Control method, system and device of electric tail gate and medium

Abstract

The invention discloses a control method, system and device of an electric tail gate and a medium, and relates to the field of automobile spare parts, the difference value of the running speed of a sky gate and a ground gate is dynamically calculated by comparing the deviation between the actual distance and the set running distance of two gates; during door closing control, the first operation speed of the ground door serves as the reference, the second operation speed of the sky door is determined according to the difference value, and the second operation speed of the sky door is dynamically adjusted to keep the sky door located on the outer side of the ground door by a certain distance; after passing through an interference critical point, running to a door closing end point at a constant speed of the point; during door opening control, the third operation speed of the sky door serves as the reference, the fourth operation speed of the ground door is determined according to the difference value, the sky door is opened upwards firstly, the ground door is unfolded downwards lagging, and the ground door runs to the door opening end point at the constant speed of the point after passing through the interference critical point. The distance deviation is converted into the speed adjusting instruction, the safe distance between the two doors is automatically maintained, movement interference of the two doors is avoided, and using convenience is improved.

Description

Technical Field

[0001] This application relates to the field of automotive parts, and in particular to a control method, system, device, and medium for an electric tailgate. Background Technology

[0002] Traditional automobiles mostly use a one-piece hatchback tailgate, which has many limitations. On the one hand, the one-piece tailgate of mid-to-large-sized Sport Utility Vehicles (SUVs) requires a large longitudinal space to open, often making it difficult to fully open in narrow parking spaces or when parking close to a wall, resulting in inconvenience for storing and retrieving items. On the other hand, the one-piece tailgate lacks additional expansion functions after opening, making it unsuitable for scenarios such as camping, loading extra-long items, and preventing items from rolling off ramps. Moreover, traditional electric tailgates mostly rely on a single electric strut or a one-piece drive structure, which lacks flexibility for different retrieval needs and also suffers from problems such as difficulty in manually closing the door and easy damage to the drive components when opening at large angles. To address these issues, the original one-piece tailgate has been redesigned as a tailgate consisting of a top door and a bottom door. While this solves the above problems, to avoid movement interference during the opening and closing of the top and bottom doors, their opening and closing are still manually operated, making opening and closing inconvenient.

[0003] Therefore, how to automate the opening and closing of the top and bottom gates to improve ease of use and avoid motion interference during the opening and closing process is a key issue. Summary of the Invention

[0004] The purpose of this application is to provide a control method, system, device, and medium for an electric tailgate, which solves the problem that currently, in order to avoid motion interference during the opening and closing of the top and bottom doors, the opening and closing of the top and bottom doors are still manually operated, resulting in inconvenience in opening and closing the doors.

[0005] To solve the above-mentioned technical problems, this application provides a control method for an electric tailgate, the electric tailgate including a top door and a bottom door, wherein after the top door and bottom door are closed, the top door is located outside the bottom door, including:

[0006] Obtain the set running distance between the Heavenly Gate and the Earthly Gate;

[0007] The actual distance between the top gate and the bottom gate is monitored in real time, and the difference between the operating speed of the top gate and the operating speed of the bottom gate is determined based on the absolute value of the actual distance and the set operating distance.

[0008] When performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the first running speed of the bottom door is obtained, and the second running speed of the top door is determined based on the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door.

[0009] When controlling the door opening, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the third running speed of the top door is obtained, and the fourth running speed of the bottom door is determined based on the third running speed and the difference. After determining that the bottom door has passed the interference critical point, the bottom door runs to the opening end point at the speed at which it reached the interference critical point.

[0010] In an optional embodiment, the door closing control further includes:

[0011] If the current opening angle of the top gate is less than the current opening angle of the bottom gate, and the current opening angle of the top gate is greater than the first target opening angle corresponding to the top gate rotating to the interference critical point, then the bottom gate is controlled to run until the current opening angle of the top gate is greater than the current opening angle of the bottom gate, and then the first running speed of the bottom gate is obtained. The second running speed of the top gate is determined according to the first running speed and the difference. After it is determined that the top gate has passed the interference critical point, the top gate runs to the closing end point at the speed when it reaches the interference critical point.

[0012] If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, and the current opening angle of the bottom door is greater than the second target opening angle corresponding to the bottom door rotating to the interference critical point, then it is prohibited to control the bottom door to close independently. After controlling the top door to run until the current opening angle of the top door is greater than the current opening angle of the bottom door, the first running speed of the bottom door is obtained. The second running speed of the top door is determined according to the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed when it reaches the interference critical point.

[0013] If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than the first target opening angle, and the current opening angle of the bottom door is less than or equal to the second target opening angle, then it is prohibited to control the bottom door to close independently. First, the bottom door is controlled to open until its current opening angle is greater than the second target opening angle. Then, the top door is controlled to run until its current opening angle is greater than the current opening angle of the bottom door. After that, the first running speed of the bottom door is obtained. The second running speed of the top door is determined based on the first running speed and the difference. After it is determined that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point.

[0014] In an optional embodiment, the door opening control further includes:

[0015] If the current opening angle of the top door is greater than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, then it is prohibited to control the opening of the bottom door independently.

[0016] If the current opening angle of the Heaven Gate is less than the current opening angle of the Earth Gate, and the current opening angle of the Earth Gate is less than the second target opening angle, then the Earth Gate is first controlled to run to the opening end point, and then the Heaven Gate is controlled to run to the opening end point.

[0017] In one optional embodiment, before real-time monitoring of the actual distance between the sky gate and the earth gate, the method further includes:

[0018] Obtain the length of the Heaven Gate, the length of the Earth Gate, and the height difference between the first pivot connecting the Heaven Gate and the second pivot connecting the Earth Gate;

[0019] Calculate the first theoretical rotation angle of the Heavenly Gate from the closing end point to the interference critical point and the second theoretical rotation angle of the Earthly Gate from the closing end point to the interference critical point based on the Heavenly Gate length, the Earthly Gate length, and the height difference;

[0020] Read the first total travel Hall count of the top door from the closing end point to the opening end point detected by the first Hall sensor, and read the second total travel Hall count of the bottom door from the closing end point to the opening end point detected by the second Hall sensor;

[0021] Determine the first total rotation angle of the Heaven Gate from the closing end point to the opening end point, and the second total rotation angle of the Earth Gate from the closing end point to the opening end point;

[0022] The first target Hall count of the sky gate from the closing end point to the interference critical point is calculated based on the first theoretical rotation angle, the first total stroke Hall count, and the first total rotation angle. The second target Hall count of the earth gate from the closing end point to the interference critical point is calculated based on the second theoretical rotation angle, the second total stroke Hall count, and the second total rotation angle.

[0023] In one alternative embodiment, determining the threshold for interference during gate closing control includes:

[0024] Read the first current Hall count of the first Hall sensor;

[0025] If the first current Hall count is less than the first target Hall count, it is determined that the Tianmen has passed the interference critical point;

[0026] Accordingly, when controlling the door opening, the interference critical point of the ground door is determined, including:

[0027] Read the second current Hall count of the second Hall sensor;

[0028] If the second current Hall count is greater than the second target Hall count, the ground gate is determined to have passed the interference critical point.

[0029] In one optional embodiment, determining the difference between the operating speed of the Heavenly Gate and the operating speed of the Earthly Gate based on the absolute value of the actual distance and the set operating distance includes:

[0030] The difference is calculated according to a preset formula;

[0031] The preset relationship is: ΔV=K(|N|-N0;

[0032] Wherein, ΔV is the difference, K is the adjustment coefficient, N is the actual distance, and N0 is the set running distance, and both K and N0 are greater than zero.

[0033] This application also provides a control system for an electric tailgate, including: a top door, a bottom door, a first rotating shaft, a second rotating shaft, a first drive motor, a second drive motor, a first Hall sensor, a second Hall sensor, and an MCU;

[0034] The top door is rotatably connected to the top of the vehicle body via a first rotating shaft, and the bottom door is rotatably connected to the bottom of the vehicle body via a second rotating shaft. After both the top door and the bottom door are closed, the top door is located outside the bottom door. The first drive motor is connected to the first rotating shaft and is used to drive the first rotating shaft to rotate, thereby rotating the top door. The second drive motor is connected to the second rotating shaft and is used to drive the second rotating shaft to rotate, thereby rotating the bottom door. The MCU is connected to the first drive motor, the second drive motor, the first Hall sensor, and the second Hall sensor. The first Hall sensor is used to detect the real-time position of the top door, and the second Hall sensor is used to detect the real-time position of the bottom door. The MCU is used to execute the steps of the electric tailgate control method.

[0035] This application also provides a control device for an electric tailgate, including:

[0036] The acquisition module is used to obtain the set running distance between the Heaven Gate and the Earth Gate;

[0037] The determination module is used to monitor the actual distance between the top gate and the bottom gate in real time, and determine the difference between the running speed of the top gate and the running speed of the bottom gate based on the absolute value of the actual distance and the set running distance.

[0038] The door closing control module is used to, when performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtain the first running speed of the bottom door, determine the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door;

[0039] The door opening control module is used to obtain the third running speed of the top door if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door when the door opening control is performed. Based on the third running speed and the difference, the fourth running speed of the bottom door is determined. After the bottom door passes the interference critical point, the bottom door runs to the opening end point at the speed at which the interference critical point is reached.

[0040] This application also provides a control device for an electric tailgate, including a memory for storing computer programs;

[0041] A processor is used to execute the computer program to implement the steps of the control method for the electric tailgate.

[0042] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the electric tailgate control method.

[0043] This application provides a control method for an electric tailgate. It obtains a preset operating distance between the top and bottom doors and monitors the actual distance between them in real time. By comparing the deviation between the actual distance and the preset operating distance, it dynamically calculates the difference in operating speed between the top and bottom doors. During closing control, using the bottom door's first operating speed as a reference, the top door's second operating speed is determined based on the speed difference between the two doors. Before passing the interference critical point, the top door's second operating speed is dynamically adjusted to maintain it at a certain distance outside the bottom door. After passing the interference critical point, it operates at a constant speed until the closing end. During opening control, using the top door's third operating speed as a reference, the bottom door's fourth operating speed is determined based on the speed difference between the two doors. The top door opens upwards first, and the bottom door opens downwards with a lag. After passing the interference critical point, the bottom door operates at a constant speed until the opening end. By converting distance deviation into speed adjustment commands, a safe distance between the two doors is automatically maintained to avoid interference between their movements, significantly improving ease of use.

[0044] The beneficial effects and methods of the control system, device and medium for the electric tailgate provided in this application are as described above. Attached Figure Description

[0045] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart illustrating a control method for an electric tailgate provided in an embodiment of this application;

[0047] Figure 2 A structural diagram of a control system for an electric tailgate provided in an embodiment of this application;

[0048] Figure 3 A schematic diagram of a first type of electric tailgate provided in an embodiment of this application;

[0049] Figure 4 A schematic diagram of a second type of electric tailgate provided in an embodiment of this application;

[0050] Figure 5 A schematic diagram of a third type of electric tailgate provided in an embodiment of this application;

[0051] Figure 6 A schematic diagram of a fourth type of electric tailgate provided in an embodiment of this application;

[0052] Figure 7A schematic diagram of a fifth type of electric tailgate provided in an embodiment of this application;

[0053] Figure 8 A schematic diagram of a sixth type of electric tailgate provided in an embodiment of this application;

[0054] Figure 9 A schematic diagram of a seventh type of electric tailgate provided in an embodiment of this application;

[0055] Figure 10 A structural diagram of a control device for an electric tailgate provided in an embodiment of this application;

[0056] Figure 11 This is a structural diagram of another electric tailgate control device provided in an embodiment of this application.

[0057] The attached diagram is labeled as follows: 1-Heavenly Gate, 2-Earthly Gate, 3-First Rotating Shaft, 4-Second Rotating Shaft, 5-First Drive Motor, 6-Second Drive Motor, 7-First Hall Sensor, 8-Second Hall Sensor, 9-MCU. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0059] The core of this application is to provide a control method, system, device, and medium for an electric tailgate, which is used to automate the opening and closing of the tailgate to improve ease of use and prevent motion interference during the opening and closing process.

[0060] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] Figure 1 A flowchart illustrating a control method for an electric tailgate provided in this application embodiment is shown below. Figure 1 As shown, a control method for an electric tailgate includes:

[0062] S11: Obtain the set running distance between the Heaven Gate and the Earth Gate.

[0063] S12: Real-time monitoring of the actual distance between the top gate and the bottom gate, and determination of the difference between the top gate's running speed and the bottom gate's running speed based on the absolute value of the actual distance and the set running distance.

[0064] S13: When performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the first running speed of the bottom door is obtained, and the second running speed of the top door is determined based on the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door.

[0065] S14: When performing door opening control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtain the third running speed of the top door, determine the fourth running speed of the bottom door based on the third running speed and the difference, and after determining that the bottom door has passed the interference critical point, the bottom door runs to the door opening end point at the speed at which it reached the interference critical point.

[0066] Figure 2 A structural diagram of a control system for an electric tailgate provided in an embodiment of this application is shown below. Figure 2 As shown, a control system for an electric tailgate includes: a top door 1, a bottom door 2, a first rotating shaft 3, a second rotating shaft 4, a first drive motor 5, a second drive motor 6, a first Hall sensor 7, a second Hall sensor 8, and a microcontroller unit (MCU). The top door 1 is rotatably connected to the top of the vehicle body via the first rotating shaft 3, and the bottom door 2 is rotatably connected to the bottom of the vehicle body via the second rotating shaft 4. When both the top door 1 and the bottom door 2 are closed, the top door 1 is located outside the bottom door 2. The first drive motor 5 is connected to the first rotating shaft 3 and is used to drive the first rotating shaft 3 to rotate, thereby rotating the top door 1. The second drive motor 6 is connected to the second rotating shaft 4 and is used to drive the second rotating shaft 4 to rotate, thereby rotating the bottom door 2. The MCU 9 is connected to the first drive motor 5, the second drive motor 6, the first Hall sensor 7, and the second Hall sensor 8. The first Hall sensor 7 is used to detect the real-time position of the top door 1, and the second Hall sensor 8 is used to detect the real-time position of the bottom door 2. The MCU 9 is used to execute the steps of the above-described electric tailgate control method.

[0067] This application uses an MCU9 to control the first drive motor 5 of the top door 1 and the second drive motor 6 of the bottom door 2, respectively, to realize the opening and closing of the top door 1 and the bottom door 2. The MCU9 can receive commands such as the door open button, the door close button, Controller Area Network (CAN) communication, or low-cost serial communication bus (LIN) communication. When a door close command is received, since the top door 1 is outside the bottom door 2 when closed, the bottom door 2 needs to move a certain distance ahead of the top door 1. The real-time position of the top door 1 is represented by the Hall count of the first Hall sensor 7. For example, when the top door 1 is at the closing end, the Hall count is the initial value, and the Hall count gradually increases as the top door 1 moves from the closing end to the opening end; alternatively, when the top door 1 is at the opening end, the Hall count is the initial value, and the Hall count gradually increases as the top door 1 moves from the opening end to the closing end. The Hall count corresponds one-to-one with the opening angle of the top door 1. The real-time position of the bottom door 2 is represented by the Hall count of the second Hall sensor 8. For example, when the bottom door 2 is at the closing end, the Hall count is the initial value, and the Hall count gradually increases as the bottom door 2 moves from the closing end to the opening end; alternatively, when the bottom door 2 is at the opening end, the Hall count is the initial value, and the Hall count gradually increases as the bottom door 2 moves from the opening end to the closing end. The Hall count corresponds one-to-one with the opening angle of the bottom door 2.

[0068] The system splits the traditional single-piece tailgate into a top door and a bottom door. The top door is connected to the top of the vehicle body via a first pivot and opens upwards, while the bottom door is connected to the bottom of the vehicle body via a second pivot and flips downwards. This split design decomposes the opening action into two directions, significantly reducing the longitudinal space requirements in a single direction. In narrow parking spaces or when parking close to a wall, users can choose to open only the top door or the bottom door to store or retrieve items without fully unfolding it, significantly improving space adaptability. When the bottom door opens downwards, it forms a horizontal support platform that can be directly used for camping and storing items. When loading extra-long items, the opening angle of the two doors can be flexibly adjusted to adapt to different needs. When parking on a slope, the downward angle of the bottom door is controllable, forming an anti-roll-off baffle. This structure creates multiple usage scenarios and breaks through the limitations of the traditional single-function tailgate. The MCU controls the first and second drive motors respectively, realizing independent or coordinated electric control of the top and bottom doors. It can flexibly select single-door opening or double-door combination mode for different retrieval scenarios, and also avoids the problem of easy damage to drive components when opening at a large angle. The first Hall sensor detects the position of the top door in real time, and the second Hall sensor detects the position of the bottom door in real time, providing feedback for precise control. When closing, the MCU controls the bottom door to move ahead of the top door, ensuring that the bottom door arrives in position before the top door closes. When opening, the top door moves first, and the bottom door opens later, avoiding collision between the two doors. The MCU uses software algorithms to calculate the relative position and speed relationship between the two doors in real time, dynamically adjusting the motor speed to maintain a safe distance before the interference critical point, and then maintaining a constant speed to the end point after passing the interference critical point. This electric intelligent coordination mechanism eliminates the problem of laborious manual closing and achieves automated and convenient operation.

[0069] In step S11, the set running distance between the top gate and the bottom gate is obtained, and the set running distance is represented by Hall effect counting.

[0070] In step S12, the Hall count of the top door at the closing end is defined as the first initial value, the opening angle corresponding to the top door at the closing end is 0°, and the opening angle corresponding to the top door at the opening end is 90°. The Hall count of the bottom door at the closing end is defined as the second initial value, the angle corresponding to the bottom door at the closing end is 0°, and the angle corresponding to the bottom door at the opening end is 90°. Both the first and second initial values ​​can be zero. Real-time monitoring of the actual distance between the top and bottom doors specifically includes acquiring the Hall counts of the first and second Hall sensors, respectively, and the difference between the two is the actual distance between the top and bottom doors. The difference between the operating speed of the top door and the operating speed of the bottom door is determined based on the absolute value of the actual distance and the set operating distance, including: calculating the difference according to a preset formula; the preset formula is: ;in, The difference. K and N0 are adjustment coefficients, where N is the actual distance and N0 is the set running distance, and both K and N0 are greater than zero. Setting appropriate K and N0 will ensure that after the top gate and bottom gate pass point A during the closing process, the top gate is outside the bottom gate.

[0071] In step S13, the Hall counts for the top and bottom doors can be defined as zero at the opening endpoint, and gradually increase from the opening endpoint to the closing endpoint, with each Hall count corresponding to an opening angle. By comparing the Hall counts of the first Hall sensor and the second Hall sensor, the relationship between the current opening angles of the top and bottom doors can be determined.

[0072] Figure 3 A schematic diagram of the first type of electric tailgate provided in the embodiments of this application is shown below. Figure 3 As shown, during door closing control, if the current opening angle (θ1) of the top door is greater than or equal to the current opening angle (θ2) of the bottom door, and the current opening angle of the top door is greater than the opening angle corresponding to the top door rotating to the interference critical point (point O), the first running speed of the bottom door is obtained. If the bottom door is not currently rotating, the first running speed is the set speed, and the bottom door is driven to rotate at the first running speed until the bottom door is completely closed, that is, the closing endpoint is reached. The actual distance between the top door and the bottom door N = N 地 -N 天 N 地 N represents the current Hall count of the second Hall sensor. 天 The current Hall count for the first Hall sensor. The difference ΔV = K(|N| - N0), V 天 = V 地 +K(|N|-N0);V 天 V is the operating speed of Tianmen, also known as the second operating speed. 地The first operating speed is the speed at which the bottom door operates. During the closing process, the bottom door's operating speed is used as a reference, while the top door's operating speed is adjusted based on the difference. When the absolute value of the actual distance between the top and bottom doors, |N|, is less than N0, K(|N|-N0) is negative, so the top door's operating speed is less than the bottom door's, and the actual distance between the top and bottom doors will increase. When the absolute value of the actual distance between the top and bottom doors, |N|, is greater than N0, K(|N|-N0) is positive, and the top door's operating speed will be greater than the bottom door's, and the actual distance between the top and bottom doors will decrease. Based on the above relationship, the distance between the two doors is always maintained around N0. Setting appropriate parameters K and distance N0 ensures that after the top and bottom doors pass the interference critical point during the closing process, the top door is outside the bottom door. The top door is driven to the interference critical point by the second operating speed. During this process, if the second operating speed, calculated based on the first operating speed and the difference, is less than or equal to zero, the top door remains stationary. After the gate passes the interference critical point, it maintains a constant speed at the point of reaching the interference critical point until it closes (the closing point can be determined by Hall effect counting); after passing the interference critical point, the gate no longer maintains the above relationship: V 天 =V 地 +K(|N|-N0), because if the above relationship continues, when the ground door reaches the closing end point with a speed of 0, the sky door will also have a speed of 0 at a distance of N0 from the ground door. At this time, the sky door may not have reached the closing end point.

[0073] In step S14, the Hall counts for the top and bottom doors can be defined as zero at the closing endpoint, and gradually increase from the closing endpoint to the opening endpoint, with each Hall count corresponding to an opening angle. By comparing the Hall counts of the first Hall sensor and the second Hall sensor, the relationship between the current opening angles of the top and bottom doors can be determined.

[0074] Figure 4 This is a schematic diagram of a second type of electric tailgate provided in an embodiment of this application, as shown below. Figure 4 As shown, during door opening control, if the current opening angle (θ1) of the top door is greater than or equal to the current opening angle (θ2) of the bottom door, and the current opening angle of the bottom door is less than the opening angle corresponding to the bottom door rotating to the interference critical point (point O), the third operating speed of the top door is obtained. If the top door is not currently rotating, the third operating speed is the set speed, and the top door is driven to rotate at the third operating speed until the top door is fully opened, i.e., reaching the door opening endpoint. The actual distance N between the top door and the bottom door is N... 天 -N 地 N 地 N represents the current Hall count of the second Hall sensor. 天 The current Hall count for the first Hall sensor. The difference ΔV = K(|N| - N0), V 地 =V天 +K(|N|-N0);V 天 V is the operating speed of Tianmen, also known as the third operating speed. 地 This is the operating speed of the ground door, also known as the fourth operating speed. During the closing process, the operating speed of the top door is used as the reference, and the operating speed of the ground door is adjusted according to the difference. The ground door is driven to the interference critical point by the fourth operating speed. During this process, if the fourth operating speed calculated based on the third operating speed and the difference is less than or equal to zero, the ground door remains stationary. After the ground door passes the interference critical point, it runs at a constant speed at the time of reaching the interference critical point until it reaches the opening endpoint (the opening endpoint can be determined by Hall effect counting).

[0075] This application provides a control method for an electric tailgate, which includes a top door and a bottom door. After the top door and bottom door are closed, the top door is located outside the bottom door. A set operating distance between the top door and the bottom door is obtained. The actual distance between the top door and the bottom door is monitored in real time, and the difference between the operating speed of the top door and the operating speed of the bottom door is determined based on the absolute value of the actual distance and the set operating distance. During closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, a first operating speed of the bottom door is obtained, and the difference between the first operating speed and the set operating distance is determined. The second operating speed of the top door is determined by the value. After the top door passes the interference critical point, it runs to the closing end point at the speed at which it reached the interference critical point. The interference critical point is the intersection of the trajectory of the top door and the trajectory of the bottom door. When controlling the opening, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the third operating speed of the top door is obtained. The fourth operating speed of the bottom door is determined based on the third operating speed and the difference. After the bottom door passes the interference critical point, it runs to the opening end point at the speed at which it reached the interference critical point. The system acquires the preset operating distance between the top and bottom doors and monitors the actual distance between them in real time. By comparing the deviation between the actual distance and the preset operating distance, it dynamically calculates the difference in operating speed between the top and bottom doors. During closing control, the system uses the bottom door's first operating speed as a benchmark and determines the top door's second operating speed based on the speed difference. Before passing the interference critical point, the system dynamically adjusts the top door's second operating speed to maintain the top door at a certain distance outside the bottom door. After passing the interference critical point, the top door operates at a constant speed until the closing endpoint. During opening control, the system uses the top door's third operating speed as a benchmark and determines the bottom door's fourth operating speed based on the speed difference. The top door opens upwards first, and the bottom door opens downwards with a lag. After passing the interference critical point, the bottom door operates at a constant speed until the opening endpoint. This system converts distance deviations into speed adjustment commands, automatically maintaining a safe distance between the two doors to avoid interference and significantly improving ease of use.

[0076] Based on the above embodiments, this application embodiment further includes the following steps when performing door closing control: if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is greater than the first target opening angle corresponding to the top door rotating to the interference critical point, then after controlling the bottom door to run until the current opening angle of the top door is greater than the current opening angle of the bottom door, the first running speed of the bottom door is obtained, and the second running speed of the top door is determined based on the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at the time of reaching the interference critical point; if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, and the current opening angle of the bottom door is greater than the second target opening angle corresponding to the bottom door rotating to the interference critical point, then the individual closing control of the bottom door is prohibited, and the top door is controlled to run until the current opening angle of the top door is greater than the first target opening angle. After determining the current opening angle of the ground door, the system proceeds to acquire the first operating speed of the ground door, determines the second operating speed of the top door based on the first operating speed and its difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at the interference critical point. If the current opening angle of the top door is less than the current opening angle of the ground door, and the current opening angle of the top door is less than the first target opening angle, and the current opening angle of the ground door is less than or equal to the second target opening angle, then it is prohibited to control the ground door to close independently. First, the ground door is controlled to open until its current opening angle is greater than the second target opening angle, and then the top door is controlled to run until its current opening angle is greater than the current opening angle of the ground door. After that, the system proceeds to acquire the first operating speed of the ground door, determines the second operating speed of the top door based on the first operating speed and its difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at the speed at the interference critical point.

[0077] Figure 5 A schematic diagram of a third type of electric tailgate provided in the embodiments of this application is shown below. Figure 5 As shown, if the current opening angle of the top gate is less than the current opening angle of the bottom gate, and the current opening angle of the top gate is greater than the first target opening angle corresponding to the top gate rotating to the interference critical point, if it is necessary to close the gate, the bottom gate must be controlled to move in the closing direction until the current opening angle of the top gate is greater than the current opening angle of the bottom gate. Only then can the first running speed of the bottom gate be obtained, and the second running speed of the top gate be determined based on the first running speed and the difference.

[0078] The MCU has separate control commands for both the top and bottom doors. Upon receiving a separate control command, it can independently control the opening and closing of either the top or bottom door. To prevent collisions or situations where the bottom door is above the top door when the top and bottom doors are being controlled separately, the software control imposes certain restrictions in certain states.

[0079] Figure 6A schematic diagram of the fourth type of electric tailgate provided in the embodiments of this application is shown below. Figure 6 As shown, if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle corresponding to the top door rotating to the interference critical point, and the current opening angle of the bottom door is greater than the second target opening angle corresponding to the bottom door rotating to the interference critical point, then it is forbidden to control the bottom door to close independently to avoid the bottom door being outside the top door. If it is necessary to close the door, the top door must first be controlled to move in the opening direction until the current opening angle of the top door is greater than the current opening angle of the bottom door. Only then can the first running speed of the bottom door be obtained, and the second running speed of the top door be determined based on the first running speed and the difference.

[0080] If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than the first target opening angle corresponding to the top door rotating to the interference critical point, and the current opening angle of the bottom door is less than or equal to the second target opening angle corresponding to the bottom door rotating to the interference critical point, then it is prohibited to control the bottom door to close independently. If it is necessary to close the door, first control the bottom door to open, and move it in the direction of opening until the current opening angle of the bottom door is greater than the second target opening angle. Then control the top door to move until its current opening angle is greater than the current opening angle of the bottom door. Only then can the first running speed of the bottom door be obtained, and the second running speed of the top door be determined based on the first running speed and the difference.

[0081] Based on the above embodiments, when performing door opening control, this application embodiment further includes: if the current opening angle of the top door is greater than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, then the separate door opening control of the bottom door is prohibited; if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the bottom door is less than the second target opening angle, then the bottom door is first controlled to run to the door opening end point, and then the top door is controlled to run to the door opening end point.

[0082] Figure 7 A schematic diagram of the fifth type of electric tailgate provided in the embodiments of this application is shown below. Figure 7 As shown, when the current opening angle of the top door is greater than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle corresponding to the top door rotating to the interference critical point, it is necessary to prohibit the separate opening control of the bottom door to avoid the two doors colliding. Figure 8 A schematic diagram of the sixth type of electric tailgate provided in the embodiments of this application is shown below. Figure 8As shown, when the top door moves towards the opening direction and passes the interference critical point (point O), that is, when the current opening angle of the top door is greater than the first target opening angle corresponding to the top door rotating to the interference critical point, the bottom door can be controlled to open independently. If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the bottom door is less than the second target opening angle corresponding to the bottom door rotating to the interference critical point, then the bottom door is controlled to move to the opening endpoint first, and then the top door is controlled to move to the opening endpoint.

[0083] Based on the embodiments, before real-time monitoring of the actual distance between the top door and the bottom door in this application embodiment, the method further includes: obtaining the length of the top door, the length of the bottom door, and the height difference between the first rotating shaft connected to the top door and the second rotating shaft connected to the bottom door; calculating the first theoretical rotation angle of the top door from the closing end point to the interference critical point and the second theoretical rotation angle of the bottom door from the closing end point to the interference critical point based on the length of the top door, the length of the bottom door, and the height difference; reading the first total travel Hall count of the top door from the closing end point to the opening end point detected by the first Hall sensor, and reading the second total travel Hall count of the bottom door from the closing end point to the opening end point detected by the second Hall sensor; determining the first total rotation angle of the top door from the closing end point to the opening end point and the second total rotation angle of the bottom door from the closing end point to the opening end point; calculating the first target Hall count of the top door from the closing end point to the interference critical point based on the first theoretical rotation angle, the first total travel Hall count, and the first total rotation angle; and calculating the second target Hall count of the bottom door from the closing end point to the interference critical point based on the second theoretical rotation angle, the second total travel Hall count, and the second total rotation angle.

[0084] Figure 9 A schematic diagram of the seventh type of electric tailgate provided in the embodiments of this application is shown below. Figure 9 As shown, the length R of the Heavenly Gate 天 The length R of the ground door 地 The height difference between the Heavenly Gate and the Earthly Gate is H. These three values ​​can be obtained through measurement. According to the Law of Cosines of a Triangle... ; ; Calculate the first theoretical rotation angle Second theoretical rotation angle The total travel distance of the Heavenly Gate and Earthly Gate can be obtained by individually controlling the entire travel distance of the Heavenly Gate and Earthly Gate, and then reading the Hall count value. The Hall count for the first total travel distance of the Heavenly Gate is COUNT1, and the corresponding first total rotation angle is 90°. Therefore, the first target Hall count of the Heavenly Gate from the closing end point to the interference critical point (point O) is calculated as follows: The Hall count for the second total stroke of the ground door is COUNT2, corresponding to a second total rotation angle of 90°. The second target Hall count from the closing endpoint to the interference critical point (point O) is... Due to measurement errors and the thickness of the gate, the actual Hall counts of the first target of the sky gate and the second target of the earth gate can be adjusted based on the actual operating conditions, in addition to the theoretical calculations, to ensure that no interference occurs during gate operation.

[0085] Based on the above embodiments, in this application embodiment, when performing door closing control, determining that the top door has passed the interference critical point includes: reading the first current Hall count of the first Hall sensor; if the first current Hall count is less than the first target Hall count, determining that the top door has passed the interference critical point. Correspondingly, in performing door opening control, determining that the bottom door has passed the interference critical point includes: reading the second current Hall count of the second Hall sensor; if the second current Hall count is greater than the second target Hall count, determining that the bottom door has passed the interference critical point. Both the first Hall sensor and the second Hall sensor use the door closing endpoint as zero, and the Hall count increases from the door closing endpoint to the door opening endpoint.

[0086] In the above embodiments, the control method for the electric tailgate has been described in detail. This application also provides embodiments corresponding to the control device for the electric tailgate. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0087] Figure 10 A structural diagram of a control device for an electric tailgate provided in an embodiment of this application is shown below. Figure 10 As shown, a control device for an electric tailgate includes:

[0088] Module 11 is used to obtain the set running distance between the Heaven Gate and the Earth Gate;

[0089] The determination module 12 is used to monitor the actual distance between the top gate and the bottom gate in real time, and to determine the difference between the running speed of the top gate and the running speed of the bottom gate based on the absolute value of the actual distance and the set running distance.

[0090] The door closing control module 13 is used to, when performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtain the first running speed of the bottom door, determine the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door;

[0091] The door opening control module 14 is used to obtain the third running speed of the top door if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door when performing door opening control. Based on the third running speed and the difference, the fourth running speed of the bottom door is determined. After determining that the bottom door has passed the interference critical point, the bottom door runs to the door opening end point at the speed at which the interference critical point is reached.

[0092] Based on the above embodiments, in one feasible embodiment, it further includes:

[0093] The first control module is used to control the earth door to run until the current opening angle of the heaven door is greater than the current opening angle of the earth door, and the current opening angle of the heaven door is greater than the first target opening angle corresponding to the heaven door rotating to the interference critical point. Then, it enters the steps of obtaining the first running speed of the earth door, determining the second running speed of the heaven door based on the first running speed and the difference, and after determining that the heaven door has passed the interference critical point, the heaven door runs to the closing end point at the speed when it reaches the interference critical point.

[0094] The second control module is used to prohibit the separate closing control of the ground door if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, and the current opening angle of the bottom door is greater than the second target opening angle corresponding to the bottom door rotating to the interference critical point. After controlling the top door to run until the current opening angle of the top door is greater than the current opening angle of the bottom door, it enters the step of obtaining the first running speed of the bottom door, determining the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed when it reaches the interference critical point.

[0095] The third control module is used to prevent the earth door from being closed independently if the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than the first target opening angle, and the current opening angle of the bottom door is less than or equal to the second target opening angle. The module first controls the bottom door to open until its current opening angle is greater than the second target opening angle, then controls the top door to run until its current opening angle is greater than the current opening angle of the bottom door. After that, the module obtains the first running speed of the bottom door, determines the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point.

[0096] Based on the above embodiments, in one feasible embodiment, the door opening control further includes:

[0097] The fourth control module is used to prohibit the separate opening control of the ground door if the current opening angle of the top door is greater than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle.

[0098] The fifth control module is used to control the earth door to run to the opening end point first, and then control the heaven door to run to the opening end point if the current opening angle of the heaven door is less than the current opening angle of the earth door, and the current opening angle of the earth door is less than the second target opening angle.

[0099] Based on the above embodiments, in one feasible embodiment, it further includes:

[0100] The length and height difference acquisition module is used to acquire the length of the top gate, the length of the bottom gate, and the height difference between the first pivot connecting the top gate and the second pivot connecting the bottom gate;

[0101] The first calculation module is used to calculate the first theoretical rotation angle of the Heaven Gate from the closing end point to the interference critical point and the second theoretical rotation angle of the Earth Gate from the closing end point to the interference critical point based on the Heaven Gate length, Earth Gate length and height difference.

[0102] The reading module is used to read the first total travel Hall count of the top door from the closing end point to the opening end point detected by the first Hall sensor, and to read the second total travel Hall count of the bottom door from the closing end point to the opening end point detected by the second Hall sensor.

[0103] The rotation angle determination module is used to determine the first total rotation angle of the top gate from the closing end point to the opening end point and the second total rotation angle of the bottom gate from the closing end point to the opening end point.

[0104] The second calculation module is used to calculate the first target Hall count of the sky gate from the closing end point to the interference critical point based on the first theoretical rotation angle, the first total stroke Hall count, and the first total rotation angle, and to calculate the second target Hall count of the earth gate from the closing end point to the interference critical point based on the second theoretical rotation angle, the second total stroke Hall count, and the second total rotation angle.

[0105] Based on the above embodiments, in one feasible embodiment, the door closing control module includes:

[0106] The first reading unit is used to read the first current Hall count of the first Hall sensor;

[0107] The first determining unit is used to determine the critical point where the Tianmen passes through the interference if the first current Hall count is less than the first target Hall count.

[0108] Accordingly, the door opening control module includes:

[0109] The second reading unit is used to read the second current Hall count of the second Hall sensor;

[0110] The second determining unit is used to determine the ground gate passing the interference critical point if the second current Hall count is greater than the second target Hall count.

[0111] Based on the above embodiments, in one feasible embodiment, the determining module includes:

[0112] The calculation unit is used to calculate the difference according to a preset formula; the preset formula is: ΔV=K(|N|-N0); where ΔV is the difference, K is the adjustment coefficient, N is the actual distance, N0 is the set running distance, and both K and N0 are greater than zero.

[0113] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0114] Figure 11 A structural diagram of another electric tailgate control device provided in the embodiments of this application is shown below. Figure 11 As shown, the control device for the electric tailgate includes: a memory 20 for storing computer programs;

[0115] The processor 21 is used to execute a computer program to implement the steps of the control method for the electric tailgate as described in the above embodiment.

[0116] The control device for the electric tailgate provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0117] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0118] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the electric tailgate control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, set running distance, actual distance, etc.

[0119] In some embodiments, the control device for the electric tailgate may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0120] Those skilled in the art will understand that Figure 11 The structure shown does not constitute a limitation on the control device for an electric tailgate and may include more or fewer components than shown.

[0121] The electric tailgate control device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following methods: obtaining a set running distance between the top door and the bottom door; monitoring the actual distance between the top door and the bottom door in real time, and determining the difference between the running speed of the top door and the running speed of the bottom door based on the absolute value of the actual distance and the set running distance; when performing closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtaining the first running speed of the bottom door, determining the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door; when performing opening control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtaining the third running speed of the top door, determining the fourth running speed of the bottom door based on the third running speed and the difference, and after determining that the bottom door has passed the interference critical point, the bottom door runs to the opening end point at the speed at the speed at the interference critical point.

[0122] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method of the electric tailgate of the above-described method embodiment.

[0123] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] The foregoing provides a detailed description of a control method, system, device, and medium for an electric tailgate provided in this application. The various embodiments are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0125] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method of an electrically driven tailgate, characterized by, The electric tailgate includes a top door and a bottom door, with the top door located outside the bottom door after the top door and bottom door are closed. It includes: Obtain the set running distance between the Heavenly Gate and the Earthly Gate; The actual distance between the top gate and the bottom gate is monitored in real time, and the difference between the operating speed of the top gate and the operating speed of the bottom gate is determined based on the absolute value of the actual distance and the set operating distance. When performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the first running speed of the bottom door is obtained, and the second running speed of the top door is determined based on the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door. When controlling the door opening, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, the third running speed of the top door is obtained, and the fourth running speed of the bottom door is determined based on the third running speed and the difference. After determining that the bottom door has passed the interference critical point, the bottom door runs to the opening end point at the speed at which it reached the interference critical point.

2. The control method of a power tail gate according to claim 1, characterized by, When performing door closing control, it also includes: If the current opening angle of the top gate is less than the current opening angle of the bottom gate, and the current opening angle of the top gate is greater than the first target opening angle corresponding to the top gate rotating to the interference critical point, then the bottom gate is controlled to run until the current opening angle of the top gate is greater than the current opening angle of the bottom gate, and then the first running speed of the bottom gate is obtained. The second running speed of the top gate is determined according to the first running speed and the difference. After it is determined that the top gate has passed the interference critical point, the top gate runs to the closing end point at the speed when it reaches the interference critical point. If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, and the current opening angle of the bottom door is greater than the second target opening angle corresponding to the bottom door rotating to the interference critical point, then it is prohibited to control the bottom door to close independently. After controlling the top door to run until the current opening angle of the top door is greater than the current opening angle of the bottom door, the first running speed of the bottom door is obtained. The second running speed of the top door is determined according to the first running speed and the difference. After determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed when it reaches the interference critical point. If the current opening angle of the top door is less than the current opening angle of the bottom door, and the current opening angle of the top door is less than the first target opening angle, and the current opening angle of the bottom door is less than or equal to the second target opening angle, then it is prohibited to control the bottom door to close independently. First, the bottom door is controlled to open until its current opening angle is greater than the second target opening angle. Then, the top door is controlled to run until its current opening angle is greater than the current opening angle of the bottom door. After that, the first running speed of the bottom door is obtained. The second running speed of the top door is determined based on the first running speed and the difference. After it is determined that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point.

3. The control method of a power tail gate according to claim 2, characterized by, When controlling door opening, it also includes: If the current opening angle of the top door is greater than the current opening angle of the bottom door, and the current opening angle of the top door is less than or equal to the first target opening angle, then it is prohibited to control the opening of the bottom door independently. If the current opening angle of the Heaven Gate is less than the current opening angle of the Earth Gate, and the current opening angle of the Earth Gate is less than the second target opening angle, then the Earth Gate is first controlled to run to the opening end point, and then the Heaven Gate is controlled to run to the opening end point.

4. The control method of a power tail gate according to claim 1, characterized by, Before real-time monitoring of the actual distance between the Heavenly Gate and the Earthly Gate, the following also includes: Obtain the length of the Heaven Gate, the length of the Earth Gate, and the height difference between the first pivot connecting the Heaven Gate and the second pivot connecting the Earth Gate; Calculate the first theoretical rotation angle of the Heavenly Gate from the closing end point to the interference critical point and the second theoretical rotation angle of the Earthly Gate from the closing end point to the interference critical point based on the Heavenly Gate length, the Earthly Gate length, and the height difference; Read the first total travel Hall count of the top door from the closing end point to the opening end point detected by the first Hall sensor, and read the second total travel Hall count of the bottom door from the closing end point to the opening end point detected by the second Hall sensor; Determine the first total rotation angle of the Heaven Gate from the closing end point to the opening end point, and the second total rotation angle of the Earth Gate from the closing end point to the opening end point; The first target Hall count of the sky gate from the closing end point to the interference critical point is calculated based on the first theoretical rotation angle, the first total stroke Hall count, and the first total rotation angle. The second target Hall count of the earth gate from the closing end point to the interference critical point is calculated based on the second theoretical rotation angle, the second total stroke Hall count, and the second total rotation angle.

5. The control method of the electrically driven tail gate according to claim 4, characterized by, When performing gate closing control, the critical point of interference when the gate passes through is determined, including: Read the first current Hall count of the first Hall sensor; If the first current Hall count is less than the first target Hall count, it is determined that the Tianmen has passed the interference critical point; Accordingly, when controlling the door opening, the interference critical point of the ground door is determined, including: Read the second current Hall count of the second Hall sensor; If the second current Hall count is greater than the second target Hall count, the ground gate is determined to have passed the interference critical point.

6. The control method for the electric tailgate according to claim 1, characterized in that, The difference between the operating speed of the Heaven Gate and the operating speed of the Earth Gate is determined based on the absolute value of the actual distance and the set operating distance, including: The difference is calculated according to a preset formula; The preset relationship is: ΔV=K(|N|-N0; Wherein, ΔV is the difference, K is the adjustment coefficient, N is the actual distance, and N0 is the set running distance, and both K and N0 are greater than zero.

7. A control system for an electrically powered tailgate, characterised in that include: The system consists of a top gate, an bottom gate, a first rotating shaft, a second rotating shaft, a first drive motor, a second drive motor, a first Hall sensor, a second Hall sensor, and an MCU. The top door is rotatably connected to the top of the vehicle body via a first rotating shaft, and the bottom door is rotatably connected to the bottom of the vehicle body via a second rotating shaft. After both the top door and the bottom door are closed, the top door is located outside the bottom door. The first drive motor is connected to the first rotating shaft and is used to drive the first rotating shaft to rotate, thereby causing the top door to rotate. The second drive motor is connected to the second rotating shaft and is used to drive the second rotating shaft to rotate, thereby causing the bottom door to rotate. The MCU is connected to the first drive motor, the second drive motor, the first Hall sensor, and the second Hall sensor. The first Hall sensor is used to detect the real-time position of the top door, and the second Hall sensor is used to detect the real-time position of the bottom door. The MCU is used to execute the steps of the control method for the electric tailgate according to any one of claims 1 to 6.

8. A control device for an electric tailgate, characterized in that, include: The acquisition module is used to obtain the set running distance between the Heaven Gate and the Earth Gate; The determination module is used to monitor the actual distance between the top gate and the bottom gate in real time, and determine the difference between the running speed of the top gate and the running speed of the bottom gate based on the absolute value of the actual distance and the set running distance. The door closing control module is used to, when performing door closing control, if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door, obtain the first running speed of the bottom door, determine the second running speed of the top door based on the first running speed and the difference, and after determining that the top door has passed the interference critical point, the top door runs to the closing end point at the speed at which it reached the interference critical point; wherein, the interference critical point is the intersection point of the movement trajectory of the top door and the movement trajectory of the bottom door; The door opening control module is used to obtain the third running speed of the top door if the current opening angle of the top door is greater than or equal to the current opening angle of the bottom door when the door opening control is performed. Based on the third running speed and the difference, the fourth running speed of the bottom door is determined. After the bottom door passes the interference critical point, the bottom door runs to the opening end point at the speed at which the interference critical point is reached.

9. A control device of an electrically driven tailgate, characterized by comprising: Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the control method for the electric tailgate as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the electric tailgate as described in any one of claims 1 to 6.

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