A control system for a two-stage tailgate

Abstract

The present application relates to the technical field of automobile tailgates, and particularly relates to a control system of a two-section automobile tailgate. The control system receives speed and position information of a first execution device and a second execution device through a control unit, and jointly performs real-time calculation on the speed and position information to obtain current motion characteristics and future motion trends of a sky door and an earth door, so that a collision risk of the sky door and the earth door in a region to be passed through is predicted based on the motion trends before or during automatic motion. Contact between the sky door and the earth door is avoided in the motion process through motion prediction, or a user is reminded of a current state of the system through a special motion form of the execution device when the sky door and the earth door are manipulated to unreasonable regions by external force, so that a collision is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to a control of a tailgate of a vehicle, in particular to a control system of a two-section tailgate of a vehicle. BACKGROUND

[0002] With the development of electrification, intelligence and convenience of vehicles, SUV models are often equipped with electric tailgates. The traditional electric tailgate is mainly a one-way top door that opens to the roof side. The two-section tailgate often adopts a top and bottom door design. The tailgate with the top and bottom door design includes a top door that opens to the roof and a bottom door that opens to the chassis side. In order to improve user experience during use of the tailgate, there are application scenarios in which the top and bottom doors are opened or closed at the same time. Because of the interference between the top and bottom doors in a specific motion area in the mechanical structure design, and considering the interference of unpredictable external factors, there is a risk that the two doors may collide with each other during movement. Therefore, how to avoid the collision between the two-section tailgates in the control system of the two-section tailgate is particularly important. SUMMARY

[0003] The present application aims to solve the above-mentioned defects and provides a control system of a two-section tailgate of a vehicle.

[0004] In order to overcome the defects in the background art, the technical solution adopted by the present application to solve the technical problems is: the control system of the two-section tailgate of a vehicle includes a top door and a bottom door at the tail of a vehicle. The top door is connected to a first execution device to enable it to move in a hinged manner between an open position and a closed position. The bottom door is connected to a second execution device to enable it to move in a hinged manner between an open position and a closed position. The control system is characterized in that:

[0005] The first execution device and the second execution device are connected to the same control unit;

[0006] The control unit receives an external control instruction and controls the first execution device and the second execution device to jointly move the top door and the bottom door in the system to a maximum opening position or a door locking position;

[0007] Meanwhile, the control unit also controls the movement control of the top door and the bottom door and the control of the top door and the bottom door locking execution device;

[0008] The control unit adopts the logic that the bottom door of the top door and the bottom door is closed first, and the top door is opened first;

[0009] The control unit has the data and state information of the sensing device of the top door and the first execution device. The control unit also has the data and state information of the sensing device of the bottom door and the second execution device;

[0010] The control unit is provided with door opening instructions and door closing instructions, wherein the door opening instructions include a first door opening instruction for simultaneously opening the overhead door and the ground door, a second door opening instruction for opening only the overhead door, and a third door opening instruction for opening only the ground door, and the door closing instructions include a first door closing instruction for simultaneously closing the overhead door and the ground door, a second door closing instruction for closing only the overhead door when the ground door is in the first closing position, and a third door closing instruction for closing only the ground door.

[0011] The control unit receives the speed and position information of the first and second execution devices, and performs real-time calculation based on the speed and position information to obtain the current motion characteristics and future motion trend of the overhead door and the ground door, so as to predict whether there is a collision risk in the region to be passed based on the motion trend before or during the automatic motion process.

[0012] A) If the control unit determines that there is a collision risk between the overhead door and the ground door in the region to be passed, but the collision risk can be avoided through speed control or / and action sequence, the action is completed according to the safe speed or / and safe sequence calculated by the control unit;

[0013] B) If the control unit determines that the collision risk cannot be avoided in the motion to be performed, the control unit prompts the user in the form of alarm or drives the overhead door or the ground door in the positive and negative directions for several times to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the overhead door and the ground door does not meet the motion trend requirement, so that the system cannot respond to the motion requirement.

[0014] According to another embodiment of the present application, further comprising the speed driving of the overhead door and the ground door by the control unit according to the input instruction, wherein the instruction is the first door opening instruction:

[0015] a. When the overhead door is located outside the ground door, the overhead door is driven to move towards the second opening angle of the overhead door at a relatively fast speed relative to the ground door according to the overhead door priority opening logic, and the ground door is driven to move towards the second opening angle of the ground door at a relatively slow speed after the dynamic calculation based on the speed and position of the overhead door determines that there is no collision risk;

[0016] b. When the ground door is located outside the overhead door, and the lower horizontal line of the overhead door is higher than the highest position of the upper horizontal line of the ground door, the overhead door is driven to move towards the second opening angle of the overhead door at a relatively fast speed relative to the ground door according to the overhead door priority opening logic, and the ground door is driven to move towards the second opening angle of the ground door at a relatively slow speed after the dynamic calculation based on the speed and position of the overhead door determines that there is no collision risk; when the lower horizontal line of the overhead door is lower than the highest position of the upper horizontal line of the ground door, the ground door is driven to move towards the second opening angle of the ground door at a relatively fast speed relative to the overhead door, and the overhead door is driven to move towards the second opening angle of the overhead door at a set speed after the dynamic calculation based on the speed and position of the ground door determines that there is no collision risk.

[0017] According to another embodiment of the present application, further comprising the control unit executes and controls the speed of the drive of the sky door and the ground door according to the input instruction, when the instruction is the second opening door instruction:

[0018] a. When the sky door is outside the ground door, the sky door moves to the second opening angle according to the sky door, and the ground door does not move;

[0019] b. When the ground door is outside the sky door, and the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, the sky door moves to the second opening angle according to the sky door, and the ground door does not move; When the lower horizontal line of the sky door is lower than the highest position of the upper horizontal line of the ground door, the sky door does not move, and the ground door performs alarm or several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

[0020] According to another embodiment of the present application, further comprising the control unit executes and controls the speed of the drive of the sky door and the ground door according to the input instruction, when the instruction is the third opening door instruction:

[0021] a. When the sky door is in the first closed position, and the ground door is in the first closed position, the sky door and the ground door do not move;

[0022] b. When the sky door is outside the ground door, and the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, the ground door moves to the second opening position according to the ground door, and the sky door does not move; When the lower horizontal line of the sky door is lower than the highest position of the upper horizontal line of the ground door, the ground door does not move, and the sky door performs several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement;

[0023] c. When the ground door is outside the sky door, the ground door moves to the second opening position according to the ground door, and the sky door does not move.

[0024] According to another embodiment of the present application, further comprising the control unit executes and controls the speed of the drive of the sky door and the ground door according to the input instruction, when the instruction is the first closing door instruction:

[0025] a. When the sky door is outside the ground door, the ground door is driven to move to the first closed position according to the ground door closing door priority logic at a relatively fast speed relative to the sky door, and the sky door is driven to move to the first closed position at a relatively slow speed based on the speed and position dynamic calculation of the ground door without collision risk;

[0026] b. When the ground door is located outside the heaven door, the heaven door does not move, and the ground door is driven in the positive and negative directions for several times in the form of alarm or short vibration to cause the door to vibrate to some extent, so as to obviously prompt the user that the current position state of the heaven and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement;

[0027] c. When the ground door is in the closed state, the ground door does not move, and the heaven door moves towards the first closed position of the heaven door.

[0028] According to another embodiment of the present application, further comprising that the control unit drives the heaven door and the ground door at the speed according to the input instruction, when the instruction is the second door closing instruction:

[0029] a. When the ground door is located at the first closed position of the ground door, the ground door does not move, and the heaven door moves towards the first closed position of the heaven door;

[0030] b. When the ground door is not located at the first closed position of the ground door, and the heaven door is located outside the ground door, the ground door does not move, and the heaven door is driven in the positive and negative directions for several times in the form of alarm or short vibration to cause the door to vibrate to some extent, so as to obviously prompt the user that the current position state of the heaven and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement;

[0031] c. When the ground door is not located at the first closed position of the ground door, and the ground door is located outside the heaven door, and the lower horizontal line of the heaven door is higher than the highest position of the upper horizontal line of the ground door, the ground door does not move, and the heaven door is driven in the positive and negative directions for several times in the form of alarm or short vibration to cause the door to vibrate to some extent, so as to obviously prompt the user that the current position state of the heaven and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement; when the lower horizontal line of the heaven door is lower than the highest position of the upper horizontal line of the ground door, the heaven door does not move, and the ground door is driven in the positive and negative directions for several times in the form of alarm or short vibration to cause the door to vibrate to some extent, so as to obviously prompt the user that the current position state of the heaven and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

[0032] According to another embodiment of the present application, further comprising that the control unit drives the heaven door and the ground door at the speed according to the input instruction, when the instruction is the third door closing instruction:

[0033] a. When the heaven door is located outside the ground door, the heaven door does not move, and the ground door moves towards the first closed position of the ground door;

[0034] b. When the ground door is located outside the heaven door, the heaven door does not move, and the ground door is driven in the positive and negative directions for several times in the form of alarm or short vibration to cause the door to vibrate to some extent, so as to obviously prompt the user that the current position state of the heaven and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

[0035] According to another embodiment of the present application, the alarm form is an audible and light alarm.

[0036] The beneficial effect of the present application is that the control system of the two-section automobile tail door avoids the contact between the upper door and the lower door during the movement, or reminds the user of the current system state through the special movement form of the execution device when the upper door and the lower door are manipulated to an unreasonable area by external force, thereby avoiding collision. BRIEF DESCRIPTION OF DRAWINGS

[0037] The present application will be further described below in conjunction with the drawings and embodiments.

[0038] Figure 1 is a structure schematic diagram of the two-section tail door including the upper door and the lower door in the closed state of the two-section tail door;

[0039] Figure 2 is a structure schematic diagram of the two-section tail door in the open state;

[0040] Figure 3 is a structure schematic diagram of the two-section tail door in other states;

[0041] Figure 4 is a structure schematic diagram of the two-section tail door in other states;

[0042] Figure 5 is a structure schematic diagram of the two-section tail door in other states;

[0043] Figure 6 is a structure schematic diagram of the two-section tail door in other states;

[0044] Figure 7 is a structure schematic diagram of the two-section tail door in other states;

[0045] Figure 8 is a structure schematic diagram of the two-section tail door in other states;

[0046] Figure 9 is a structure schematic diagram of the two-section tail door in the collision state;

[0047] Figure 10 is a structure schematic diagram of the control system of the two-section tail door. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative work based on the embodiments in the basic application are within the protection scope of the present application.

[0049] As Figure 1 , 2 , 10, the figure includes the car tail of the door and the ground door, the door through the connection of the first execution device to make it in the open and closed position and closed position hinge movement, the ground door through the connection of the second execution device to make it in the open and closed position and closed position hinge movement.

[0050] The first execution device and the second execution device are connected to the same control unit, the first execution device and the second execution device are controlled by a control unit, real-time receiving speed and position information of the first execution device and the second execution device, and joint speed and position information are calculated in real time to obtain the current motion characteristics of the door and the ground door, and the future motion trend is adjusted in time according to the situation.

[0051] In normal state, the control unit receives external control instruction, controls the first execution device, the second execution device, and the system of the door and the ground door joint motion to the maximum opening position or the car door locking position, as Figure 1 As shown in figure Figure 2 , the door and the ground door are normally closed, as , the door and the ground door are normally opened.

[0052] Meanwhile, the control unit also controls the motion control of the door and the ground door and the control of the door and the ground door lock execution device. The control unit advocates the logic of the door and the ground door in the door, the door priority.

[0053] Figure 9 The control unit has the data and state information of the door sensor and the first execution device; the control unit also has the data and state information of the ground door sensor and the second execution device, according to the real-time data to judge whether there is potential collision problem, and timely adjust the speed or / and position, or timely alarm, potential collision problem as , the main conditions of the collision are two: 1) at least one door in the shadow part of the potential collision area in the figure, which is identified by the position sensor on the door and the ground door; 2) the difference between the angle a of the door and the angle b of the ground door is too small, and is lower than 10°-20°.

[0054] The control unit is provided with opening instruction and closing instruction, the opening instruction includes: the first opening instruction of opening the door and the ground door at the same time, the second opening instruction of opening only the door, the third opening instruction of opening only the ground door, the closing instruction includes: the first closing instruction of closing the door and the ground door at the same time, the second closing instruction of closing only the door in the ground door first closing position state, the third closing instruction of closing only the ground door, the control unit will make corresponding action according to the opening instruction and the closing instruction.

[0055] The control unit receives the speed and position information of the first and second execution devices, and combines the speed and position information to perform real-time calculation to obtain the current motion characteristics and future motion trend of the sky door and the ground door, so as to realize the pre-judgment of whether there is a collision risk in the area to be passed based on the motion trend before or during the automatic motion process:

[0056] A) If the control unit determines that there is a collision risk between the sky door and the ground door in the area to be passed, but the collision risk can be avoided by speed control or / and action sequence, the action is completed according to the safe speed or / and safe sequence calculated by the control unit;

[0057] B) If the control unit determines that the collision risk cannot be avoided in the motion to be performed, the control unit causes the door to produce a certain degree of shaking by driving the door in the positive and negative directions for several times in the form of alarm or without obstruction to the open door, so as to significantly prompt the user that the current position state of the sky door and the ground door does not meet the requirements of the motion trend, so that the system cannot respond to the motion requirements.

[0058] As Figures 1-8 , wherein Figure 1 is the normal fully closed state, Figure 2 is the normal fully open state, resulting in Figures 3-8 The position state of the sky door and the ground door may be caused by various reasons, mainly divided into two categories: 1) the sky door and the ground door are interrupted by external reasons during automatic operation; 2) the sky door and the ground door are moved to the position shown in the figure by external factors, such as manual or other external force.

[0059] The control unit controls the first and second execution devices to drive the sky door and the ground door, and the sky door and the ground door are respectively set with a reference speed, and the control unit adjusts the speed in real time when encountering different states, that is, the angular velocity is additionally increased by [5~20]° / s or the angular velocity is additionally reduced by [5~20]° / s relative to the original set reference speed. Example one:

[0060] The control unit drives the sky door and the ground door according to the input instruction and the speed of real-time control, and the input instruction is the first door opening instruction:

[0061] a, when the sky door is located outside the ground door, the sky door is driven to move towards the second opening angle of the sky door at a relatively fast set speed relative to the ground door according to the logic of giving priority to the opening of the sky door, and the ground door is driven to move towards the second opening angle of the ground door at a relatively slow set speed after the ground door is determined to have no collision risk based on the speed and position of the sky door. See Figure 1 , 3, the state of the sky door and the ground door shown in Figs. 5, 6 and 8, at this time the sky door is located outside the ground door, and the sky door is driven according to the sky door priority opening logic, and the motion control of the sky door is controlled by the control unit, so that the sky door moves at a speed of [5-20] ° / s additionally increased on the basis of the original set speed towards the second opening angle of the sky door, and after the ground door is dynamically calculated based on the speed and position of the sky door and determined to have no collision risk, the ground door is driven to move at a speed of [5-20] ° / s additionally reduced on the basis of the original set speed towards the second opening angle of the ground door, and the speed is adjusted through the speed adjustment, Figure 1 、 3 , the state of the sky door and the ground door shown in Figs. 5, 6 and 8 can be smoothly operated according to the first opening instruction to Figure 2 state;

[0062] b. When the ground door is located outside the sky door, and the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, then the sky door is driven to move towards the second opening angle of the sky door at a relatively fast speed relative to the ground door according to the sky door priority opening logic, and after the ground door is dynamically calculated based on the speed and position of the sky door and determined to have no collision risk, the ground door is driven to move towards the second opening angle of the ground door at a relatively slow speed, as shown in Figure 7 , at this time, although the ground door is located outside the sky door, the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, and the sky door will not collide with the ground door according to the sky door priority opening logic, the motion control of the sky door is controlled by the control unit, so that the sky door moves at a speed of [5-20] ° / s additionally increased on the basis of the original set speed towards the second opening angle of the sky door, and the ground door is driven to move at a speed of [5-20] ° / s additionally reduced on the basis of the original set speed towards the second opening angle of the ground door; as shown in Figure 4 , the lower horizontal line of the sky door is lower than the highest position of the upper horizontal line of the ground door, then the ground door is driven to move towards the second opening angle of the ground door at a relatively fast speed relative to the sky door, and after the ground door is dynamically calculated based on the speed and position of the sky door and determined to have no collision risk, the ground door is driven to move towards the second opening angle of the ground door at a relatively slow speed, that is, the sky door and the ground door can be opened at the same time, the relatively fast speed refers to a speed of [5-20] ° / s additionally increased on the basis of the original set speed; the relatively slow speed refers to a speed of [5-20] ° / s additionally reduced on the basis of the original set speed. Example Two:

[0063] The control unit drives the sky door and the ground door according to the speed of the input instruction for execution and real-time control, and the instruction is the second opening instruction:

[0064] a. When the sky door is located outside the ground door, the sky door moves towards the second opening angle of the sky door, and the ground door does not act, as shown in Figure 1 、 35, 6, and 8: The top gate is located outside the bottom gate. At this time, under the second opening command, the control unit controls the first actuator to open the top gate directly at the set reference speed.

[0065] b. When the Earth Gate is located outside the Heaven Gate, and the lower horizontal line of the Heaven Gate is higher than the highest point of the upper horizontal line of the Earth Gate, then the Earth Gate moves according to the second opening angle of the Heaven Gate, and the Earth Gate does not move. See [link to relevant documentation]. Figure 7 As shown, when the lower horizontal line of the Heavenly Gate is higher than the upper horizontal line of the Earthly Gate at its highest position, the control unit controls the first actuator to directly open the Heavenly Gate at a set reference speed. When the lower horizontal line of the Heavenly Gate is lower than the upper horizontal line of the Earthly Gate at its highest position, the Heavenly Gate does not move, and the Earthly Gate will either trigger an alarm or undergo several brief forward and reverse directional drives, causing the gate to vibrate to a certain extent. This serves as a clear indication to the user that the current position of both the Heavenly and Earthly Gates does not meet the movement trend requirements, preventing the system from responding to the movement requirements. (See [link to relevant documentation]). Figure 4 In the diagram, the lower horizontal line of the top gate is lower than the highest point of the upper horizontal line of the bottom gate. Opening the top gate directly in this state will cause a collision. The control unit determines that the risk of collision cannot be avoided in the upcoming movement, so it drives the bottom gate to trigger an alarm or drives it in several short forward and reverse directions to cause the gate to vibrate to a certain extent, so as to significantly remind the user that the current position of the top and bottom gates does not meet the requirements of the movement trend, so that the system cannot respond to the movement requirements. Example 3:

[0066] The control unit executes and controls the speed of the top and bottom doors according to the input instructions, when the instruction is the third door opening instruction:

[0067] a. When both the Heavenly Gate and the Earthly Gate are in their first closed position, neither the Heavenly Gate nor the Earthly Gate will move. (See below) Figure 1 As shown, both the Heavenly Gate and the Earthly Gate are closed, and neither of them is activated.

[0068] b. When the Heavenly Gate is located outside the Earthly Gate, and the lower horizontal line of the Heavenly Gate is higher than the highest position of the upper horizontal line of the Earthly Gate, then the Earthly Gate moves towards its second open position, and the Heavenly Gate does not move. See [reference needed]. Figure 5 , 6 At this moment, the lower horizontal line of the top gate is higher than the highest point of the upper horizontal line of the bottom gate. The control unit controls the movement of the bottom gate, controlling the second actuator to move the bottom gate towards the second open position at a set reference speed. When the lower horizontal line of the top gate is lower than the highest point of the upper horizontal line of the bottom gate, the bottom gate does not move, and the top gate performs several brief forward and reverse directional drives, causing the gate to vibrate to a certain extent. This is to clearly indicate to the user that the current position of both the top and bottom gates does not meet the movement trend requirements, so that the system cannot respond to the movement requirements. See [link to relevant documentation]. Figure 3 , 8As shown, the lower horizontal line of the heaven door is lower than the highest position of the upper horizontal line of the earth door, so the earth door does not move, and the heaven door is driven in the positive and negative directions for several times to cause the door to vibrate to some extent, so as to significantly prompt the user that the current position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

[0069] c. When the earth door is located outside the heaven door, the earth door is moved toward the second opening position of the earth door, and the heaven door does not move, as shown in Figure 4 、 7 In this state, the earth door can be directly opened, and the second execution device is controlled by the control unit to move the earth door toward the second opening position of the earth door at a set reference speed. Example Four:

[0070] The control unit drives the heaven door and the earth door according to the speed of the input instruction and real-time control, and the instruction is the first closing instruction:

[0071] a. When the heaven door is located outside the earth door, the earth door is driven toward the first closing position of the earth door at a relatively fast speed relative to the heaven door according to the closing priority logic of the earth door, and the heaven door is driven toward the first closing position of the heaven door at a relatively slow speed based on the dynamic calculation of the speed and position of the earth door without collision risk, as shown in Figure 2 、 3 , 5, 6, the heaven door is located outside the earth door, the control unit controls the movement control of the earth door, the earth door is moved toward the first closing position of the earth door at an angular velocity of [5~20]° / s based on the original set speed, and the heaven door is driven toward the first closing position of the heaven door at an angular velocity of [5~20]° / s based on the original set speed after the control unit determines that there is no collision risk based on the dynamic calculation of the speed and position of the earth door.

[0072] b. When the earth door is located outside the heaven door, the heaven door does not move, and the earth door is driven in the positive and negative directions for several times to cause the door to vibrate to some extent, so as to significantly prompt the user that the current position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement, as shown in Figure 4 、 7 , the earth door is located outside the heaven door, the control unit predicts this state, and the earth door is driven in the positive and negative directions for several times to cause the door to vibrate to some extent.

[0073] c. When the earth door is in the closed state, the earth door does not move, and the heaven door is moved toward the first closing position at a set reference speed, as shown in Figure 8 , the earth door is in the closed state, and the control unit controls the movement control of the heaven door to directly move the heaven door toward the first closing position at a set reference speed. Example Five:

[0074] The control unit drives the sky door and the ground door according to the input instruction and the real-time control speed, and when the instruction is the second door closing instruction:

[0075] a. When the ground door is at the first ground door closing position, the ground door does not move, and the sky door moves towards the first sky door closing position, as shown in Figure 8 In the ground door closing state, the control unit only needs to control the movement of the sky door, and directly drives the sky door to move towards the first closing position at the set reference speed;

[0076] b. When the ground door is not at the first ground door closing position, and the sky door is outside the ground door, the ground door does not move, and the sky door performs alarm in the form of sound and light or several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement. Since the second door closing instruction is a door closing instruction for closing only the sky door when the ground door is at the first ground door closing position, when the ground door is not at the first ground door closing position, as shown in Figure 2 , 3 , the state diagram of 5, 6, at this time the ground door does not move, and the sky door performs alarm in the form of sound and light or several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement;

[0077] c. When the ground door is not at the first ground door closing position, and the ground door is outside the sky door, and the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, the ground door does not move, and the sky door performs alarm in the form of sound and light or several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement, as shown in Figure 7 , the state of the sky door; when the lower horizontal line of the sky door is lower than the highest position of the upper horizontal line of the ground door, the sky door does not move, and the ground door performs alarm in the form of sound and light or several short positive and negative direction drives to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the current position state of the sky and ground doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement, as shown in Figure 4 . Example Six

[0078] The control unit drives the sky door and the ground door according to the input instruction and the real-time control speed, and when the instruction is the third door closing instruction:

[0079] a. When the sky door is outside the ground door, the sky door does not move, and the ground door moves towards the first ground door closing position, as shown in Figure 2 , 3, 5, 6, the heaven door is located outside the ground door, the control unit only needs to control the movement control of the ground door, directly moves the ground door to the first closing position of the ground door according to the set reference speed;

[0080] b, when the ground door is located outside the heaven door, the heaven door does not act, the ground door alarms in the form of sound and light or drives several times of short positive and negative directions to cause the door to vibrate to a certain extent, so as to significantly prompt the user that the position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement, see Figure 4 、 7 When the ground door is located outside the heaven door, the ground door alarms.

[0081] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art in the technical range disclosed by the present application, according to the technical scheme and the inventive concept of the present application, equivalent replacement or change, should be covered in the protection scope of the present application.

Claims

1. A control system of a two-section automobile tailgate, comprising a top gate and a bottom gate, the top gate is connected with a first actuator to move between an open position and a closed position, the bottom gate is connected with a second actuator to move between an open position and a closed position, characterized in that: the first actuator and the second actuator are connected to the same control unit; the control unit receives external control instructions, controls the first actuator and the second actuator to move the top gate and the bottom gate to the maximum open position or the closed position; the control unit controls the movement of the top gate and the bottom gate and the control of the locking actuator of the top gate and the bottom gate; the control unit adopts the logic that the bottom gate is closed first and the top gate is opened first; the control unit has the data and state information of the sensor of the top gate and the first actuator, and also has the data and state information of the sensor of the bottom gate and the second actuator; the control unit is provided with opening instructions and closing instructions, the opening instructions include a first opening instruction for opening the top gate and the bottom gate at the same time, a second opening instruction for opening only the top gate, and a third opening instruction for opening only the bottom gate, and the closing instructions include a first closing instruction for closing the top gate and the bottom gate at the same time, a second closing instruction for closing only the top gate when the bottom gate is at the first closing position, and a third closing instruction for closing only the bottom gate; the control unit receives the speed and position information of the first actuator and the second actuator, and performs real-time calculation based on the speed and position information to obtain the current movement characteristics and future movement trend of the top gate and the bottom gate, so as to predict whether there is a collision risk in the area to be passed based on the movement trend before or during the automatic movement: A) if the control unit determines that there is a collision risk between the top gate and the bottom gate in the area to be passed, but the collision risk can be avoided by speed control or / and action sequence, the action is completed according to the safe speed or / and safe sequence calculated by the control unit; B) if the control unit determines that the collision risk cannot be avoided in the movement to be performed, the control unit prompts the user that the current position state of the top gate and the bottom gate does not meet the movement trend requirement by alarming or driving the top gate or the bottom gate with no obstacle to open the door in the positive and negative directions for several times to cause the door to vibrate to a certain extent, so that the system cannot respond to the movement requirement.

2. The control system of a two-stage type automobile tailgate according to claim 1, characterized by, the control unit drives the top gate and the bottom gate according to the input instruction and real-time control speed, when the instruction is the first opening instruction: a, when the top gate is located outside the bottom gate, the top gate is driven to move towards the second opening angle of the top gate at a relatively fast speed based on the top gate first opening logic, and the bottom gate is driven to move towards the second opening angle of the bottom gate at a relatively slow speed after determining that there is no collision risk based on the speed and position of the top gate. b. When the ground door is located outside the heaven door, and the lower horizontal line of the heaven door is higher than the highest position of the upper horizontal line of the ground door, the heaven door is driven to move towards the second opening angle of the heaven door at a relatively fast speed, and the ground door is driven to move towards the second opening angle of the ground door at a relatively slow speed after determining that there is no collision risk based on the speed and position of the heaven door; when the lower horizontal line of the heaven door is lower than the highest position of the upper horizontal line of the ground door, the ground door is driven to move towards the second opening angle of the ground door at a relatively fast speed, and the heaven door is driven to move towards the second opening angle of the heaven door at a set speed after determining that there is no collision risk based on the speed and position of the ground door.

3. The control system for a two-stage vehicle tailgate of claim 1, wherein: The control unit drives the heaven door and the ground door at a speed according to the input instruction, and the instruction is the second opening instruction: a. When the heaven door is located outside the ground door, the heaven door moves towards the second opening angle of the heaven door, and the ground door does not move; b. When the ground door is located outside the heaven door, and the lower horizontal line of the heaven door is higher than the highest position of the upper horizontal line of the ground door, the heaven door moves towards the second opening angle of the heaven door, and the ground door does not move; when the lower horizontal line of the heaven door is lower than the highest position of the upper horizontal line of the ground door, the heaven door does not move, and the ground door vibrates in the positive and negative directions for several times in the form of alarm, so as to significantly prompt the user that the current position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

4. The control system for a two-stage vehicle tailgate of claim 1, wherein: The control unit drives the heaven door and the ground door at a speed according to the input instruction, and the instruction is the third opening instruction: a. When the heaven door is located at the first closing position, and the ground door is located at the first closing position, the heaven door and the ground door do not move; b. When the heaven door is located outside the ground door, and the lower horizontal line of the heaven door is higher than the highest position of the upper horizontal line of the ground door, the ground door moves towards the second opening position of the ground door, and the heaven door does not move; when the lower horizontal line of the heaven door is lower than the highest position of the upper horizontal line of the ground door, the ground door does not move, and the heaven door vibrates in the positive and negative directions for several times in the form of alarm, so as to significantly prompt the user that the current position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement; c. When the ground door is located outside the heaven door, the ground door moves towards the second opening position of the ground door, and the heaven door does not move.

5. The control system for a two-stage vehicle tailgate of claim 1, wherein: The control unit drives the heaven door and the ground door at a speed according to the input instruction, and the instruction is the first closing instruction: a. When the heaven door is located outside the ground door, the ground door is driven to move towards the first closing position of the ground door at a relatively fast speed according to the ground door closing priority logic, and the heaven door is driven to move towards the first closing position of the heaven door at a relatively slow speed after determining that there is no collision risk based on the speed and position of the ground door; b. When the ground door is located outside the heaven door, the heaven door does not move, and the ground door vibrates in the positive and negative directions for several times in the form of alarm, so as to significantly prompt the user that the current position state of the two doors does not meet the movement trend requirement, so that the system cannot respond to the movement requirement; c. When the ground door is in the closing state, the ground door does not move, and the heaven door moves towards the first closing position of the heaven door.

6. The control system for a two-stage vehicle tailgate of claim 1, wherein: The control unit drives the sky door and the ground door according to the input instruction and real-time control speed, and when the instruction is the second door closing instruction: a. When the ground door is at the first ground door closing position, the ground door does not move, and the sky door moves towards the first sky door closing position; b. When the ground door is not at the first ground door closing position and the sky door is outside the ground door, the ground door does not move, and the sky door is driven in the positive and negative directions for several times in the form of alarm or short-term vibration to prompt the user that the current position of the sky door and the ground door does not meet the movement trend requirement, so that the system cannot respond to the movement requirement; c. When the ground door is not at the first ground door closing position and the ground door is outside the sky door, if the lower horizontal line of the sky door is higher than the highest position of the upper horizontal line of the ground door, the ground door does not move, and the sky door is driven in the positive and negative directions for several times in the form of alarm or short-term vibration to prompt the user that the current position of the sky door and the ground door does not meet the movement trend requirement, so that the system cannot respond to the movement requirement; if the lower horizontal line of the sky door is lower than the highest position of the upper horizontal line of the ground door, the sky door does not move, and the ground door is driven in the positive and negative directions for several times in the form of alarm or short-term vibration to prompt the user that the current position of the sky door and the ground door does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

7. The control system for a two-stage vehicle tailgate of claim 1, wherein: The control unit drives the sky door and the ground door according to the input instruction and real-time control speed, and when the instruction is the third door closing instruction: a. When the sky door is outside the ground door, the sky door does not move, and the ground door moves towards the first ground door closing position; b. When the ground door is outside the sky door, the sky door does not move, and the ground door is driven in the positive and negative directions for several times in the form of alarm or short-term vibration to prompt the user that the current position of the sky door and the ground door does not meet the movement trend requirement, so that the system cannot respond to the movement requirement.

8. The control system for a two-stage vehicle tailgate of claim 1, wherein: The alarm form is an audible and visual alarm.

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