Vehicle back door integrated control method and system based on integrated execution mechanism

Abstract

The invention provides a vehicle back door integrated control method and system based on an integrated execution mechanism, and belongs to the technical field of door lock control. The integrated executing mechanism comprises a lock body assembly and an integrated controller which are physically integrated into a whole; wherein a plurality of position sensors used for detecting mechanical movement of the lock body are arranged in the lock body assembly, and the integrated controller is electrically connected with signal output ends of the plurality of position sensors; and in a static period when the lock body assembly does not execute any unlocking and locking actions, mechanical fingerprint extraction, event feature template matching, preset event triggering and event information reporting operations are executed based on the integrated controller. According to the invention, while the hardware deep integration and redundancy simplification functions of the electric tail gate system are realized, the potential value of the lock body sensor is fully utilized, the dimension of vehicle state sensing is expanded with low cost, and the intelligent monitoring and diagnosis capability of the vehicle in the use process is improved.

Description

Technical Field

[0001] This invention belongs to the field of door lock control technology, and particularly relates to an integrated control method and system for vehicle tailgate based on an integrated actuator. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, electric tailgate systems in vehicles generally adopt a split architecture, that is, an independent tailgate lock assembly and an independent electronic control unit (ECU) are connected by a wiring harness to work together to complete functions such as unlocking, closing, and driving the electric strut of the tailgate.

[0004] However, this architecture has the following technical problems: (1) In the split architecture, the tailgate lock assembly only acts as a passive actuator. The position sensors (such as half-lock and full-lock switches) installed inside it have a single function and can only be used to feed back the extreme position status of the lock hook to the ECU. These sensors are idle for most of the time when the vehicle is in motion or the tailgate lock is idle. At the same time, in order to adapt to different vehicle configurations, the independent ECU often reserves many hardware interfaces that are no longer used in actual applications (such as dual strut drive, anti-pinch strip interface, etc.), resulting in a large PCB size and complex housing structure.

[0005] (2) Existing vehicle perception systems mainly rely on specially deployed sensors, such as accelerometers for collision detection, radar and cameras for driver assistance. These sensors usually only serve specific functions (such as airbag triggering and autonomous driving). For frequent but difficult-to-detect events such as low-speed collisions, parking scrapes, and abnormal noises from the vehicle body structure, existing systems lack low-cost, all-weather monitoring methods. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention provides a vehicle tailgate integrated control method and system based on an integrated actuator. This method can achieve deep hardware integration of the electric tailgate system and streamline redundant functions, while making full use of the potential value of the lock body sensor. This expands the dimensions of vehicle status perception at low cost and improves the vehicle's intelligent monitoring and diagnostic capabilities during use.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: The first aspect of the present invention provides an integrated control method for a vehicle tailgate based on an integrated actuator.

[0008] An integrated control method for a vehicle tailgate based on an integrated actuator includes: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; During static periods when the lock assembly does not perform any unlocking or locking actions, the following operations are performed based on the integrated controller: The original time-domain waveform of the lock body assembly under external environmental excitation is continuously collected by the position sensor as a passive vibration signal; the obtained passive vibration signal is transformed and analyzed in the time and frequency domain, and the vibration feature vector used to characterize the combined effect of the current excitation source and transmission path is extracted as the mechanical fingerprint of the current vehicle state. The mechanical fingerprint is matched with an internally stored mechanical fingerprint database, which contains multiple event feature templates. Each event feature template corresponds to a mechanical fingerprint transmitted from the vehicle structure to the rear door lock position when a preset event occurs. When the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, it is considered that a corresponding preset event has occurred, and the event occurrence information is reported to the vehicle controller through the vehicle's communication network.

[0009] Furthermore, the preset events include low-speed collision events and scrape events, that is: the mechanical fingerprint database pre-stores low-speed collision event feature templates, which are obtained by collecting characteristic mechanical fingerprints of the vehicle under various typical low-speed collision conditions and transmitting them to the rear door lock position in advance and calibrating them in advance. When the integrated controller determines that a low-speed collision or scrape event has occurred, the reported event information includes the timestamp of the collision, the collision intensity level determined based on the energy characteristic parameters in the mechanical fingerprint, and the predicted location of the collision determined based on the spectral distribution characteristic parameters in the mechanical fingerprint.

[0010] Furthermore, the preset events also include events where the vehicle's tailgate and surrounding body structure generate abnormal vibrations and noises. That is, the mechanical fingerprint database contains multiple abnormal noise event feature templates, each of which corresponds to a specific type of structural loosening or component wear, resulting in a characteristic mechanical fingerprint. When the integrated controller determines that an abnormal vibration or noise event has occurred, the reported event information includes the vehicle operating condition information at the time of the abnormality, the type of abnormal noise that was successfully matched, and the duration and frequency of occurrence of the corresponding abnormal noise mechanical fingerprint, in order to construct a historical evolution map of the vehicle's structural health.

[0011] Furthermore, the integrated controller is connected to the vehicle's communication network through a single vehicle interface, which simultaneously serves as both a power access point and a communication access point. After determining that a corresponding preset event has occurred, the integrated controller selects a triggering method for the vehicle controller through the single vehicle interface based on the vehicle's current power consumption mode, and reports the event occurrence information. The triggering method includes a network packet triggering method and an out-of-band wake-up signal triggering method.

[0012] Furthermore, the extraction of the vibration feature vector includes: performing a short-time Fourier transform on the passive vibration signal to obtain the time-frequency spectrum matrix of the signal; performing dimensionality reduction and feature compression on the time-frequency spectrum matrix to extract multi-dimensional features including the main frequency trajectory, the change curve of the energy proportion of each frequency band over time, and the spectral peak entropy, which together constitute the vibration feature vector.

[0013] Furthermore, under the calibration condition where no preset event occurs in the vehicle, the passive vibration signal is continuously collected and learned based on the integrated controller to construct a background mechanical fingerprint baseline for characterizing the current structural characteristics of the vehicle. When the deviation between the continuously collected mechanical fingerprint and the background mechanical fingerprint baseline continues to exceed a preset stability threshold, it is determined that the vehicle structural characteristics have been permanently changed, and the corresponding event feature template is updated.

[0014] A second aspect of the present invention provides an integrated control system for a vehicle tailgate based on an integrated actuator.

[0015] An integrated control system for a vehicle tailgate based on an integrated actuator, comprising: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; The integrated controller includes: The passive monitoring module is used to continuously collect the original time-domain waveform of the lock body assembly as a passive vibration signal during the static period when the lock body assembly does not perform any unlocking or locking actions, through a position sensor. The fingerprint extraction module is used to perform time-frequency domain transformation and analysis on the obtained passive vibration signal, and extract the vibration feature vector that characterizes the combined effect of the current excitation source and transmission path as the mechanical fingerprint of the current vehicle state. The fingerprint database module is used to pre-store the mechanical fingerprint database, which contains multiple event feature templates. Each event feature template corresponds to a mechanical fingerprint that is transmitted from the vehicle structure to the rear door lock position when a preset event occurs. The event matching module is used to match the extracted mechanical fingerprint with the event feature templates in the mechanical fingerprint database; The event reporting module is used to determine that a corresponding preset event has occurred when the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, and to report the event occurrence information to the vehicle controller through the vehicle's communication network.

[0016] Furthermore, a vehicle tailgate integrated control system based on an integrated actuator also includes a template update module, which is used to continuously collect and learn the passive vibration signal based on the integrated controller under calibration conditions where no preset event occurs in the vehicle, so as to construct a background mechanical fingerprint baseline for characterizing the current structural characteristics of the vehicle itself; when the deviation between the continuously collected mechanical fingerprint and the background mechanical fingerprint baseline continues to exceed a preset stability threshold, it is determined that the vehicle structural characteristics have been permanently changed, and the corresponding event feature template is updated.

[0017] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the steps of a vehicle tailgate integrated control method based on an integrated actuator as described in the first aspect of the present invention.

[0018] The fourth aspect of the present invention provides an electronic device including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a vehicle tailgate integrated control method based on an integrated actuator as described in the first aspect of the present invention.

[0019] The above one or more technical solutions have the following beneficial effects: (1) This invention physically integrates the controller and the lock assembly into one unit, enabling the integrated controller to be directly electrically connected to the position sensor inside the lock assembly. Based on this, this application breaks through the single purpose of existing solutions where position sensors can only provide feedback on extreme position signals when the lock assembly is in motion. Instead, it can "awaken" these previously idle sensors and continuously collect their output raw time-domain waveforms during static periods when the lock assembly is not performing any unlocking or locking actions. This means that the originally single-function sensor is used as a sensing unit for vehicle structural vibration; simultaneously, due to this deep functional reuse, this invention can achieve entirely new sensing functions without adding any additional dedicated sensors (such as accelerometers) to the vehicle. This, in turn, promotes the simplification of the system architecture, significantly optimizing PCB size and housing structure. Therefore, this application replaces "functional stacking" with "multi-purpose use," fundamentally solving the problem of insufficient hardware resource utilization in existing architectures.

[0020] (2) This invention transforms the rear door lock assembly into a permanent, highly sensitive vehicle structural vibration sensing node. By continuously collecting passive vibration signals throughout the vehicle's entire lifecycle and extracting its unique "mechanical fingerprint," it can accurately identify and record events that are difficult for sensing systems to capture, such as low-speed collisions, parking scrapes, and structural noises, at extremely low cost. Specifically, when a vehicle experiences a low-speed collision or scrape, this invention can not only record the timestamp and intensity level of the collision, but also infer the approximate location of the collision through the spectral distribution characteristics of the mechanical fingerprint, providing crucial evidence for accident tracing and liability determination. When the vehicle body structure produces abnormal vibrations or noises, this invention can classify the type of noise and record its duration and frequency, thereby constructing a historical evolution map of the vehicle's structural health, providing accurate fault location and predictive maintenance basis for after-sales repair. This all-weather, full-lifecycle monitoring capability is something that existing sensing systems relying on dedicated sensors cannot achieve due to their high cost.

[0021] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0023] Figure 1 This is a flowchart of a vehicle tailgate integrated control method based on an integrated actuator, according to Embodiment 1 of the present invention. Detailed Implementation

[0024] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0025] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] Example 1 This embodiment discloses an integrated control method for vehicle tailgate based on an integrated actuator.

[0028] like Figure 1 As shown, a vehicle tailgate integrated control method based on an integrated actuator includes: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; During static periods when the lock assembly does not perform any unlocking or locking actions, the following operations are performed based on the integrated controller: Step S1: Continuously collect the original time-domain waveform of the lock body assembly due to external environmental excitation through the position sensor as a passive vibration signal; perform time-frequency domain transformation and analysis on the obtained passive vibration signal, and extract the vibration feature vector used to characterize the combined effect of the current excitation source and transmission path as the mechanical fingerprint of the current vehicle state; Step S2: Match the mechanical fingerprint with the internally stored mechanical fingerprint database. The mechanical fingerprint database contains multiple event feature templates, and each event feature template corresponds to a mechanical fingerprint that is transmitted from the vehicle structure to the rear door lock position when a preset event occurs. Step S3: When the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, it is considered that a corresponding preset event has occurred, and the event occurrence information is reported to the vehicle controller through the vehicle's communication network.

[0029] Based on the above methods, this invention can achieve deep hardware integration and streamline redundant functions in the electric tailgate system, while fully utilizing the potential value of the lock body sensor to expand the dimensions of vehicle status perception at low cost and improve the vehicle's intelligent monitoring and diagnostic capabilities during use. To facilitate understanding of the technical solution of this invention, the specific implementation methods of this invention will be further explained and described below.

[0030] In step S1, the original time-domain waveform generated by the lock body assembly due to external environmental excitation is continuously collected by the position sensor as a passive vibration signal; the obtained passive vibration signal is transformed and analyzed in the time and frequency domain, and the vibration feature vector used to characterize the combined effect of the current excitation source and transmission path is extracted as the mechanical fingerprint of the current vehicle state.

[0031] Multiple position sensors (half-lock position sensor, full-lock position sensor) are installed inside the lock assembly, and their signal output terminals are directly electrically connected to the integrated controller. During static periods when the lock assembly does not perform any locking or unlocking actions (e.g., when the vehicle is parked with the engine off, or when the tailgate is not operated while the vehicle is in motion), the integrated controller continuously monitors and collects the output signals of the position sensors. In practice, the integrated controller uses its internal analog-to-digital converter module to continuously sample the analog voltage signals output by the position sensors at a preset sampling frequency, obtaining the raw time-domain waveform that changes continuously over time. This raw time-domain waveform is not filtered or level-shifted, retaining all the microscopic vibration information of the lock assembly and its connected vehicle body structure sensed by the sensors and caused by external environmental excitations (such as road bumps, engine or motor operation, external vehicle impacts, etc.). The integrated controller temporarily stores the collected raw time-domain waveform data in its internal buffer as a passive vibration signal for subsequent processing.

[0032] The integrated controller performs time-frequency domain transformation and analysis on the acquired passive vibration signal. Specifically, a short-time Fourier transform is first performed on the passive vibration signal. The basic method is as follows: select an appropriate time window function (such as the Hanning window), set the window length and overlap rate, and divide the long-term vibration signal into multiple short-time segments; perform a Fourier transform on each short-time segment to obtain the spectrum at that moment; arrange the spectra of all moments in chronological order to construct a two-dimensional time-frequency matrix, where the rows of the matrix represent frequencies, the columns represent times, and the values ​​of the matrix elements represent the signal energy at the corresponding moment and frequency.

[0033] After obtaining the time-frequency spectrum matrix, it undergoes dimensionality reduction and feature compression to extract multidimensional feature vectors that can efficiently characterize the essential features of the signal. Specifically, this includes: 1) Master frequency trajectory: For each time point, identify the frequency component with the highest energy in the time spectrum and take it as the master frequency at that time; connect the master frequencies at all times to form the trajectory curve of the master frequency changing with time.

[0034] 2) Curves showing the change of energy proportion of each frequency band over time: Divide the frequency range into multiple preset frequency bands (e.g., low frequency band 20-200Hz, mid frequency band 200-1000Hz, high frequency band 1000-5000Hz, etc.). For each time point, calculate the total energy in each frequency band and divide it by the total energy at that time to obtain the energy proportion of each frequency band. Arrange the energy proportions of each frequency band at all times according to time to obtain the curves showing the change of energy proportion of each frequency band over time.

[0035] 3) Spectral peak entropy: For the spectrum at each time point, it is treated as a probability distribution (normalizing the energy of each frequency), and the entropy value of this distribution is calculated, which is the spectral peak entropy. Spectral peak entropy reflects the degree of disorder or concentration of the spectrum. A low entropy value indicates that the energy is concentrated on a few frequencies, while a high entropy value indicates that the energy distribution is dispersed.

[0036] The extracted main frequency trajectory, the time-varying curves of energy proportion in each frequency band, and the spectral peak entropy are combined to form a multi-dimensional feature vector. This feature vector comprehensively reflects the nature of the current excitation source and the structural path characteristics of the vibration transmitted from the excitation source to the rear door lock position. Therefore, it can uniquely characterize the combined effect of the current excitation source and the transmission path, serving as a mechanical fingerprint of the current vehicle state.

[0037] In step S2, the mechanical fingerprint is matched with the internally stored mechanical fingerprint database. The mechanical fingerprint database contains multiple event feature templates, and each event feature template corresponds to a mechanical fingerprint that is transmitted from the vehicle structure to the rear door lock position when a preset event occurs.

[0038] The integrated controller's internal memory pre-stores a mechanical fingerprint database. This database contains multiple event feature templates, each of which is essentially a multi-dimensional feature vector, with dimensions and structure consistent with the mechanical fingerprint extracted in step S1. Each event feature template corresponds to a preset event (e.g., low-speed collision, specific type of structural noise, etc.) that occurs, and is transmitted to the rear door lock location using the same acquisition and processing methods. These event feature templates are pre-written into the integrated controller after being acquired and calibrated under various typical operating conditions through real vehicle testing or bench testing during the vehicle development phase.

[0039] During vehicle operation, the integrated controller compares the current mechanical fingerprint extracted in real time in step S1 with each event feature template stored in the mechanical fingerprint database. Similarity calculation can employ various methods, such as calculating the Euclidean distance or cosine similarity between two feature vectors, or using more complex pattern recognition algorithms (such as support vector machines or neural networks). A higher similarity value indicates a closer resemblance between the current mechanical fingerprint and the event features represented by that event feature template.

[0040] Each event feature template corresponds to a mechanical fingerprint transmitted from the vehicle structure to the rear door lock position when a preset event occurs; wherein, the preset events include: 1) Low-speed collisions and scrapes involving vehicles.

[0041] The mechanical fingerprint library pre-stores the feature templates for low-speed collision events. The feature templates for low-speed collision events are obtained by pre-calibrating the characteristic mechanical fingerprints transmitted to the position of the rear door lock when the vehicle is in a variety of typical low-speed collision conditions; when the integrated controller determines that a low-speed collision or rubbing event has occurred, the reported event occurrence information includes the time stamp of the collision occurrence, the collision intensity level determined according to the energy characteristic parameters in the mechanical fingerprint, and the predicted orientation of the collision occurrence determined according to the spectral distribution characteristic parameters in the mechanical fingerprint. In the specific implementation process: The mechanical fingerprint library pre-stores the feature templates for low-speed collision events. The calibration method for this template is as follows: during the vehicle R & D stage, simulate a variety of typical low-speed collision conditions, such as collisions at different positions, angles, and speeds of the front bumper, collisions at different positions of the rear bumper, and rubbing at different positions on the side of the vehicle body. In each collision condition, collect the vibration signals transmitted to this position during the collision through a high-precision sensor installed at the position of the rear door lock, and extract its feature vector according to the method described in step S1, and store it as a feature template for a low-speed collision event under this condition in the mechanical fingerprint library.

[0042] When the matching result in step S2 shows that the similarity between the current mechanical fingerprint and a feature template for a low-speed collision event exceeds the preset matching threshold, the integrated controller determines that a low-speed collision or rubbing event has occurred. At this time, the event occurrence information generated and reported by the integrated controller includes: a) The time stamp of the collision occurrence: Read the exact time of the event occurrence from the internal clock of the integrated controller.

[0043] b) The collision intensity level: Determine it according to the energy characteristic parameters in the current mechanical fingerprint (such as the total energy of the time-frequency spectrum matrix or the energy integral within a specific frequency band). The mapping relationship between the energy threshold and the intensity level can be preset, for example, when the energy value E < E1, it is a minor collision, when E1 ≤ E < E2, it is a medium collision, and when E ≥ E2, it is a severe collision.

[0044] c) The predicted orientation of the collision occurrence: Determine it according to the spectral distribution characteristic parameters in the current mechanical fingerprint. For collisions in different orientations, the vibration transmission paths are different, resulting in differences in the energy distribution of the final extracted mechanical fingerprint in a specific frequency band. By analyzing which orientation's event feature template is successfully matched, or by analyzing the proportional relationship of the energies in different frequency bands in the current mechanical fingerprint, the approximate orientation of the collision occurrence can be inferred, such as "left rear", "right rear", etc. [[ID=,15]]

[0045] 2) Abnormal vibration and abnormal noise events occur in the vehicle's rear door and the surrounding body structure.

[0046] The mechanical fingerprint database pre-stores multiple abnormal noise event feature templates. Each abnormal noise event feature template corresponds to a specific type of structural loosening or component wear, resulting in a characteristic mechanical fingerprint. When the integrated controller determines that an abnormal vibration or abnormal noise event has occurred, the reported event information includes the vehicle's operating condition information at the time of the abnormality, the successfully matched abnormal noise type, and the duration and frequency of the corresponding abnormal noise mechanical fingerprint, which are used to construct a historical evolution map of the vehicle's structural health. In the specific implementation process: The mechanical fingerprint database contains multiple abnormal noise event feature templates. These templates are calibrated as follows: During the vehicle development phase, different types of structural loosening or component wear faults are simulated manually or mechanically, such as loose tailgate hinges, detached interior panel clips, and aging shock absorbers. Under each fault condition, the vehicle is operated under specific conditions (such as driving over speed bumps at a specific speed, or engine idling at a specific RPM), and abnormal vibration signals sensed at the tailgate lock position are collected. The feature vectors are extracted according to the method described in step S1 and stored in the mechanical fingerprint database as event feature templates for that type of abnormal noise.

[0047] When the matching result of step S2 shows that the similarity between the current mechanical fingerprint and a certain abnormal noise event feature template exceeds a preset matching threshold, the integrated controller determines that an abnormal vibration or abnormal noise event of that type has occurred. At this time, the event occurrence information generated and reported by the integrated controller includes: a) Vehicle operating condition information when an anomaly occurs: information such as current vehicle speed, engine / motor speed, and gear position obtained from the vehicle's communication network (such as CAN bus).

[0048] b) Matched types of abnormal noises: such as "loose rear door hinge noise" and "resonance noise from interior trim panels".

[0049] c) Duration and frequency of corresponding abnormal noise mechanical fingerprints: The integrated controller records the start and end times of each abnormal noise event of this type and calculates its duration; it also counts the total number of times this type of abnormal noise event occurs within a preset time period (e.g., one week, one month). This information is continuously recorded and updated to construct a historical evolution map of the vehicle's structural health, providing a basis for trend analysis of structural health deterioration in after-sales maintenance.

[0050] In step S3, when the similarity between the mechanical fingerprint and any event feature template exceeds a preset matching threshold, a corresponding preset event is considered to have occurred, and the event occurrence information is reported to the vehicle controller via the vehicle's communication network. In the specific implementation process: The integrated controller has a preset similarity matching threshold T. After completing the comparison in step S2, for each event feature template, if the calculated similarity value S ≥ T, it is determined that the current mechanical fingerprint has successfully matched the template, that is, the preset event corresponding to the template has occurred. If the similarity of multiple templates exceeds the threshold, the template with the highest similarity can be selected as the matching result, or all successfully matched event information can be reported for further arbitration by the vehicle controller.

[0051] After determining that an event has occurred, the integrated controller will encapsulate the event information (including event type, timestamp, and related characteristic parameters such as collision intensity, orientation, and abnormal noise type) into a message according to a preset data format, and send it to the vehicle controller through the vehicle's communication network (such as CAN bus).

[0052] The integrated actuator housing features a single vehicle interface that integrates power and communication pins. Through this interface, the integrated controller simultaneously connects to the vehicle's power network (to obtain operating power) and communication network.

[0053] The integrated controller monitors the vehicle's power consumption mode. When the vehicle is in normal operating mode and the communication network is active, the integrated controller determines that a preset event has occurred and directly sends the encapsulated event information to the communication network via conventional network message methods, which the vehicle controller can then receive normally.

[0054] When the vehicle is in a low-power sleep mode (e.g., after the vehicle is turned off and locked), the communication network may have entered a sleep state, making communication impossible via regular network packets. In this case, after the integrated controller determines that a preset event has occurred (e.g., a minor collision while parked), it sends an out-of-band wake-up signal through a specific pin in a single vehicle interface. This signal directly triggers the vehicle controller or gateway to wake up from sleep mode and activate the communication network. Once the network is awake, the integrated controller then reports the event information via regular network packets. This mechanism ensures that important events are reliably recorded and reported under any power consumption mode.

[0055] To adapt to the slow changes in structural characteristics throughout the vehicle's lifecycle (such as component aging and slight deformation), this invention also introduces a self-learning mechanism, specifically including: Under a calibrated operating condition after the vehicle leaves the factory (e.g., the first 1000 kilometers of driving a new car, or a specific mileage after each maintenance), the integrated controller continuously collects passive vibration signals during normal driving (without any preset events occurring) and extracts mechanical fingerprints according to the method in step S1. By performing statistical learning on a large number of mechanical fingerprints under calibrated operating conditions (e.g., calculating the mean, variance, etc.), a background mechanical fingerprint baseline representing the current structural characteristics of the vehicle is constructed.

[0056] During the long-term use of the vehicle, the integrated controller continuously monitors the deviation between the real-time extracted mechanical fingerprint and the background mechanical fingerprint baseline. If the deviation of a certain type of feature (such as the main oscillation frequency trajectory, specific frequency band energy, etc.) continues to exceed the preset stability threshold, and this deviation is permanent (e.g., it exists for many consecutive days and under various operating conditions), it is determined that the structural characteristics of the vehicle have been permanently changed (e.g., non-original parts have been replaced, irreversible deformation has occurred, etc.).

[0057] At this point, the integrated controller can trigger an update process: using the currently observed new and stable mechanical fingerprints as a benchmark, the background mechanical fingerprint baseline is updated; simultaneously, based on changes in structural characteristics, certain event feature templates in the mechanical fingerprint database are adjusted or recalibrated accordingly to ensure the accuracy of subsequent event identification. This mechanism guarantees the system's adaptability and reliability throughout its entire lifecycle.

[0058] Example 2 This embodiment discloses an integrated control system for vehicle tailgate based on an integrated actuator.

[0059] An integrated control system for a vehicle tailgate based on an integrated actuator, comprising: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; The integrated controller includes: The passive monitoring module is used to continuously collect the original time-domain waveform of the lock body assembly as a passive vibration signal during the static period when the lock body assembly does not perform any unlocking or locking actions, through a position sensor. The fingerprint extraction module is used to perform time-frequency domain transformation and analysis on the obtained passive vibration signal, and extract the vibration feature vector that characterizes the combined effect of the current excitation source and transmission path as the mechanical fingerprint of the current vehicle state. The fingerprint database module is used to pre-store the mechanical fingerprint database, which contains multiple event feature templates. Each event feature template corresponds to a mechanical fingerprint that is transmitted from the vehicle structure to the rear door lock position when a preset event occurs. The event matching module is used to match the extracted mechanical fingerprint with the event feature templates in the mechanical fingerprint database; The event reporting module is used to determine that a corresponding preset event has occurred when the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, and to report the event occurrence information to the vehicle controller through the vehicle's communication network.

[0060] Furthermore, a vehicle tailgate integrated control system based on an integrated actuator also includes a template update module, which is used to continuously collect and learn the passive vibration signal based on the integrated controller under calibration conditions where no preset event occurs in the vehicle, so as to construct a background mechanical fingerprint baseline for characterizing the current structural characteristics of the vehicle itself; when the deviation between the continuously collected mechanical fingerprint and the background mechanical fingerprint baseline continues to exceed a preset stability threshold, it is determined that the vehicle structural characteristics have been permanently changed, and the corresponding event feature template is updated.

[0061] As an alternative implementation, an integrated actuator can be constructed by integrating existing lock body assemblies and integrated controllers.

[0062] Example 3 The purpose of this embodiment is to provide a computer-readable storage medium.

[0063] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a vehicle tailgate integrated control method based on an integrated actuator as described in Embodiment 1 of this disclosure.

[0064] Example 4 The purpose of this embodiment is to provide an electronic device.

[0065] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in a vehicle tailgate integrated control method based on an integrated actuator as described in Embodiment 1 of this disclosure.

[0066] The steps and methods involved in the apparatuses of Embodiments 2, 3, and 4 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0067] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0068] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A vehicle tailgate integrated control method based on an integrated actuator, characterized in that, include: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; During static periods when the lock assembly does not perform any unlocking or locking actions, the following operations are performed based on the integrated controller: The original time-domain waveform of the lock body assembly under external environmental excitation is continuously collected by the position sensor as a passive vibration signal; the obtained passive vibration signal is transformed and analyzed in the time and frequency domain, and the vibration feature vector used to characterize the combined effect of the current excitation source and transmission path is extracted as the mechanical fingerprint of the current vehicle state. The mechanical fingerprint is matched with an internally stored mechanical fingerprint database, which contains multiple event feature templates. Each event feature template corresponds to a mechanical fingerprint transmitted from the vehicle structure to the rear door lock position when a preset event occurs. When the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, it is considered that a corresponding preset event has occurred, and the event occurrence information is reported to the vehicle controller through the vehicle's communication network.

2. The integrated control method for a vehicle tailgate based on an integrated actuator as described in claim 1, characterized in that, The preset events include low-speed collision events and scrape events of the vehicle. That is, the mechanical fingerprint database pre-stores low-speed collision event feature templates. The low-speed collision event feature templates are obtained by collecting the characteristic mechanical fingerprints of the vehicle under various typical low-speed collision conditions and transmitting them to the rear door lock position in advance and calibrating them. When the integrated controller determines that a low-speed collision or scrape event has occurred, the reported event information includes the timestamp of the collision, the collision intensity level determined based on the energy characteristic parameters in the mechanical fingerprint, and the predicted location of the collision determined based on the spectral distribution characteristic parameters in the mechanical fingerprint.

3. The integrated control method for a vehicle tailgate based on an integrated actuator as described in claim 2, characterized in that, The preset events also include events where the vehicle's tailgate and surrounding body structure generate abnormal vibrations and noises. That is, the mechanical fingerprint database contains multiple abnormal noise event feature templates, each of which corresponds to a specific type of structural loosening or component wear, resulting in a characteristic mechanical fingerprint. When the integrated controller determines that an abnormal vibration or noise event has occurred, the reported event information includes the vehicle operating condition information at the time of the abnormality, the type of abnormal noise that was successfully matched, and the duration and frequency of occurrence of the corresponding abnormal noise mechanical fingerprint, in order to construct a historical evolution map of the vehicle's structural health.

4. The integrated control method for a vehicle tailgate based on an integrated actuator as described in claim 1, characterized in that, The integrated controller is connected to the vehicle's communication network through a single vehicle interface, which simultaneously serves as both a power input and a communication input. After determining that a corresponding preset event has occurred, the integrated controller selects a triggering method for the vehicle controller through the single vehicle interface based on the vehicle's current power consumption mode, and reports the event occurrence information. The triggering methods include network packet triggering and out-of-band wake-up signal triggering.

5. The integrated control method for a vehicle tailgate based on an integrated actuator as described in claim 1, characterized in that, The extraction of the vibration feature vector includes: performing a short-time Fourier transform on the passive vibration signal to obtain the time-frequency spectrum matrix of the signal; performing dimensionality reduction and feature compression on the time-frequency spectrum matrix to extract multi-dimensional features including the main frequency trajectory, the time-varying curves of the energy proportion of each frequency band, and the spectral peak entropy, which together constitute the vibration feature vector.

6. The integrated control method for a vehicle tailgate based on an integrated actuator as described in claim 1, characterized in that, Under calibration conditions where no preset events occur in the vehicle, the passive vibration signal is continuously collected and learned based on the integrated controller to construct a background mechanical fingerprint baseline for characterizing the current structural characteristics of the vehicle. When the deviation between the continuously collected mechanical fingerprint and the background mechanical fingerprint baseline continues to exceed a preset stability threshold, it is determined that the vehicle structural characteristics have been permanently changed, and the corresponding event feature template is updated.

7. A vehicle tailgate integrated control system based on an integrated actuator, characterized in that, include: The integrated actuator includes a lock body assembly and an integrated controller that are physically integrated into one unit; the lock body assembly is equipped with multiple position sensors for detecting the mechanical movement of the lock body, and the integrated controller is electrically connected to the signal output terminals of the multiple position sensors; The integrated controller includes: The passive monitoring module is used to continuously collect the original time-domain waveform of the lock body assembly as a passive vibration signal during the static period when the lock body assembly does not perform any unlocking or locking actions, through a position sensor. The fingerprint extraction module is used to perform time-frequency domain transformation and analysis on the obtained passive vibration signal, and extract the vibration feature vector that characterizes the combined effect of the current excitation source and transmission path as the mechanical fingerprint of the current vehicle state. The fingerprint database module is used to pre-store the mechanical fingerprint database, which contains multiple event feature templates. Each event feature template corresponds to a mechanical fingerprint that is transmitted from the vehicle structure to the rear door lock position when a preset event occurs. The event matching module is used to match the extracted mechanical fingerprint with the event feature templates in the mechanical fingerprint database; The event reporting module is used to determine that a corresponding preset event has occurred when the similarity between the mechanical fingerprint and any of the event feature templates exceeds a preset matching threshold, and to report the event occurrence information to the vehicle controller through the vehicle's communication network.

8. The integrated control system for a vehicle tailgate based on an integrated actuator as described in claim 7, characterized in that, It also includes a template update module, which is used to continuously collect and learn the passive vibration signal based on the integrated controller under the calibration condition where no preset event occurs in the vehicle, so as to construct a background mechanical fingerprint baseline to characterize the current structural characteristics of the vehicle itself; when the deviation between the continuously collected mechanical fingerprint and the background mechanical fingerprint baseline continues to exceed a preset stability threshold, it is determined that the vehicle structural characteristics have been permanently changed, and the corresponding event feature template is updated.

9. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the integrated control method for a vehicle tailgate based on an integrated actuator as described in any one of claims 1-7.

10. An electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the integrated control method for a vehicle tailgate based on an integrated actuator as described in any one of claims 1-7.

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