Vehicle back door control method and device and vehicle

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle back door control method and device and a vehicle. The method comprises the steps that user attribute information of the vehicle is obtained, and a first candidate opening height of a back door of the vehicle is determined based on the user attribute information; and correcting the first candidate opening height based on the environment information of the vehicle to obtain a target opening height, and performing opening control on the back door based on the target opening height. Wherein the user attribute information comprises the height of the user, the environment information at least comprises one of the following items: the road surface gradient of a parking road surface of the vehicle, the road surface height difference between the parking road surface and a standing road surface behind a back door, and the first distance between the back door and a target obstacle, and the target obstacle is the obstacle closest to the back door in the target direction; the target direction is a direction perpendicular to the back door in the closed state. According to the technical scheme, the degree of adaptation between the opening height of the back door and the height of a user can be improved, and then the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a control method, device, and vehicle for a vehicle's tailgate. Background Technology

[0002] The tailgate is a component installed at the rear of a vehicle to close the luggage compartment or cargo compartment. Currently, the control over the opening height of the tailgate is not flexible enough, making it inconvenient for users of different heights.

[0003] In related technologies, when the vehicle's tailgate meets the opening conditions based on surrounding environmental data, the target opening height of the tailgate is determined according to the user's height to accommodate users of different heights. For example, if user A is taller than user B, the target opening height for user A is higher than that for user B.

[0004] However, adjusting the target opening height of the tailgate solely based on the user's height is too simplistic and the determined target opening height is not precise enough. This reduces the compatibility between the user's height and the vehicle's tailgate opening height, thereby diminishing the user experience. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this application is to provide a control method, device and vehicle for the tailgate of a vehicle, which improves the adaptability of the tailgate opening height to the user's height, thereby improving the user experience.

[0006] In a first aspect, embodiments of this application provide a method for controlling a vehicle's tailgate. The method includes acquiring user attribute information of the vehicle, determining a first candidate opening height for the tailgate based on the user attribute information, correcting the first candidate opening height based on environmental information of the vehicle to obtain a target opening height, and controlling the opening of the tailgate based on the target opening height.

[0007] The user attribute information includes the user's height, and the environmental information includes at least one of the following: the road slope of the parking surface, the road height difference between the parking surface and the standing surface behind the tailgate, and the first distance between the tailgate and the target obstacle. The target obstacle is the obstacle closest to the tailgate in the target direction, and the target direction is the direction perpendicular to the tailgate when it is closed.

[0008] The technical solution provided in this application corrects the first candidate opening height determined by the user's height using vehicle environmental information. This allows for adaptive adjustments to the tailgate height based on complex tailgate opening scenarios, improving the accuracy of the target opening height and making it more suitable for the user's actual situation, thereby enhancing the user experience. For example, when a user is standing on a step while the vehicle's tires are below the step, adjusting the tailgate height based on the step height increases the opening height, preventing the user from bending over due to an excessively high step and improving the user experience.

[0009] In one embodiment, the environmental information includes road surface slope and / or road surface height difference. Correcting the first candidate opening height based on the vehicle's environmental information to obtain the target opening height can be specifically implemented as follows: determining a first opening height correction increment based on the road surface slope, and / or determining a second opening height correction increment based on the road surface height difference. Correcting the first candidate opening height based on the first and / or second opening height correction increments to obtain the target opening height. This technical solution determines the correction amount for the tailgate opening height based on different environmental factors (such as road surface slope, road surface height difference, etc.), and then determines the target opening height based on the correction amount. This comprehensively considers the influence of various environmental factors on the target opening height, resulting in a more accurate target opening height.

[0010] In one embodiment, determining the first opening height correction increment based on the road surface slope can be specifically implemented as follows: determining a first correction coefficient based on a first mapping relationship and the road surface slope, and determining the first opening height correction increment based on the first correction coefficient. Here, the first mapping relationship is the correspondence between the road surface slope and the opening height correction coefficient of the tailgate under the road surface slope; the first opening height correction increment is the first product of a first difference and a first candidate opening height; the first difference is the difference between the first correction coefficient and 1. In this technical solution, different road surface slopes correspond to different first correction coefficients, enabling corresponding adjustments to the tailgate height based on the different inclination degrees of the slope where the vehicle is located, further improving the accuracy of the target opening height.

[0011] In one embodiment, determining the second opening height correction increment based on the road surface height difference can be specifically implemented by: determining a second correction coefficient, and using the second product between the road surface height difference and the second correction coefficient as the second opening height correction increment. The second correction coefficient characterizes the opening height correction increment of the tailgate under a unit road surface height difference. In this technical solution, different road surface height differences correspond to different second correction coefficients, allowing for flexible adjustment of the tailgate opening height according to the magnitude of the road surface height difference, further improving the accuracy of the target opening height.

[0012] In one embodiment, the environmental information further includes a first distance. Based on a first opening height correction increment and / or a second opening height correction increment, a first candidate opening height is corrected to obtain a target opening height. Specifically, this can be implemented by: determining the maximum permissible opening height of the rear door corresponding to the first distance; determining the sum of the first and / or second opening height correction increments and the first candidate opening height as the second candidate opening height; and determining the smaller value between the second candidate opening height and the maximum permissible opening height as the target opening height.

[0013] In one embodiment, determining the first candidate opening height of the vehicle's tailgate based on user attribute information can be specifically implemented by: determining the height difference between the user's height and the average height of the population; and determining the first candidate opening height based on the tailgate's baseline opening height, the height difference, and a preset adjustment coefficient. The preset adjustment coefficient characterizes the degree of influence of the height difference on the tailgate's opening height. This technical solution avoids collisions with the user when the tailgate opening height is too low by setting a baseline opening height, and also prevents the tailgate opening height from affecting the user's normal operations (such as carrying luggage).

[0014] In one embodiment, the vehicle tailgate control method provided in this application further includes: obtaining the opening height adjustment value obtained by the user each time the target opening height is adjusted within a historical time period, generating a regression curve between the user's height and the opening height adjustment value, and using the regression curve to control the opening of the tailgate. The historical time period includes multiple consecutive moments preceding the current moment. This technical solution, by learning the regression curve to control the opening of the tailgate, can pre-determine the opening height of the tailgate based on user habits, making the final determined target opening height more consistent with user habits and further improving the user experience.

[0015] In one embodiment, the vehicle tailgate control method provided in this application further includes: acquiring object attribute information of an object in the vehicle's trunk, determining a target closing speed for the tailgate based on the object attribute information, and controlling the tailgate to close based on the target closing speed. The object attribute information includes the object's volume and weight. This technical solution flexibly controls the target closing speed of the tailgate based on the volume and weight of the object in the vehicle's trunk, avoiding damage to the object in the trunk due to improper tailgate closing speed, and also preventing interference with the normal closing of the tailgate when the object is too large.

[0016] In one embodiment, determining the target closing speed of the rear door based on object attribute information can be specifically implemented as follows: When the object meets a first preset condition, the product of the base closing speed of the rear door and a first preset closing speed adjustment coefficient is determined as the target closing speed of the rear door. Controlling the closing of the rear door based on the target closing speed can be specifically implemented as follows: When the speed difference between the current closing speed and the target closing speed of the rear door is greater than or equal to a first preset speed difference, the closing speed of the rear door is adjusted based on the speed difference. When the speed difference is less than the first preset speed difference, 0 is determined as the target closing acceleration of the rear door. The closing speed of the rear door is adjusted based on the acceleration difference between the target closing acceleration and the current closing acceleration of the rear door. The first preset condition is that the object's volume is greater than a first preset volume and the object's weight is less than a first preset weight, and the first preset closing speed adjustment coefficient is less than 1. In the aforementioned technical solution, when the object's volume is larger than a first preset volume and its weight is less than a first preset weight, aerodynamic drag is easily generated on the object's windward side when the tailgate closes, interfering with the normal closing of the tailgate. Simultaneously, the object itself is also prone to displacement or collision due to aerodynamic drag. The faster the tailgate closes (accelerates), the greater the aerodynamic drag. Therefore, controlling and adjusting the tailgate's closing speed can avoid significant aerodynamic drag interfering with the object or tailgate. Furthermore, closing the tailgate at a constant, uniform speed further reduces aerodynamic drag and other airflow interference with the tailgate, preventing abnormal swaying and collisions caused by air resistance.

[0017] In one embodiment, determining the target closing speed of the tailgate based on object attribute information can be specifically implemented as follows: When the object meets a second preset condition, the product of the tailgate's baseline closing speed and a second preset closing speed adjustment coefficient is determined as the target closing speed. The second preset closing speed adjustment coefficient is inversely proportional to the object's weight. The second preset condition is that the object's volume is less than or equal to a first preset volume, the object's weight does not exceed the tailgate's load limit, and the object's weight is greater than or equal to a first preset weight. This technical solution, when the object's volume is less than or equal to the first preset volume, the object's weight does not exceed the tailgate's load limit, and the object's weight is greater than or equal to the first preset weight, controls the tailgate to close at the target closing speed at a uniform speed, avoiding excessive downward pressure during tailgate closing that could cause damage or other hazards to the tailgate or the object.

[0018] In one embodiment, determining the target closing speed of the tailgate based on object attribute information can be specifically implemented as follows: when the object's weight exceeds the tailgate's load limit, the product of the closing speed corresponding to the load limit and a third preset closing speed adjustment coefficient is determined as the target closing speed. The third preset closing speed adjustment coefficient is inversely proportional to the excess weight of the object exceeding the load limit and falls within the range of the preset closing speed adjustment coefficient. This technical solution further reduces the tailgate's closing speed when the object is overweight, preventing damage to the object.

[0019] In one embodiment, the vehicle tailgate control method provided in this application further includes: determining the direction and amount of center of gravity shift when an object is detected to have shifted its center of gravity relative to the center of the rear cargo compartment; and applying a compensating torque to the electric strut corresponding to the center of gravity shift direction based on the amount of center of gravity shift during the tailgate closing control process to maintain the tailgate's motion balance. The above technical solution adaptively adjusts the torque output of the motor to the electric strut according to the object's center of gravity, keeping the vehicle and tailgate in a balanced state and improving the safety and stability of the vehicle and tailgate during operation.

[0020] In one embodiment, the vehicle tailgate control method provided in this application further includes: triggering an anti-pinch mode when an object is detected to exceed the rear cargo compartment boundary and the vertical distance between the object and the tailgate is less than a first vertical distance. The above technical solution can prevent collisions and squeezing between objects exceeding the rear cargo compartment boundary and the tailgate, enhancing the safety of the tailgate control process and effectively improving the tailgate's lifespan.

[0021] Secondly, this application provides a control device for a vehicle's tailgate, which includes an acquisition module, a processing module, and a control module.

[0022] The aforementioned acquisition module is used to acquire the user attribute information of the vehicle.

[0023] The aforementioned processing module is used to determine the first candidate opening height of the vehicle's tailgate based on user attribute information.

[0024] The aforementioned processing module is also used to correct the first candidate opening height based on the vehicle's environmental information to obtain the target opening height.

[0025] The aforementioned control module is used to control the opening of the tailgate based on the target opening height.

[0026] The user attribute information includes the user's height, and the environmental information includes at least one of the following: the road slope of the parking surface, the road height difference between the parking surface and the standing surface behind the tailgate, and the first distance between the tailgate and the target obstacle. The target obstacle is the obstacle closest to the tailgate in the target direction, and the target direction is the direction perpendicular to the tailgate when it is closed.

[0027] In one embodiment, the environmental information includes road surface slope and / or road surface height difference. The aforementioned processing module is specifically configured to: determine a first opening height correction increment based on the road surface slope, and / or, determine a second opening height correction increment based on the road surface height difference. The first candidate opening height is corrected based on the first opening height correction increment and / or the second opening height correction increment to obtain the target opening height.

[0028] In one embodiment, the above-mentioned processing module is specifically used to: determine a first correction coefficient based on a first mapping relationship and a road surface slope, and determine a first opening height correction increment based on the first correction coefficient. The first mapping relationship is the correspondence between the road surface slope and the opening height correction coefficient of the tailgate under the road surface slope; the first opening height correction increment is the first product between a first difference and a first candidate opening height; and the first difference is the difference between the first correction coefficient and 1.

[0029] In one embodiment, the processing module is specifically used to: determine a second correction coefficient, and determine the second product between the road surface height difference and the second correction coefficient as a second opening height correction increment. The second correction coefficient characterizes the opening height correction increment of the tailgate under a unit road surface height difference.

[0030] In one embodiment, the environmental information further includes a first distance. The processing module described above is specifically configured to: determine the maximum permissible opening height of the rear door corresponding to the first distance; determine the sum of the first opening height correction increment and / or the second opening height correction increment and the first candidate opening height as a second candidate opening height; and determine the smaller value between the second candidate opening height and the maximum permissible opening height as the target opening height.

[0031] In one embodiment, the processing module is specifically used to: determine the height difference between the user's height and the average height of the population, and determine a first candidate opening height based on the base opening height of the tailgate, the height difference, and a preset adjustment coefficient. The preset adjustment coefficient is used to characterize the degree of influence of the height difference on the tailgate opening height.

[0032] In one embodiment, the acquisition module is further configured to: acquire the opening height adjustment value obtained by the user for each adjustment of the target opening height within a historical time period. The processing module is further configured to: generate a regression curve between the user's height and the opening height adjustment value. The control module is further configured to: use the regression curve to control the opening of the rear door. The historical time period includes multiple consecutive times preceding the current time.

[0033] In one embodiment, the acquisition module is further configured to: acquire object attribute information of an object in the trunk of the vehicle. The processing module is further configured to: determine a target closing speed for the tailgate based on the object attribute information. The control module is further configured to: control the tailgate to close based on the target closing speed. The object attribute information includes the object's volume and weight.

[0034] In one embodiment, the processing module is specifically used to: determine the target closing speed of the rear door as the product of the reference closing speed of the rear door and the first preset closing speed adjustment coefficient, when the object meets the first preset condition. The control module is specifically used to: adjust the closing speed of the rear door based on the speed difference when the speed difference between the current closing speed and the target closing speed of the rear door is greater than or equal to the first preset speed difference; determine 0 as the target closing acceleration of the rear door when the speed difference is less than the first preset speed difference; and adjust the closing speed of the rear door based on the acceleration difference between the target closing acceleration and the current closing acceleration of the rear door. The first preset condition is that the object's volume is greater than a first preset volume and the object's weight is less than a first preset weight, and the first preset closing speed adjustment coefficient is less than 1.

[0035] In one embodiment, the processing module is specifically used to: determine the target closing speed by multiplying the base closing speed of the rear door by a second preset closing speed adjustment coefficient, provided that the object meets the second preset conditions. The second preset closing speed adjustment coefficient is inversely proportional to the object's weight, and the second preset conditions are that the object's volume is less than or equal to a first preset volume, the object's weight does not exceed the rear door's load limit, and the object's weight is greater than or equal to a first preset weight.

[0036] In one embodiment, the processing module is specifically used to: determine the target closing speed by multiplying the closing speed corresponding to the load limit and a third preset closing speed adjustment coefficient when the weight of the object exceeds the load limit. The third preset closing speed adjustment coefficient is inversely proportional to the excess weight of the object exceeding the load limit and is within the range of the preset closing speed adjustment coefficient.

[0037] In one embodiment, the processing module is further configured to: determine the direction and amount of the center of gravity shift when a shift in the center of gravity of an object relative to the center of the rear compartment is detected. The control module is further configured to: apply a compensating torque to the electric strut corresponding to the direction of the center of gravity shift based on the amount of the shift during the closing control of the tailgate, in order to maintain the movement balance of the tailgate.

[0038] In one embodiment, the above-mentioned processing module is further configured to: trigger an anti-pinch mode when an object is detected to exceed the rear compartment boundary and the vertical distance between the object and the rear door is less than a first vertical distance.

[0039] The technical effects of any implementation method in the second aspect can be found in the technical effects of any implementation method in the first aspect mentioned above, and will not be repeated here.

[0040] Thirdly, this application provides a vehicle that includes a control device for the tailgate of the vehicle according to any embodiment of the second aspect above, or the vehicle controls the tailgate of the vehicle using the control method for the tailgate of the vehicle according to any embodiment of the first aspect above.

[0041] Fourthly, this application provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to implement the vehicle tailgate control method of any embodiment in the first aspect described above.

[0042] Fifthly, this application provides a computer program product, which includes a computer program or instructions that, when executed by a processor, implement the vehicle tailgate control method of any embodiment in the first aspect described above.

[0043] The solutions provided in the third to fifth aspects above can realize the braking energy recovery method in any embodiment of the first aspect above, and their specific implementations will not be described in detail here. The technical effects corresponding to any implementation of the solutions provided in the third to fifth aspects above can be found in the technical effects corresponding to any implementation of the first aspect above, and will not be described in detail here.

[0044] It should be noted that any of the possible implementations of any of the above aspects can be combined, provided that the solutions do not contradict each other. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application will be described below.

[0046] Figure 1This is a schematic diagram of the structure of a vehicle disclosed in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a vehicle tailgate control device disclosed in an embodiment of this application; Figure 3 This is a flowchart illustrating a method for controlling a vehicle's tailgate according to an embodiment of this application. Figure 4 This is a flowchart illustrating another method for controlling a vehicle's tailgate as disclosed in an embodiment of this application. Figure 5 This is a functional framework diagram of a vehicle tailgate control device disclosed in an embodiment of this application.

[0047] Explanation of reference numerals in the attached figures: 100. Rear door; 10. Outer panel; 11. Inner panel; 12. Support rod.

[0048] 20. Trigger switch; 21. Body controller; 22. Electric strut. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0050] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0051] In the embodiments of this application, the words "exemplary," "for example," or "for instance" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0052] The embodiments of this application are described below with reference to the accompanying drawings.

[0053] This application provides a vehicle.

[0054] Alternatively, a vehicle may also be referred to as a vehicle, mobile carrier, electric vehicle (EV), hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV), fuel cell vehicle (FCV), autonomous vehicle, intelligent and connected vehicle (ICV), driverless vehicle, or new energy vehicle. In this application embodiment, the vehicle may be a sedan, sport utility vehicle (SUV), truck, electric vehicle, motorcycle, tricycle, special vehicle (such as ambulance, fire truck, police car, etc.), driverless taxi, intelligent connected bus, autonomous logistics vehicle, electric truck, etc. The method provided in this application embodiment is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles; this application does not impose specific limitations on these.

[0055] For example, please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle disclosed in an embodiment of this application. The vehicle includes a tailgate 100 and a control device for the tailgate.

[0056] The tailgate 100, also known as the tailgate, luggage compartment door, or liftgate, is installed at the rear of the vehicle and is used to close the vehicle's luggage compartment or cargo area. For example, the tailgate 100 includes an outer panel 10 (for forming the vehicle's exterior), an inner panel 11 (for providing structural strength and mounting points for the tailgate), a strut 12 (for supporting the tailgate), and a locking component (for ensuring that the tailgate is locked when closed).

[0057] The control device for the vehicle's tailgate is used to control the opening and closing of the tailgate 100. For example, it controls the opening and closing time, speed, and opening height of the tailgate 100.

[0058] In some embodiments, please refer to Figure 2This application discloses a vehicle tailgate control device including a trigger switch 20, a body control module (BCM) 21, and an electric strut 22. Specifically, the trigger switch 20 includes an external trigger switch (such as the tailgate's external handle), an internal switch (such as a button on the central control screen), and a remote key. The body control module 21 receives control signals (such as signals indicating the tailgate is open or closed) from the trigger switch 20 and decides whether to execute the trigger switch's control signal based on vehicle speed, tailgate status, obstacles, etc. After determining execution, it sends a control command to the electric strut 22, causing the electric strut 22 to extend or retract based on the control command, thereby controlling the opening or closing of the tailgate. Optionally, the body control module 21 can also be implemented through a door control module (DCM), an onboard computer, and a zone controller. Optionally, the vehicle tailgate control device also includes sensors, a motor driver, and a strut drive motor. The sensors are used to monitor the tailgate's opening angle, opening speed, and the current of the strut drive motor, etc. The strut drive motor is used to drive the electric strut to move. The motor driver is used to control the strut drive motor based on the control commands of the body controller 21, thereby controlling the movement state of the electric strut 22. For example, the body controller 21 sends a high duty cycle pulse width modulation (PWM) signal to the motor driver to increase the average voltage of the motor driver, thereby increasing the speed of the strut drive motor and accelerating the movement speed of the electric strut 22, so that the tailgate opens or closes faster.

[0059] In related technologies, when the vehicle's tailgate meets the opening conditions based on surrounding environmental data, the tailgate is controlled to open to its maximum height, and the height is adjusted to the target opening height according to the passenger's height. However, adjusting the tailgate opening height solely based on passenger height is too simplistic, resulting in an imprecise target opening height. This reduces the compatibility between the user's height and the tailgate opening height, and still presents issues such as tall passengers bending over and short passengers being unable to reach the tailgate edge.

[0060] Based on this, the present application provides a control method and device for a vehicle tailgate that can improve the fit between the tailgate opening height and the user's height, thereby improving the user experience.

[0061] For example, please refer to Figure 3 , Figure 3This is a flowchart illustrating a method for controlling a vehicle tailgate according to an embodiment of this application. The method for controlling a vehicle tailgate provided in this application can be applied to the vehicle tailgate control device described above, and can also be applied to other devices or equipment capable of controlling a vehicle tailgate. The method for controlling a vehicle tailgate provided in this application includes the following steps: Step S301: The control device for the vehicle's tailgate obtains the vehicle's user attribute information.

[0062] Among these, user attribute information includes user height.

[0063] For example, user attribute information can be obtained through sensing devices such as cameras and radar.

[0064] For example, a camera is mounted on the roof of the vehicle (e.g., in the center of the rear cabin roof area) to capture and identify the user's height (e.g., capturing the highest point above the user's head). A radar is located inside the rear bumper (behind the non-metallic skin) to identify the distance between the user and the vehicle. Optionally, there can be multiple radars and cameras. For example, there could be two radars, one located at each end inside the bumper.

[0065] In some embodiments, user attribute information is bound to the trigger switch for controlling the rear door, and each trigger switch corresponds to a pre-stored user attribute information file. For example, each remote key and mobile phone corresponds to a pre-stored preset user height. By identifying the identifier (ID) of the remote key or mobile phone that sends the control signal, the preset user height corresponding to the trigger switch controlling the rear door is queried. For example, the preset user height corresponding to remote key A is 183 cm, and the preset user height corresponding to remote key B is 163 cm. When the user uses remote key A to control the opening or closing of the rear door, the preset user height is determined to be 183 cm.

[0066] For example, when the user attribute information file is inconsistent with the user attribute information detected by the sensing device, the user attribute information file is updated based on the user attribute information detected by the sensing device, and the rear door is controlled based on the updated user attribute information file. Alternatively, if it is determined that the user attribute information detected by the sensing device is incorrect, the rear door is controlled directly based on the user attribute information file.

[0067] For example, when the difference between the user's preset height and the height detected by the sensing device is less than or equal to 5cm, the tailgate is controlled based on the height detected by the sensing device (adapting to changes in the user's height). When the difference between the user's preset height and the height detected by the sensing device is greater than 5cm, an audible and visual alarm is triggered, allowing the user to select either their preset height or the height detected by the sensing device. For example, the user can select either their preset height or the height detected by the sensing device on the vehicle's central control screen. Optionally, when the difference between the user's preset height and the height detected by the sensing device is less than or equal to 5cm, the user's preset height is updated to the height detected by the sensing device; or, the user can choose whether to update their user attribute information profile, for example, by displaying a prompt on the central control screen: "A significant difference has been detected between the user's height detected by the sensing device and the user's preset height. Do you want to update the profile?"

[0068] Step S302: The vehicle's tailgate control device determines the first candidate opening height of the vehicle's tailgate based on user attribute information.

[0069] For example, the height difference between the user's height and the average height of the population is determined, and a first candidate opening height is determined based on the reference opening height of the rear door, the height difference, and a preset adjustment coefficient.

[0070] The average height of a population refers to the average height of all members within a specific population group (such as a region, a specific age group, or a specific gender group). For example, the average height for men is 170cm, and the average height for women is 158cm.

[0071] The preset adjustment coefficient is used to characterize the degree of influence of height difference on the opening height of the tailgate.

[0072] For example, the formula for calculating the first candidate opening height can be expressed as:

[0073] in, Indicates the first candidate height. Indicates the reference opening height of the tailgate. This indicates the preset adjustment coefficient. This represents user attribute information (user height). This indicates the average height of the user's social group. This is designed to prevent the tailgate from hitting the user's head when it is too low, ensuring that the first candidate height is not lower than the minimum safe height. The default value (e.g., 0.8) or a manually set value is used to prevent the rear door from rising excessively.

[0074] Step S303: The vehicle's tailgate control device corrects the first candidate opening height based on the vehicle's environmental information to obtain the target opening height.

[0075] Optionally, the environmental information may include at least one of the following: the road surface slope of the parking surface, the road surface height difference between the parking surface and the standing surface behind the tailgate, and the first distance between the tailgate and the target obstacle.

[0076] The target obstacle is the nearest obstacle to the tailgate in the target direction (such as a green belt, garage wall, etc.), and the target direction is the direction perpendicular to the tailgate when it is closed. The standing surface is the surface on which the user stands when standing behind the tailgate.

[0077] For example, environmental information is acquired in real time through multiple source sensors, such as: obtaining the road slope through an accelerometer, determining the target obstacle and the first distance through millimeter-wave radar and laser rangefinder, and determining the road height difference through an ultrasonic sensor array.

[0078] In some embodiments, a first opening height correction increment is determined based on the road surface slope, and a second opening height correction increment is determined based on the road surface height difference. The first candidate opening height is corrected based on the first and / or second opening height correction increments to obtain the target opening height. For example, when the vehicle is parked on a slope with a slope greater than 0 (e.g., the front wheels are higher than the rear wheels), the vehicle's pitch angle will change the relative height between the tailgate and the user, and the first candidate opening height of the tailgate needs to be lowered. As another example, when the user is standing on a surface higher than the contact surface of the vehicle's tires (e.g., the user is standing on a step higher than the contact surface of the vehicle's tires), the first candidate opening height of the tailgate needs to be raised.

[0079] For example, the first candidate opening height is 172cm. The first opening height correction increment, determined based on the road slope, is -3cm, and the second opening height correction increment, determined based on the road height difference, is 5cm. Therefore, the corrected target opening height is 174cm. When there is no road height difference, the second opening height correction increment is 0, and the first opening height correction increment is -3cm, the target opening height corrected based on the first opening height correction increment is 169cm. When the road slope is 0, the first opening height correction increment is 0, and the second opening height correction increment is 5cm, the target opening height corrected based on the second opening height correction increment is 177cm.

[0080] For example, a first correction coefficient is determined based on a first mapping relationship and road surface slope, and a first opening height correction increment is determined based on the first correction coefficient.

[0081] The first mapping relationship is the correspondence between the road slope and the opening height correction coefficient of the rear door under the road slope. The first opening height correction increment is the first product between the first difference and the first candidate opening height. The first difference is the difference between the first correction coefficient and 1.

[0082] For example, the formula for calculating the first activation height correction increment can be expressed as:

[0083] in, This indicates the first opening height correction increment, where H represents the first candidate opening height. This represents the first correction factor.

[0084] When calculating the target opening height based on the first opening height correction increment, the formula for calculating the target opening height can be expressed as:

[0085] in, Indicates the target activation altitude. This indicates the first opening height correction increment, where H represents the first candidate opening height. This represents the first correction factor.

[0086] For example, a second correction factor is determined, and the second product between the road surface height difference and the second correction factor is determined as the second opening height correction increment.

[0087] The second correction coefficient represents the incremental correction of the opening height of the tailgate under a unit road surface height difference.

[0088] For example, the formula for calculating the second activation height correction increment can be expressed as:

[0089] in, This indicates the second activation height correction increment. Indicates the difference in road surface height. This represents the second correction factor.

[0090] When calculating the target opening height based on the second opening height correction increment, the formula for calculating the target opening height can be expressed as:

[0091] in, Indicates the target activation altitude. This indicates the second activation height correction increment. This represents the second correction factor.

[0092] When calculating the target opening height based on the first opening height correction increment and the second opening height correction increment, the formula for calculating the target opening height can be expressed as:

[0093] in, Indicates the target activation altitude. This indicates the first opening height correction increment, where H represents the first candidate opening height. This represents the first correction factor. Indicates the difference in road surface height. This represents the second correction factor.

[0094] In some embodiments, the maximum permissible opening height of the tailgate corresponding to the first distance is determined. The sum of the first opening height correction increment and / or the second opening height correction increment and the first candidate opening height is determined as the second candidate opening height. The smaller value between the second candidate opening height and the maximum permissible opening height is determined as the target opening height.

[0095] The maximum permissible opening height is used to prevent collisions between the tailgate and obstacles. For example, by establishing a mapping relationship between the maximum permissible opening height and a first distance, the maximum permissible opening height corresponding to the first distance is determined.

[0096] For example, the second candidate opening height determined by the first opening height correction increment and / or the second opening height correction increment is 170cm, but due to the distance limit between the rear of the vehicle and another vehicle, the maximum allowable opening height of the tailgate is 140cm, so 140cm is taken as the target opening height.

[0097] In some embodiments, when a user's height is detected to be below a minimum height threshold (e.g., 140cm), the maximum allowable opening height of the tailgate is locked (e.g., locked at 160cm) to ensure that children, people with disabilities, etc., can reach the tailgate closing button.

[0098] In some embodiments, the opening height adjustment value obtained by the user each time the target opening height is adjusted within a historical period is obtained, a regression curve between the user's height and the opening height adjustment value is generated, and the opening of the rear door is controlled by the regression curve.

[0099] The historical time period includes multiple consecutive moments preceding the current moment.

[0100] For example, when it is detected that the user manually adjusts the target opening height of the tailgate, a regression curve is generated between the user's height and the opening height adjustment value (or opening height) based on multiple adjustments. The mapping relationship between the user's height and the tailgate opening height (such as the first candidate opening height or the target opening height) is updated based on the regression curve. The tailgate is then opened according to the updated mapping relationship between the user's height and the tailgate opening height (such as the first candidate opening height or the target opening height).

[0101] In some embodiments, specific regression curves are generated for specific users. For example, for special groups such as children and people with disabilities, if a user's height is detected to be less than 140cm for three consecutive times, specific regression curves for children and people with disabilities are automatically learned and generated.

[0102] Step S304: The vehicle's tailgate control device controls the opening of the tailgate based on the target opening height.

[0103] As an example, the actual opening height of the tailgate is determined by detecting the extension length of the electric strut using sensors integrated inside the strut. A proportional-integral-derivative (PID) control algorithm is employed to generate control commands based on the error between the target opening height and the actual opening height of the tailgate, sending these commands to the motor. The motor then controls the extension and retraction of the electric strut, adjusting the actual opening height of the tailgate.

[0104] After the actual opening height of the tailgate reaches the target opening height, the tailgate will tend to drop or rebound due to its own weight and the reaction force of the electric strut. At this time, the actual opening height of the tailgate will be maintained at the target opening height by the reverse torque of the motor or the mechanical self-locking mechanism of the tailgate.

[0105] As another example, by using the object attribute information of the vehicle's rear compartment, opening parameters such as the opening speed of the tailgate and the torque output by the motor when the tailgate opens are determined, and the tailgate opening is controlled based on these parameters. During the tailgate opening process, the actual opening height of the tailgate is monitored in real time, and once the actual opening height of the tailgate reaches the target opening height, the actual opening height of the tailgate is maintained at the target opening height.

[0106] The object attribute information includes the object's volume and weight.

[0107] For example, the trunk area of ​​a vehicle is detected using sensing devices such as three-dimensional (3D) cameras and LiDAR, the volume of objects in the trunk area is scanned, and the space occupied by the objects is calculated. The weight of the objects and their weight distribution are detected by a pressure sensor array embedded at the bottom of the trunk area.

[0108] For example, when the volume of an object is less than or equal to the first preset volume, the weight of the object does not exceed the load limit of the rear door, and the weight of the object is greater than or equal to the first preset weight, the initial torque output of the motor is increased to 120%-150% of the rated torque output value to ensure that the inertial resistance of the object is overcome.

[0109] In some embodiments, object attribute information of objects in the rear compartment of a vehicle is obtained, a target closing speed of the tailgate is determined based on the object attribute information, and the tailgate is closed based on the target closing speed.

[0110] As an example, if the object meets the first preset condition, the product of the base closing speed of the rear door and the first preset closing speed adjustment coefficient is determined as the target closing speed of the rear door.

[0111] The first preset condition is that the object's volume is greater than a first preset volume and the object's weight is less than a first preset weight.

[0112] The first preset closing speed adjustment coefficient is less than 1. Optionally, the first preset closing speed adjustment coefficient is a default value or a manually set value. For example, the range of the first preset closing speed adjustment coefficient is 0.5-0.7. When the object volume is larger than the first preset volume and the object weight is less than the first preset weight, the reference closing speed of the back door is reduced to 50%-70% of the reference closing speed.

[0113] For example, when the speed difference between the current closing speed and the target closing speed of the tailgate is greater than or equal to a first preset speed difference, the closing speed of the tailgate is adjusted based on the speed difference. When the speed difference is less than the first preset speed difference, 0 is determined as the target closing acceleration of the tailgate, and the closing speed of the tailgate is adjusted based on the acceleration difference between the target closing acceleration and the current closing acceleration of the tailgate.

[0114] For example, when the speed difference between the current closing speed and the target closing speed of the tailgate is greater than or equal to a first preset speed difference, the closing speed of the tailgate is adjusted based on the speed difference to keep the closing speed of the tailgate constant. At the same time, when the speed difference is less than the first preset speed difference, the closing acceleration of the tailgate is kept at 0 by a PID algorithm to avoid abnormal swinging of the tailgate due to air resistance.

[0115] As an example, if the object meets the second preset condition, the product between the base closing speed of the rear door and the second preset closing speed adjustment coefficient is determined as the target closing speed.

[0116] The second preset closing speed adjustment coefficient is inversely proportional to the object's weight. The heavier the object, the smaller the second preset closing speed adjustment coefficient, and the slower the target closing speed.

[0117] The second preset condition is that the object's volume is less than or equal to the first preset volume, the object's weight does not exceed the load limit of the rear door, and the object's weight is greater than or equal to the first preset weight.

[0118] For example, when the volume of an object is less than or equal to a first preset volume, the weight of the object does not exceed the load limit of the tailgate, and the weight of the object is greater than or equal to a first preset weight, the closing speed of the tailgate is maintained at the target closing speed, the motor output speed remains stable, thereby keeping the angle change rate (° / s) or edge linear velocity (m / s) of the tailgate constant, and avoiding collisions between objects or objects colliding with the side wall of the tailgate.

[0119] In some embodiments, when the weight of an object exceeds the load limit of the rear door, the product of the closing speed corresponding to the load limit and the third preset closing speed adjustment coefficient is determined as the target closing speed.

[0120] The third preset closing speed adjustment coefficient is inversely proportional to the weight of the object exceeding the load limit and is within the range of the preset closing speed adjustment coefficient.

[0121] For example, if the weight of an object exceeds the load limit of the tailgate, the slow-closing mode is forcibly activated when the tailgate is closed, and the target closing speed is reduced to 30%-40% of the closing speed corresponding to the load limit, while activating an audible and visual alarm to remind the user.

[0122] In some embodiments, when a center of gravity shift of an object relative to the center of the rear compartment is detected, the direction and amount of the center of gravity shift are determined. During the closing control of the tailgate, a compensating torque is applied to the electric strut corresponding to the center of gravity shift direction based on the amount of the center of gravity shift to maintain the movement balance of the tailgate.

[0123] For example, by detecting the weight distribution of an object through a pressure sensor array, when the center of gravity of the object shifts along the X and Y axes of the vehicle, the closing speed of the tailgate and the global output torque of the vehicle (controlling the output torque of the motor of the electric strut) are dynamically adjusted based on the pressure distribution gradient detected by the pressure sensor.

[0124] Specifically, the pressure distribution matrix of the object is obtained through a pressure sensor array. Calculate the pressure gradients in the horizontal (x) and vertical (y) directions, respectively. The calculation formula can be expressed as:

[0125]

[0126]

[0127]

[0128]

[0129]

[0130] Where i represents the index in the vertical direction (y), and j represents the index in the horizontal direction (x). This represents the pressure value detected at the position of row i and column j. m represents the total number of rows in the sensor array in the vertical direction (y), and n represents the total number of columns in the sensor array in the horizontal direction (x). x represents the actual physical distance (in cm) between two adjacent sensors in the horizontal direction (x). y represents the actual physical distance (in meters) between two adjacent sensors in the vertical direction (y). This represents the pressure gradient at points inside the object in the horizontal direction (x) (2≤j≤n-1). and These represent the pressure gradients at the boundary points of the object in the horizontal direction (x). This represents the pressure gradient at points inside the object in the vertical direction (y) (2≤i≤m-1). and These represent the pressure gradients at boundary points in the vertical direction (y), respectively.

[0131] The gradient magnitude is calculated based on the pressure gradient in the horizontal (x) and vertical (y) directions at each location point. The calculation formula can be expressed as:

[0132] in, Indicates the gradient magnitude. This represents the pressure gradient in the horizontal direction (x). This represents the pressure gradient in the vertical direction (y).

[0133] When the gradient magnitude is less than the preset value of the first gradient (e.g., 0.3 kPa / cm), the speed of the back door is not affected by the center of gravity of the object.

[0134] When the gradient magnitude is greater than or equal to the first preset gradient value and less than or equal to the second preset gradient value (e.g., 0.8 kPa / cm), the closing speed of the rear door is corrected based on the gradient magnitude. The corrected closing speed can be expressed by the following formula:

[0135] in, V represents the corrected shutdown speed, and V represents the original shutdown speed. Indicates the gradient magnitude. This represents the gradient correction coefficient (0.2–0.8). When the gradient magnitude is greater than the preset value of the second gradient, the corrected shutdown speed is 50% of the original shutdown speed.

[0136] Optionally, the shutdown speed before correction can be either the baseline shutdown speed or the target shutdown speed.

[0137] Simultaneously, based on the pressure gradient in the vertical direction (y), the output torque of the motor is corrected, and the corrected output torque can be expressed by the following formula:

[0138] in, This indicates the corrected motor output torque. This indicates the reference output torque for the motor-driven electric strut. This indicates the torque compensation coefficient (0.5 to 2.0).

[0139] Optionally, the output torque of multiple motors located at different positions may be corrected to varying degrees. For example, the rear of the vehicle may include a first electric strut and a second electric strut. When the center of gravity of the object shifts towards the direction of the first electric strut, the output torque of the first electric strut is higher than that of the second electric strut.

[0140] In some embodiments, the anti-pinch mode is triggered when an object is detected to exceed the rear compartment boundary and the vertical distance between the object and the tailgate is less than a first vertical distance.

[0141] For example, when the 3D camera detects that an object exceeds the boundary of the vehicle's trunk, the closing command is prohibited (the tailgate is prohibited from closing), and the user is prompted to reposition the object via the in-vehicle screen (such as the central control screen) or voice assistant.

[0142] In some embodiments, the load change of the motor driving the electric strut is continuously monitored. When the actual torque of the motor exceeds the preset torque for a duration longer than a preset time threshold, the tailgate is immediately controlled to reverse and an alarm is triggered. For example, when the actual torque of the motor exceeds 105% of the rated torque and the duration exceeds 500ms, the reverse retraction is immediately triggered and an alarm is triggered.

[0143] In some embodiments, please refer to Figure 4 Another method for controlling a vehicle's tailgate disclosed in this application includes: Step S401: User triggers operation.

[0144] For example, a user can trigger the opening or closing of the rear door using a remote key.

[0145] Step S402: Collect sensing data.

[0146] Optionally, the sensing data includes pressure data, ranging data, image data, etc.

[0147] Step S403: Determine user attribute information, object attribute information, and environmental information based on the perceived data.

[0148] Step S404: Calculate the tailgate opening height, opening and closing speed, and motor output torque.

[0149] Among them, the motor output torque refers to the torque output when the motor controls the extension and retraction of the electric strut.

[0150] Step S405: Control the opening and closing of the tailgate based on the tailgate opening height, opening and closing speed and motor output torque.

[0151] Step S406: Monitor the working status of the motor and the tailgate in real time.

[0152] For example, the height of the tailgate and the drive current of the motor are monitored.

[0153] Step S407: Determine if an exception has occurred. If yes, proceed to step S408; otherwise, proceed to step S409.

[0154] Optionally, anomalies include situations such as an object exceeding the rear cargo box boundary and the vertical distance between the object and the tailgate being less than a first vertical distance; the object's weight exceeding the tailgate's load limit; and the actual torque of the motor exceeding the preset torque for a duration longer than a preset time threshold.

[0155] Step S408: Trigger and execute security arbitration.

[0156] Optionally, safety arbitration includes anti-pinch mode, reverse braking, audible and visual alarms, and user manual intervention control.

[0157] Step S409: After completion, control the opening and closing of the rear door.

[0158] Step S410: Update the database.

[0159] For example, the database is updated based on data from the tailgate opening and closing control process (such as opening and closing speed, height, and motor output torque) to facilitate the optimization of subsequent tailgate control strategies based on the updated data.

[0160] As an example, consider a shorter user carrying heavy items, such as Ms. Wang (150cm tall) placing a 20kg suitcase in the trunk. When the user, carrying the key, approaches within 1 meter of the rear of the vehicle, the bumper millimeter-wave radar detects her height, determining it to be below the average height (165cm). The controller, based on the formula H=180cm+0.8×(150-165), determines the first candidate opening height as 168cm (22cm lower than the default 190cm). Due to the user's short stature, the maximum opening height of the tailgate is set at 172cm to prevent the user from not being able to reach the closing button. Therefore, the target opening height of the tailgate is determined to be 168cm. Simultaneously, a pressure sensor detects the object's weight as 20kg (exceeding the 15kg threshold), and a 3D camera scan shows the object's volume occupies 40% of the trunk. Based on the object's weight and volume, during the tailgate opening phase, the motor's output torque is determined to be 30% of the baseline output torque. During the tailgate closing phase, the tailgate moves at a constant speed (e.g., 8° / s), and triggers slow-descent shock absorption when the tailgate reaches the end distance (e.g., 5cm).

[0161] As another example, consider a tall user placing a lightweight, large item, such as Mr. Zhang (188cm tall) needing to load a 1.2m tall 3D decorative painting (weighing 3kg). The in-car camera identifies the user's height and calculates the first candidate opening height H = 180cm + 0.8 × (188 - 165) = 198.4cm. Simultaneously, a 3D camera scans and determines that the object's height exceeds the limit, while a pressure sensor indicates the object's weight is less than 5kg. Based on the object's weight and volume, the tailgate opens to a height of 198cm (close to the maximum opening distance of the tailgate to avoid collision). During the tailgate closing phase, the closing speed is first reduced to 50% of the base speed (to reduce wind resistance), and then in the second closing phase, if the wind speed is greater than level 4, the motor increases its output torque by an additional 10% to maintain a constant tailgate speed. When the top of the object is less than 5cm from the tailgate, an anti-pinch protocol is triggered, pausing the closing process and issuing an alarm.

[0162] As another example, in scenarios where children temporarily retrieve items, such as a 12-year-old child (140cm tall) using a temporarily authorized mobile phone key to retrieve a schoolbag, parents can set temporary permissions for the child and input the child's height via an app. The opening height of the rear door is forcibly limited to 160cm (within a child's arm's reach), and the upper limit of the motor's output torque during the rear door closing phase is locked at 80% of the baseline output torque (to prevent pinching). If a child attempts to manually pull down the rear door, the motor provides real-time reverse assistance to ensure that the operating force is always <40N (safety threshold). In scenarios involving heavy, biased loading (a 50kg toolbox), the pressure sensor detects the gradient amplitude on the right side. P||=0.92kPa / cm (the maximum gradient amplitude in the vertical direction is +0.85kPa / cm), adjust the tailgate closing speed V_close=8° / s×(1-0.5×0.92)=4.32° / s, and the total output torque of the motor T_total=40N·m+1.5×|0.85|=41.28N·m.

[0163] In some embodiments, please refer to Figure 5 , Figure 5 This is a functional framework diagram of a vehicle tailgate control device disclosed in an embodiment of this application. The vehicle tailgate control device includes an acquisition module 500, a processing module 501, and a control module 502. The acquisition module 500 is used to execute... Figure 3 In the illustrated method, step S301 is executed by the processing module 501. Figure 3 The illustrated method includes steps S302 and S303. The control module 502 is used to execute these steps. Figure 3 The illustrated method includes step S304.

[0164] The foregoing mainly describes the solutions provided by the embodiments of this application from the perspectives of methods, systems, and apparatus. To achieve the above functions, the control device for the vehicle's tailgate includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0165] This application embodiment, based on the aforementioned vehicle tailgate control method, exemplarily divides the vehicle tailgate control device into functional modules. For example, the vehicle tailgate control device may include various functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used.

[0166] This application also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to implement the vehicle tailgate control method provided in the above method embodiments.

[0167] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), magnetic tape, floppy disk, and optical data storage device.

[0168] This application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, the control method for the vehicle tailgate provided in the above-described method embodiments is implemented.

[0169] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of a computing device, they implement the various processes of the above-described method embodiments and achieve the same technical effects as the above-described methods. To avoid repetition, they will not be described again here.

[0170] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0172] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0173] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0174] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims. Those skilled in the art can understand that implementing all or part of the processes of the above embodiments and making equivalent changes according to the claims of this application still fall within the scope of this application.

Claims

1. A method for controlling a vehicle's tailgate, characterized in that, The control method for the vehicle's tailgate includes: Obtain the user attribute information of the vehicle; wherein, the user attribute information includes the user's height; Based on the user attribute information, the first candidate opening height of the vehicle's tailgate is determined; Based on the vehicle's environmental information, the first candidate opening height is corrected to obtain the target opening height; wherein, the environmental information includes at least one of the following: the road surface slope of the parking surface, the road surface height difference between the parking surface and the standing surface behind the tailgate, and the first distance between the tailgate and the target obstacle; the target obstacle is the obstacle closest to the tailgate in the target direction; the target direction is the direction perpendicular to the tailgate in the closed state; The opening of the tailgate is controlled based on the target opening height.

2. The control method for the vehicle tailgate according to claim 1, characterized in that, The environmental information includes the road surface slope and / or the road surface height difference; the step of correcting the first candidate opening height based on the vehicle's environmental information to obtain the target opening height includes: A first opening height correction increment is determined based on the road surface slope; and / or a second opening height correction increment is determined based on the road surface height difference; Based on the first opening height correction increment and / or the second opening height correction increment, the first candidate opening height is corrected to obtain the target opening height.

3. The control method for the vehicle tailgate according to claim 2, characterized in that, The determination of the first opening height correction increment based on the road surface slope includes: Based on the first mapping relationship and the road surface slope, a first correction coefficient is determined; wherein, the first mapping relationship is the correspondence between the road surface slope and the correction coefficient of the opening height of the rear door under the road surface slope; The first opening height correction increment is determined based on the first correction coefficient; wherein the first opening height correction increment is the first product between the first difference and the first candidate opening height; the first difference is the difference between the first correction coefficient and 1.

4. The control method for the vehicle tailgate according to claim 2, characterized in that, The determination of the second opening height correction increment based on the road surface height difference includes: A second correction factor is determined, wherein the second correction factor characterizes the incremental correction of the opening height of the tailgate under a unit road surface height difference; The second product between the road surface height difference and the second correction coefficient is determined as the second opening height correction increment.

5. The control method for a vehicle tailgate according to any one of claims 2-4, characterized in that, The environmental information also includes the first distance; the step of correcting the first candidate opening height based on the first opening height correction increment and / or the second opening height correction increment to obtain the target opening height includes: Determine the maximum permissible opening height of the tailgate corresponding to the first distance; The sum of the first opening height correction increment and / or the second opening height correction increment and the first candidate opening height is determined as the second candidate opening height; The smaller value between the second candidate opening height and the maximum allowed opening height is determined as the target opening height.

6. The control method for the vehicle tailgate according to claim 1, characterized in that, Determining the first candidate opening height of the vehicle's tailgate based on the user attribute information includes: Determine the height difference between the user's height and the average height of the population; Based on the reference opening height of the tailgate, the height difference, and a preset adjustment coefficient, the first candidate opening height is determined; wherein, the preset adjustment coefficient is used to characterize the degree of influence of the height difference on the opening height of the tailgate.

7. The control method for the vehicle tailgate according to claim 1, characterized in that, The method for controlling the vehicle's tailgate also includes: Obtain the opening height adjustment value obtained by the user for each adjustment of the target opening height within a historical time period; wherein, the historical time period includes multiple consecutive time periods before the current time; Generate a regression curve between the user's height and the activated height adjustment value; The opening of the rear door is controlled using the regression curve.

8. The control method for the vehicle tailgate according to claim 1, characterized in that, The method for controlling the vehicle's tailgate also includes: Obtain object attribute information of objects in the rear compartment of the vehicle; wherein, the object attribute information includes object volume and object weight; Based on the object attribute information, the target closing speed of the rear door is determined; The tailgate is closed based on the target closing speed.

9. The control method for a vehicle tailgate according to claim 8, characterized in that, Determining the target closing speed of the rear door based on the object attribute information includes: When the object meets the first preset condition, the product of the base closing speed of the rear door and the first preset closing speed adjustment coefficient is determined as the target closing speed of the rear door; wherein, the first preset condition is that the object's volume is greater than the first preset volume and the object's weight is less than the first preset weight; the first preset closing speed adjustment coefficient is less than 1; The closing control of the rear door based on the target closing speed includes: If the speed difference between the current closing speed and the target closing speed of the tailgate is greater than or equal to a first preset speed difference, the closing speed of the tailgate is adjusted based on the speed difference. If the speed difference is less than the first preset speed difference, 0 is determined as the target closing acceleration of the tailgate; The closing speed of the rear door is adjusted based on the acceleration difference between the target closing acceleration and the current closing acceleration of the rear door.

10. The control method for a vehicle tailgate according to claim 8, characterized in that, Determining the target closing speed of the rear door based on the object attribute information includes: When the object meets the second preset condition, the product between the reference closing speed of the rear door and the second preset closing speed adjustment coefficient is determined as the target closing speed; The second preset closing speed adjustment coefficient is inversely proportional to the weight of the object; the second preset condition is that the volume of the object is less than or equal to the first preset volume, the weight of the object does not exceed the load limit of the rear door, and the weight of the object is greater than or equal to the first preset weight.

11. The control method for a vehicle tailgate according to claim 10, characterized in that, Determining the target closing speed of the rear door based on the object attribute information includes: If the weight of the object exceeds the load limit of the rear door, the product of the closing speed corresponding to the load limit and the third preset closing speed adjustment coefficient is determined as the target closing speed; the third preset closing speed adjustment coefficient is inversely proportional to the excess weight of the object exceeding the load limit and is within the range of the preset closing speed adjustment coefficient.

12. The control method for the vehicle tailgate according to claim 8, characterized in that, The method for controlling the vehicle's tailgate also includes: If the object is detected to have shifted its center of gravity relative to the center of the rear compartment, the direction and amount of the shift are determined. During the closing control of the tailgate, a compensating torque is applied to the electric strut corresponding to the direction of the center of gravity offset based on the center of gravity offset, so as to maintain the motion balance of the tailgate.

13. The control method for the vehicle tailgate according to claim 8, characterized in that, The method for controlling the vehicle's tailgate also includes: If the object is detected to exceed the boundary of the rear compartment and the vertical distance between the object and the rear door is less than a first vertical distance, the anti-pinch mode is triggered.

14. A control device for a vehicle's tailgate, characterized in that, The control device for the vehicle's tailgate includes: The acquisition module is used to acquire user attribute information of the vehicle; wherein, the user attribute information includes user height; The processing module is used to determine the first candidate opening height of the vehicle's tailgate based on the user attribute information; The processing module is further configured to correct the first candidate opening height based on the vehicle's environmental information to obtain a target opening height; wherein the environmental information includes at least one of the following: the road surface slope of the parking surface of the vehicle, the road surface height difference between the parking surface and the standing surface behind the tailgate, and a first distance between the tailgate and a target obstacle; the target obstacle is the obstacle closest to the tailgate in the target direction; the target direction is the direction perpendicular to the tailgate in the closed state; The control module is used to control the opening of the tailgate based on the target opening height.

15. A vehicle, characterized in that, The vehicle includes the control device for the vehicle tailgate as described in claim 14.

Images