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

Abstract

The invention relates to a control method and device for a vehicle tail door, a vehicle and a storage medium, and the method comprises the steps that a control instruction of the vehicle tail door of the vehicle is received; obtaining the actual state of the vehicle tail door, and comparing the actual state with the verification state before power-on to obtain a comparison result; and based on the comparison result, selecting to respond to the control instruction or stop responding to the control instruction. Therefore, the problems that in the related technology, after the whole vehicle is powered off, the tail door is manually pulled, and after the whole vehicle is powered on, the memory position of the controller is the position before the tail door is pulled, so that a supporting rod motor is prone to overcurrent, a tail door lock is damaged, and people are injured are solved.

Description

Technical Field

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

[0002] As cars become more and more popular, the electric tailgate function of cars is gradually used in models of various configurations. As the intelligence level of vehicles increases, automatic opening and closing of tailgates has become a necessary functional design for more and more vehicles.

[0003] In the related art, the tailgate can be opened by restricting the movement and positioning of the human body and detecting and identifying specific movements and specific positions.

[0004] However, in the related art, when the tailgate is manually opened after the vehicle is powered off, the controller will remember the position before the tailgate was opened after the vehicle is powered on. This may easily cause overcurrent in the strut motor, damage to the tailgate lock, and personal injury, and needs to be improved urgently. Summary of the Invention

[0005] The present application provides a vehicle tailgate control method, device, vehicle and storage medium to solve the problem that when the tailgate is manually opened after the vehicle is powered off, the controller will remember the position before the tailgate was opened after the vehicle is powered on, which may easily cause overcurrent of the support rod motor, damage to the tailgate lock and personal injury.

[0006] The first aspect of the present application provides a method for controlling a vehicle tailgate, comprising the following steps: receiving a control instruction for a vehicle tailgate of a car; obtaining an actual state of the vehicle tailgate, and comparing the actual state with a verification state before power-on to obtain a comparison result; and based on the comparison result, selecting to respond to the control instruction or to stop responding to the control instruction.

[0007] Optionally, in one embodiment of the present application, obtaining the actual state of the vehicle tailgate includes: obtaining the architecture type of the car; when the architecture type is a non-SOA (Service-Oriented Architecture) architecture type, obtaining the current angle value of the vehicle tailgate, and determining the actual state based on the current angle value; when the architecture type is a SOA-based system architecture type, obtaining image information of the vehicle tailgate, and determining the actual state based on the image information, or determining the actual state based on the image information and the current angle value.

[0008] Optionally, in one embodiment of the present application, the selection of responding to the control instruction or stopping responding to the control instruction based on the comparison result includes: responding to the control instruction when the comparison result is that the tailgate is not opened; stopping responding to the control instruction when the comparison result is that the tailgate is opened.

[0009] Optionally, in one embodiment of the present application, after stopping responding to the control instruction, it also includes: prompting the user that the vehicle tailgate is abnormal; or opening the vehicle tailgate to a preset position.

[0010] Optionally, in one embodiment of the present application, the preset position is a fully open position or a fully closed position.

[0011] The second aspect of the present application provides a vehicle tailgate control device, including: a receiving module for receiving a vehicle tailgate control instruction of a car; a comparing module for obtaining the actual state of the vehicle tailgate and comparing the actual state with the verification state before power-on to obtain a comparison result; and an executing module for selecting to respond to the control instruction or stop responding to the control instruction based on the comparison result.

[0012] Optionally, in one embodiment of the present application, the comparison module includes: an acquisition unit for acquiring the architecture type of the car; a first determination unit for acquiring the current angle value of the vehicle tailgate when the architecture type is a non-SOA architecture type, and determining the actual state based on the current angle value; a second determination unit for acquiring image information of the vehicle tailgate when the architecture type is a SOA-based system architecture type, and determining the actual state based on the image information, or determining the actual state based on the image information and the current angle value.

[0013] Optionally, in one embodiment of the present application, the execution module includes: a response unit for responding to the control instruction when the comparison result is that the tailgate is not opened; and a stop unit for stopping responding to the control instruction when the comparison result is that the tailgate is opened.

[0014] Optionally, in one embodiment of the present application, the stopping unit further includes: a prompting unit for prompting the user of an abnormality in the vehicle tailgate; or an opening unit for opening the vehicle tailgate to a preset position.

[0015] Optionally, in one embodiment of the present application, the preset position is a fully open position or a fully closed position.

[0016] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle tailgate control method as described in the above embodiment.

[0017] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned vehicle tailgate control method.

[0018] The fifth embodiment of the present application provides a computer program product, including a computer program, which implements the above-mentioned vehicle tailgate control method when executed.

[0019] The present embodiment can compare the actual state of the vehicle's tailgate with the verified state before the vehicle was powered on to determine whether the tailgate's state is consistent, and thus choose to respond or stop responding to tailgate control commands. This makes tailgate control more redundant and intelligent, ensuring that the tailgate moves as expected, avoiding unsafe tailgate movements, and protecting the prop motor and door lock motor. This solves the problem in the related art where, after the vehicle is powered off, manually opening the tailgate and the controller remembers the position before opening the tailgate after the vehicle is powered on, which can easily cause overcurrent in the prop motor, damage to the tailgate lock, and personal injury.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 This is a flow chart of a vehicle tailgate control method provided according to an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the working principle of a vehicle tailgate control method based on a non-SOA system architecture according to one embodiment of the present application;

[0024] Figure 3 A schematic diagram of the working principle of a vehicle tailgate control method based on an SOA system architecture according to one embodiment of the present application;

[0025] Figure 4 Schematic diagram of a block diagram of a vehicle tailgate control device provided according to an embodiment of the present application;

[0026] Figure 5 A schematic structural diagram of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The following describes the vehicle tailgate control method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the related art mentioned in the background technology center above, when the tailgate is manually opened after the vehicle is powered off, the controller will remember the position before the tailgate is opened after the vehicle is powered on, which can easily cause overcurrent of the strut motor, damage to the tailgate lock and personal injury. The present application provides a vehicle tailgate control method. In this method, the actual state of the vehicle tailgate can be compared with the verification state of the tailgate before the vehicle is powered on to determine whether the state of the vehicle tailgate is unified, so as to choose to respond or stop responding to the tailgate control command, making the tailgate control more redundant and intelligent, ensuring that the tailgate action meets expectations, avoiding unsafe tailgate action, and protecting the strut motor and door lock motor. Thus, the problem of manually opening the tailgate after the vehicle is powered off and the controller remembers the position before the tailgate is opened after the vehicle is powered on in the related art is solved. The problem of overcurrent of the strut motor, damage to the tailgate lock and personal injury is easily caused.

[0029] Specifically, Figure 1 A flowchart of a vehicle tailgate control method provided in an embodiment of the present application.

[0030] like Figure 1 As shown, the vehicle tailgate control method includes the following steps:

[0031] In step S101 , a control instruction for a tailgate of a vehicle is received.

[0032] It is understandable that the control instructions may include instructions such as opening the tailgate, closing the tailgate, keeping the tailgate still, or not responding to the tailgate switch.

[0033] Specifically, the embodiment of the present application can receive the control instruction of the tailgate of the vehicle through the vehicle controller, thereby providing data reference for the subsequent selection of whether to respond to the control instruction.

[0034] In step S102, the actual state of the vehicle tailgate is acquired, and the actual state is compared with the verification state before power-on to obtain a comparison result.

[0035] It can be understood that the actual state of the vehicle tailgate may include a closed state, an open state, a closing state, an opening state, etc.

[0036] For example, the embodiment of the present application can obtain the actual status of the vehicle tailgate through vehicle-mounted sensors such as angle sensors and image sensors, and compare the actual status with the vehicle tailgate verification status before the vehicle is powered on to obtain a comparison result.

[0037] Optionally, in one embodiment of the present application, obtaining the actual state of the vehicle tailgate includes: obtaining the architecture type of the car; when the architecture type is a non-SOA architecture type, obtaining the current angle value of the vehicle tailgate, and determining the actual state based on the current angle value; when the architecture type is a SOA-based system architecture type, obtaining image information of the vehicle tailgate, and determining the actual state based on the image information, or determining the actual state based on the image information and the current angle value.

[0038] It is understandable that, due to different configurations of vehicles, a suitable solution may be selected to determine the actual status of the vehicle's tailgate according to the existing configuration of the vehicle.

[0039] During the actual implementation process, when the architecture type of the vehicle is a non-SOA architecture type, the embodiment of the present application can obtain the current angle value of the vehicle tailgate by installing an angle sensor on the vehicle tailgate, so that the vehicle controller can determine the actual state of the vehicle tailgate based on the current angle value.

[0040] In some embodiments, when the architecture type of the vehicle is a SOA-based system architecture type, the embodiment of the present application can obtain image data through a rear camera at the tailgate position of the vehicle to determine the actual status of the tailgate of the vehicle.

[0041] Furthermore, when the vehicle architecture type is a SOA-based system architecture type, and the vehicle configuration satisfies both the angle sensor and the rear camera, the embodiment of the present application can determine the actual state based on the image information and the current angle value of the vehicle tailgate.

[0042] In step S103 , based on the comparison result, a response control instruction is selected or the response control instruction is stopped.

[0043] It is understandable that in order to avoid the situation where the controller responds to the position before the tailgate is opened after the vehicle is powered on, causing overcurrent in the support motor, damage to the tailgate lock or personal injury, the embodiment of the present application can choose to respond or stop responding to the control instruction based on the comparison result.

[0044] The method of selecting to respond or stop responding to the control instruction based on the comparison result will be described in detail below.

[0045] Optionally, in one embodiment of the present application, based on the comparison result, a response control instruction or a stop response control instruction is selected, including: responding to the control instruction when the comparison result is that the tailgate is not opened; stopping responding to the control instruction when the comparison result is that the tailgate is opened.

[0046] Specifically, when the comparison result between the actual state of the vehicle's tailgate and the verification state before power-on is that the tailgate is not opened, the embodiment of the present application can respond to the control instruction of the vehicle's tailgate; when the comparison result between the actual state of the vehicle's tailgate and the verification state before power-on is that the tailgate is opened, the embodiment of the present application can stop responding to the control instruction of the tailgate, thereby avoiding unsafe tailgate movements and protecting the tailgate support rod motor and the door lock motor.

[0047] Optionally, in one embodiment of the present application, after stopping responding to the control instruction, it also includes: prompting the user that the vehicle tailgate is abnormal; or opening the vehicle tailgate to a preset position.

[0048] For example, an embodiment of the present application can prompt the user of vehicle tailgate abnormality after stopping responding to the control instruction, so that the user can choose whether to execute the subsequent vehicle tailgate opening and closing task according to the actual situation; or an embodiment of the present application can manually open the vehicle tailgate to the fully closed or fully open position after stopping responding to the control instruction to ensure that the movement of the tailgate can meet expectations.

[0049] Optionally, in one embodiment of the present application, the preset position is a fully open position or a fully closed position.

[0050] It is understandable that in order to ensure the safety of the vehicle tailgate, the preset position can be a fully open position or a fully closed position, so as to ensure that the state when the vehicle tailgate is opened or closed next time is conducive to the movement of the tailgate.

[0051] The following combination Figures 2 to 3 As shown, the working principle of the vehicle tailgate control method of the embodiment of the present application is described in detail with multiple specific embodiments.

[0052] like Figure 2 As shown, when the vehicle adopts a non-SOA system architecture, the vehicle tailgate control method of the embodiment of the present application may specifically include the following steps:

[0053] Step S201: Detect the tailgate area position.

[0054] Specifically, the embodiment of the present application can obtain the current angle value of the vehicle tailgate through a position controller such as an angle sensor, and obtain the position information of the tailgate when the vehicle is powered off through the memory of the vehicle controller.

[0055] Step S202: Compare the actual state of the vehicle tailgate with the verification state before power-on.

[0056] For example, embodiments of the present application can compare the actual state of a vehicle's tailgate with its pre-power-on verification state. If the current angle value acquired by the angle sensor is equal to the tailgate position stored by the vehicle controller when the vehicle was powered off, it indicates that the tailgate has not been moved. Embodiments of the present application can control the tailgate's movement based on the stored tailgate position. If the comparison result is unequal, it indicates that the tailgate has been moved. Embodiments of the present application can control the tailgate's movement based on the tailgate angle value acquired by the angle sensor.

[0057] Further, if Figure 3 As shown, when the vehicle is a SOA-based system architecture, the vehicle tailgate control method of the embodiment of the present application may specifically include the following steps:

[0058] Step S301: Determine the change in face position and the tailgate position calibration.

[0059] Specifically, the embodiment of the present application can detect the position of a person's face using the rear camera, and use the controller to obtain the face position stored when the vehicle is powered off, thereby determining whether the face position has changed. If the face position has changed and the tailgate position is not calibrated, the embodiment of the present application may not respond to the tailgate opening and closing command and prompt the user to manually close the tailgate.

[0060] Step S302: Detect the tailgate area position.

[0061] For example, in an embodiment of the present application, the tailgate position can be calibrated through a rear camera, and the position information of the tailgate when the vehicle is powered off can be obtained through the memory of the vehicle controller.

[0062] Step S303: Compare the actual state of the vehicle tailgate with the verification state before power-on.

[0063] During actual implementation, embodiments of the present application may compare the calibrated vehicle tailgate position with the tailgate position information when the vehicle is powered off. If the calibrated vehicle tailgate position and the tailgate position stored by the vehicle controller when the vehicle is powered off are equal, and the position of the person's face has not changed, it indicates that the tailgate position has not been moved. Embodiments of the present application may control the tailgate movement according to the tailgate position stored when the vehicle was powered off. If the comparison result is unequal, it indicates that the tailgate position has been moved. Embodiments of the present application may control the tailgate movement according to the calibrated vehicle tailgate position information.

[0064] The vehicle tailgate control method proposed in the embodiments of the present application can determine whether the vehicle tailgate's actual state is consistent by comparing it with the verified state before the vehicle was powered on. This allows the system to choose whether to respond to or stop responding to tailgate control commands, making tailgate control more redundant and intelligent. This ensures that the tailgate operates as expected, avoids unsafe tailgate movements, and protects the prop motor and door lock motor. This solves the problem in the related art where, after the vehicle is powered off, manually opening the tailgate and the controller memorizes the position before the tailgate is opened, which can easily cause overcurrent in the prop motor, damage to the tailgate lock, and personal injury.

[0065] Next, the vehicle tailgate control device proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0066] Figure 4 2 is a block diagram of a vehicle tailgate control device according to an embodiment of the present application.

[0067] like Figure 4 As shown, the vehicle tailgate control device 10 includes: a receiving module 100 , a comparing module 200 and an executing module 300 .

[0068] The receiving module 100 is used to receive a control instruction of a tailgate of a vehicle.

[0069] The comparison module 200 is used to obtain the actual state of the vehicle tailgate and compare the actual state with the verification state before power-on to obtain a comparison result.

[0070] The execution module 300 is used to select a response control instruction or stop responding to the control instruction based on the comparison result.

[0071] Optionally, in one embodiment of the present application, the comparison module 200 includes: an acquisition unit, a first determination unit, and a second determination unit.

[0072] The acquisition unit is used to obtain the architecture type of the car.

[0073] The first determining unit is configured to obtain a current angle value of the vehicle tailgate when the architecture type is a non-SOA architecture type, and determine an actual state according to the current angle value.

[0074] The second determining unit is used to obtain image information of the vehicle tailgate when the architecture type is a SOA-based system architecture type, and determine the actual state according to the image information, or determine the actual state according to the image information and the current angle value.

[0075] Optionally, in one embodiment of the present application, the execution module includes: a response unit and a stop unit.

[0076] The response unit is used to respond to the control instruction when the comparison result shows that the tailgate is not opened.

[0077] The stopping unit is used to stop responding to the control instruction when the comparison result shows that the tailgate is pulled.

[0078] Optionally, in one embodiment of the present application, the stopping unit further includes: a prompting unit or a starting unit.

[0079] Among them, the prompt unit is used to prompt the user of abnormalities in the vehicle tailgate.

[0080] Or an opening unit, used to open the vehicle tailgate to a preset position.

[0081] Optionally, in one embodiment of the present application, the preset position is a fully open position or a fully closed position.

[0082] It should be noted that the above explanation of the embodiment of the vehicle tailgate control method is also applicable to the vehicle tailgate control device of this embodiment, and will not be repeated here.

[0083] The vehicle tailgate control device proposed in the embodiments of the present application can determine whether the vehicle tailgate's status is consistent by comparing its actual status with the verified status before the vehicle was powered on, thereby selecting whether to respond or stop responding to tailgate control commands. This makes tailgate control more redundant and intelligent, ensuring that the tailgate operates as expected, avoiding unsafe tailgate movements, and protecting the prop motor and door lock motor. This solves the problem in the related art where, after the vehicle is powered off, manually opening the tailgate and the controller memorizes the position before the tailgate is opened, which can easily cause overcurrent in the prop motor, damage to the tailgate lock, and personal injury.

[0084] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0085] Memory 501 , processor 502 , and computer programs stored in the memory 501 and executable on the processor 502 .

[0086] When the processor 502 executes the program, the vehicle tailgate control method provided in the above embodiment is implemented.

[0087] Furthermore, the vehicle further comprises:

[0088] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0089] The memory 501 is used to store computer programs that can be run on the processor 502 .

[0090] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0091] If the memory 501, processor 502, and communication interface 503 are implemented independently, the communication interface 503, memory 501, and processor 502 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0092] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0093] The processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0094] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned vehicle tailgate control method when executed by a processor.

[0095] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above vehicle tailgate control method when executed.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", 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 schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0098] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0099] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0100] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0101] 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.

[0102] In addition, the functional units in the various embodiments of the present application 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.

[0103] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling a vehicle tailgate, characterized in that: The following steps are involved: Receiving a control command for a tailgate of a vehicle; Obtaining an actual state of the vehicle tailgate, and comparing the actual state with a verification state before power-on to obtain a comparison result; as well as Based on the comparison result, it is selected to respond to the control instruction or to stop responding to the control instruction.

2. The method according to claim 1, characterized in that The obtaining of the actual state of the vehicle tailgate includes: Get the architecture type of the car; When the architecture type is a non-SOA architecture type, obtaining a current angle value of the vehicle tailgate, and determining the actual state according to the current angle value; When the architecture type is a SOA-based system architecture type, image information of the vehicle tailgate is obtained, and the actual state is determined based on the image information, or the actual state is determined based on the image information and the current angle value.

3. The method according to claim 1, characterized in that The selecting, based on the comparison result, to respond to the control instruction or to stop responding to the control instruction includes: When the comparison result shows that the tailgate is not opened, responding to the control instruction; When the comparison result is that the tailgate is opened, the control instruction is stopped.

4. The method according to claim 3, characterized in that After stopping responding to the control instruction, the method further includes: Prompt users of abnormalities in the vehicle's tailgate; Or open the vehicle tailgate to a preset position.

5. The method according to claim 4, characterized in that The preset position is a fully open position or a fully closed position.

6. A vehicle tailgate control device, characterized in that: include: A receiving module, used for receiving a control instruction of a tailgate of a vehicle; a comparison module, configured to obtain an actual state of the vehicle tailgate, and compare the actual state with a verification state before power-on to obtain a comparison result; as well as An execution module is used to select, based on the comparison result, to respond to the control instruction or stop responding to the control instruction.

7. The device according to claim 6, characterized in that The comparison module includes: an acquiring unit, configured to acquire an architecture type of the vehicle; a first determining unit, configured to, when the architecture type is a non-SOA architecture type, obtain a current angle value of the vehicle tailgate and determine the actual state according to the current angle value; The second determination unit is used to obtain image information of the vehicle tailgate when the architecture type is a SOA-based system architecture type, and determine the actual state based on the image information, or determine the actual state based on the image information and the current angle value.

8. The device according to claim 6, characterized in that The execution module includes: a response unit, configured to respond to the control instruction when the comparison result is that the tailgate is not opened; The stopping unit is used to stop responding to the control instruction when the comparison result is that the tailgate is opened.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle tailgate control method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle tailgate control method according to any one of claims 1 to 5.

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