Calibration method and system for electric tail gate

Abstract

The invention discloses a calibration method and system for an electric tail gate, and belongs to the technical field of automotive electronics. The real-time tail gate state data in the moving process of the electric tail gate are collected, the tail gate state in the moving process of the electric tail gate can be monitored in an all-dimensional and multi-angle mode, and more accurate tail gate moving data are obtained; then real-time PID controller parameters are obtained based on multi-dimensional tail gate motion data, influence factors in the tail gate motion process are fully mined in multiple dimensions of the tail gate position, the tail gate force and the tail gate speed, and the problem that the tail gate calibration precision is poor due to the fact that adjustment of an existing PID controller is only limited to single data of the tail gate speed is solved; the motion of the tail gate can be dynamically adjusted in the motion process of the electric tail gate, low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the prior art are avoided, intelligence and high efficiency of the calibration process are achieved, and therefore the calibration accuracy and efficiency of the electric tail gate are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile electronics, and in particular relates to a calibration method and system for an electric tailgate. Background Art

[0002] With the continuous advancement of automotive electronics, various systems in modern vehicles are moving towards intelligence, including tailgate control systems. Electric tailgate calibration is an essential step in the automotive manufacturing process, crucially impacting vehicle performance and user experience. Calibration of an electric tailgate determines its performance in daily use, including opening angle, closing force, and sensor sensitivity, ensuring accurate and customized control of the tailgate through the tailgate control system.

[0003] Currently, traditional tailgate calibration methods mainly include manual adjustment and PID controller (Proportional-Integral-Derivative Controller) adjustment. For manual adjustment, it is usually based on the operator's calibration experience and visual operation to achieve the calibration of the electric tailgate. This method has the disadvantages of low tailgate calibration accuracy and low efficiency. Tailgate calibration methods using PID controllers mostly focus on adjusting the PID controller through the tailgate speed during the opening or closing process. This PID controller-adjusted tailgate calibration method is limited to the tailgate speed and ignores other factors during the tailgate movement, resulting in poor tailgate calibration accuracy. Therefore, there is an urgent need for a calibration method and system for an electric tailgate to address the shortcomings of the existing technology. Summary of the Invention

[0004] The present invention aims to provide a calibration method and system for an electric tailgate to solve the above-mentioned technical problems. The method obtains the parameters of a real-time PID controller through real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data, thereby improving the accuracy of the electric tailgate calibration.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a calibration method for an electric tailgate, comprising:

[0006] Obtaining initial PID controller parameters and a target position of the electric tailgate, and driving the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate;

[0007] Collecting real-time tailgate status data during the electric tailgate movement process, and obtaining real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data based on the real-time tailgate status data;

[0008] Obtaining real-time PID controller parameters based on real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data, and the target position of the electric tailgate movement;

[0009] The electric tailgate movement process is adjusted according to the real-time PID controller parameters to obtain the real-time adjustment data of the electric tailgate;

[0010] Electric tailgate calibration data is generated based on the initial PID controller parameters, the electric tailgate motion target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

[0011] It can be understood that, compared with the prior art, the present invention obtains initial PID controller parameters and the target position of the electric tailgate movement, drives the electric tailgate movement according to the initial PID controller parameters and the target position of the electric tailgate movement, and then collects real-time tailgate status data of the electric tailgate movement process to obtain real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data of multiple dimensions in the electric tailgate movement process, and then obtains real-time PID controller parameters based on the real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data and the target position of the electric tailgate movement, and adjusts the electric tailgate movement process according to the real-time PID controller parameters to obtain real-time electric tailgate adjustment data, and then combines the initial PID controller parameters and the target position of the electric tailgate movement to generate electric tailgate calibration data, thereby achieving accurate calibration of the electric tailgate.

[0012] The present invention collects real-time tailgate status data during the movement of the electric tailgate, and can monitor the tailgate status during the movement of the electric tailgate from all directions and angles, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force and tailgate speed, thereby avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed, and being able to dynamically adjust the tailgate movement during the movement of the electric tailgate, thereby avoiding the low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate.

[0013] As a preferred solution, obtaining initial PID controller parameters and a target position of the electric tailgate, and driving the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate, includes:

[0014] Get the initial PID controller parameters and the target position of the electric tailgate;

[0015] A preset database is queried. If the initial PID controller parameters and the target position of the electric tailgate are not recorded in the preset database, the electric tailgate is driven to move toward the target position based on the initial PID controller parameters.

[0016] This preferred solution queries and matches the initial PID controller parameters and the target position of the electric tailgate movement through a preset database, and drives the electric tailgate to move only when no corresponding record is found. This effectively avoids the low calibration efficiency of the electric tailgate caused by repeated calibration, and sets the movement of the tailgate through the initial PID controller parameters and the target position of the electric tailgate movement, which not only ensures the calibration efficiency, but also ensures that the movement of the electric tailgate complies with the correct calibration process, balances the calibration efficiency and accuracy requirements, and improves the efficiency and accuracy of subsequent electric tailgate calibration.

[0017] As a preferred solution, real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data are obtained based on real-time tailgate status data, including:

[0018] According to the data type of the real-time tailgate status data, the real-time tailgate status data is processed in combination with a preset Kalman filter algorithm to obtain real-time tailgate status preprocessing data;

[0019] Real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data are obtained based on the real-time tailgate status preprocessing data.

[0020] This preferred solution uses a preset Kalman filter algorithm to perform data processing based on the data type of the real-time tailgate status data, thereby obtaining multi-dimensional tailgate motion data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data). The preset Kalman filter algorithm can effectively suppress the influence of environmental noise on the acquired real-time tailgate status data, thereby improving the accuracy of the multi-dimensional tailgate motion data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data), thereby improving the accuracy of the subsequent electric tailgate calibration.

[0021] As a preferred solution, the real-time PID controller parameters are obtained according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data and the target position of the electric tailgate movement, including:

[0022] Determine real-time tailgate position difference data based on real-time tailgate position data and the target position of the electric tailgate movement;

[0023] When the real-time tailgate position difference data is not zero, determining real-time tailgate force feedback data and real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data;

[0024] Real-time PID controller parameters are obtained based on real-time tailgate position difference data, real-time tailgate force feedback data, and real-time tailgate speed feedback data.

[0025] This preferred solution can accurately reflect the deviation between the real-time position of the tailgate and the target position of the electric tailgate movement required for calibration through the real-time tailgate position difference data. By determining that the real-time tailgate position difference data is not zero and then obtaining the real-time tailgate force feedback data and the real-time tailgate speed feedback data, invalid data acquisition is avoided and the data redundancy in the calibration process is reduced. The real-time PID controller parameters are obtained through the real-time tailgate position difference data, the real-time tailgate force feedback data and the real-time tailgate speed feedback data, so that the real-time PID controller parameters can fully consider various influencing factors in the tailgate movement process, avoiding the overshoot or oscillation problem of the tailgate movement caused by the limitation of the traditional PID controller that only considers the speed factor, and can more accurately control the movement of the electric tailgate, thereby improving the accuracy of the electric tailgate calibration.

[0026] As a preferred solution, determining the real-time tailgate force feedback data and the real-time tailgate speed feedback data based on the real-time tailgate force data and the real-time tailgate speed data includes:

[0027] Obtaining a tailgate movement direction according to a target position of the electric tailgate movement, and determining real-time tailgate force feedback data based on the tailgate movement direction and the real-time tailgate force data;

[0028] Real-time tailgate speed feedback data is determined based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data.

[0029] This preferred solution obtains the tailgate movement direction through the target position of the electric tailgate movement, and then obtains real-time tailgate force feedback data and real-time tailgate speed feedback data through the tailgate movement direction, fully considering the relationship between the tailgate position, speed and tailgate force during the movement of the electric tailgate, so that the real-time tailgate force feedback data and the real-time tailgate speed feedback data are more targeted, and can provide accurate data feedback under different calibration conditions of the electric tailgate being opened or closed, thereby improving the accuracy of the real-time PID controller parameters, and further improving the accuracy of the electric tailgate calibration.

[0030] As a preferred solution, the tailgate movement direction is obtained according to the target position of the electric tailgate movement, and the real-time tailgate force feedback data is determined based on the tailgate movement direction and the real-time tailgate force data, including:

[0031] Obtain the tailgate movement direction according to the electric tailgate movement target position;

[0032] According to the tailgate movement direction, a preset database is searched to obtain the tailgate force threshold corresponding to the tailgate movement direction;

[0033] Real-time tailgate force feedback data is determined according to the tailgate force threshold and the real-time tailgate force data.

[0034] This preferred solution obtains the tailgate movement direction through the target position of the electric tailgate movement, and then queries the preset database to obtain the tailgate force threshold. It can match different tailgate force thresholds for different tailgate movement directions, and achieves adaptation and accurate reflection of different complex working conditions during the tailgate calibration process, ensuring that the real-time tailgate force feedback data can accurately reflect the demand feedback in the force dimension of the tailgate calibration process, thereby ensuring the accuracy of the subsequent real-time PID controller parameters and the accuracy of the electric tailgate calibration.

[0035] As a preferred solution, determining the real-time tailgate speed feedback data based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data includes:

[0036] Obtaining a tailgate movement speed threshold classification table, and querying the tailgate movement speed threshold classification table based on the tailgate movement direction and real-time tailgate position data to determine the real-time tailgate movement range;

[0037] Based on the real-time tailgate movement interval, query the tailgate action speed threshold classification table to obtain the real-time tailgate speed threshold corresponding to the real-time tailgate movement interval;

[0038] Real-time tailgate speed feedback data is determined according to the real-time tailgate speed data and the real-time tailgate speed threshold.

[0039] This preferred solution determines the real-time tailgate movement interval through a tailgate action speed threshold division table, and further determines the real-time tailgate speed threshold and real-time tailgate speed feedback data. This fully considers the speed characteristics of the tailgate in different positions and movement directions. By dividing the tailgate movement interval, the real-time tailgate speed feedback data can more accurately reflect the demand feedback of the electric tailgate in different positions and different movement directions, and can avoid the calibration deviation caused by the existing PID controller adjusting with a fixed speed difference, thereby improving the accuracy of the electric tailgate calibration.

[0040] As a preferred solution, obtaining real-time PID controller parameters based on real-time tailgate position difference data, real-time tailgate force feedback data, and real-time tailgate speed feedback data includes:

[0041] Obtaining a real-time PID controller proportional gain coefficient based on real-time tailgate position difference data;

[0042] Obtaining the real-time PID controller integral gain coefficient based on the real-time tailgate force feedback data;

[0043] Obtaining the real-time PID controller differential gain coefficient based on the real-time tailgate speed feedback data;

[0044] The real-time PID controller parameters are obtained based on the real-time PID controller proportional gain coefficient, the real-time PID controller integral gain coefficient and the real-time PID controller differential gain coefficient.

[0045] This preferred solution calculates the proportional gain coefficient, integral gain coefficient and differential gain coefficient of the PID controller through real-time tailgate position difference data, real-time tailgate force feedback data and real-time tailgate speed feedback data, thereby obtaining the real-time PID controller parameters and accurately controlling the PID controller parameters. Calculating different gain coefficients through different types of data can give play to the distributed collaborative control function of the PID controller, thereby achieving precise control of the electric tailgate movement and improving the accuracy of the electric tailgate calibration.

[0046] As a preferred solution, electric tailgate calibration data is generated based on the initial PID controller parameters, the electric tailgate motion target position, and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate, including:

[0047] Generate electric tailgate calibration data based on initial PID controller parameters, electric tailgate motion target position, and electric tailgate real-time adjustment data;

[0048] The electric tailgate calibration data is stored in the preset database to complete the calibration of the electric tailgate.

[0049] This preferred solution can record the electric tailgate calibration data by storing it in a preset database. Not only can it be used as existing calibration data in the subsequent electric tailgate calibration process, avoiding subsequent repeated electric tailgate calibration, but it can also optimize the subsequent electric tailgate calibration based on the electric tailgate calibration data, thereby improving the efficiency and accuracy of the electric tailgate calibration.

[0050] Accordingly, an embodiment of the present invention provides a calibration system for an electric tailgate, comprising: an electric tailgate drive module, an electric tailgate motion real-time data acquisition module, a real-time PID controller parameter acquisition module, an electric tailgate motion adjustment module, and an electric tailgate calibration module;

[0051] The electric tailgate drive module is used to obtain the initial PID controller parameters and the target position of the electric tailgate, and drive the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate;

[0052] The electric tailgate movement real-time data acquisition module is used to collect real-time tailgate status data during the electric tailgate movement process, and obtain real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data based on the real-time tailgate status data;

[0053] The real-time PID controller parameter acquisition module is used to obtain real-time PID controller parameters according to real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data and the target position of the electric tailgate movement;

[0054] The electric tailgate motion adjustment module is used to adjust the electric tailgate motion process according to the real-time PID controller parameters to obtain the real-time adjustment data of the electric tailgate;

[0055] The electric tailgate calibration module is used to generate electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate motion target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

[0056] By collecting real-time tailgate status data during the movement of the electric tailgate, this system can monitor the tailgate status during the movement of the electric tailgate from all angles, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force and tailgate speed, avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed. The system can dynamically adjust the tailgate movement during the movement of the electric tailgate, avoiding the inefficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A flowchart of a method for calibrating an electric tailgate provided in an embodiment of the present invention;

[0058] Figure 2 A schematic structural diagram of a calibration device for an electric tailgate provided in an embodiment of the present invention;

[0059] Figure 3 A flowchart of another electric tailgate calibration method provided by an embodiment of the present invention;

[0060] Figure 4 A schematic structural diagram of a calibration system for an electric tailgate provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0062] Example 1

[0063] First, some of the names involved in this embodiment are explained to assist in explaining the implementation process below:

[0064] (1) Electric tailgate calibration: Parameter adjustment and calibration are performed during the movement of the electric tailgate (opening or closing the electric tailgate) to ensure the key performance of the electric tailgate, such as the opening angle, closing force, and sensing sensitivity. The core of this calibration is to ensure the accuracy, safety, and stability of the electric tailgate movement.

[0065] (2) Electric strut: It is a key component for the electric tailgate to move. It is a retractable rod-shaped device that usually has a motor and a transmission mechanism inside. When the electric tailgate is opened, the electric strut extends to provide upward force for the tailgate; when the electric tailgate is closed, the electric strut retracts to help the tailgate close.

[0066] (3) PID controller: Proportional-Integral-Derivative Controller, also known as proportional, integral, and derivative controller, is a commonly used feedback controller in automatic control systems. Its core function is to calculate the system error (the deviation between the set value and the actual value) in real time and output a control signal based on the weighted combination of the three links: proportional (which is adjusted by the proportional gain coefficient), integral (which is adjusted by the integral gain coefficient), and derivative (which is adjusted by the derivative gain coefficient) to adjust the controlled object (such as a motor, valve, etc.), ultimately stabilizing the system output near the target value.

[0067] In order to solve the problem of low accuracy of tailgate calibration in the prior art, please refer to Figure 1 , Figure 1 A flowchart of a method for calibrating an electric tailgate provided by an embodiment of the present invention includes steps S101 to S105.

[0068] Step S101 is to obtain initial PID controller parameters and a target position of the electric tailgate, and drive the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate.

[0069] In this embodiment, obtaining initial PID controller parameters and a target position of the electric tailgate, and driving the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate includes:

[0070] Get the initial PID controller parameters and the target position of the electric tailgate;

[0071] A preset database is queried. If the initial PID controller parameters and the target position of the electric tailgate are not recorded in the preset database, the electric tailgate is driven to move toward the target position based on the initial PID controller parameters.

[0072] This embodiment queries and matches the initial PID controller parameters and the target position of the electric tailgate movement through a preset database, and drives the electric tailgate to move when no corresponding record is found, effectively avoiding the low calibration efficiency of the electric tailgate caused by repeated calibration, and setting the movement of the tailgate according to the initial PID controller parameters and the target position of the electric tailgate movement, which not only ensures the calibration efficiency, but also ensures that the movement of the electric tailgate complies with the correct calibration process, balances the calibration efficiency and accuracy requirements, and improves the efficiency and accuracy of subsequent electric tailgate calibration.

[0073] In an optional embodiment, the electric tailgate calibration is generally applied to the calibration of the complete movement process of the electric tailgate, that is, the electric tailgate movement is from the electric tailgate fully closed position to the electric tailgate fully open position (in this case, the electric tailgate movement target position is the electric tailgate fully open position, and the electric tailgate movement initial position is the electric tailgate fully closed position by default), or from the electric tailgate fully open position to the electric tailgate fully closed position (in this case, the electric tailgate movement target position is the electric tailgate fully closed position, and the electric tailgate movement initial position is the electric tailgate fully open position by default). Therefore, only the electric tailgate movement target position r(t) can be defined, and the electric tailgate movement initial position can be determined accordingly; r(t) represents the electric tailgate movement target position at time t. The electric tailgate movement target position can be expressed by angle or displacement. In this embodiment, angle is used to express it.

[0074] Furthermore, the staff sets the initial PID controller parameters and the target position of the electric tailgate movement, wherein the initial PID controller parameters include: initial proportional gain coefficient K p,start , initial integral gain coefficient K i,start and the initial differential gain coefficient K d,startThe target position of the electric tailgate is defined as r(t), and then a preset database is queried. The preset database stores a plurality of historical electric tailgate calibration data. Each historical electric tailgate calibration data described in this embodiment can be stored in the form of a historical vector sequence consisting of a historical proportional gain coefficient, a historical integral gain coefficient, a historical differential gain coefficient, and a historical target position of the electric tailgate. The initial proportional gain coefficient K p,start , initial integral gain coefficient K i,start , initial differential gain coefficient K d,start and the target position r(t) of the electric tailgate constitute the initial vector sequence [K p,start ,K i,start ,K d,start ,r(t)], the initial vector sequence is compared with the historical vector sequence in turn. If no consistent vector sequence is found (that is, the initial PID controller parameters and the target position of the electric tailgate are not recorded in the preset database), the initial proportional gain coefficient K is set. p,start , initial integral gain coefficient K i,start , initial differential gain coefficient K d,start The PID controller is input, and the electric support rod is driven to move by the PID controller, so that the electric tailgate moves toward the target position of the electric tailgate.

[0075] In an optional embodiment, in the application of electric tailgate calibration, the movement of the electric tailgate can also start from the position of the non-electric tailgate fully closed position and the non-electric tailgate fully open position, and the final target position can also be the non-electric tailgate fully closed position and the non-electric tailgate fully open position; in this case, the initial position of the electric tailgate movement needs to be defined as u(t); based on the above optional embodiment, the initial vector sequence can be further expressed as [K p,start ,K i,start ,K d,start ,r(t),u(t)]; and the historical vector sequence in the preset database can be further modified to consist of the historical proportional gain coefficient, the historical integral gain coefficient, the historical differential gain coefficient, the historical electric tailgate movement target position and the historical electric tailgate movement initial position; and then continue to compare the initial vector sequence and the historical vector sequence. When there is no consistent vector sequence, the initial proportional gain coefficient K p,start , initial integral gain coefficient K i,start , initial differential gain coefficient K d,start The PID controller is input, and the electric support rod is driven by the PID controller to move, so that the electric tailgate moves from the electric tailgate movement initial position to the electric tailgate movement target position.

[0076] It should be noted that in the above optional embodiment, the PID controller is controlled by the relevant parameters of the PID controller (integral gain coefficient, proportional gain coefficient and differential gain coefficient) to drive the electric strut to move. This is a common technical means used by those skilled in the art. This embodiment does not elaborate on how the PID controller drives the electric strut to move. In addition, in addition to the expression form of the vector sequence described in the above optional embodiment, it can also be expressed using mathematical forms such as a matrix, a directed connected graph, an undirected connected graph or a set. The above optional embodiment is only for illustrative purposes.

[0077] Based on the above optional embodiment, by forming the initial PID controller parameters and the target position of the electric tailgate movement into a vector sequence, and then performing query matching with a preset database, the efficiency and accuracy of the query matching can be improved, and the low efficiency of the electric tailgate calibration caused by repeated calibration can be effectively avoided; by judging the movement process of the electric tailgate during the electric tailgate calibration process, it is determined whether it is necessary to further judge the value of the initial target position of the electric tailgate movement, which can further simplify the complexity of the query matching, reduce matching errors, and improve the efficiency and accuracy of subsequent electric tailgate calibration.

[0078] Step S102 is to collect real-time tailgate status data during the movement of the electric tailgate, and obtain real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data based on the real-time tailgate status data.

[0079] In this embodiment, obtaining real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data based on real-time tailgate status data includes:

[0080] According to the data type of the real-time tailgate status data, the real-time tailgate status data is processed in combination with a preset Kalman filter algorithm to obtain real-time tailgate status preprocessing data;

[0081] Real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data are obtained based on the real-time tailgate status preprocessing data.

[0082] This embodiment uses a preset Kalman filter algorithm to perform data processing based on the data type of the real-time tailgate status data, thereby obtaining multi-dimensional tailgate motion data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data). The preset Kalman filter algorithm can effectively suppress the influence of environmental noise on the acquired real-time tailgate status data, thereby improving the accuracy of the multi-dimensional tailgate motion data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data), thereby improving the accuracy of the subsequent electric tailgate calibration.

[0083] In an optional embodiment, since the movement of the electric tailgate is driven by an electric strut, real-time tailgate status data can be represented by relevant parameters of the electric strut. Specifically, multiple sensors of different types are integrated into the electric strut, including multiple force sensors, multiple position sensors, and multiple speed sensors. The force sensor collects load change data and current change data of the motor in the electric strut to obtain force; the position sensor collects position data of the electric strut (electric tailgate angle data or electric tailgate displacement data); and the speed sensor works by monitoring the rotational speed of the electric motor in the electric strut using an encoder and a Hall sensor, thereby inferring the speed of the electric tailgate.

[0084] Furthermore, the sampling frequency of each force sensor, each position sensor, and each speed sensor is set to 10 Hz, that is, the sampling interval is 0.1 seconds. When the electric tailgate starts to move toward the target position of the electric tailgate, sampling is performed every 0.1 seconds to obtain the real-time tailgate status data at the current sampling moment (that is, including multiple load change data, multiple current change data, multiple electric tailgate angle data, multiple electric tailgate displacement data, and multiple electric motor speed data); then, a preset Kalman filter algorithm is used to process the multiple load change data, multiple current change data, multiple electric tailgate angle data, multiple electric tailgate displacement data, and multiple electric motor speed data, respectively. Specifically, the multiple load change data, multiple current change data, multiple electric tailgate angle data, multiple electric tailgate displacement data, and multiple electric motor speed data are processed. The Kalman filter is used to fuse the multiple load change data to obtain a load change value; the Kalman filter is used to fuse the multiple current change data to obtain a current change value; the Kalman filter is used to fuse the multiple electric tailgate angle data to obtain an electric tailgate angle value; the Kalman filter is used to fuse the multiple electric tailgate displacement data to obtain an electric tailgate displacement; and the Kalman filter is used to fuse the multiple electric motor speed data to obtain an electric motor speed value. Thus, real-time tailgate state preprocessing data (i.e., load change value, current change value, electric tailgate angle value, electric tailgate displacement, and electric motor speed value) is obtained.

[0085] Then, the real-time tailgate force data is calculated based on the load conversion value or the current change value; the real-time tailgate position data is calculated based on the electric tailgate angle value or the electric tailgate displacement; and the real-time tailgate speed data is calculated based on the electric motor speed value. Specifically, the load conversion value or the current change value is input into the motor torque equation to calculate the real-time motor torque, and then the axial force of the electric strut is obtained according to the mechanical transmission model, and the axial force of the electric strut is used as the real-time tailgate force data; the electric tailgate angle value is used as the real-time tailgate position data, or the electric tailgate displacement is added to the initial position of the electric tailgate movement to obtain the real-time tailgate position data; the electric motor speed value is input into the speed-linear speed conversion formula to obtain the real-time tailgate speed data.

[0086] It should be noted that the above-mentioned motor torque equation, speed-linear speed conversion formula and mechanical transmission model, the motor torque equation is specifically the torque-current linear relationship (Motor Torque Equation or Torque-Current Characteristic), which is used to describe the relationship between the torque and current of the motor; the mechanical transmission model (Mechanical Transmission Mode) is a mathematical or physical model used to describe the energy transfer and conversion relationship between rotational motion and linear motion in a mechanical system. Its core function is to establish a dynamic relationship between input (such as motor torque, speed) and output (such as load force, linear speed); the speed-linear speed conversion formula (Rotational to Linear Speed ​​Conversion Formula) is used to describe the mathematical relationship between rotational motion (such as motor speed) and linear motion (such as electric tailgate speed). The above-mentioned motor torque equation, speed-linear speed conversion formula and mechanical transmission model are all commonly used calculation formulas and models in mechanical engineering, and this embodiment will not be described in detail here.

[0087] The preset Kalman filter algorithm (Kalman Filter) described in this embodiment is a recursive optimal estimation algorithm based on a state-space model. Its core function is to perform optimal estimation of the state of a dynamic system in the sense of minimum mean square error in the presence of noise interference by fusing a prediction model with real-time measurement data from multiple sensors.

[0088] Step S103 is to obtain real-time PID controller parameters according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data and the target position of the electric tailgate movement.

[0089] In this embodiment, the real-time PID controller parameters are obtained based on the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data, and the target position of the electric tailgate movement, including:

[0090] Determine real-time tailgate position difference data based on real-time tailgate position data and the target position of the electric tailgate movement;

[0091] When the real-time tailgate position difference data is not zero, determining real-time tailgate force feedback data and real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data;

[0092] Real-time PID controller parameters are obtained based on real-time tailgate position difference data, real-time tailgate force feedback data, and real-time tailgate speed feedback data.

[0093] In an optional embodiment, the real-time tailgate position data is defined as y(t), where y(t) represents the real-time tailgate position data at time t. The electric tailgate movement target position r(t) is subtracted from the real-time tailgate position data y(t) to obtain the real-time tailgate position difference data e(t), that is, e(t) = r(t) - y(t); when the real-time tailgate position difference data is not zero, it means that the current electric tailgate has not yet moved to the electric tailgate movement target position, and the movement of the electric tailgate still needs to be adjusted.

[0094] This embodiment can accurately reflect the deviation between the real-time tailgate position and the target position of the electric tailgate movement required for calibration through the real-time tailgate position difference data. By determining that the real-time tailgate position difference data is not zero and then obtaining the real-time tailgate force feedback data and the real-time tailgate speed feedback data, invalid data acquisition is avoided and data redundancy in the calibration process is reduced. The real-time PID controller parameters are obtained through the real-time tailgate position difference data, the real-time tailgate force feedback data and the real-time tailgate speed feedback data, so that the real-time PID controller parameters can fully consider various influencing factors in the tailgate movement process, avoid the problem of tailgate movement overshoot or oscillation caused by the limitation of traditional PID controllers that only consider the speed factor, and can more accurately control the movement of the electric tailgate, thereby improving the accuracy of the electric tailgate calibration.

[0095] In this embodiment, determining the real-time tailgate force feedback data and the real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data includes:

[0096] Obtaining a tailgate movement direction according to a target position of the electric tailgate movement, and determining real-time tailgate force feedback data based on the tailgate movement direction and the real-time tailgate force data;

[0097] Real-time tailgate speed feedback data is determined based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data.

[0098] This embodiment obtains the tailgate movement direction through the target position of the electric tailgate movement, and then obtains real-time tailgate force feedback data and real-time tailgate speed feedback data based on the tailgate movement direction. The relationship between the tailgate position, speed and tailgate force during the movement of the electric tailgate is fully considered, making the real-time tailgate force feedback data and real-time tailgate speed feedback data more targeted and capable of providing accurate data feedback under different calibration conditions of the electric tailgate being opened or closed, thereby improving the accuracy of the real-time PID controller parameters and further improving the accuracy of the electric tailgate calibration.

[0099] In this embodiment, the tailgate movement direction is obtained according to the target position of the electric tailgate movement, and the real-time tailgate force feedback data is determined based on the tailgate movement direction and the real-time tailgate force data, including:

[0100] Obtain the tailgate movement direction according to the electric tailgate movement target position;

[0101] According to the tailgate movement direction, a preset database is searched to obtain the tailgate force threshold corresponding to the tailgate movement direction;

[0102] Real-time tailgate force feedback data is determined according to the tailgate force threshold and the real-time tailgate force data.

[0103] In an optional embodiment, when the real-time tailgate position difference data e(t) is not zero, a specific process for obtaining real-time tailgate force feedback data is as follows: first, the tailgate movement direction is determined based on the electric tailgate movement target position. As described in the above optional embodiment, when the electric tailgate movement target position is the fully opened position, the tailgate movement direction is the opening direction; when the electric tailgate movement target position is the fully closed position, the tailgate movement direction is the closing direction; then, a preset database is queried. When the tailgate movement direction is the opening direction, the tailgate force threshold is the tailgate anti-collision force threshold, which is set to 120N in this embodiment; when the tailgate movement direction is the closing direction, the tailgate force threshold is the tailgate anti-pinch force threshold, which is set to 120N in this embodiment; then, whether the real-time tailgate force data is greater than the tailgate force threshold is determined. When the real-time tailgate force data is greater than the tailgate force threshold, the real-time tailgate force data is subtracted from the tailgate force threshold to obtain the real-time tailgate force feedback data F(t).

[0104] In an alternative embodiment, as described in the above embodiment, when the target position of the electric tailgate is not the fully open position or the fully closed position, and the initial position is not the fully open position or the fully closed position, the angle of the fully closed position is defined as 0. The specific value of the angle of the fully open position can be set according to the type of the electric tailgate and is set to 50 degrees in this embodiment. At this time, the target position r(t) of the electric tailgate is subtracted from the initial position u(t), i.e., r(t)-u(t). When the angle of the subtraction result is greater than 0, it indicates that the tailgate is moving in the opening direction. Otherwise, the tailgate is moving in the closing direction. Then, as described in the above embodiment, a preset database is queried based on the tailgate movement direction to obtain a tailgate force threshold. Then, it is determined whether the real-time tailgate force data is greater than the tailgate force threshold. When the real-time tailgate force data is greater than the tailgate force threshold, the real-time tailgate force data is subtracted from the tailgate force threshold to obtain real-time tailgate force feedback data F(t).

[0105] This embodiment obtains the tailgate movement direction through the target position of the electric tailgate movement, and then queries the preset database to obtain the tailgate force threshold. It can match different tailgate force thresholds for different tailgate movement directions, and achieves adaptation and accurate reflection of different complex working conditions during the tailgate calibration process. It ensures that the real-time tailgate force feedback data can accurately reflect the required feedback in the force dimension of the tailgate calibration process, thereby ensuring the accuracy of the subsequent real-time PID controller parameters and the accuracy of the electric tailgate calibration.

[0106] In this embodiment, determining the real-time tailgate speed feedback data based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data includes:

[0107] Obtaining a tailgate movement speed threshold classification table, and querying the tailgate movement speed threshold classification table based on the tailgate movement direction and real-time tailgate position data to determine the real-time tailgate movement range;

[0108] Based on the real-time tailgate movement interval, query the tailgate action speed threshold classification table to obtain the real-time tailgate speed threshold corresponding to the real-time tailgate movement interval;

[0109] Real-time tailgate speed feedback data is determined according to the real-time tailgate speed data and the real-time tailgate speed threshold.

[0110] This embodiment determines the real-time tailgate movement interval through a tailgate action speed threshold classification table, and further determines the real-time tailgate speed threshold and real-time tailgate speed feedback data. This embodiment fully considers the speed characteristics of the tailgate at different positions and movement directions. By dividing the tailgate movement interval, the real-time tailgate speed feedback data can more accurately reflect the demand feedback of the electric tailgate at different positions and movement directions. This can avoid the calibration deviation caused by the existing PID controller performing adjustment based on a fixed speed difference, thereby improving the accuracy of the electric tailgate calibration.

[0111] In an optional embodiment, a preset database is queried to obtain a table of tailgate movement speed threshold values. For details, please refer to Table 1. Table 1 is a table of tailgate movement speed threshold values ​​provided in an embodiment of the present invention. As shown in Table 1, in this embodiment, the electric tailgate movement is defined as opening or closing based on the direction of movement of the electric tailgate. The electric tailgate movement is divided into three tailgate movement intervals (a first tailgate movement interval, a second tailgate movement interval, and a third tailgate movement interval) based on the position of the electric tailgate. Each interval is limited to a corresponding tailgate speed threshold.

[0112] Among them, the first tailgate movement range is divided into 0 degrees to 15 degrees; the second tailgate movement range is divided into 16 degrees to 30 degrees; the third tailgate movement range is divided into 31 degrees to 50 degrees; when the tailgate action is open, the tailgate speed threshold of the first tailgate movement range is [OpenSpeed1_0, OpenSpeed1_1], the tailgate speed threshold of the second tailgate movement range is [OpenSpeed2_0, OpenSpeed2_1], and the tailgate speed threshold of the third tailgate movement range is [OpenSpeed3_0, OpenSpeed3_1]. When the tailgate action is closed, the first tailgate movement range is [OpenSpeed1_0, OpenSpeed1_1]. The tailgate speed threshold for the first tailgate movement interval, the second tailgate movement interval, and the third tailgate movement interval is [CloseSpeed1_0, CloseSpeed1_1], the tailgate speed threshold for the second tailgate movement interval is [CloseSpeed2_0, CloseSpeed2_1], and the tailgate speed threshold for the third tailgate movement interval is [CloseSpeed3_0, CloseSpeed3_1]. It should be noted that the angle values ​​divided by the first tailgate movement interval, the second tailgate movement interval, and the third tailgate movement interval, and their corresponding tailgate speed thresholds, are merely exemplary provided in this embodiment, and the specific values ​​can be replaced by the staff according to actual needs.

[0113] Table 1

[0114]

[0115] In an optional embodiment, after obtaining the tailgate movement speed threshold classification table as shown in Table 1 above, the tailgate movement is first determined based on the tailgate movement direction. When the tailgate movement direction is the opening direction, the tailgate movement is determined to be the opening direction; when the tailgate movement direction is the closing direction, the tailgate movement is determined to be the closing direction. Then, based on the real-time tailgate position data, the current tailgate movement interval is determined, that is, the real-time tailgate movement interval is determined. Then, the tailgate speed threshold corresponding to the current tailgate movement interval is used as the real-time tailgate speed threshold. After obtaining the real-time tailgate speed threshold, the real-time tailgate speed data is used. comparing the real-time tailgate speed data with the real-time tailgate speed threshold to determine whether the real-time tailgate speed data is within the range of the real-time tailgate speed threshold; if it is within the range of the real-time tailgate speed threshold, setting the real-time tailgate speed feedback data v(t) as the real-time tailgate speed data; if it is greater than the range of the real-time tailgate speed threshold, setting the real-time tailgate speed feedback data v(t) as the upper limit of the real-time tailgate speed threshold; if it is less than the range of the real-time tailgate speed threshold, setting the real-time tailgate speed feedback data v(t) as the lower limit of the real-time tailgate speed threshold;

[0116] For example, assuming that the tailgate movement direction is the opening direction, the corresponding tailgate action is opening, and assuming that the value of the real-time tailgate position data y(t) is 13 degrees, then the current tailgate movement interval is the first tailgate movement interval, that is, the real-time tailgate movement interval is the first tailgate movement interval; then [OpenSpeed1_0, OpenSpeed1_1] is used as the real-time tailgate speed threshold; then the real-time tailgate speed data is compared with [OpenSpeed1_0, OpenSpeed1_1]. If the real-time tailgate speed data is within [OpenSpeed1_0, OpenSpeed1_1], the real-time tailgate speed feedback data v(t) is set as the real-time tailgate speed data; if the real-time tailgate speed data is greater than OpenSpeed1_1, the real-time tailgate speed feedback data v(t) is set to OpenSpeed1_1; if the real-time tailgate speed data is less than OpenSpeed1_0, the real-time tailgate speed feedback data v(t) is set to OpenSpeed1_0.

[0117] In this embodiment, the real-time PID controller parameters are obtained based on the real-time tailgate position difference data, the real-time tailgate force feedback data, and the real-time tailgate speed feedback data, including:

[0118] Obtaining a real-time PID controller proportional gain coefficient based on real-time tailgate position difference data;

[0119] Obtaining the real-time PID controller integral gain coefficient based on the real-time tailgate force feedback data;

[0120] Obtaining the real-time PID controller differential gain coefficient based on the real-time tailgate speed feedback data;

[0121] The real-time PID controller parameters are obtained based on the real-time PID controller proportional gain coefficient, the real-time PID controller integral gain coefficient and the real-time PID controller differential gain coefficient.

[0122] This embodiment calculates the proportional gain coefficient, integral gain coefficient and differential gain coefficient of the PID controller respectively through real-time tailgate position difference data, real-time tailgate force feedback data and real-time tailgate speed feedback data, thereby obtaining the real-time PID controller parameters and achieving accurate control of the PID controller parameters. Calculating different gain coefficients through different types of data can give play to the distributed collaborative control effect of the PID controller, thereby achieving precise control of the electric tailgate movement and improving the accuracy of the electric tailgate calibration.

[0123] It should be noted that during the movement of the electric tailgate of the car, when the electric tailgate is far away from the target position of the electric tailgate movement, a larger power should be provided to the electric tailgate so that the electric tailgate can quickly approach the target position of the electric tailgate movement; when the electric tailgate is close to the target position of the electric tailgate movement, it is necessary to reduce the power provided to the electric tailgate and reduce the speed of the electric tailgate, so as to prevent the electric tailgate from exceeding the target position of the electric tailgate movement, avoid overshoot and oscillation, and maintain the stability of the electric tailgate movement; and during the movement of the electric tailgate, the tailgate force can be reflected as the contact force between the electric tailgate and the external environment. The tailgate force can be used to determine whether the electric tailgate encounters obstacles or resistance during the movement, so as to avoid excessive output of the motor in the electric support rod, thereby preventing damage to the system; specifically, when the electric tailgate is far away from the target position of the electric tailgate movement, the tailgate force can be reflected as the contact force between the electric tailgate and the external environment. When the door movement target position is far away, that is, when the real-time tailgate position difference data e(t) is large, the proportional gain coefficient of the PID controller should be increased to provide greater power; when the electric tailgate is close to the electric tailgate movement target position, that is, when the real-time tailgate position difference data e(t) is small, the proportional gain coefficient of the PID controller should be reduced to avoid overshoot and oscillation of the electric tailgate; when the electric tailgate is at a low speed, the differential gain coefficient of the PID controller should be increased to reduce the oscillation of the electric tailgate movement, and if the electric tailgate is at a high speed, the differential gain coefficient of the PID controller should be reduced to reduce excessive movement and oscillation of the electric tailgate; when the electric tailgate encounters a large resistance, the integral gain coefficient of the PID controller should be reduced to avoid excessive output of the motor in the electric support rod and prevent damage to the system.

[0124] In an optional embodiment, obtaining a real-time PID controller proportional gain coefficient based on the real-time tailgate position difference data includes: obtaining a historical PID controller proportional gain coefficient, and correcting the historical PID controller proportional gain coefficient based on the real-time tailgate position difference data and the real-time tailgate movement interval to obtain the real-time PID controller proportional gain coefficient; illustratively, obtaining the PID controller proportional gain coefficient corresponding to the previous sampling moment (i.e., the historical PID controller proportional gain coefficient); when the real-time tailgate movement interval is the first tailgate movement interval or the third tailgate movement interval, it is considered that the electric tailgate is close to the electric tailgate movement target position, and at this time, the PID controller proportional gain coefficient corresponding to the previous sampling moment is reduced to obtain the real-time PID controller proportional gain coefficient; when the real-time tailgate movement interval is the second tailgate movement interval, it is considered that the electric tailgate is far from the electric tailgate movement target position, and at this time, the PID controller proportional gain coefficient corresponding to the previous sampling moment is increased to obtain the real-time PID controller proportional gain coefficient.

[0125] In an optional embodiment, a real-time tailgate position difference threshold value e1 may be further defined. When the real-time tailgate position difference data e(t) is greater than e1, it indicates that the electric tailgate is far away from the target position of the electric tailgate movement. In this case, the proportional gain coefficient of the PID controller corresponding to the previous sampling moment should be increased. If the real-time tailgate position difference data e(t) is less than e1, it indicates that the electric tailgate is close to the target position of the electric tailgate movement. In this case, the proportional gain coefficient of the PID controller corresponding to the previous sampling moment should be increased.

[0126] In an optional embodiment, obtaining a real-time PID controller integral gain coefficient based on real-time tailgate force feedback data includes: obtaining a historical PID controller integral gain coefficient, and correcting the historical PID controller integral gain coefficient based on the real-time tailgate force feedback data to obtain the real-time PID controller integral gain coefficient; illustratively, obtaining the PID controller integral gain coefficient corresponding to a previous sampling moment (i.e., the historical PID controller integral gain coefficient), and when the real-time tailgate force feedback data F(t) is less than zero, using the PID controller integral gain coefficient corresponding to the previous sampling moment as the real-time PID controller integral gain coefficient; when the real-time tailgate force feedback data F(t) is greater than or equal to zero, reducing the PID controller integral gain coefficient corresponding to the previous sampling moment to obtain the real-time PID controller integral gain coefficient.

[0127] In an optional embodiment, obtaining a real-time PID controller differential gain coefficient based on the real-time tailgate speed feedback data includes: obtaining a historical PID controller differential gain coefficient, and correcting the historical PID controller differential gain coefficient based on the real-time tailgate force feedback data to obtain the real-time PID controller differential gain coefficient; illustratively, obtaining the PID controller differential gain coefficient corresponding to a previous sampling moment (i.e., the historical PID controller differential gain coefficient); when the real-time tailgate speed feedback data v(t) is the real-time tailgate speed data, using the PID controller differential gain coefficient corresponding to the previous sampling moment as the real-time PID controller differential gain coefficient; when the real-time tailgate speed feedback data v(t) is the upper limit value of the real-time tailgate speed threshold, reducing the PID controller differential gain coefficient corresponding to the previous sampling moment to obtain the real-time PID controller differential gain coefficient; when the real-time tailgate speed feedback data v(t) is the lower limit value of the real-time tailgate speed threshold, increasing the PID controller differential gain coefficient corresponding to the previous sampling moment to obtain the real-time PID controller differential gain coefficient.

[0128] It should be noted that the above-mentioned operation of increasing or decreasing the differential gain coefficient, the proportional gain coefficient and the integral gain coefficient of the PID controller, and the specific increase or decrease value can be adjusted by the staff according to actual needs, and this embodiment does not limit it here. The sampling moment described in the above optional embodiment refers to the sampling frequency of the sensor mentioned above or the interval used as a reference. For example, when the sampling moment is 0.1 seconds, the proportional gain coefficient, the integral gain coefficient and the differential gain coefficient of the PID controller corresponding to the previous sampling moment are the initial proportional gain coefficient K p,start , initial integral gain coefficient K i,start and the initial differential gain coefficient K d,start ; When the sampling time is 0.2 seconds, 0.1 seconds is used as the previous sampling time of 0.2 seconds, and so on.

[0129] Step S104 is to adjust the movement process of the electric tailgate according to the real-time PID controller parameters to obtain real-time adjustment data of the electric tailgate.

[0130] In an optional embodiment, after obtaining the real-time PID controller parameters, the real-time PID controller parameters are input into a preset PID controller mathematical expression, wherein the preset PID controller mathematical expression is specifically shown in the following formula:

[0131]

[0132] Where u(t) is the control output of the PID controller at time t, Kp(e) is the proportional gain coefficient of the real-time PID controller, Ki(F) is the integral gain coefficient of the real-time PID controller, Kd(V) is the differential gain coefficient of the real-time PID controller, and e(t) is the real-time tailgate position difference data at time t.

[0133] After inputting the preset PID controller mathematical expression as above, the control output u(t) of the PID controller is obtained, and then the movement of the electric support rod is adjusted based on the control output u(t) of the PID controller, thereby adjusting the movement process of the electric tailgate.

[0134] In an optional embodiment, based on the initial proportional gain coefficient K p,start , initial integral gain coefficient K i,start , initial differential gain coefficient K d,start and the target position r(t) of the electric tailgate drive the movement of the electric strut, thereby driving the electric tailgate to start moving toward the target position r(t) of the electric tailgate, and collecting real-time tailgate status data at the first sampling moment (0.1 second), thereby obtaining the real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data at the first sampling moment (0.1 second), and then calculating the real-time PID controller parameters at the first sampling moment (0.1 second), thereby obtaining the control output of the PID controller at the first sampling moment (0.1 second), and adjusting the movement of the electric strut based on the control output of the PID controller, thereby realizing the movement adjustment of the electric tailgate at the first sampling moment (0.1 second), and recording the real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data at the first sampling moment (0.1 second). The tailgate force data, real-time tailgate speed data, target position of the electric tailgate and real-time PID controller parameters are recorded at each sampling moment thereafter (0.2 seconds, 0.3 seconds, etc.), thereby adjusting the movement of the electric tailgate at each sampling moment thereafter, and recording the real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data, target position of the electric tailgate and real-time PID controller parameters at each sampling moment thereafter until the electric tailgate moves to the target position of the electric tailgate, thereby completing the adjustment of the movement process of the electric tailgate; the real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data, target position of the electric tailgate and real-time PID controller parameters corresponding to each sampling moment recorded during the movement of the electric tailgate are then used as the real-time adjustment data of the electric tailgate.

[0135] Step S105 is to generate electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate movement target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

[0136] In this embodiment, electric tailgate calibration data is generated based on the initial PID controller parameters, the electric tailgate motion target position, and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate, including:

[0137] Generate electric tailgate calibration data based on initial PID controller parameters, electric tailgate motion target position, and electric tailgate real-time adjustment data;

[0138] The electric tailgate calibration data is stored in the preset database to complete the calibration of the electric tailgate.

[0139] In an optional embodiment, according to the sampling time, several electric tailgate calibration vector sequences are constructed based on the initial PID controller parameters, the electric tailgate motion target position and the electric tailgate real-time adjustment data to obtain the electric tailgate calibration data; then, a preset database is queried, and repeated electric tailgate calibration vector sequences are removed from the electric tailgate calibration data, and then the electric tailgate calibration data is stored in the preset database to complete the calibration of the electric tailgate.

[0140] This embodiment stores the electric tailgate calibration data in a preset database, so that the electric tailgate calibration data can be recorded. Not only can it be used as existing calibration data in the subsequent electric tailgate calibration process, thereby avoiding subsequent repeated electric tailgate calibration, but it can also optimize the subsequent electric tailgate calibration based on the electric tailgate calibration data, thereby improving the efficiency and accuracy of the electric tailgate calibration.

[0141] This embodiment collects real-time tailgate status data during the movement of the electric tailgate, and can monitor the tailgate status during the movement of the electric tailgate from all angles and in all directions, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force, and tailgate speed, thereby avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed. The embodiment can dynamically adjust the tailgate movement during the movement of the electric tailgate, avoiding the low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate.

[0142] Example 2

[0143] Please refer to Figure 2 , Figure 2 Schematic diagram of the structure of a calibration device for an electric tailgate provided in an embodiment of the present invention, the calibration device is used to execute the calibration method for an electric tailgate as described in the first embodiment above; Figure 2 As shown, it includes: an upper computer 201 and a lower computer 202; the lower computer 202 includes: a tailgate controller 2021 and a tailgate status monitor 2022;

[0144] The tailgate status monitor 2022 is used to collect real-time tailgate status data during the movement of the electric tailgate and transmit the real-time tailgate status data to the host computer 201;

[0145] The host computer 201 is used to obtain initial PID controller parameters and the target position of the electric tailgate, and send a control instruction to the tailgate controller 2021 according to the initial PID controller parameters and the target position of the electric tailgate; the tailgate controller 2021 is used to receive the control instruction and drive the electric tailgate to move based on the control instruction;

[0146] The host computer 201 is further configured to obtain real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data based on the real-time tailgate status data, and to obtain real-time PID controller parameters based on the real-time tailgate position data, real-time tailgate force data, real-time tailgate speed data, and the target position of the electric tailgate; and to generate electric tailgate adjustment control instructions based on the real-time PID controller parameters. The tailgate controller 2021 is further configured to receive the electric tailgate adjustment control instructions and adjust the movement of the electric tailgate based on the electric tailgate adjustment control instructions.

[0147] The host computer 201 is further used to obtain real-time adjustment data of the electric tailgate, and generate electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate motion target position and the real-time adjustment data of the electric tailgate to complete the calibration of the electric tailgate.

[0148] In an optional embodiment, the host computer 201, the tailgate controller 2021, and the tailgate status monitor 2022 are all connected via a UART serial communication connection. UART (Universal Asynchronous Receiver / Transmitter) is an asynchronous serial communication protocol used to implement full-duplex data transmission between devices via a serial signal line. Each data packet transmitted via the UART serial communication includes a check bit to ensure the integrity and correctness of the data transmission process. If a data transmission error occurs, the data is retransmitted.

[0149] In an optional embodiment, a UI interface is provided in the host computer 201, which includes a PID parameter control area and a tailgate status area; the PID parameter control area includes an input box, a display box and a button, wherein the input box is used to input the initial PID controller parameters and the target position of the electric tailgate movement; the display box is used to display the real-time PID controller parameters; the button is used to start or stop the movement of the electric tailgate; and the tailgate status area is used to display real-time tailgate status data.

[0150] In an alternative embodiment, see Figure 3 , Figure 3 This is a flow chart of another electric tailgate calibration method provided by an embodiment of the present invention, which is applicable to the calibration device of the second embodiment. Figure 3 As shown, first, relevant parameters are input through the UI interface of the upper computer, including the initial proportional gain coefficient, the initial integral gain coefficient, the initial differential gain coefficient and the target position of the electric tailgate movement. Then, the preset database is queried to determine whether there is repeated calibration. When it is not a repeated calibration, the relevant parameters are sent to the lower computer. The lower computer reads the relevant parameters and initializes them. Then, the motor is started based on the relevant parameters to drive the electric tailgate to move. After that, the tailgate status monitor in the lower computer starts to collect real-time tailgate status data. When it is determined that the electric tailgate has not reached the target position, and it is determined that the real-time tailgate force is not greater than the tailgate force threshold, and the real-time tailgate speed does not exceed the real-time tailgate speed threshold. After that, the real-time tailgate status data is collected again; if it is determined that the electric tailgate has reached the target position, or the real-time tailgate force is greater than the tailgate force threshold, or the real-time tailgate speed exceeds the real-time tailgate speed threshold, the motor is stopped, the electric tailgate movement is stopped, and the real-time tailgate status data is reported; the UI interface of the upper computer displays the real-time tailgate status data in real time, and the upper computer determines whether the electric tailgate has reached the target position based on the real-time tailgate status data. If not, the relevant parameters are modified as real-time PID controller parameters based on the real-time tailgate status data, and resent to the lower computer, thereby driving the electric tailgate to move again until the electric tailgate reaches the target position, and the calibration of the electric tailgate is completed.

[0151] This embodiment collects real-time tailgate status data during the movement of the electric tailgate, and can monitor the tailgate status during the movement of the electric tailgate from all angles and in all directions, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force, and tailgate speed, thereby avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed. The embodiment can dynamically adjust the tailgate movement during the movement of the electric tailgate, avoiding the low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate.

[0152] Example 3

[0153] Please refer to Figure 4 , Figure 4A schematic diagram of the structure of a power tailgate calibration system provided in an embodiment of the present invention includes: a power tailgate drive module 301, a power tailgate motion real-time data acquisition module 302, a real-time PID controller parameter acquisition module 303, a power tailgate motion adjustment module 304, and a power tailgate calibration module 305;

[0154] The electric tailgate driving module 301 is used to obtain initial PID controller parameters and the electric tailgate movement target position, and drive the electric tailgate to move according to the initial PID controller parameters and the electric tailgate movement target position.

[0155] In this embodiment, the electric tailgate driving module 301 includes: an electric tailgate driving unit;

[0156] The electric tailgate drive unit is used to obtain the initial PID controller parameters and the target position of the electric tailgate movement;

[0157] A preset database is queried. If the initial PID controller parameters and the target position of the electric tailgate are not recorded in the preset database, the electric tailgate is driven to move toward the target position based on the initial PID controller parameters.

[0158] The electric tailgate movement real-time data acquisition module 302 is used to collect real-time tailgate status data during the electric tailgate movement process, and obtain real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data based on the real-time tailgate status data.

[0159] In this embodiment, the electric tailgate movement real-time data acquisition module 302 includes: an electric tailgate movement real-time data acquisition unit;

[0160] The electric tailgate movement real-time data acquisition unit is used to process the real-time tailgate status data according to the data type of the real-time tailgate status data in combination with a preset Kalman filter algorithm to obtain real-time tailgate status pre-processed data;

[0161] Real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data are obtained based on the real-time tailgate status preprocessing data.

[0162] The real-time PID controller parameter acquisition module 303 is used to acquire real-time PID controller parameters according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data and the target position of the electric tailgate movement.

[0163] In this embodiment, the real-time PID controller parameter acquisition module 303 includes: a real-time PID controller parameter acquisition unit;

[0164] The real-time PID controller parameter acquisition unit is used to determine the real-time tailgate position difference data based on the real-time tailgate position data and the target position of the electric tailgate movement;

[0165] When the real-time tailgate position difference data is not zero, determining real-time tailgate force feedback data and real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data;

[0166] Real-time PID controller parameters are obtained based on real-time tailgate position difference data, real-time tailgate force feedback data, and real-time tailgate speed feedback data.

[0167] In this embodiment, the real-time PID controller parameter acquisition unit includes: a real-time tailgate force feedback data and a real-time tailgate speed feedback data acquisition subunit;

[0168] The real-time tailgate force feedback data and real-time tailgate speed feedback data acquisition subunit is used to obtain the tailgate movement direction according to the target position of the electric tailgate movement, and to determine the real-time tailgate force feedback data based on the tailgate movement direction and the real-time tailgate force data;

[0169] Real-time tailgate speed feedback data is determined based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data.

[0170] In this embodiment, the real-time tailgate force feedback data and real-time tailgate speed feedback data acquisition subunit includes: a real-time tailgate force feedback data acquisition component;

[0171] The real-time tailgate force feedback data acquisition component is used to obtain the tailgate movement direction according to the target position of the electric tailgate movement;

[0172] According to the tailgate movement direction, a preset database is searched to obtain the tailgate force threshold corresponding to the tailgate movement direction;

[0173] Real-time tailgate force feedback data is determined according to the tailgate force threshold and the real-time tailgate force data.

[0174] In this embodiment, the real-time tailgate force feedback data and real-time tailgate speed feedback data acquisition subunit includes: a real-time tailgate speed feedback data acquisition component;

[0175] The real-time tailgate speed feedback data acquisition component is used to obtain a tailgate movement speed threshold classification table, and query the tailgate movement speed threshold classification table based on the tailgate movement direction and real-time tailgate position data to determine the real-time tailgate movement range;

[0176] Based on the real-time tailgate movement interval, query the tailgate action speed threshold classification table to obtain the real-time tailgate speed threshold corresponding to the real-time tailgate movement interval;

[0177] Real-time tailgate speed feedback data is determined according to the real-time tailgate speed data and the real-time tailgate speed threshold.

[0178] In this embodiment, the real-time PID controller parameter acquisition unit includes: a real-time PID controller parameter acquisition subunit;

[0179] The real-time PID controller parameter acquisition subunit is used to obtain the real-time PID controller proportional gain coefficient based on the real-time tailgate position difference data;

[0180] Obtaining the real-time PID controller integral gain coefficient based on the real-time tailgate force feedback data;

[0181] Obtaining the real-time PID controller differential gain coefficient based on the real-time tailgate speed feedback data;

[0182] The real-time PID controller parameters are obtained based on the real-time PID controller proportional gain coefficient, the real-time PID controller integral gain coefficient and the real-time PID controller differential gain coefficient.

[0183] The electric tailgate motion adjustment module 304 is used to adjust the electric tailgate motion process according to the real-time PID controller parameters to obtain real-time adjustment data of the electric tailgate.

[0184] The electric tailgate calibration module 305 is used to generate electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate movement target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

[0185] In this embodiment, the electric tailgate calibration module 305 includes: an electric tailgate calibration unit;

[0186] The electric tailgate calibration unit is used to generate electric tailgate calibration data based on initial PID controller parameters, electric tailgate motion target position and electric tailgate real-time adjustment data;

[0187] The electric tailgate calibration data is stored in the preset database to complete the calibration of the electric tailgate.

[0188] This embodiment collects real-time tailgate status data during the movement of the electric tailgate, and can monitor the tailgate status during the movement of the electric tailgate from all angles and in all directions, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force, and tailgate speed, thereby avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed. The embodiment can dynamically adjust the tailgate movement during the movement of the electric tailgate, avoiding the low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate.

[0189] In summary, the embodiments of the present invention can monitor the status of the tailgate in all directions and from multiple angles during the movement of the electric tailgate by collecting real-time tailgate status data during the movement of the electric tailgate, thereby obtaining more accurate multi-dimensional tailgate movement data (real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data); then, based on the multi-dimensional tailgate movement data, real-time PID controller parameters are obtained, and the influencing factors of the tailgate movement process are fully explored in multiple dimensions of tailgate position, tailgate force and tailgate speed, thereby avoiding the poor calibration accuracy of the tailgate caused by the existing PID controller adjustment being limited to the single data of tailgate speed, and dynamically adjusting the tailgate movement during the movement of the electric tailgate, thereby avoiding the low efficiency and frequent errors caused by repeated manual calibration and visual inspection in the existing technology, realizing the intelligence and efficiency of the calibration process, avoiding manual intervention, and thus significantly improving the calibration accuracy and efficiency of the electric tailgate.

[0190] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A calibration method for an electric tailgate, characterized in that: include: Acquiring initial PID controller parameters and a target position of the electric tailgate, and driving the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate; collecting real-time tailgate status data during the movement of the electric tailgate, and obtaining real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data based on the real-time tailgate status data; acquiring real-time PID controller parameters according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data, and the target position of the electric tailgate movement; Adjusting the movement process of the electric tailgate according to the real-time PID controller parameters to obtain real-time adjustment data of the electric tailgate; Electric tailgate calibration data is generated based on the initial PID controller parameters, the electric tailgate movement target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

2. The electric tailgate calibration method according to claim 1, characterized in that: The obtaining of initial PID controller parameters and a target position of the electric tailgate movement, and driving the electric tailgate movement according to the initial PID controller parameters and the target position of the electric tailgate movement, includes: Get the initial PID controller parameters and the target position of the electric tailgate; A preset database is queried, and if neither the initial PID controller parameters nor the electric tailgate movement target position is recorded in the preset database, the electric tailgate is driven to move toward the electric tailgate movement target position based on the initial PID controller parameters.

3. The electric tailgate calibration method according to claim 1, characterized in that: The acquiring of real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data according to the real-time tailgate status data includes: According to the data type of the real-time tailgate status data, the real-time tailgate status data is processed in combination with a preset Kalman filter algorithm to obtain real-time tailgate status preprocessing data; Real-time tailgate position data, real-time tailgate force data, and real-time tailgate speed data are acquired according to the real-time tailgate state preprocessing data.

4. The electric tailgate calibration method according to claim 2, wherein: The acquiring of real-time PID controller parameters according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data, and the target position of the electric tailgate movement includes: determining real-time tailgate position difference data according to the real-time tailgate position data and the electric tailgate movement target position; When the real-time tailgate position difference data is not zero, determining real-time tailgate force feedback data and real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data; Real-time PID controller parameters are acquired based on the real-time tailgate position difference data, the real-time tailgate force feedback data, and the real-time tailgate speed feedback data.

5. The electric tailgate calibration method according to claim 4, characterized in that: The determining of the real-time tailgate force feedback data and the real-time tailgate speed feedback data according to the real-time tailgate force data and the real-time tailgate speed data includes: Acquiring a tailgate movement direction according to the electric tailgate movement target position, and determining real-time tailgate force feedback data based on the tailgate movement direction and the real-time tailgate force data; Real-time tailgate speed feedback data is determined based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data.

6. The electric tailgate calibration method according to claim 5, characterized in that: The step of obtaining a tailgate movement direction according to the electric tailgate movement target position, and determining real-time tailgate force feedback data based on the tailgate movement direction and the real-time tailgate force data, includes: Obtaining a tailgate movement direction according to the electric tailgate movement target position; querying the preset database according to the tailgate movement direction to obtain a tailgate force threshold corresponding to the tailgate movement direction; Real-time tailgate force feedback data is determined according to the tailgate force threshold and the real-time tailgate force data.

7. The electric tailgate calibration method according to claim 5, characterized in that: The determining of the real-time tailgate speed feedback data based on the tailgate movement direction, the real-time tailgate position data, and the real-time tailgate speed data includes: Obtaining a tailgate movement speed threshold classification table, and querying the tailgate movement speed threshold classification table based on the tailgate movement direction and the real-time tailgate position data to determine the real-time tailgate movement range; querying the tailgate motion speed threshold classification table based on the real-time tailgate motion interval to obtain a real-time tailgate speed threshold corresponding to the real-time tailgate motion interval; Real-time tailgate speed feedback data is determined according to the real-time tailgate speed data and the real-time tailgate speed threshold.

8. The electric tailgate calibration method according to any one of claims 4 to 7, characterized in that: The acquiring of real-time PID controller parameters based on the real-time tailgate position difference data, the real-time tailgate force feedback data, and the real-time tailgate speed feedback data includes: Obtaining a real-time PID controller proportional gain coefficient based on the real-time tailgate position difference data; obtaining a real-time PID controller integral gain coefficient based on the real-time tailgate force feedback data; obtaining a real-time PID controller differential gain coefficient based on the real-time tailgate speed feedback data; A real-time PID controller parameter is obtained based on the real-time PID controller proportional gain coefficient, the real-time PID controller integral gain coefficient, and the real-time PID controller differential gain coefficient.

9. The electric tailgate calibration method according to claim 2, characterized in that: The step of generating electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate movement target position, and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate includes: generating electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate motion target position, and the electric tailgate real-time adjustment data; The electric tailgate calibration data is stored in the preset database to complete the calibration of the electric tailgate.

10. A calibration system for an electric tailgate, characterized in that: include: Electric tailgate drive module, electric tailgate motion real-time data acquisition module, real-time PID controller parameter acquisition module, electric tailgate motion adjustment module and electric tailgate calibration module; The electric tailgate driving module is used to obtain initial PID controller parameters and a target position of the electric tailgate, and drive the electric tailgate to move according to the initial PID controller parameters and the target position of the electric tailgate; The electric tailgate movement real-time data acquisition module is used to collect real-time tailgate status data during the electric tailgate movement process, and obtain real-time tailgate position data, real-time tailgate force data and real-time tailgate speed data based on the real-time tailgate status data; The real-time PID controller parameter acquisition module is used to acquire real-time PID controller parameters according to the real-time tailgate position data, the real-time tailgate force data, the real-time tailgate speed data and the target position of the electric tailgate movement; The electric tailgate motion adjustment module is used to adjust the electric tailgate motion process according to the real-time PID controller parameters to obtain real-time adjustment data of the electric tailgate; The electric tailgate calibration module is used to generate electric tailgate calibration data based on the initial PID controller parameters, the electric tailgate movement target position and the electric tailgate real-time adjustment data to complete the calibration of the electric tailgate.

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