Tail gate speed control method, device and system and vehicle

Abstract

The invention discloses a tail gate speed control method, device and system and a vehicle, and relates to the technical field of automobiles, and the tail gate speed control method comprises the steps that in the tail gate opening or closing process, the actual position and the actual speed of a tail gate in the current control period are obtained; acquiring a target position for opening or closing the tail gate, and determining a residual distance based on the target position and the actual position; obtaining a target motion parameter for the motion planning, and calculating at least one estimated distance required by the tail gate to move from the current position to the target position based on the actual speed and the target motion parameter; determining a motion stage of the tail gate in the next control period based on the residual distance and the at least one estimated distance; calculating the request speed of the next control period based on the motion phase, the target motion parameter and the actual speed; and controlling the tail gate to move according to the request speed. It can be ensured that the tail gate can smoothly move to the target position, and the impact and collision problems of the moving tail end are effectively avoided.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a tailgate speed control method, device, system, and vehicle. Background Technology

[0002] In the vehicle body control scenario, the opening and closing of the electric tailgate is achieved by driving the strut motor, and due to actual needs, different drive speeds are usually set throughout the entire stroke range of the electric tailgate movement.

[0003] Most current technical solutions use speed-grade control for the tailgate, but the speed control during the opening and closing process is not precise enough. Sudden speed changes during speed shifts cause significant impact on the lead screw structure of the strut. Summary of the Invention

[0004] This application provides a tailgate speed control method, device, system, and vehicle, which can improve the smoothness of tailgate movement and extend the service life of the tailgate support system.

[0005] In a first aspect, this application proposes a tailgate speed control method, the tailgate speed control method comprising: During the opening or closing of the tailgate, obtain the actual position and location of the tailgate within the current control cycle. International speed; Obtain the target position for opening or closing the tailgate, and determine the remaining distance based on the target position and the actual position; Obtain the target motion parameters used for this motion planning, and based on the actual speed and the target... Mark motion parameters and calculate at least one pre-motion parameter required for the tailgate to move from the current position to the target position. Estimate the distance; determine the movement stage of the tailgate in the next control cycle based on the remaining distance and the at least one estimated distance; The requested speed for the next control cycle is calculated based on the motion phase, the target motion parameters, and the actual speed. Control the tailgate movement according to the requested speed.

[0006] In one alternative implementation of the first aspect, the target motion parameters are preset initial motion parameters.

[0007] In an optional implementation of the first aspect, obtaining the target motion parameters for this motion planning includes: Obtain the desired position of the tailgate in the current control cycle; Calculate the positional deviation between the desired position and the actual position; Obtain the preset initial motion parameters, and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; The corrected motion parameters are used as the target running parameters.

[0008] In an optional implementation of the first aspect, correcting the initial motion parameters based on the position deviation includes: The position deviation is input to the PID controller to obtain the compensation amount; The initial motion parameters are corrected based on the compensation amount.

[0009] In an alternative implementation of the first aspect, the method further includes: If the absolute value of the position deviation is greater than or equal to the preset deviation threshold, the tailgate is controlled to decelerate according to the adjusted motion parameters until it moves to the target position.

[0010] In an alternative implementation of the first aspect, the target motion parameters include target acceleration. The parameters include: speed, target deceleration, target maximum speed, and target end velocity; the calculation of at least one estimated distance required for the tailgate to move from its current position to the target position based on the actual speed and the target motion parameters includes: Based on the actual speed, the target end speed, and the target deceleration, calculate the estimated deceleration distance required for the tailgate to decelerate from the actual speed to the target end speed; based on the actual speed, the target maximum speed, and the target acceleration, calculate the estimated acceleration distance required for the tailgate to accelerate from the actual speed to the target maximum speed.

[0011] In an alternative implementation of the first aspect, the statement based on the remaining distance and the... One less estimated distance determines the movement stage of the tailgate in the next control cycle, including: If the remaining distance is greater than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, then the tailgate is determined to be in a constant speed phase in the next control cycle. If the remaining distance is less than the estimated deceleration distance, it is determined that the tailgate is in the constant speed stage in the next control cycle; If the remaining distance is greater than or equal to the estimated deceleration distance and less than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, then the tailgate is determined to be in the constant speed phase in the next control cycle.

[0012] In an optional implementation of the first aspect, calculating the requested speed for the next control cycle based on the motion phase, the target motion parameters, and the actual speed includes: The distance coefficient and speed coefficient are determined based on the tailgate's expected motion stage in the next control cycle and the target motion parameters: If the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the target acceleration, and the speed coefficient is determined based on the target maximum speed; If the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the target deceleration, and the speed coefficient is determined based on the target end speed; Obtain the accumulated running distance since entering the current motion stage, wherein the current motion stage is the motion stage corresponding to the current control cycle; The requested speed for the next control cycle is determined based on the actual speed, the running distance, the distance coefficient, and the speed coefficient.

[0013] In an optional implementation of the first aspect, determining the requested speed for the next control cycle based on the actual speed, the running distance, the distance coefficient, and the speed coefficient includes: determining the requested speed for the next control cycle according to the following formula: ; Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

[0014] Secondly, this application provides a tailgate speed control device, comprising: The acquisition module is used to acquire information about the tailgate during the opening or closing process within the current control cycle. The actual position and actual speed; The remaining distance determination module is used to obtain the target position of the tailgate opening or closing, and determine the remaining distance based on the target position and the actual position; The estimated distance determination module is used to obtain the target motion parameters for this motion planning, and calculate at least one estimated distance required for the tailgate to move from the current position to the target position based on the actual speed and the target motion parameters; The motion phase determination module is used to determine the motion phase that the tailgate should be in the next control cycle based on the remaining distance and the at least one estimated distance. The request speed calculation module is used to calculate the request speed for the next control cycle based on the motion stage, the target motion parameters, and the actual speed. The control module is used to control the movement of the tailgate according to the requested speed.

[0015] In an optional implementation of the second aspect, the estimated distance determination module includes an acquisition unit, the acquisition unit being used for: Obtain the desired position of the tailgate in the current control cycle; Calculate the positional deviation between the desired position and the actual position; Obtain the preset initial motion parameters, and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; The corrected motion parameters are used as the target running parameters.

[0016] In an alternative implementation of the second aspect, the target motion parameters include target acceleration. Degree, target deceleration, target maximum velocity, and target terminal velocity; The request speed calculation module includes: The coefficient determination unit is used to determine the coefficient based on the movement stage of the tailgate in the next control cycle. The distance coefficient and speed coefficient are determined based on the target motion parameters: if the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the target acceleration, and the speed coefficient is determined based on the target maximum speed; if the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the target deceleration, and the speed coefficient is determined based on the target end speed. The running distance determination unit is used to obtain the running distance accumulated since entering the current motion stage, wherein the current motion stage is the motion stage corresponding to the current control cycle; A speed calculation unit is used to determine the requested speed for the next control cycle based on the actual speed, the running distance, the distance coefficient, and the speed coefficient.

[0017] In an optional implementation of the second aspect, the speed calculation unit is specifically used for: The request rate for the next control cycle is determined using the following formula: ; Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

[0018] Thirdly, this application provides a tailgate control system, including a tailgate drive device, a position feedback module, and a control unit. The position feedback module is used to detect the real-time position of the tailgate. The tailgate drive device is used to drive the tailgate to move. The tailgate drive device, the position feedback module, and the control unit are communicatively connected. The control unit is used to execute the tailgate speed control method provided in the first aspect.

[0019] Fourthly, this application provides a vehicle including the tailgate speed control device provided in the second aspect or the tailgate control system provided in the third aspect.

[0020] One or more technical solutions proposed in this application have at least the following technical effects: During the opening or closing of the tailgate, obtain the actual position and location of the tailgate within the current control cycle. Actual speed; obtain the target position for the tailgate opening or closing, and determine the actual speed based on the target position and the actual position. Remaining distance; Obtain the target motion parameters used for this motion planning, and base them on the actual speed and target distance. The system calculates at least one estimated distance required for the tailgate to move from its current position to the target position based on motion parameters; determines the appropriate motion stage for the tailgate in the next control cycle based on the remaining distance and at least one estimated distance; calculates the requested speed for the next control cycle based on the motion stage, target motion parameters, and actual speed; and controls the tailgate movement according to the requested speed. This application determines when the tailgate should enter an acceleration, constant speed, or deceleration phase by comparing the remaining distance with the estimated distance of at least one motion stage required to reach the target position in real time. Within each control cycle, the speed command for the next control cycle is re-planned based on the latest actual position and speed, ensuring that the tailgate can move smoothly and accurately to the target position, effectively avoiding impacts, collisions, or sudden stops at the end of the movement. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating an embodiment of the tailgate speed control method of this application; Figure 2 This is a flowchart illustrating step S50 in the tailgate speed control method of this application embodiment; Figure 3 A structural block diagram provided for an embodiment of the tailgate speed control device of this application; Figure 4 This is a structural block diagram of an embodiment of the tailgate control system of this application. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0025] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the tailgate speed control method of this application. In this embodiment, the tailgate speed control method includes steps S10 to S60: S10, during the opening or closing of the tailgate, obtain the actual position of the tailgate within the current control cycle. And actual speed.

[0026] This application employs an "acceleration-uniform speed-deceleration" motion model (i.e., T-shaped speed planning) to drive the tailgate opening or closing process, with the entire control process comprising multiple continuous control cycles. Within each control cycle, the actual position of the tailgate is detected in real time by a position sensor (e.g., an encoder) installed on the tailgate drive system (e.g., a drive motor, an electric strut), and the actual speed of the tailgate is obtained either by differential calculation of the continuously acquired position signals or directly using a speed sensor.

[0027] Understandably, traditional tailgate speed control schemes typically employ a one-time planning of the entire speed curve, meaning the speed command sequence for the entire journey is determined before the tailgate movement begins. This approach lacks the ability to adjust to unexpected situations during operation. In contrast, this application does not pre-calculate all speed commands before the tailgate movement begins. Instead, within each control cycle, it dynamically calculates the requested speed for the next control cycle based on the latest acquired actual position and speed. This allows the system to respond to external disturbances in real time, ensuring that the actual tailgate trajectory always closely follows the ideal planned curve, thereby avoiding motion shocks or mechanical vibrations caused by discrepancies with actual conditions.

[0028] S20: Obtain the target position for opening or closing the tailgate, and determine the remaining distance based on the target position and the actual position.

[0029] In this embodiment, the target position refers to the final physical position that the tailgate opening or closing action is expected to reach, i.e., the end position when the tailgate is fully open or fully closed. In scenarios such as encountering obstacles and needing to stop urgently, the target position can also be set as a safe intermediate position.

[0030] After determining the target location, the remaining distance can be obtained by calculating the absolute value of the difference between the target location and the actual location.

[0031] S30: Obtain the target motion parameters for this motion planning, and calculate at least one estimated distance required for the tailgate to move from the current position to the target position based on the actual speed and the target motion parameters.

[0032] In some implementations, the target motion parameters may include target acceleration (value greater than 0), target deceleration (value less than 0), target maximum velocity, and target end velocity. The target motion parameters may be pre-set initial motion parameters, or parameters obtained by correcting the initial motion parameters based on the tailgate position deviation. Specific implementations of the corrected motion parameters are described in detail below.

[0033] When the target motion parameters are the initial motion parameters, the target acceleration, target deceleration, target maximum velocity, and target terminal velocity correspond to the preset initial acceleration, initial deceleration, initial maximum velocity, and initial terminal velocity, respectively; when the target motion parameters are the corrected motion parameters, the target acceleration, target deceleration, target maximum velocity, and target terminal velocity correspond to the corrected acceleration, corrected deceleration, corrected maximum velocity, and corrected terminal velocity, respectively.

[0034] In some implementations, calculating at least one estimated distance required for the tailgate to move from its current position to the target position based on the actual speed and target motion parameters may include: Based on the actual speed, target end speed, and target deceleration, calculate the estimated deceleration distance required for the tailgate to decelerate from the actual speed to the target end speed; based on the actual speed, target maximum speed, and target acceleration, calculate the estimated acceleration distance required for the tailgate to accelerate from the actual speed to the target maximum speed.

[0035] More specifically, the estimated deceleration distance is determined using the following formula: , in, For actual speed, For the target terminal velocity, To slow down the target, To estimate the deceleration distance.

[0036] Furthermore, the estimated acceleration distance is determined using the following formula: ; in, For actual speed, For the target maximum speed, Accelerate towards the target To estimate the acceleration distance.

[0037] S40, determine the movement stage of the tailgate in the next control cycle based on the remaining distance and at least one estimated distance.

[0038] In some implementations, the movement phase of the tailgate in the next control cycle is determined by the following steps: If the remaining distance is greater than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, the tailgate is determined to be in the constant speed phase in the next control cycle; if the remaining distance is less than the estimated deceleration distance, the tailgate is determined to be in the deceleration phase in the next control cycle; if the remaining distance is greater than or equal to the estimated deceleration distance and less than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, the tailgate is determined to be in the acceleration phase in the next control cycle.

[0039] Understandably, if the remaining distance is greater than the sum of the estimated acceleration and deceleration distances, it indicates that the remaining path is sufficient to complete a full process of "accelerating to maximum speed → constant speed operation → decelerating to the final speed," so constant speed is maintained in between. If the remaining distance is less than the estimated deceleration distance, it indicates that the remaining path is insufficient to support the tailgate's smooth deceleration from the current speed to the final speed, and the deceleration process must be initiated immediately. If the remaining distance is greater than the preset deceleration distance but less than the sum of the estimated acceleration and deceleration distances, it indicates that the remaining path is insufficient to support a complete "acceleration-constant speed-deceleration" process, but sufficient to support the tailgate's smooth deceleration from the current speed to the final speed. In this case, the tailgate should be accelerated as much as possible or the current speed should be maintained to reserve space for subsequent deceleration. This method ensures that the tailgate movement planning is always based on the premise of "smoothly and accurately stopping at the target position," thereby achieving smooth tailgate movement and impact-free stopping.

[0040] S50 calculates the requested speed for the next control cycle based on the motion phase, target motion parameters, and actual speed.

[0041] In some implementations, such as Figure 2 As shown, the above-mentioned S50, which calculates the requested speed for the next control cycle based on the motion stage, target motion parameters, and actual speed, may include steps S501 to S503: S501, determining the distance coefficient and speed coefficient based on the target motion parameters according to the motion stage that the tailgate should be in the next control cycle; S502, obtaining the accumulated running distance since entering the current motion stage; wherein, the current motion stage is the motion stage corresponding to the current control cycle; S503, determining the requested speed for the next control cycle based on the actual speed, running distance, distance coefficient, and speed coefficient; In other cases, if the tailgate is in a constant speed phase in the next control cycle, the requested speed for the next control cycle will be set to the target maximum speed.

[0042] In the above S501, if the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the acceleration and the speed coefficient is determined based on the maximum speed; if the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the deceleration and the speed coefficient is determined based on the end speed.

[0043] More specifically, if the tailgate is in the acceleration phase during the next control cycle, the distance coefficient is determined using the following formula: ; Where Kn is the distance coefficient, k is a preset scaling factor used to adjust the sensitivity of the coefficient to motion parameters, which can be obtained through experimental calibration, and T is the duration of each control cycle. For maximum speed, It is acceleration.

[0044] Furthermore, the speed coefficient during the acceleration phase is determined using the following formula: ; in, For speed coefficient, This represents the actual speed of the current control cycle.

[0045] If the tailgate is in the acceleration phase during the next control cycle, the distance coefficient is determined using the following formula: ; in, For the terminal velocity, For deceleration.

[0046] Furthermore, the speed coefficient during the deceleration phase is determined using the following formula: .

[0047] In step S502 above, obtaining the cumulative running distance since entering the current motion phase may include the following steps: Calculate the absolute value of the difference between the actual position in the current control cycle and the marked starting position when entering the current motion phase to obtain the cumulative running distance.

[0048] The above-mentioned S503, based on the actual speed, running distance, distance coefficient, and speed coefficient, determines the requested speed for the next control cycle, including: determining the requested speed for the next control cycle according to the following formula: ; Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

[0049] In the above embodiments, the requested speed V gradually and smoothly approaches the target value as the running distance n increases, achieving a smooth effect of rapid change at startup and gradual change as the target approaches. Furthermore, the running distance n is bound to the path traversed in the current motion phase, allowing for dynamic decision-making based on the remaining path regardless of the initial speed, thus resolving the potential end-point collision problem that may occur with traditional solutions.

[0050] S60 controls the tailgate movement according to the requested speed.

[0051] In this embodiment, after calculating the requested speed for the next control cycle, the requested speed is converted into a control command (such as PWM duty cycle, voltage, or torque command) and output to the tailgate drive motor controller. The drive motor adjusts its output according to the command, causing the tailgate to tend to move at the requested speed in the next control cycle. At this point, a complete control cycle ends. The system returns to step S10 and begins the cycle of the next control cycle, that is, steps S10 to S60 are executed again. This cycle is repeated until the tailgate reaches the target position.

[0052] To enhance the system's adaptability and safety in complex environments, the tailgate speed control method of this application also dynamically adjusts motion planning parameters by providing real-time feedback on position deviations. This ensures the smooth opening and closing of the tailgate while significantly enhancing the system's ability to suppress external disturbances (such as load changes, wind resistance, or slope), and enabling it to respond quickly and safely when encountering obstacles or other abnormal situations.

[0053] Specifically, in step S30 above, obtaining the target motion parameters used for this motion planning may include: Obtain the desired position of the tailgate in the current control cycle; Calculate the positional deviation between the desired position and the actual position; Obtain the preset initial motion parameters, and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; The corrected motion parameters are used as the target operating parameters.

[0054] Specifically, in each control cycle, based on the motion parameters and actual velocity of the previous control cycle, the desired position of the tailgate in the current control cycle is calculated using integration or a kinematic model. Then, the deviation between the actual position and the desired position in the current control cycle is calculated to obtain the position deviation.

[0055] In some implementations, the initial motion parameters are corrected based on the position deviation, including: The position deviation is input to the PID controller to obtain the compensation amount; The initial motion parameters are corrected based on the compensation amount.

[0056] Specifically, the position deviation is input to the PID controller. The PID controller outputs compensation values ​​for maximum speed, acceleration, deceleration, and terminal speed. Then, the compensation values ​​corresponding to the maximum speed, acceleration, deceleration, and terminal speed are respectively superimposed onto the preset initial maximum speed, initial acceleration, initial deceleration, and initial terminal speed to obtain the corrected maximum speed, corrected acceleration, corrected deceleration, and corrected terminal speed. Based on the corrected motion parameters such as the corrected maximum speed, corrected acceleration, corrected deceleration, and corrected terminal speed, the estimated distance is calculated, the motion stage is determined, and the requested speed for the next control cycle is calculated.

[0057] In some embodiments, the tailgate speed control method of this application may further include: If the absolute value of the position deviation is greater than or equal to the preset deviation threshold, the tailgate will be controlled to decelerate according to the adjusted motion parameters until it moves to the target position.

[0058] Understandably, when the absolute value of the positional deviation is greater than or equal to the preset deviation threshold, it is usually caused by an emergency such as a collision with an obstacle. In this case, the system will activate a forced intervention mechanism: ignoring the current motion phase judgment logic, it will forcibly switch the tailgate's motion phase to the deceleration phase, and then directly set the deceleration parameter of the deceleration phase to the preset maximum safe deceleration value (this value is usually greater than the normal deceleration, designed to achieve an emergency stop). Finally, based on this maximum safe deceleration value, the system will control the tailgate to decelerate until it stops at the target position.

[0059] In the above embodiments, by combining PID closed-loop correction, the system can automatically compensate for disturbances such as load changes and slope effects, and quickly make a safe response when obstacles are detected, thereby improving the reliability and safety of the system in different environments.

[0060] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the tailgate speed control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0061] Please see Figure 3 , Figure 3 A structural block diagram of an embodiment of the tailgate speed control device provided in this application. In this embodiment, the tailgate speed control device includes: Module 10 is used to acquire the tailgate information during the opening or closing process of the tailgate in the current control cycle. The actual position and actual speed within; The remaining distance determination module 20 is used to obtain the target position of the tailgate opening or closing, and determine the remaining distance based on the target position and the actual position; The estimated distance determination module 30 is used to obtain the target motion parameters for this motion planning, and calculate at least one estimated distance required for the tailgate to move from the current position to the target position based on the actual speed and the target motion parameters. Motion phase determination module 40 is used to determine the tailgate based on the remaining distance and at least one estimated distance. The appropriate motion phase in the next control cycle; The request speed calculation module 50 is used to calculate the request speed for the next control cycle based on the motion phase, target motion parameters and actual speed. The first control module 60 is used to control the movement of the tailgate according to the requested speed.

[0062] In some implementations, the target motion parameters are preset initial motion parameters.

[0063] In some embodiments, the estimated distance determination module 30 includes a first acquisition unit and an estimated distance calculation unit, wherein the first acquisition unit includes: The first acquisition subunit is used to acquire the desired position of the tailgate in the current control cycle; The deviation calculation subunit is used to calculate the position deviation between the desired position and the actual position; The correction subunit is used to acquire the preset initial motion parameters and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; Define a sub-unit, which is used to take the corrected motion parameters as the target operating parameters.

[0064] The distance estimation calculation unit includes a first calculation subunit and a second calculation subunit; The first calculation subunit is used to calculate the estimated deceleration distance required for the tailgate to decelerate from the actual speed to the target end speed based on the actual speed, the target end speed, and the target deceleration. The second calculation subunit is used to calculate the estimated acceleration distance required for the tailgate to accelerate from the actual speed to the target maximum speed based on the actual speed, the target maximum speed, and the target acceleration.

[0065] In some implementations, the correction subunit is specifically used for: The position deviation is input to the PID controller to obtain the compensation amount; The initial motion parameters are corrected based on the compensation amount.

[0066] In some embodiments, the tailgate speed control device further includes a second processing module, which is used for: If the absolute value of the position deviation is greater than or equal to the preset deviation threshold, the tailgate will be controlled to decelerate according to the adjusted motion parameters until it moves to the target position.

[0067] In some implementations, the motion phase determination module 40 is specifically used for: If the remaining distance is greater than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, the tailgate is determined to be in the constant speed phase in the next control cycle; if the remaining distance is less than the estimated deceleration distance, the tailgate is determined to be in the constant speed phase in the next control cycle; if the remaining distance is greater than or equal to the estimated deceleration distance and less than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, the tailgate is determined to be in the constant speed phase in the next control cycle.

[0068] In some implementations, the request speed calculation module 50 includes: The coefficient determination unit is used to determine the base value based on the movement stage of the tailgate in the next control cycle. The distance coefficient and speed coefficient are determined based on the target motion parameters: if the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the target acceleration and the speed coefficient is determined based on the target maximum speed; if the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the target deceleration and the speed coefficient is determined based on the target end speed. The running distance determination unit is used to obtain the running distance accumulated since entering the current motion stage, wherein the current motion stage is the motion stage corresponding to the current control cycle; The speed calculation unit is used to determine the requested speed for the next control cycle based on the actual speed, running distance, distance coefficient, and speed coefficient.

[0069] In some implementations, the speed calculation unit is specifically used for: The request rate for the next control cycle is determined using the following formula: ; Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

[0070] The tailgate speed control device provided in this application adopts the tailgate speed control method in the above embodiments. Compared with the prior art, the beneficial effects of the tailgate speed control device provided in this application are the same as those of the tailgate speed control method provided in the above embodiments, and other technical features in the tailgate speed control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0071] Please see Figure 4 , Figure 4This is a structural block diagram of an embodiment of the tailgate control system of this application. In this embodiment, the tailgate control system includes a position feedback module 1001, a tailgate drive device 1002, and a control unit 1003. The tailgate drive device 1002 is used to drive the tailgate movement, the position feedback module 1001 is used to detect the real-time position of the tailgate, and the tailgate drive device 1002, the position feedback module 1001, and the control unit 1003 are connected to each other via a CAN bus, a LIN bus, or an Ethernet 1005. The control unit 1003 is used to execute the tailgate speed control method provided in the above embodiment.

[0072] The tailgate control system may also include a storage unit 11004, which stores at least a computer program that, when invoked by a processor, executes the tailgate speed control method provided in the above embodiments.

[0073] The storage unit 1004 can also store parameters such as initial motion parameters, target cloud strategy parameters, and target position.

[0074] The control unit 1003 may include a tailgate controller and / or a central controller. Based on this, different controller schemes can be used to implement the tailgate speed control method of the above embodiments.

[0075] In the first implementation, a distributed architecture with a central controller is adopted. The central controller, acting as the main control unit, establishes communication connections with the position feedback module and storage module via a bus (such as CAN or LIN) to acquire real-time data such as the actual position, actual speed, and position feedback signals of the tailgate. Based on this data, the central controller independently executes the tailgate speed control algorithm to determine the requested speed for the next control cycle.

[0076] When the algorithm reaches the drive control stage (corresponding to step S60 in the original process), the central controller converts the calculated requested speed into a drive control command and sends it to the tailgate controller via the bus. The tailgate controller responds to this drive control command and drives the tailgate strut.

[0077] In the second implementation, the tailgate controller acts as an independent control node, directly communicating with the position feedback module and storage module via a bus (such as CAN or LIN). The tailgate controller independently executes the entire process of the tailgate height control method (including calculation of estimated distance, determination of movement stage, and calculation of requested speed). In this implementation, the tailgate controller possesses complete signal processing and control decision-making capabilities, and can independently drive the tailgate strut without the intervention or assistance of a central controller, achieving autonomous closed-loop control of the tailgate speed.

[0078] In the above embodiments, the storage unit 1004 can be integrated into the controller as its storage unit, or it can be set as an external storage module independent of the controller, and interact with the controller via a bus.

[0079] In the above embodiments, the position feedback module 1001 can be implemented using a high-precision photoelectric encoder or a Hall sensor. The photoelectric encoder is typically integrated inside the tailgate strut motor. By detecting the rotation angle or number of revolutions of the motor shaft in real time, it converts this into a high-frequency pulse signal or digital signal and feeds it back to the controller, thereby accurately calculating the real-time opening position of the tailgate and forming the position feedback link in the closed-loop control.

[0080] The various modules / units in the aforementioned tailgate control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0081] The tailgate control system provided in this application adopts the tailgate speed control method in the above embodiments. Compared with the prior art, the beneficial effects of the tailgate control system provided in this application are the same as those of the tailgate speed control method provided in the above embodiments, and other technical features in this tailgate control system are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0082] This application also provides a vehicle including the tailgate speed control device or tailgate control system provided in the above embodiments.

[0083] The vehicle provided in this application employs the tailgate speed control device or tailgate control system described in the above embodiments. Compared with the prior art, the beneficial effects of the vehicle provided in this application are the same as those of the tailgate speed control device or tailgate control system provided in the above embodiments, and other technical features of the tailgate control system / vehicle are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0084] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the tailgate speed control method in the above embodiments.

[0085] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0086] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0087] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0088] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0089] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0090] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A tailgate speed control method, characterized in that, include: During the opening or closing of the tailgate, the actual position and speed of the tailgate within the current control cycle are obtained; Obtain the target position for opening or closing the tailgate, and determine the remaining distance based on the target position and the actual position; Obtain the target motion parameters for this motion planning, and based on the actual speed and the target motion parameters, calculate at least one estimated distance required for the tailgate to move from the current position to the target position; The movement stage of the tailgate in the next control cycle is determined based on the remaining distance and the at least one estimated distance; wherein the movement stage is an acceleration stage, a constant speed stage, or a deceleration stage. The requested speed for the next control cycle is calculated based on the motion phase, the target motion parameters, and the actual speed. Control the tailgate movement according to the requested speed.

2. The tailgate speed control method as described in claim 1, characterized in that, The target motion parameters are the preset initial motion parameters.

3. The tailgate speed control method as described in claim 1, characterized in that, The acquisition of target motion parameters for this motion planning includes: Obtain the desired position of the tailgate in the current control cycle; Calculate the positional deviation between the desired position and the actual position; Obtain the preset initial motion parameters, and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; The corrected motion parameters are used as the target running parameters.

4. The tailgate speed control method as described in claim 3, characterized in that, The correction of the initial motion parameters based on the position deviation includes: The position deviation is input to the PID controller to obtain the compensation amount; The initial motion parameters are corrected based on the compensation amount.

5. The tailgate speed control method as described in claim 4, characterized in that, The method further includes: If the absolute value of the position deviation is greater than or equal to the preset deviation threshold, the tailgate is controlled to decelerate according to the adjusted motion parameters until it moves to the target position.

6. The tailgate speed control method according to any one of claims 1 to 5, characterized in that, The target motion parameters include target acceleration, target deceleration, target maximum velocity, and target terminal velocity. Degree; the calculation of the tailgate's position from the current position based on the actual speed and the target motion parameters. At least one estimated distance required to move the target location includes: Based on the actual speed, the target end speed, and the target deceleration, the tailgate is calculated. The estimated deceleration distance required to reduce from the actual speed to the target end speed; Based on the actual speed, the target maximum speed, and the target acceleration, the tailgate is calculated. The estimated acceleration distance required to accelerate from the actual speed to the target maximum speed.

7. The tailgate speed control method as described in claim 6, characterized in that, The basis of The remaining distance and the at least one estimated distance determine the movement phase of the tailgate in the next control cycle, including: If the remaining distance is greater than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, then the tailgate is determined to be in a constant speed phase in the next control cycle. If the remaining distance is less than the estimated deceleration distance, it is determined that the tailgate is in the constant speed stage in the next control cycle; If the remaining distance is greater than or equal to the estimated deceleration distance and less than or equal to the sum of the estimated acceleration distance and the estimated deceleration distance, then the tailgate is determined to be in the constant speed phase in the next control cycle.

8. The tailgate speed control method as described in claim 7, characterized in that, The calculation of the requested speed for the next control cycle based on the motion phase, the target motion parameters, and the actual speed includes: The distance coefficient and speed coefficient are determined based on the tailgate's expected motion stage in the next control cycle and the target motion parameters: If the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the target acceleration, and the speed coefficient is determined based on the target maximum speed; If the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the target deceleration, and the speed coefficient is determined based on the target end speed; Obtain the accumulated running distance since entering the current motion stage, wherein the current motion stage is the motion stage corresponding to the current control cycle; The requested speed for the next control cycle is determined based on the actual speed, the running distance, the distance coefficient, and the speed coefficient.

9. The tailgate speed control method as described in claim 8, characterized in that, The process of determining the requested speed for the next control cycle based on the actual speed, the running distance, the distance coefficient, and the speed coefficient includes: The request rate for the next control cycle is determined using the following formula: ； Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

10. A tailgate speed control device, characterized in that, include: The acquisition module is used to acquire information about the tailgate during the opening or closing process within the current control cycle. The actual position and actual speed; The remaining distance determination module is used to obtain the target position of the tailgate opening or closing, and determine the remaining distance based on the target position and the actual position; The distance estimation module is used to acquire the target motion parameters for this motion planning, and based on the actual speed and the target motion parameters, calculate the distance the tailgate will move from the current position to the target position. At least one estimated distance is required for the target location; The motion phase determination module is used to determine the motion phase that the tailgate should be in the next control cycle based on the remaining distance and the at least one estimated distance; wherein the motion phase is an acceleration phase, a constant speed phase, or a deceleration phase; The request speed calculation module is used to calculate the request speed for the next control cycle based on the motion stage, the target motion parameters, and the actual speed. The first control module is used to control the movement of the tailgate according to the requested speed.

11. The tailgate speed control device as described in claim 10, characterized in that, The estimated distance determination module includes an acquisition unit, which is used for: Obtain the desired position of the tailgate in the current control cycle; Calculate the positional deviation between the desired position and the actual position; Obtain the preset initial motion parameters, and correct the initial motion parameters based on the position deviation to obtain the corrected motion parameters; The corrected motion parameters are used as the target running parameters.

12. The tailgate speed control device as described in claim 10, characterized in that, The target transport Dynamic parameters include target acceleration, target deceleration, target maximum velocity, and target terminal velocity; The request speed calculation module includes: The coefficient determination unit is used to determine the coefficient based on the movement stage of the tailgate in the next control cycle. The distance coefficient and speed coefficient are determined based on the target motion parameters: if the tailgate is in the acceleration phase in the next control cycle, the distance coefficient is determined based on the target acceleration, and the speed coefficient is determined based on the target maximum speed; if the tailgate is in the deceleration phase in the next control cycle, the distance coefficient is determined based on the target deceleration, and the speed coefficient is determined based on the target end speed. The running distance determination unit is used to obtain the running distance accumulated since entering the current motion stage, wherein the current motion stage is the motion stage corresponding to the current control cycle; A speed calculation unit is used to determine the requested speed for the next control cycle based on the actual speed, the running distance, the distance coefficient, and the speed coefficient.

13. The tailgate speed control device as described in claim 12, characterized in that, The speed calculation unit is specifically used for: The request rate for the next control cycle is determined using the following formula: ； Where V is the requested speed for the next control cycle, Vc is the actual speed for the current control cycle, Kv is the speed coefficient, Kn is the distance coefficient, and n is the running distance.

14. A tailgate control system, characterized in that, The device includes a tailgate drive unit, a position feedback module, and a control unit. The position feedback module is used to detect the real-time position of the tailgate. The tailgate drive unit is used to drive the tailgate to move. The tailgate drive unit, the position feedback module, and the control unit are communicatively connected. The control unit is used to execute the tailgate speed control method as described in any one of claims 1 to 9.

15. A vehicle, characterized in that, Includes the tailgate speed control device as described in any one of claims 10 to 13 or the tailgate control system as described in claim 14.

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