Tail door control system and method

Abstract

A tail door control method is executed by a processing device, and comprises the following steps: obtaining a temperature of a first radar sensor, setting a sensing distance of the first radar sensor to correspond to the temperature, obtaining a first sensing signal from the set first radar sensor, and sending the first sensing signal to the processing device. When it is judged according to the first sensing signal that the first object speed maintains the first state for more than a first preset time length and maintains the second state for more than a second preset time length, the vehicle tail door lock is controlled to be unlocked, the first object speed indicates the relative speed of the object and the first radar sensor, and the second object speed indicates the relative speed of the object and the second radar sensor. The first state indicates that the first object speed has a first direction and a value greater than a first preset value, and the second state indicates that the first object speed has a second direction opposite to the first direction and a value greater than the first preset value. The invention further relates to a vehicle tail door control system.

Description

TECHNICAL FIELD

[0001] The present application relates to a tailgate control system and method. BACKGROUND

[0002] Generally, a tailgate needs to be manually pressed by a user to open. However, when the user is holding goods with both hands and wants to open the tailgate, it is quite inconvenient. Therefore, there is currently a technology that installs a capacitor at an appropriate position to automatically control the opening of the tailgate according to the change in the capacitance.

[0003] However, the above-mentioned induction method is easy to be triggered by mistake, for example, when washing the car or reversing, if something passes through the bottom of the tailgate, the electric tailgate switch will be triggered by mistake, and the tailgate will be opened. SUMMARY

[0004] In view of the above, the present application provides a tailgate control system and method to solve the above-mentioned problems.

[0005] The tailgate control method according to an embodiment of the present application is executed by a processing device, and includes: obtaining a temperature of a first radar sensor, setting a sensing distance of the first radar sensor to correspond to the temperature, obtaining a first sensing signal from the first radar sensor after the setting, and controlling a tailgate lock to be unlocked when a first object speed, which indicates a relative speed of an object and the first radar sensor, is maintained in a first state for more than a first preset time length and is maintained in a second state for more than a second preset time length, wherein the first state indicates that the first object speed has a first direction and a value greater than a first preset value, and the second state indicates that the first object speed has a second direction opposite to the first direction and a value greater than the first preset value.

[0006] The tailgate control system according to an embodiment of the present application includes: a first radar sensor, a tailgate lock, and a processing device. The first radar sensor is configured to generate a first sensing signal. The processing device is connected to the first radar sensor and the tailgate lock, and is configured to obtain a temperature of the first radar sensor, set a sensing distance of the first radar sensor to correspond to the temperature, obtain a first sensing signal from the first radar sensor after the setting, and control the tailgate lock to be unlocked when a first object speed, which indicates a relative speed of an object and the first radar sensor, is maintained in a first state for more than a first preset time length and is maintained in a second state for more than a second preset time length, wherein the first state indicates that the first object speed has a first direction and a value greater than a first preset value, and the second state indicates that the first object speed has a second direction opposite to the first direction and a value greater than the first preset value.

[0007] In summary, according to the tailgate control system and method of one or more embodiments above, the user can open the tailgate of the vehicle without manual operation, effectively increasing the convenience of the user. Moreover, the tailgate control system and method of one or more embodiments above can ensure that the tailgate of the vehicle is opened according to the user's needs, avoiding the problem of accidental triggering of the tailgate of the vehicle. In addition, even if the sensing distance of the radar sensor is affected by temperature, by setting the sensing distance of the radar sensor to correspond to the temperature of the radar sensor, the tailgate control system and method of the present application can still effectively and normally operate.

[0008] The above description about the present disclosure and the following description of embodiments are to demonstrate and explain the spirit and principles of the present application, and to further explain the claims of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a block diagram of a tailgate control system according to an embodiment of the present application.

[0010] Figure 2 is a block diagram of a tailgate control system according to another embodiment of the present application.

[0011] Figure 3 is a flowchart of a tailgate control method corresponding to one radar sensor according to an embodiment of the present application.

[0012] Figure 4 is a graph showing the relationship between the temperature of the radar sensor and the gain.

[0013] Figure 5 is a flowchart of a tailgate control method corresponding to one radar sensor according to another embodiment of the present application.

[0014] Figure 6 is a block diagram of a tailgate control system according to yet another embodiment of the present application.

[0015] Figure 7 is a schematic diagram showing the application of the tailgate control system and method.

[0016] Figure 8 is a flowchart of a tailgate control method corresponding to two radar sensors according to an embodiment of the present application.

[0017] Figure 9 is a flowchart of a tailgate control method corresponding to two radar sensors according to another embodiment of the present application.

[0018] Figure 10 shows the sensing results of the radar sensor for different situations.

[0019] Wherein, the reference signs are explained as follows:

[0020] 1, 2, 3: tailgate control system

[0021] 11, 21, 31: first radar sensor

[0022] 12, 22, 32: tailgate lock

[0023] 33: second radar sensor

[0024] 13, 23, 34: processing device

[0025] 211, 231: first interface

[0026] 232: second interface

[0027] 24: power conversion device

[0028] 25: filter

[0029] S101, S103, S105, S107, S109, S201, S203, S205, S207, S209: step DETAILED DESCRIPTION

[0030] The detailed features and advantages of the present application are described in detail in the embodiments below, which are sufficient for any person skilled in the relevant art to understand the technical content of the present application and to implement it, and any person skilled in the relevant art can easily understand the related purposes and advantages of the present application according to the content disclosed in the specification, claims and drawings. The following examples are further detailed to illustrate the present application, but do not limit the scope of the present application in any way.

[0031] It should be particularly noted that the terms are described using "first", "second", etc. in this paper, but these numbers are only used to distinguish different terms, and do not limit the basis, order or number of the described terms, and these numbers can be interchangeable with each other. Therefore, "first" mentioned below can also be "second" in the technical concept of the present disclosure.

[0032] Please refer to Figure 1 , wherein Figure 1 is a block diagram of a tailgate control system according to an embodiment of the present application. As Figure 1 shown, the tailgate control system 1 includes a first radar sensor 11, a tailgate lock 12 and a processing device 13. The processing device 13 is communicatively or electrically connected to the first radar sensor 11 and the tailgate lock 12.

[0033] The first radar sensor 11 can be disposed below the rear bumper. The first radar sensor 11 can be a Doppler radar sensor for sensing to generate a first sensing signal. The tailgate lock 12 is an electric tailgate lock of the vehicle. The processing device 13 is configured to determine whether a user performs a kick action according to the first sensing signal, and further determine whether to control the tailgate lock 12 to be unlocked. The processing device 13 can include one or more processors, such as a central processing unit, a graphics processing unit, a microcontroller, a programmable logic controller, or other processors with signal processing functions.

[0034] Please refer to Figure 2 wherein Figure 2 is a block diagram of a tailgate control system according to another embodiment of the present application. As shown in Figure 2 , the tailgate control system 2 includes a first radar sensor 21, a tailgate lock 22, a processing device 23, a power conversion device 24, and a filter 25. The first radar sensor 21, the tailgate lock 22, and the processing device 23 can be similar to the first radar sensor 11, the tailgate lock 12, and the processing device 13 of Figure 1 , respectively, and thus the same will not be described herein.

[0035] The first radar sensor 21 can include a first interface 211 connected to the filter 25. The first interface 211 can include at least one of an IFI pin and an IFQ pin for connecting the filter 25. In addition, the first interface 211 can further include one or more pins of a serial peripheral interface bus (SPI) for connecting the processing device 23. The filter 25 can include a low pass filter (LPS).

[0036] The processing device 23 may include a first interface 231 and a second interface 232, wherein the first interface 231 is connected to the filter 25 and the second interface 232 is connected to the tailgate lock 22. The first interface 231 may include one or more analog-to-digital converter (ADC) pins. The second interface 232 may include general-purpose input / output (GPIO) pins and universal asynchronous receiver / transmitter (UART) pins for connecting to the tailgate lock 22. In addition, the processing device 23 may further include one or more serial peripheral interface pins for connecting to the first radar sensor 21. The serial peripheral interface pins may include master-out-slave-in (MOSI) pins, clock (CLK) pins, chip select (CS) pins, and reset (RSTB) pins, etc.

[0037] A power conversion device 24 is connected to the first radar sensor 21 and the processing device 23. The power conversion device 24 may include a low-dropout regulator (LDO). For example, the power conversion device 24 may receive an input voltage from a power source ranging from 3.3 volts (V) to 6V, convert the input voltage to an output voltage of 2.6V, and output the output voltage to the first radar sensor 21 and the processing device 23.

[0038] Please refer to this as well. Figure 1 and Figure 3 ,in Figure 3 This is a flowchart illustrating a tailgate control method corresponding to a radar sensor, based on an embodiment of the present invention. The following is a... Figure 1 Tailgate control system 1 Description Figure 3 The steps, and Figure 3 The steps also apply to Figure 2 2. Tailgate control system. Figure 3 The tailgate control method shown is executed by the processing device 13. For example... Figure 3As shown, the tailgate control method includes: step S101: obtaining the temperature of the first radar sensor; step S103: setting the sensing distance of the first radar sensor to correspond to the temperature; step S105: obtaining the first sensing signal from the set first radar sensor; step S107: determining whether the speed of the first object maintains the second state for more than a second preset time length after maintaining the first state for more than a first preset time length; when the determination result of step S107 is "yes", step S109 is executed: controlling the tailgate lock to unlock; and when the determination result of step S107 is "no", step S105 is executed again.

[0039] In step S101, the processing device 13 obtains the temperature of the first radar sensor 11 from the temperature sensor. For example, the temperature of the first radar sensor 11 may be the temperature of the circuit board of the first radar sensor 11.

[0040] In step S103, the processing device 13 sets the sensing distance of the first radar sensor 11 to correspond to the temperature of the first radar sensor 11. Please refer to Table 1 below as well. Figure 4 ,in Figure 4 It is a graph showing the relationship between the temperature and gain of the radar sensor. Figure 4 The triangles in the table represent the standard gain values ​​for different temperature ranges in Table 1 below. The crosses represent the sensing results with unadjusted gain values, and the circles represent the sensing results with adjusted gain values. In Table 1, T represents the temperature of the first radar sensor 11.

[0041] Table 1

[0042] Temperature of first radar sensor (°C) Standard gain value T≤25 2 25<T≤45 3 45<T≤55 4 55<T 5

[0043] like Figure 4 As shown, when the temperature is less than or equal to 25°C, the sensing result falls above the standard gain value of 2, indicating that the current sensing distance of the first radar sensor 11 can detect the object. When the temperature is greater than 25°C and less than or equal to 45°C, the sensing result without adjusting the sensing distance falls below the standard gain value (approximately 2.9), while the sensing result after adjusting the sensing distance falls above the standard gain value. This indicates that when the temperature is greater than 25°C and less than or equal to 45°C, the first radar sensor 11 cannot detect the object without adjusting the sensing distance. In other words, since the sensing distance of the first radar sensor 11 decreases as the temperature of the first radar sensor 11 increases, the processing device 13 multiplies the sensing distance of the first radar sensor 11 by the standard gain value in step S103 to adjust the sensing distance of the first radar sensor 11. Accordingly, the problem of the sensing result of the first radar sensor 11 being affected by temperature, resulting in the inability to effectively control the tailgate lock 12, can be avoided.

[0044] At step S105, the processing device 13 acquires the first sensing signal from the first radar sensor 11 set at step S103.

[0045] At step S107, the processing device 13 converts the first sensing signal, which is an analog signal, into a digital first object velocity using a Doppler algorithm. The processing device 13 determines whether the first object velocity maintains a second state for a second preset time length after maintaining a first state for a first preset time length. The first object velocity indicates the relative velocity of an object with respect to the first radar sensor 11, the first state indicates that the first object velocity has a first direction and a value greater than a first preset value, and the second state indicates that the first object velocity has a second direction opposite to the first direction and a value greater than the first preset value. The object is, for example, a foot or a leg. The value of the object velocity is an absolute value. The first direction can be a direction moving toward the first radar sensor 11 from outside the vehicle, the second direction can be a direction moving away from the first radar sensor 11, and the first direction and the second direction can be parallel to the ground. The first preset value can be 0.3 m / s. The first preset time length and the second preset time length can be the same as or different from each other. The first preset time length and the second preset time length can both be 0.2 s; alternatively, the first preset time length can be 0.2 s, and the second preset time length can be 0.1 s; alternatively, the first preset time length can be 0.1 s, and the second preset time length can be 0.2 s. The present application does not limit the specific values of the first preset value, the first preset time length, and the second preset time length.

[0046] In other words, the processing device 13 first determines whether the object continuously moves in the first direction and the first object velocity maintains a value greater than the first preset value for the first preset time length based on the first object velocity, and then determines whether the object continuously moves in the second direction and the first object velocity maintains a value greater than the first preset value for the second preset time length based on the first object velocity. In step S107, the processing device 13 can determine whether a plurality of groups of the first object velocity all maintain the first state and determine whether a plurality of groups of the first object velocity all maintain the second state.

[0047] When the processing device 13 determines that the first object velocity maintains the second state for the second preset time length after maintaining the first state for the first preset time length, at step S109, the processing device 13 controls the tailgate lock 12 to be unlocked.

[0048] Conversely, when the processing device 13 judges that the first object speed does not maintain the first state for more than the first preset length of time, or does not subsequently maintain the second state for more than the second preset length of time, the processing device 13 again executes step S105. It should be noted that when the result of the judgment of step S107 is "No", the processing device 13 can not execute other actions again, or the processing device 13 can again execute step S101, and the present application is not limited thereto.

[0049] According to the tailgate control system and method of one or more embodiments above, the user can open the tailgate of the vehicle without manual operation, effectively increasing the convenience of the user. Moreover, the tailgate control system and method of one or more embodiments above can ensure that the tailgate of the vehicle is opened according to the user's needs, avoiding the problem of accidental triggering of the tailgate of the vehicle. In addition, even if the sensing distance of the radar sensor is affected by temperature, by setting the sensing distance of the radar sensor to correspond to the temperature of the radar sensor, the tailgate control system and method of the present application can still effectively and normally operate.

[0050] Please refer to Figure 1 and Figure 5 , wherein Figure 5 is a flowchart of a tailgate control method corresponding to one radar sensor according to another embodiment of the present application. As shown in Figure 5 , the tailgate control method can include: step S201: obtaining a first sensing signal from a first radar sensor set; step S203: judging whether, after the first object speed has a first direction and the value of the first object speed is greater than a second preset value, the length of time for which the first object speed is equal to zero is less than a third preset length of time; when the result of the judgment of step S203 is "Yes", executing step S205: judging whether the first object speed maintains the first state for more than a first preset length of time; when the result of the judgment of step S205 is "Yes", executing step S207: judging whether, after the first object speed has a second direction and the value of the first object speed is greater than the second preset value, the length of time for which the first object speed is equal to zero is less than the third preset length of time; when the result of the judgment of step S207 is "Yes", executing step S209: judging whether the first object speed maintains the second state for more than a second preset length of time; when the result of the judgment of step S209 is "Yes", executing step S211: controlling the tailgate lock to be unlocked; and when the result of the judgment of any one of steps S203, S205, S207 and S209 is "No", executing step S201 again. Figure 5 Step S201 of Figure 3 may be step S105 of Figure 5 Steps S205 and S209 of Figure 3 may be step S107 of Figure 5 Step S211 of may beFigure 3 Step S109, therefore Figure 5 Steps S201, S205, S209 and S211 will not be repeated here.

[0051] In other words, in Figure 3 After step S105 and before the determination in step S107 that the velocity of the first object has been maintained in the first state for more than a first preset time length, the processing device 13 may further execute... Figure 5 Step S203 involves performing a first judgment procedure on the velocity of the first object to determine whether, after the velocity of the first object has a first direction and the value of the velocity of the first object is greater than a second preset value, the duration for which the velocity of the first object is equal to zero is less than a third preset duration; and in Figure 3 After determining in step S107 that the velocity of the first object has been maintained in the first state for more than a first preset time length, and before determining that the velocity of the first object has been maintained in the second state for more than a second preset time length, the processing device 13 may further execute... Figure 5 Step S207 involves performing a second judgment procedure on the velocity of the first object to determine whether the time length during which the velocity of the first object is equal to zero is less than a third preset time length after the velocity of the first object has a second direction and the value of the velocity of the first object is greater than a second preset value. Furthermore, the processing device 13 may execute step S211 only when both the first and second judgment procedures correspond to positive judgment results (e.g., the judgment results of steps S203 and S207 are both "yes"), and the judgment results of steps S205 and S209 are both "yes". When one or both of the first and second judgment procedures correspond to negative judgment results (e.g., the judgment results of steps S203 and / or S207 are "no"), the processing device 13 may end the method, execute step S201 again, or execute... Figure 3 Step S101.

[0052] The second preset value can be equal to or greater than zero, and can be the same as or different from the first preset value. The second preset value indicates that the first radar sensor 11 has detected an object. In other words, when the object's first velocity has a first direction and the value of the first object velocity is greater than the second preset value, it indicates that the object has entered the sensing range of the first radar sensor 11; when the object's first velocity has a second direction and the value of the first object velocity is greater than the second preset value, it indicates that the object has left the sensing range of the first radar sensor 11. The third preset time length is, for example, 2 seconds, but this invention is not limited thereto.

[0053] In the first determining procedure of step S203, the first object speed having the first direction and the value of the first object speed being greater than the second preset value corresponds to the case that the object approaches the first radar sensor 11 and the first radar sensor 11 senses the first object speed having the first direction, and the length of time that the first object speed is equal to zero is less than the third preset length of time corresponds to the case that the stationary time of the object does not exceed the third preset length of time after the first radar sensor 11 senses that the object approaches. In the second determining procedure of step S207, the first object speed having the second direction and the value of the first object speed being greater than the second preset value corresponds to the case that the object moves away from the first radar sensor 11 and the first radar sensor 11 senses the first object speed having the second direction, and the length of time that the first object speed is equal to zero is less than the third preset length of time corresponds to the case that the stationary time of the object does not exceed the third preset length of time after the first radar sensor 11 senses that the object moves away. In other words, in the case that the determination result of step S203 is "Yes", the processing device 13 determines that the object approaches the first radar sensor 11 and the stationary time of the object does not exceed the third preset length of time; in the case that the determination result of step S207 is "Yes", the processing device 13 determines that the object moves away from the first radar sensor 11 and the stationary time of the object does not exceed the third preset length of time.

[0054] Reference is made to Figure 6 and Figure 7 wherein Figure 6 is a block diagram of a tailgate control system according to another embodiment of the present application, Figure 7 is a schematic diagram illustrating the application of the tailgate control system and method. As Figure 6 shown, the tailgate control system 3 comprises a first radar sensor 31, a second radar sensor 33, a tailgate lock 32, and a processing device 34. The processing device 34 is communicatively or electrically connected to the first radar sensor 31, the second radar sensor 33, and the tailgate lock 32.

[0055] The first radar sensor 31 and the second radar sensor 33 can be the same as the first radar sensor 11 of Figure 1 or the first radar sensor 21 of Figure 2 ; the tailgate lock 32 can be the same as the tailgate lock 12 of Figure 1 or the tailgate lock 22 of Figure 2 ; and the processing device 34 can be the same as the processing device 13 of Figure 1 or the processing device 23 of Figure 2 , so the implementation of the tailgate control system 3 will not be described here.

[0056] As Figure 7As shown, the first radar sensor 31 can be disposed below the rear bumper, for example, at a position close to the rear bumper on the bottom of the vehicle; the second radar sensor 33 can be disposed on the outside or inside of the rear bumper. Thus, the sensing direction of the first radar sensor 31 and the sensing direction of the second radar sensor 33 can be different directions, for example, the sensing direction of the first radar sensor 31 can be perpendicular to the sensing direction of the second radar sensor 33. For example, the first radar sensor 31 can be used to sense the moving state of the foot, and the second radar sensor 33 can be used to sense the moving state of the knee.

[0057] Please refer to Figure 6 and Figure 8 , wherein Figure 8 is a flowchart of a tailgate control method corresponding to two radar sensors according to another embodiment of the present application. Figure 8 The tailgate control method shown is executed by the processing device 34. As shown in Figure 8 , the tailgate control method includes: step S301: obtaining the temperature of the second radar sensor; step S303: setting the sensing distance of the second radar sensor to correspond to the temperature; step S305: obtaining a second sensing signal from the second radar sensor after setting; step S307: determining whether the second object speed maintains the fourth state for more than a second preset time length after maintaining the third state for more than a first preset time length; when the determination result of step S307 is "yes", step S309: controlling the tailgate lock to be unlocked is executed; and when the determination result of step S307 is "no", step S305 is executed again. It should be noted that, Figure 8 only steps corresponding to the second radar sensor 33 are shown, and the processing device 34 preferably executes step S309 only when the determination result of step S107 of Figure 3 is "yes" and the determination result of step S307 of Figure 8 is "yes".

[0058] Figure 8 The implementation of steps S301, S303, S305 and S309 of Figure 3 may be similar to steps S101, S103, S105 and S109 of Figure 3 , respectively, except that Figure 8 is to set the sensing distance of the first radar sensor 21 and determine the first sensing signal of the first radar sensor 21, and is to set the sensing distance of the second radar sensor 33 and determine the second sensing signal of the second radar sensor 33.

[0059] In step S307, the processing device 34 determines the speed of the second object based on the second sensing signal, and determines whether the speed of the second object, after maintaining the third state for more than the first preset time length, maintains the fourth state for more than the second preset time length. The speed of the second object indicates the relative speed between the object and the second radar sensor 33. The third state indicates that the speed of the second object has a first direction and a value greater than a third preset value, and the fourth state indicates that the speed of the second object has a second direction and a value greater than the third preset value. The third preset value can be greater than the first preset value. The third preset value can be 0.4 m / s, but the present invention does not limit the specific value of the third preset value, and the third preset value can also be the same as the aforementioned first preset value.

[0060] In other words, the processing device 34 first determines whether the object continues to move in the first direction and whether the speed of the second object remains greater than a third preset value for more than a first preset time length based on the speed of the second object. Then, it determines whether the object continues to move in the second direction and whether the speed of the second object remains greater than a third preset value for more than a second preset time length based on the speed of the second object. In step S307, the processing device 34 may determine whether multiple consecutive sets of the speed of the second object maintain the third state and whether multiple consecutive sets of the speed of the second object maintain the fourth state.

[0061] As described above, when the processing device 34 determines that the speed of the second object maintains the third state for more than the first preset time length and then maintains the fourth state for more than the second preset time length, and the speed of the first object maintains the first state for more than the first preset time length and then maintains the second state for more than the second preset time length, the processing device 13 executes step S309 to control the tailgate lock 32 to unlock.

[0062] Conversely, when Figure 3 The result of step S107 is "No", and / or Figure 8 If the judgment result of step S307 is "no", the processing device 34 may execute again. Figure 3 Step S101 and Figure 8 Step S301, or execute again Figure 3 Step S105 and Figure 8 Step S305.

[0063] Please refer to this as well. Figure 6 and Figure 9 ,in Figure 9 This is a flowchart illustrating a tailgate control method corresponding to two radar sensors, based on another embodiment of the present invention. Figure 9As shown, the tailgate control method may include: Step S401: Obtaining a second sensing signal from a pre-set second radar sensor; Step S403: Determining whether, after the second object's velocity has a first direction and the value of the second object's velocity is greater than a second preset value, the duration for which the second object's velocity is equal to zero is less than a third preset duration; When the determination result of step S403 is "yes", proceeding to step S405: Determining whether the second object's velocity has maintained a third state for more than a first preset duration; When the determination result of step S405 is "yes", proceeding to step S407: Determining whether... After the second object's velocity has a second direction and the value of the second object's velocity is greater than a second preset value, the duration for which the second object's velocity is equal to zero is less than a third preset duration; when the judgment result of step S407 is "yes", step S409 is executed: determine whether the second object's velocity has maintained the fourth state for more than the second preset duration; when the judgment result of step S409 is "yes", step S411 is executed: control the rear door lock to unlock; and when the judgment result of any one of steps S403, S405, S407 and S409 is "no", step S401 is executed again. Figure 9 Step S401 can be Figure 8 Step S305; Figure 9 Steps S405 and S409 can be Figure 8 Step S307; and Figure 9 Step S411 can be Figure 8 Step S309, therefore Figure 9 Steps S401, S405, S409 and S411 will not be repeated here.

[0064] In other words, in Figure 8 After step S305 and before the determination in step S307 that the second object's velocity has been maintained in the third state for more than the first preset time length, the processing device 34 may further execute... Figure 9 Step S403 involves performing a first judgment procedure on the velocity of the second object to determine whether, after the velocity of the second object has a first direction and a value greater than a second preset value, the duration for which the velocity of the second object is equal to zero is less than a third preset duration; and in Figure 8 After determining in step S307 that the second object's velocity has been maintained in the third state for more than the first preset time length, and before determining that the second object's velocity has been maintained in the fourth state for more than the second preset time length, the processing device 34 may further execute... Figure 10Step S407 involves performing a second judgment procedure on the velocity of the second object to determine whether the time duration for which the velocity of the second object is equal to zero after the velocity of the second object has a second direction and the velocity of the second object is greater than a second preset value is less than a third preset time duration. Furthermore, the processing device 34 may execute step S411 only when both the first and second judgment procedures correspond to positive judgment results (e.g., the judgment results of steps S403 and S407 are both "yes"), and the judgment results of steps S405 and S409 are both "yes". When one or both of the first and second judgment procedures correspond to negative judgment results (e.g., the judgment results of steps S403 and / or S407 are "no"), the processing device 34 may end the method, execute step S401 again, or execute... Figure 10 Step S301.

[0065] Specifically, when the second object velocity has a first direction and the value of the second object velocity is greater than a second preset value, it indicates that the object has entered the sensing range of the second radar sensor 33; when the second object velocity has a second direction and the value of the second object velocity is greater than the second preset value, it indicates that the object has left the sensing range of the second radar sensor 33. The first direction can be the direction of movement from outside the car towards the second radar sensor 33, and the second direction can be the direction away from the second radar sensor 33. Since both the first radar sensor 31 and the second radar sensor 33 are located at the rear bumper of the car, the first and second directions relative to the first radar sensor 31 can be the same as the first and second directions relative to the second radar sensor 33, respectively.

[0066] In the first determination procedure of step S403, the second object's velocity having a first direction and the value of the second object's velocity being greater than a second preset value corresponds to the situation where the object approaches the second radar sensor 33 and the second radar sensor 33 senses the second object's velocity having the first direction, and the duration for which the second object's velocity is equal to zero is less than a third preset time length, corresponding to the situation where, after the second radar sensor 33 senses the object approaching, the object's stationary time does not exceed the third preset time length. In the second determination procedure of step S407, the second object's velocity having a second direction and the value of the second object's velocity being greater than a second preset value corresponds to the situation where the object moves away from the second radar sensor 33 and the second radar sensor 33 senses the second object's velocity having the second direction, and the duration for which the second object's velocity is equal to zero is less than a third preset time length, corresponding to the situation where, after the second radar sensor 33 senses the object moving away, the object's stationary time does not exceed the third preset time length. In other words, if the judgment result in step S403 is "yes", the processing device 34 determines that the object is close to the second radar sensor 33 and the object's stationary time does not exceed the third preset time length; if the judgment result in step S407 is "yes", the processing device 34 determines that the object is far away from the second radar sensor 33 and the object's stationary time does not exceed the third preset time length.

[0067] Please refer to Figure 10 ,in Figure 10 The results of the radar sensor in different scenarios are shown. ​ The image shown is the sensing result from the first radar sensor. ​ In the above, sensing result (a) corresponds to a kicking scenario; sensing result (b) corresponds to a kicking scenario involving a prosthetic or assistive device; sensing result (c) corresponds to a scenario where an object passes quickly under a car; sensing result (d) corresponds to a bouncing ball scenario; and sensing result (e) corresponds to a splashing water scenario. Taking sensing result (a) as an example, the first direction can be a positive direction, such as in the first segment C1; the second direction can be a negative direction, such as in the second segment C2.

[0068] In the sensing result (a), the object speed includes a first segment C1 and a second segment C2. The first segment C1 meets the condition that the object speed maintains a first state for more than a first preset time length, and the second segment C2 meets the condition that the object speed maintains a second state for more than a second preset time length. In other words, the first segment C1 is equivalent to the scenario of kicking the rear bumper with a foot, and the second segment C2 is equivalent to the scenario of kicking the rear bumper with a foot leaving the bumper. Therefore, the processing device controls the tailgate lock to unlock.

[0069] Similarly, in the sensing result (b), the object's velocity meets the condition of first maintaining the first state for more than a first preset time length, and then maintaining the second state for more than a second preset time length. Therefore, the processing device controls the tailgate lock to unlock.

[0070] In the sensing results (c), (d) and (e), since the object speed does not meet the condition of first maintaining the first state for more than the first preset time length and then maintaining the second state for more than the second preset time length, the processing device does not control the tailgate lock to unlock.

[0071] In summary, according to the tailgate control system and method of one or more embodiments above, the user can open the tailgate without manual operation, effectively increasing user convenience. Furthermore, the tailgate control system and method of one or more embodiments above ensure that the tailgate opens according to the user's needs, avoiding accidental opening. In addition, even if the radar sensing distance is affected by temperature, by setting the radar sensor's sensing distance to correspond to the radar sensor's temperature, the tailgate control system and method of the present invention can still operate effectively and normally. By controlling the tailgate lock to unlock only when the time for determining that the object's speed is zero does not exceed a preset time length, the problem of accidental opening of the tailgate can be further avoided.

[0072] While the present invention has been disclosed above with reference to the foregoing embodiments, it is not intended to limit the invention. Any modifications and refinements made without departing from the spirit and scope of the invention are within the scope of patent protection of the present invention. Please refer to the appended claims for the defined scope of protection of the present invention.

Claims

1. A tailgate control method executed by a processing device, the method comprising: Comprising: obtaining a temperature of a first radar sensor; setting a sensing distance of the first radar sensor corresponding to the temperature; obtaining a first sensing signal from the first radar sensor after the sensing distance is set; and controlling a trunk lock to be unlocked when a first object speed is determined to maintain a first state for more than a first predetermined time length and to maintain a second state for more than a second predetermined time length, wherein the first object speed indicates a relative speed of an object to the first radar sensor, the first state indicates that the first object speed has a first direction and a value greater than a first predetermined value, and the second state indicates that the first object speed has a second direction opposite to the first direction and a value greater than the first predetermined value. Further comprising:

2. The tailgate control method of claim 1, wherein performing a first determination procedure on the first object speed before determining that the first object speed maintains the first state for more than the first predetermined time length, to determine whether a time length that the first object speed is equal to zero is less than a third predetermined time length after the first object speed has the first direction and the value of the first object speed is greater than a second predetermined value; and performing a second determination procedure on the first object speed before determining that the first object speed maintains the second state for more than the second predetermined time length, to determine whether a time length that the first object speed is equal to zero is less than the third predetermined time length after the first object speed has the second direction and the value of the first object speed is greater than the second predetermined value, wherein controlling the trunk lock to be unlocked is performed when both the first determination procedure and the second determination procedure have positive determination results. Further comprising:

3. The tailgate control method of claim 1, wherein obtaining a second sensing signal from a second radar sensor; and wherein controlling the trunk lock to be unlocked is performed when a second object speed is determined to maintain a third state for more than the first predetermined time length and to maintain a fourth state for more than the second predetermined time length based on the second sensing signal, wherein the second object speed indicates a relative speed of the object to the second radar sensor, the third state indicates that the second object speed has the first direction and a value greater than a second predetermined value, and the fourth state indicates that the second object speed has the second direction and a value greater than the second predetermined value. Further comprising:

4. The tailgate control method of claim 3, wherein obtaining a temperature of the second radar sensor before obtaining the second sensing signal from the second radar sensor; and setting a sensing distance of the second radar sensor corresponding to the temperature of the second radar sensor. Further comprising:

5. The tailgate control method of claim 3, wherein performing a first determination procedure on the second object speed before determining that the second object speed maintains the third state for more than the first predetermined time length, to determine whether a time length that the second object speed is equal to zero is less than a third predetermined time length after the second object speed has the first direction and the value of the second object speed is greater than a third predetermined value; and performing a second determination procedure on the second object speed before determining that the second object speed maintains the fourth state for more than the second predetermined time length, to determine whether a time length that the second object speed is equal to zero is less than the third predetermined time length after the second object speed has the second direction and the value of the second object speed is greater than the third predetermined value. before determining that the second object speed maintains the fourth state for more than the second preset time length, a second determination procedure is performed on the second object speed to determine whether, after the second object speed has the second direction and the value of the second object speed is greater than the third preset value, the length of time that the second object speed is equal to zero is less than the third preset time length, wherein the control of the unlocking of the tailgate lock is performed when the first determination procedure and the second determination procedure both correspond to positive determination results.

6. The tailgate control method of claim 3, wherein The sensing direction of the first radar sensor is different from the sensing direction of the second radar sensor.

7. A tailgate control system characterized by, The application comprises: a first radar sensor for generating a first sensing signal; a tailgate lock; and a processing device connected to the first radar sensor and the tailgate lock, the processing device being configured to obtain the temperature of the first radar sensor, set the sensing distance of the first radar sensor to correspond to the temperature, obtain the first sensing signal from the first radar sensor after the setting, and control the unlocking of the tailgate lock when, after determining that a first object speed maintains a first state for more than a first preset time length, a second state is maintained for more than a second preset time length, wherein the first object speed indicates the relative speed of an object with respect to the first radar sensor, the first state indicates that the first object speed has a first direction and a value greater than a first preset value, and the second state indicates that the first object speed has a second direction opposite to the first direction and a value greater than the first preset value.

8. The tailgate control system of claim 7, wherein The processing device further performs a first determination procedure on the first object speed before determining that the first object speed maintains the first state for more than the first preset time length, to determine whether, after the first object speed has the first direction and the value of the first object speed is greater than a second preset value, the length of time that the first object speed is equal to zero is less than a third preset time length; and a second determination procedure is performed on the first object speed before determining that the first object speed maintains the second state for more than the second preset time length, to determine whether, after the first object speed has the second direction and the value of the first object speed is greater than the second preset value, the length of time that the first object speed is equal to zero is less than the third preset time length, wherein the control of the unlocking of the tailgate lock is performed when the first determination procedure and the second determination procedure both correspond to positive determination results.

9. The tailgate control system of claim 7, wherein The application further comprises: a second radar sensor for generating a second sensing signal and connected to the processing device, wherein the processing device controls the unlocking of the tailgate lock when, after further determining that a second object speed maintains a third state for more than the first preset time length, a fourth state is maintained for more than the second preset time length, wherein the second object speed indicates the relative speed of the object with respect to the second radar sensor, the third state indicates that the second object speed has the first direction and a value greater than a second preset value, and the fourth state indicates that the second object speed has the second direction and a value greater than the second preset value.

10. The tailgate control system of claim 9, wherein The processing device is further configured to obtain a temperature of the second radar sensor before obtaining the second sensing signal, and to set a sensing distance of the second radar sensor corresponding to the temperature of the second radar sensor.

11. The tailgate control system of claim 9, wherein The processing device is further configured to execute a first judgment procedure on the second object speed before determining that the second object speed maintains the third state for more than the first preset time length, to determine whether, after the second object speed has the first direction and the value of the second object speed is greater than a third preset value, a time length during which the second object speed is equal to zero is less than a third preset time length. The processing device is further configured to execute a second judgment procedure on the second object speed before determining that the second object speed maintains the fourth state for more than the second preset time length, to determine whether, after the second object speed has the second direction and the value of the second object speed is greater than the third preset value, a time length during which the second object speed is equal to zero is less than the third preset time length. The control of the unlocking of the tailgate lock is executed when the first judgment procedure and the second judgment procedure both correspond to positive determination results.

12. The liftgate control system of claim 9, wherein, The sensing direction of the first radar sensor is different from a direction perpendicular to the sensing direction of the second radar sensor.

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