send the first mapping relationship table to the cloud server when the first mapping relationship table is updated.

[0101] For example, if vehicle A's first mapping table adds the corresponding travel distance information for cells A and B, the updated first mapping table can be sent to the cloud server. The cloud server can then update the second mapping table based on the updated first mapping table, adding the corresponding travel distance information for cells A and B to the second mapping table.

[0102] It is understood that by regularly or in real time updating the cloud server's second mapping table, the real-time and accuracy of cloud data can be ensured, so that when vehicles query the cloud server, they receive decisions based on the latest information. Because the cloud server can perform more accurate calculations and scheduling based on the latest mapping table, the system's flexibility and scalability are enhanced. This mechanism allows the system to easily adapt to changes, such as the addition of new communities or parking lots. Through simple data updates, the cloud server can incorporate new mapping relationships without the need for complex system reconstruction or upgrades. By regularly updating the mapping table, potential security vulnerabilities can also be discovered and fixed in a timely manner.

[0103] Optionally, a first mapping relationship table may be synchronized between the vehicle and the target vehicle, wherein an association is pre-established between the target vehicle and the vehicle.

[0104] The user account corresponding to the target vehicle can be pre-associated with the user account of the current vehicle. For example, for a family X with four vehicles, these four vehicles can be pre-associated so that information between different vehicles can be synchronized.

[0105] It's understandable that in the aforementioned Family X scenario, the four vehicles are pre-linked via user accounts (e.g., a family shared account). Each vehicle maintains its own local primary mapping table, which may contain mappings between specific locations and corresponding opening information. Through a synchronization mechanism, these vehicles can update and share their primary mapping tables in real time or periodically.

[0106] For example, if one vehicle updates the parking lot's opening information, this information is automatically synchronized with all other connected vehicles, eliminating duplicate entries and potential errors. This significantly simplifies the process by eliminating the need to set up and update information for each vehicle individually.

[0107] At the same time, due to the consistency of information, users can obtain accurate and up-to-date vehicle-related information on any vehicle, which improves the convenience and satisfaction of use, and achieves multiple effects such as information sharing, collaboration, optimized resource allocation, and enhanced user experience.

[0108] S204: Controlling the vehicle's tailgate lift based on the opening information.

[0109] It should be noted that the specific implementation of S204 can refer to the above embodiment and will not be described in detail here.

[0110] In the disclosed embodiment, in response to a request to trigger the tailgate lift, the current positioning data of the vehicle is first obtained. Then, based on the positioning data, the location of the vehicle is determined. A request for obtaining an opening information is then sent to a cloud server to obtain the opening information returned by the cloud server, wherein the opening information request includes a location identifier. Based on the opening information, the vehicle's tailgate lift is then controlled. Thus, by obtaining the vehicle's current positioning data, the specific location of the vehicle can be intelligently determined. By sending an opening information request to the cloud server, the opening information corresponding to the scene identifier can be obtained, enabling the vehicle's tailgate lift to be opened to match the current location, thereby avoiding the situation where the current tailgate lift opening setting does not match the height of the environment, and reducing the probability of accidents caused by the tailgate being lifted too high and causing a collision.

[0111] Figure 4 FIG. 1 is a flow chart of a vehicle control method according to the third embodiment of the present disclosure. Figure 4 As shown, the method includes:

[0112] S301: Determine the location of the vehicle.

[0113] It should be noted that the specific implementation of step S301 can refer to the above embodiment and will not be described in detail here.

[0114] S302: In response to parking at the venue for the first time, establish communication with IoT devices in the venue.

[0115] IoT devices can be facilities with communication capabilities and can be any type of electronic device. It should be noted that some venues may have pre-installed IoT devices, such as parking sensors, radio frequency identification readers, wireless communication modules, Bluetooth devices, electric actuators, remote control devices, monitoring systems, etc., which are not limited here.

[0116] As a possible implementation method, communication can be established with the IoT device through a built-in communication module in the vehicle, such as a Bluetooth module or a WiFi module, which is not limited here.

[0117] S303: Obtaining information about the opening limit of the vehicle's tailgate at the site through the Internet of Things device.

[0118] It is understandable that the opening restrictions for the vehicle's tailgate may be the same or different in different venues. Each venue has its own corresponding tailgate opening restrictions.

[0119] Therefore, after the vehicle establishes communication with the IoT device, it can initiate a request to the IoT device to obtain the opening restriction information of the venue returned by the IoT device.

[0120] The opening limit information can be a reasonable opening range for the vehicle's tailgate in the venue. If the opening range is exceeded, the vehicle may not match the venue height, causing a collision or requiring manual emergency adjustment.

[0121] As an example, consider parking lot A, which has an opening limit of 1.8 meters. This means that parking lot A may require the electric tailgate to open no more than 1.8 meters (the distance from the ground to the top of the tailgate). If the opening exceeds 1.8 meters, a collision may occur.

[0122] S304: Based on the opening restriction information, configure the venue and the corresponding opening information in the first mapping relationship table.

[0123] It should be noted that the opening limit information corresponding to each site usually limits the distance from the ground to the top of the tailgate, that is, a height limit value. After receiving this opening limit information, the vehicle needs to convert it into the angle limit information for lifting the tailgate.

[0124] For example, if the opening limit information corresponding to location V is no more than 2 meters, that is, the distance from the ground to the top of the tailgate cannot exceed 2 meters, and the distance between the top of the tailgate and the ground is 2 meters, the opening angle of the liftgate is α degrees. If the vehicle's liftgate opening angle does not exceed α degrees, it is compatible with location V. Therefore, the opening information corresponding to location V can be recorded in the first mapping table as (0°, α°), without limitation here.

[0125] It should be noted that for different vehicle models, such as small and large vehicles, the opening information configured in the first mapping table for the same opening restriction information may be different. For example, for a small vehicle, when the distance between the top of the tailgate and the ground is 2 meters, the opening angle of the lift tailgate is β degrees, while for a large vehicle, when the distance between the top of the tailgate and the ground is 2 meters, the opening angle of the lift tailgate is γ degrees. This is not limited to this.

[0126] S305: Read the opening information corresponding to the venue in the first mapping relationship table.

[0127] S306: Controlling the vehicle's tailgate lift based on the opening information.

[0128] It should be noted that the specific implementation of steps S305 and S306 can refer to the above embodiment and will not be described in detail here.

[0129] In the disclosed embodiment, the site where the vehicle is located is first determined. Then, in response to the first parking at the site, communication is established with an IoT device in the site. Then, through the IoT device, information about the opening limit of the vehicle's tailgate is obtained. Then, based on the opening limit information, the site and the corresponding opening information are configured in a first mapping table. Then, the opening information corresponding to the site in the first mapping table is read. Finally, based on the opening information, the vehicle's tailgate is controlled. Thus, the opening limit information of the vehicle's tailgate is obtained through the IoT device, ensuring that the vehicle can safely enter and exit the site. By configuring the site and the corresponding opening information in the first mapping table, the vehicle can then automatically control the vehicle's tailgate at the site according to the configured information, ensuring compliance with the site's safety requirements and operating specifications, and increasing the convenience and efficiency of operation.

[0130] Figure 5 FIG. 4 is a flow chart of a vehicle control method according to the fourth embodiment of the present disclosure. Figure 5 As shown, the method includes:

[0131] S401: Determine the location of the vehicle.

[0132] It should be noted that the specific implementation of step S301 can refer to the above embodiment and will not be described in detail here.

[0133] S402: Determine an opening range corresponding to the site based on the user's historical operations on lifting the tailgate in the site.

[0134] The opening range may be the maximum opening range in history for the user to lift the tailgate.

[0135] The historical operation may refer to the historical opening operation of the tailgate.

[0136] For example, if the user opens the liftgate to α degrees for the first time in the venue V, then the opening range corresponding to the venue can be determined to be (0°, α°).

[0137] Alternatively, if the user opens the liftgate to β degrees (β>α) in the venue V for the second time, the opening range corresponding to the venue may be updated to (0°, β°).

[0138] S403: Based on the opening range, configure the venue and the corresponding opening information in the first mapping relationship table.

[0139] For example, if the user manually opens the liftgate to α degrees in the venue V for the first time, the opening information corresponding to the venue V may be recorded in the first mapping table as (0°, α°).

[0140] Alternatively, if the user manually opens the liftgate to β degrees (β>α) in the venue V for the second time, the opening information corresponding to the venue V may be updated in the first mapping table to (0°, β°).

[0141] It should be noted that the above examples are merely illustrative and are not intended to limit the present disclosure.

[0142] S404: Read the opening information corresponding to the venue in the first mapping table.

[0143] S405: Based on the opening information, control the vehicle's tailgate lift.

[0144] It should be noted that the specific implementation of steps S405 and S406 can refer to the above embodiment and will not be described in detail here.

[0145] Figure 6 FIG. 1 is a flow chart of a vehicle control method. Figure 6As shown, the user triggers the liftgate open button, which then opens the liftgate to a certain position via the tailgate actuator. The liftgate opening memory unit then requests high-precision positioning data for the vehicle's current position from the high-precision positioning unit, which returns the data. The liftgate opening memory unit then sends this data to the map unit, requesting the corresponding administrative location name. The map unit then returns the corresponding administrative location name. The liftgate opening memory unit then requests liftgate opening data from the tailgate actuator, which returns the data. The liftgate opening memory unit then associates the administrative location with the tailgate opening value and stores it.

[0146] In the disclosed embodiment, the vehicle's location is first determined. Based on the user's history of tailgate operations in the location, the corresponding opening range is determined. Based on the opening range, the location and corresponding opening information are configured in a first mapping table. The opening information corresponding to the location in the first mapping table is then read. Finally, based on the opening information, the vehicle's tailgate is controlled. Thus, an accurate and reasonable opening range can be obtained based on the user's history of operations, allowing the tailgate's opening to adapt to the location. The opening can then be automatically controlled based on the first mapping table, improving operational convenience and safety.

[0147] Figure 7 FIG. 5 is a flow chart of a vehicle control method according to the fifth embodiment of the present disclosure. Figure 5 As shown, the method includes:

[0148] S701: Determine the location of the vehicle.

[0149] It should be noted that the specific implementation of step S701 can refer to the above embodiment and will not be described in detail here.

[0150] S702: Identify obstacles on the site to obtain identification results.

[0151] The recognition result may be a recognition result of obstacles in the surrounding environment of the vehicle in the site.

[0152] As a possible implementation method, real-time data of the surrounding environment of the site can be collected through data acquisition devices in the vehicle, such as sensors on the vehicle (such as radar, lidar, cameras, etc.). The collected data can then be processed to identify potential obstacles.

[0153] Optionally, image processing algorithms or machine learning models can be used to analyze and interpret sensor data to distinguish between static obstacles (such as walls, pillars, trees, etc.) and dynamic obstacles (such as pedestrians, other vehicles, etc.), which are not limited here.

[0154] S703: Based on the recognition result, configure the venue and the corresponding opening information in the first mapping relationship table.

[0155] Optionally, the impact of obstacles on the vehicle's electrically lifted tailgate can be evaluated based on the recognition results.

[0156] As one possible implementation, the tailgate's current position, trajectory, and the relative position and distance between the tailgate and any obstacles can be considered. By assessing the impact of obstacles, a safe tailgate opening angle can be calculated. This angle ensures that the tailgate does not collide or contact any obstacles during opening.

[0157] It's understandable that the tailgate's trajectory can be predicted or tracked to understand its path during opening. The system can then calculate the distance and relative position between obstacles and the tailgate to determine whether collision or contact will occur during the tailgate opening process. Finally, based on the impact assessment results, the vehicle computer can calculate a safe tailgate opening angle. This angle ensures that the tailgate will not collide or contact with any obstacles during opening.

[0158] Furthermore, based on the safe tailgate lift opening, the venue and the corresponding opening information may be configured in the first mapping table.

[0159] S704: Read the opening information corresponding to the venue in the first mapping table.

[0160] S705: Controlling the vehicle's tailgate lift based on the opening information.

[0161] It should be noted that the specific implementation of steps S705 and S706 can refer to the above embodiment and will not be described in detail here.

[0162] In the embodiment of the present disclosure, the site where the vehicle is located is first determined, and then the site is identified for obstacles to obtain an identification result. Thereafter, based on the identification result, the site and the corresponding opening information are configured in the first mapping relationship table, and then the opening information corresponding to the site in the first mapping relationship table is read, and finally, based on the opening information, the vehicle's tailgate is controlled. Thus, by identifying obstacles in the site, the system can determine a safe tailgate opening range, avoid collisions or other potential risks, and improve the safety and reliability of the operation. Based on the results of obstacle identification, the opening information of each site in the first mapping relationship table is updated, thereby ensuring that each operation is performed based on the latest site status, reducing the complexity and possibility of errors in manual configuration, and significantly improving safety, efficiency, and user experience.

[0163] Figure 8 FIG. 1 is a schematic diagram of a vehicle control device according to another embodiment of the present disclosure. Figure 8 As shown, the vehicle control device 60 includes:

[0164] The tailgate opening memory unit, high-precision positioning unit, map unit and controller, among which,

[0165] The high-precision positioning unit and the mapping unit are used together to obtain the location of the vehicle;

[0166] The tailgate opening memory unit is used to associate and store the site and the corresponding opening information;

[0167] The controller is used to control the vehicle's tailgate lift according to the opening information corresponding to the vehicle's location.

[0168] Among them, the tailgate opening memory unit is used to record the tailgate opening suitable for the vehicle in different venues, and associate these venues with the corresponding opening information to store them, so as to realize the user's personalized settings in different locations.

[0169] For example, when the user manually adjusts the tailgate to a certain opening, the unit will automatically capture the current site information (obtained through the high-precision positioning unit and the map unit) and the tailgate opening, and then associate the two and store them in a mapping table inside the vehicle (such as the first mapping table).

[0170] The high-precision positioning unit provides precise positioning data for the vehicle's current location, which is the basis for site recognition and tailgate opening memory. When the tailgate opening memory unit needs to confirm the vehicle's position, the high-precision positioning unit responds and returns the vehicle's current positioning data.

[0171] The mapping unit can determine the vehicle's current location (such as a specific parking lot or garage) based on the positioning data provided by the high-precision positioning unit. When receiving a location confirmation request from the tailgate opening memory unit, the mapping unit uses the positioning data included in the request to query the built-in map database to return the vehicle's current location information.

[0172] The controller automatically controls the vehicle's tailgate opening to a preset degree based on the vehicle's location. The controller searches the tailgate opening memory unit for the mapping table, finds the tailgate opening degree corresponding to the current location, and then sends a control signal to the tailgate actuator to automatically adjust the tailgate opening.

[0173] The optional tailgate opening memory unit is specifically used for:

[0174] If the user opens the vehicle's tailgate to any opening degree in any location, the identifier of any location and any opening degree are associated and stored in the first mapping relationship table in the vehicle.

[0175] Optional high-precision positioning unit is specifically used for:

[0176] In response to receiving a positioning data acquisition request sent by the tailgate opening memory unit, returning positioning data of the vehicle's current location;

[0177] Map units are specifically used for:

[0178] In response to receiving the site confirmation request sent by the tailgate opening memory unit, the site where the vehicle is located is returned based on the positioning data included in the site confirmation request.

[0179] Optionally, the vehicle control device 60 may further include: a liftgate button.

[0180] The user can trigger the liftgate button to send a tailgate start request to the controller, so that the controller will open the tailgate to a certain height.

[0181] In this embodiment, a tailgate lift memory unit, a high-precision positioning unit, a map unit, and a controller are provided. Parking lots in different places may have different height limits, and the opening value of the tailgate lift needs to be adapted to the height limit of the parking lot to avoid the situation where the currently set opening exceeds the height limit and causes a collision. This technical solution is applied to different parking lots to set the opening value of the tailgate lift and associate it with the geographic location information of the site. In this way, the opening of the tailgate lift at the site will match the height limit of the site. When the car drives to the site next time, there will be no mismatch between the fixed opening value of the tailgate lift and the site height limit, resulting in a collision or manual emergency adjustment. This makes up for the shortcomings of the current mainstream technical solutions and improves user convenience.

[0182] According to an embodiment of the present disclosure, the present disclosure also provides a vehicle, a readable storage medium, and a computer program product.

[0183] Figure 9 FIG6 is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0184] Reference Figure 9Vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 600 may be interconnected via wired or wireless means.

[0185] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0186] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0187] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0188] The drive system 640 may include components that provide power to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0189] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652. The processor 651 may execute instructions 653 stored in the memory 652.

[0190] The processor 651 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0191] The memory 652 may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0192] In addition to instructions 653 , memory 652 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 652 may be used by computing platform 650 .

[0193] In the embodiment of the present disclosure, the processor 651 can execute the instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0194] Other embodiments of the present disclosure will readily occur to those skilled in the art after consideration of the specification and practice of the applications disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0195] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0196] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, etc.

[0197] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0198] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determine the site where the vehicle is located; Acquiring opening information corresponding to the venue; Based on the opening information, a liftgate of the vehicle is controlled.

2. The method according to claim 1, characterized in that Determining the location of the vehicle includes: In response to triggering a tailgate lift opening request, obtaining current vehicle positioning data; Based on the positioning data, a site where the vehicle is located is determined.

3. The method according to claim 1, characterized in that The obtaining of the opening information corresponding to the site includes: Send an opening information acquisition request to the cloud server to obtain the opening information returned by the cloud server, The opening information acquisition request includes the identifier of the venue.

4. The method according to claim 3, characterized in that Also includes: The locally stored first mapping relationship table is sent to the cloud server, so that the cloud server updates the second mapping relationship table.

5. The method according to claim 1, wherein The obtaining of the opening information corresponding to the site includes: Read the opening information corresponding to the venue in the first mapping relationship table; or, Based on the IoT devices in the venue, obtaining the opening information corresponding to the venue; or, Based on the obstacle recognition result of the site, the opening information corresponding to the site is obtained.

6. The method according to claim 5, characterized in that Before reading the opening information corresponding to the venue in the first mapping table, the method further includes: In response to parking at the site for the first time, establishing communication with an IoT device at the site; Obtaining, through the IoT device, information on the opening limit of the vehicle's tailgate at the site; Based on the opening restriction information, the venue and the corresponding opening information are configured in the first mapping relationship table.

7. The method according to claim 5, characterized in that Before reading the opening information corresponding to the venue in the first mapping table, the method further includes: Determining an opening range corresponding to the site based on the user's historical operations on lifting the tailgate in the site; Based on the opening range, the venue and corresponding opening information are configured in the first mapping relationship table.

8. The method according to claim 5, characterized in that Before reading the opening information corresponding to the venue in the first mapping table, the method further includes: Performing obstacle identification on the site to obtain an identification result; Based on the recognition result, the venue and the corresponding opening information are configured in the first mapping relationship table.

9. The method according to claim 3, characterized in that Also includes: Synchronizing the first mapping relationship table between the vehicle and the target vehicle, Wherein, an association is pre-established between the target vehicle and the vehicle.

10. A vehicle control device, characterized in that: It includes a tailgate opening memory unit, a high-precision positioning unit, a map unit and a controller, among which: The high-precision positioning unit and the map unit are used in conjunction with each other to obtain the location of the vehicle; The tailgate opening memory unit is used to associate and store the site and the corresponding opening information; The controller is used to control the lifting tailgate of the vehicle according to the opening information corresponding to the site where the vehicle is located.

11. The device according to claim 10, characterized in that The tailgate opening memory unit is specifically used for: If the user opens the tailgate of the vehicle to any opening degree in any location, the identifier of the location is associated with the opening degree and stored in the first mapping relationship table in the vehicle.

12. The device according to claim 10, characterized in that in, The high-precision positioning unit is specifically used for: In response to receiving a positioning data acquisition request sent by the tailgate opening memory unit, returning positioning data of the vehicle's current location; The map unit is specifically used for: In response to receiving the site confirmation request sent by the tailgate opening memory unit, the site where the vehicle is located is returned based on the positioning data included in the site confirmation request.

13. A vehicle comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 9.

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