Vehicle tail door control method and device

Abstract

The embodiment of the invention discloses a control method and device for a tail door of a vehicle. The control device is used for controlling the supporting rod motor to drive the vehicle tail door to be opened or closed. The control device comprises a feedforward control circuit used for generating a target voltage according to a target speed of a vehicle tail door, compensating the target voltage and then controlling a stay bar motor; the feedback control circuit is used for providing feedback control quantity for the feed-forward control circuit according to the difference between the actual speed of the vehicle tail door and the target speed, and the target speed is related to the opening degree of the vehicle tail door; wherein the target voltage is compensated on the basis of at least one of the following factors: the inclination angle of the vehicle, the environment temperature, the cabin pressure of the vehicle and the weight of the tail door. According to the embodiment, the speed following performance of the vehicle tail door control scheme can be improved, and quick response is achieved.

Description

Technical Field

[0001] The present invention relates to a tailgate control technology, and in particular to a vehicle tailgate control method and device. Background Art

[0002] With the continuous advancement of automotive intelligence and user experience, automated tailgate operation has become a key feature of modern automotive upgrades. Traditional manual tailgate operation presents numerous inconveniences, such as requiring users to manually push and pull the tailgate, which is laborious and prone to contact contamination. Consequently, electric tailgate technology has emerged, significantly improving user convenience by replacing manual operation with a motor.

[0003] A vehicle's tailgate system typically consists of a strut motor, a control module, and a sensor system. The strut motor drives the tailgate open and close, while the control module integrates signal processing and logic analysis to respond to commands such as buttons, remote controls, and foot sensors. The sensor system provides position feedback and obstacle detection for precise control and safety protection.

[0004] In actual applications, different target speeds are usually set for the tailgate of a vehicle based on different positions within the full range of movement. Based on the target speed and actual speed, a PID (proportional-integral-differential) control method is used to achieve precise speed control of the tailgate of the vehicle.

[0005] In reality, vehicles may be in a variety of complex situations. A control approach based solely on target speed can lead to overshoot and slow speed convergence, especially during the initial stages of movement. Consequently, existing tailgate control solutions suffer from poor speed tracking and an inability to achieve rapid response. Summary of the Invention

[0006] In view of this, the present invention provides a vehicle tailgate control method and device, which can improve the speed followability of the vehicle tailgate control solution and achieve rapid response.

[0007] A control device for a vehicle tailgate according to an embodiment of the present invention is used to control a strut motor to drive the vehicle tailgate to open or close, and the control device includes: a first controller, used to generate a control signal for driving the strut motor according to a control voltage, and drive the strut motor according to the control signal; a second controller, used to output a feedback regulation voltage according to a difference between an actual speed of the vehicle tailgate and a target speed, wherein the target speed is related to the opening degree of the vehicle tailgate; and a compensation unit, used to generate a target voltage according to the target speed of the vehicle tailgate, and compensate the target voltage to generate a compensated target voltage; wherein the control voltage is obtained according to the compensated target voltage and the feedback regulation voltage; wherein the target voltage is compensated based on at least one of the following factors: the tilt angle of the vehicle, the ambient temperature, the cabin pressure of the vehicle, and the weight of the tailgate.

[0008] In some embodiments, the compensation unit is specifically used to: calculate at least one of the first to fourth compensation values, and compensate the target voltage based on the calculated compensation value; wherein, the first compensation value is obtained based on a first correspondence between the vehicle's tilt angle and the compensation value; wherein, the second compensation value is obtained based on a second correspondence between the ambient temperature and the compensation value; wherein, the third compensation value is obtained based on a third correspondence between the vehicle's cabin pressure and the compensation value; wherein, the fourth compensation value is calculated based on the weight of the tailgate and the torque-current characteristic curve of the strut motor.

[0009] In some embodiments, the second controller is a PID controller.

[0010] In some embodiments, the first controller is further used to perform anti-pinch control; wherein, when the difference between the actual speed and the target speed of the strut motor is greater than a preset threshold and lasts for a preset time, an anti-pinch event is determined; or when the current difference between the actual current of the strut motor and a preset current value is greater than a preset second threshold, an anti-pinch event is determined.

[0011] A control device for a vehicle tailgate according to an embodiment of the present invention, wherein the vehicle tailgate is driven to open or close by a strut motor, comprises: a feedforward control circuit for generating a target voltage according to a target speed of the vehicle tailgate and compensating the target voltage to control the strut motor; and a feedback control circuit for providing a feedback control quantity to the feedforward control circuit according to a difference between an actual speed of the vehicle tailgate and a target speed, wherein the target speed is related to the opening degree of the vehicle tailgate; wherein the target voltage is compensated based on at least one of the following factors: the tilt angle of the vehicle, the ambient temperature, the cabin pressure of the vehicle, and the weight of the tailgate.

[0012] In some embodiments, the feedforward control circuit is specifically used to: calculate at least one of the first to fourth compensation values, and compensate the target voltage based on the calculated compensation value; wherein, the first compensation value is obtained based on a first correspondence between the vehicle's tilt angle and the compensation value; wherein, the second compensation value is obtained based on a second correspondence between the ambient temperature and the compensation value; wherein, the third compensation value is obtained based on a third correspondence between the vehicle's cabin pressure and the compensation value; wherein, the fourth compensation value is calculated based on the weight of the tailgate and the torque-current characteristic curve of the strut motor.

[0013] In some embodiments, the first to third corresponding relationships are obtained by calibration, and the feedback control circuit is a PID control circuit.

[0014] A vehicle tailgate control method according to an embodiment of the present invention includes: generating a target voltage based on a target speed of the vehicle tailgate, wherein the target speed is related to the opening degree of the vehicle tailgate; compensating the target voltage based on at least one of the following factors: the vehicle's tilt angle, ambient temperature, vehicle cabin pressure, and tailgate weight; controlling a strut motor based on the compensated target voltage to drive the vehicle tailgate to open or close; outputting a feedback regulation voltage based on the difference between the actual speed of the vehicle tailgate and the target speed; and feedback controlling the strut motor based on the feedback regulation voltage.

[0015] In some embodiments, the step of compensating the target voltage includes: calculating at least one of first to fourth compensation values, and compensating the target voltage based on the calculated compensation value; wherein, the first compensation value is obtained based on a first correspondence between the vehicle's tilt angle and the compensation value; wherein, the second compensation value is obtained based on a second correspondence between the ambient temperature and the compensation value; wherein, the third compensation value is obtained based on a third correspondence between the vehicle's cabin pressure and the compensation value; wherein, the fourth compensation value is calculated based on the weight of the tailgate and the torque-current characteristic curve of the strut motor.

[0016] A computer device / equipment / system according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0017] Beneficial effects of the embodiments of the present invention:

[0018] In an embodiment of the present invention, a target voltage is compensated based on at least one of factors such as the vehicle's tilt angle, ambient temperature, vehicle cabin pressure, and tailgate weight to control the strut motor. That is, the input of the feedforward control is compensated in advance, so that the input of the feedforward control is sufficiently accurate, so that there will be a small deviation or even no deviation between the actual speed of the strut motor and the target speed. This deviation is then closed-loop regulated through feedback regulation, thereby reducing the workload of the feedback control, increasing the convergence speed of the feedback regulation, and further improving the speed followability of the tailgate system, thereby achieving the purpose of rapid response. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other details and advantages of the present invention will become apparent from the detailed description provided below. It should be understood that the following drawings are merely illustrative and thus cannot be considered as limiting the present invention. The following detailed description will be given with reference to the accompanying drawings, in which:

[0020] Figure 1 1 is a schematic structural diagram of an embodiment of a vehicle tailgate control device of the present invention;

[0021] Figure 2 is a schematic structural diagram of another embodiment of a vehicle tailgate control device of the present invention;

[0022] Figure 3 is a flow chart of an embodiment of a method for controlling a vehicle tailgate of the present invention;

[0023] Figure 4 is a schematic structural diagram of an embodiment of a computer device / apparatus / system of the present invention;

[0024] Figure 5 is a schematic diagram of a vehicle tailgate according to an embodiment of the present invention;

[0025] Figure 6A is a schematic diagram of an embodiment of the corresponding relationship between the tailgate opening and the target speed;

[0026] Figure 6B is a schematic diagram of an embodiment of a corresponding relationship between a tilt angle and a voltage compensation value;

[0027] Figure 6C is a schematic diagram of an embodiment of a corresponding relationship between ambient temperature and voltage compensation value;

[0028] Figure 6D 4 is a schematic diagram of an embodiment of the corresponding relationship between cabin pressure and voltage compensation value. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0030] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0031] like Figure 1 and 2 FIG. 1 is a schematic diagram of the structure of an embodiment of the vehicle tailgate control device of the present invention. Figure 5 As shown, Figure 5 As shown, the vehicle tailgate 5 can be driven to open or close by a strut motor 30, and the strut motor 30 can be controlled by a control device to drive the vehicle tailgate to open or close in a predetermined manner. The control device can be a body controller, a zone controller, or an ECU (electronic control unit).

[0032] like Figure 1 As shown, the control device includes a feedforward control circuit 10 and a feedback control circuit 20. The feedforward control circuit 10 and the feedback control circuit 20 jointly control the operation of a strut motor 30, thereby using the strut motor 30 to drive the tailgate to open or close. For example, the control device can control the strut motor 30 to open or close the vehicle tailgate in response to an operation command such as a key, a remote control, or a kick sensor.

[0033] The tailgate of the vehicle may have a non-uniform speed during the operation. For example, the target speed may be set based on the different opening degrees of the tailgate. Figure 6A The figure shows the relationship between the tailgate opening and the target speed. Figure 6A In the figure, the horizontal axis represents the tailgate opening, and the vertical axis represents the target speed. Figure 6A It can be seen that the operation of the tailgate presents the characteristics of acceleration in the starting stage, basically uniform speed in the middle stage and deceleration in the ending stage. Figure 6A The corresponding relationship shown can be pre-stored in the control device, and the control device can detect the opening of the tailgate by means of a position sensor or the like, thereby controlling the operating speed of the tailgate.

[0034] exist Figure 1 In the embodiment, the feedforward control circuit 10 is used to generate a target voltage based on a target speed of the vehicle tailgate and to control the operation of the strut motor after compensating the target voltage, wherein the target speed can be determined based on the tailgate opening. The target voltage can be derived from the target speed based on the characteristics of the strut motor. For example, the target voltage can be equal to the target speed multiplied by a motor voltage-speed characteristic parameter, wherein the motor voltage-speed characteristic parameter is a constant. The target voltage can be compensated based on at least one of the following factors: the vehicle's tilt angle, ambient temperature, vehicle cabin pressure, and tailgate weight. For example, a voltage compensation value can be calculated based on at least one of the above factors, and then the target voltage can be compensated using the calculated voltage compensation value. Because factors such as the vehicle's tilt angle, ambient temperature, vehicle cabin pressure, and tailgate weight can affect the operation of the tailgate, especially during the startup phase, pre-compensating the target voltage can improve the accuracy of the feedforward control.

[0035] exist Figure 1 In the embodiment, the feedback control circuit 20 is used to provide a feedback control variable to the feedforward control circuit 10 based on the difference between the actual speed of the vehicle tailgate and the target speed, thereby achieving precise control of the tailgate speed through feedback regulation. The feedback control circuit 20 can adopt a PID (proportional-integral-derivative) feedback control method, for example, the feedback control circuit 20 can be a PID controller.

[0036] exist Figure 1 In this embodiment, because the target voltage is pre-compensated in the feedforward control circuit 10 based on various factors, the feedforward control is as precise as possible, resulting in minimal or no deviation between the actual speed of the strut motor and the target speed. This precision reduces the amount of feedback control required, making it easier for feedback control to converge. This is particularly suitable for eliminating issues such as large adjustments and unstable system operation caused by large initial deviations. Therefore, this embodiment reduces the workload of feedback control, such as the computational complexity of the PID controller, improves the tailgate speed's responsiveness, and enables rapid system response.

[0037] like Figure 2 As shown, the feedforward control circuit 10 is mainly implemented by a compensation unit 101 and a first controller 102, and the feedback control circuit 20 is mainly implemented by a second controller 201. The first controller 102 may be an ECU, and the second controller 201 may be a PID controller.

[0038] exist Figure 2In the example, the inputs of the compensation unit 101 are U0 to U4, where U0 is the target voltage, which is generated based on the target speed of the vehicle tailgate. Specifically, the target speed can be obtained based on the tailgate opening, such as according to Figure 6A The corresponding relationship between the tailgate opening and the target speed is shown in the figure. The target speed is obtained. Figure 6A In the figure, the horizontal axis represents tailgate opening, and the vertical axis represents target speed. The target voltage is then calculated using the formula: U0 = n * C2phi. Here, n represents the motor speed, or the target speed, and C2phi is the motor voltage-speed characteristic parameter, which is a constant.

[0039] Among them, U1 is the voltage compensation value obtained based on the tilt angle of the vehicle, such as Figure 6B The figure shows the correspondence between the vehicle's tilt angle and the voltage compensation value, with the horizontal axis representing the tilt angle and the vertical axis representing the voltage compensation value. This correspondence can be obtained through calibration and then stored in the control device. The tilt angle can be represented by the vehicle's pitch angle or roll angle.

[0040] Among them, U2 is the voltage compensation value obtained based on the ambient temperature, such as Figure 6C The figure shows the relationship between the vehicle's ambient temperature and the voltage compensation value. The horizontal axis represents the ambient temperature, and the vertical axis represents the voltage compensation value. At room temperature, the voltage compensation value is 0. This relationship can also be obtained through calibration and then stored in the control device. The ambient temperature can be obtained using relevant onboard sensors.

[0041] Among them, U3 is the voltage compensation value obtained based on the cabin pressure, such as Figure 6D The figure shows the corresponding relationship between the vehicle's cabin pressure and the voltage compensation value, with the horizontal axis representing the cabin pressure and the vertical axis representing the voltage compensation value. This corresponding relationship can also be obtained through calibration and then stored in the control device. The cabin pressure can be obtained using the relevant cabin pressure sensor.

[0042] U4 represents the compensation value based on the weight of the tailgate. This value can be derived based on the weight of the tailgate and the torque-current characteristic curve of the strut motor. Specifically, the torque required to overcome the effect of gravity can be calculated based on the weight of the tailgate. The current corresponding to this torque value can then be calculated based on the torque-current characteristic curve of the strut motor. Since the resistance of the strut motor is fixed, U4 can be obtained by multiplying this current value by the resistance of the strut motor.

[0043] After obtaining the above-mentioned U0-U4, U0-U4 are superimposed to obtain the feedforward controlled voltage U5, i.e., U5=U0+U1+U2+U3+U4. The first controller 102 generates a drive signal for the strut motor 30 based on U5, such as a PWM (pulse width modulation) signal, thereby controlling the rotation of the strut motor 30 to drive the vehicle tailgate to open or close. Because the feedforward control of this embodiment takes into account the compensation amount, there will be a small deviation between the actual movement speed of the strut motor and the target speed. This deviation can be adjusted by the second controller 201. Specifically, the second controller 201 generates an adjustment voltage U6 based on the difference between the actual speed of the strut motor and the target speed, and inputs it into the feedforward control circuit. The feedforward control circuit superimposes U5 and U6 to generate U7 to control the strut motor 30.

[0044] In this embodiment, because the accuracy of the feedforward control is improved, the adjustment amount of the feedback control can be reduced, making the movement of the tailgate more balanced and smooth. In addition, the solution of this embodiment can also bring unexpected technical effects. Specifically, in the control of the vehicle tailgate, anti-pinch is a function that usually needs to be supported, and feedback adjustment is in conflict with the anti-pinch function. Therefore, in general, the boundary between feedback adjustment and anti-pinch is generally divided by complicated calibration. However, because the implementation of this solution leads to a reduction in the adjustment workload of feedback adjustment, there can be a clearer boundary between speed regulation and anti-pinch, thereby reducing the calibration amount. Specifically, the anti-pinch control can be performed by the first controller 102. The first controller 102 can determine whether there is an anti-pinch event based on the difference between the actual speed of the strut motor and the target speed. For example, when the difference is greater than a preset first threshold and lasts for a preset time, an anti-pinch event is determined, and the motor is controlled to stop running or reverse. Alternatively, the presence of an anti-pinch event can be determined by determining whether the difference between the actual current of the prop motor and a pre-stored current value is greater than a preset second threshold. For example, if the difference is greater than the second threshold, an anti-pinch event is determined, and the motor is controlled to stop or reverse. Because this embodiment creates a clearer distinction between speed regulation and anti-pinch, the threshold setting can be more flexible, making anti-pinch events more easily detected.

[0045] like Figure 3 FIG. 1 is a flow chart of an embodiment of a method for controlling a vehicle tailgate of the present invention, which includes:

[0046] Step S301: generating a target voltage according to a target speed of a vehicle tailgate, wherein the target speed is related to the opening degree of the vehicle tailgate.

[0047] Step S302: Compensating the target voltage based on at least one of the following factors: the vehicle's tilt angle, ambient temperature, vehicle cabin pressure, and tailgate weight.

[0048] Step S303: Controlling the strut motor according to the compensated target voltage to drive the tailgate of the vehicle to open or close.

[0049] Step S304: outputting a feedback regulation voltage according to the difference between the actual speed of the vehicle tailgate and the target speed.

[0050] Step S305: adjusting the voltage according to the feedback and performing feedback control on the strut motor.

[0051] It should be noted that each step of the method of this embodiment can be Figure 1 and Figure 2 The control device in the embodiment is executed, so many details of the method have been described in the above embodiments and will not be repeated here.

[0052] like Figure 4 1 is a schematic diagram of the structure of an embodiment of a computer device / equipment / system 4 of the present invention, which includes: a memory 40, a processor 41 and a computer program stored in the memory 40, and the processor executes the computer program to implement the steps of the method of the embodiment of the present invention.

[0053] The description of the above computer device / equipment / system embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computer device / equipment / system embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0054] The processor may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device that implements the functions of the processor may also be other electronic devices, which are not specifically limited in the embodiments of the present application.

[0055] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0056] It should be noted that the above description is only an example and not a limitation of the present invention. In other embodiments of the present invention, the method may have more, fewer or different steps, and the order, inclusion and function of the steps may be different from those described and illustrated. For example, multiple steps can usually be combined into a single step, and a single step can also be split into multiple steps. For those of ordinary skill in the art, without paying creative work, changes in the order of the steps are also within the scope of protection of the present invention.

[0057] The technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor or a microcontroller to execute all or part of the steps of the method described in each embodiment of the present invention.

[0058] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments.

[0059] Although the present invention has been disclosed above with reference to preferred embodiments, the present invention is not limited thereto. Any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A vehicle tailgate control device, used to control a strut motor to drive the vehicle tailgate to open or close, characterized in that: The control device comprises: a first controller, configured to generate a control signal for driving the strut motor according to a control voltage, and drive the strut motor according to the control signal; a second controller configured to output a feedback regulation voltage according to a difference between an actual speed of the vehicle tailgate and a target speed, wherein the target speed is related to an opening degree of the vehicle tailgate; and a compensation unit, configured to generate a target voltage according to a target speed of the vehicle tailgate, and compensate the target voltage to generate a compensated target voltage; Wherein, the control voltage is obtained according to the compensated target voltage and the feedback adjustment voltage; The target voltage is compensated based on at least one of the following factors: a tilt angle of the vehicle, an ambient temperature, a cabin pressure of the vehicle, and a weight of a tailgate.

2. The vehicle tailgate control device according to claim 1, wherein: The compensation unit is specifically configured to: calculate at least one of first to fourth compensation values, and compensate the target voltage based on the calculated compensation value; The first compensation value is obtained according to a first corresponding relationship between the tilt angle of the vehicle and the compensation value; The second compensation value is obtained according to a second corresponding relationship between the ambient temperature and the compensation value; The third compensation value is obtained based on a third corresponding relationship between the vehicle cabin pressure and the compensation value; The fourth compensation value is calculated based on the weight of the tailgate and a torque-current characteristic curve of the strut motor.

3. The vehicle tailgate control device according to claim 1, wherein: The second controller is a PID controller.

4. The vehicle tailgate control device according to claim 1, wherein: The first controller is further configured to execute anti-pinch control when an anti-pinch event is determined; Wherein, when the difference between the actual speed and the target speed of the strut motor is greater than a preset first threshold value and lasts for a preset time, an anti-pinch event is determined; or When the current difference between the actual current of the strut motor and the preset current value is greater than a preset second threshold, an anti-pinch event is determined.

5. A control device for a vehicle tailgate, wherein the vehicle tailgate is opened or closed by a strut motor, characterized in that: include: a feedforward control circuit for generating a target voltage according to a target speed of the vehicle tailgate and compensating the target voltage to control the strut motor; as well as a feedback control circuit for providing a feedback control variable to the feedforward control circuit based on a difference between an actual speed of the vehicle tailgate and a target speed, wherein the target speed is related to an opening degree of the vehicle tailgate; The target voltage is compensated based on at least one of the following factors: a tilt angle of the vehicle, an ambient temperature, a cabin pressure of the vehicle, and a weight of a tailgate.

6. The vehicle tailgate control device according to claim 5, wherein: The feedforward control circuit is specifically configured to: calculate at least one of first to fourth compensation values, and compensate the target voltage based on the calculated compensation value; The first compensation value is obtained according to a first corresponding relationship between the tilt angle of the vehicle and the compensation value; The second compensation value is obtained according to a second corresponding relationship between the ambient temperature and the compensation value; The third compensation value is obtained based on a third corresponding relationship between the vehicle cabin pressure and the compensation value; The fourth compensation value is calculated based on the weight of the tailgate and a torque-current characteristic curve of the strut motor.

7. The vehicle tailgate control device according to claim 6, wherein: The first to third corresponding relationships are obtained by calibration, and the feedback control circuit is a PID control circuit.

8. A method for controlling a vehicle tailgate, characterized in that: include: generating a target voltage according to a target speed of a vehicle tailgate, wherein the target speed is related to an opening degree of the vehicle tailgate; compensating the target voltage based on at least one of the following factors: a tilt angle of the vehicle, an ambient temperature, a cabin pressure of the vehicle, and a weight of a tailgate; According to the compensated target voltage, the strut motor is controlled to drive the vehicle tailgate to open or close; outputting a feedback regulation voltage according to a difference between an actual speed of the vehicle tailgate and a target speed; as well as Feedback control is performed on the strut motor according to the feedback adjustment voltage.

9. The vehicle tailgate control method according to claim 8, wherein: The step of compensating the target voltage comprises: calculating at least one of first to fourth compensation values, and compensating the target voltage based on the calculated compensation value; The first compensation value is obtained according to a first corresponding relationship between the tilt angle of the vehicle and the compensation value; The second compensation value is obtained according to a second corresponding relationship between the ambient temperature and the compensation value; The third compensation value is obtained based on a third corresponding relationship between the vehicle cabin pressure and the compensation value; The fourth compensation value is calculated based on the weight of the tailgate and a torque-current characteristic curve of the strut motor.

10. A computer device / apparatus / system comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to claim 8 or 9.

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