An electric tail gate anti-pinch current calibration method and system, and a storage medium

Abstract

The application belongs to the technical field of intelligent auxiliary driving and provides an electric tailgate anti-pinch current calibration method and system and a storage medium. The vehicle pose, tailgate opening and motor parameters under different longitudinal slopes are collected, the absolute angle of the tailgate relative to the horizontal ground is accurately calculated, the mapping relationship between the actual road slope and the driving current is constructed, the safety margin optimization is introduced, and the anti-pinch current threshold is calibrated. Thus, the accuracy and reliability of the anti-pinch current threshold can be improved under different slope conditions, the false triggering or failure can be avoided, and the safety and adaptability of the electric tailgate are enhanced.

Description

Technical Field

[0001] This invention belongs to the field of intelligent assisted driving technology, specifically relating to a method, system and storage medium for calibrating the anti-pinch current of an electric tailgate. Background Technology

[0002] In standard automotive configurations, power tailgates detect and clamp obstacles by monitoring the current of the strut motor. The key to this system lies in setting the anti-pinch current threshold. If the anti-pinch current threshold is too low, it can easily cause false triggering during normal opening and closing; if it is too high, it may lead to excessive clamping force and pose a danger. Therefore, precise calibration is required.

[0003] Currently, the calibration of the anti-pinch current threshold for electric tailgates, and the compensation schemes for vehicle parking slopes, are mainly divided into the following two categories: First, the lookup table method based on the vehicle opening angle. This method stores calibrated current thresholds under different temperatures and vehicle attitudes, forming a mapping table. In actual use, the threshold is determined by looking up the table based on the current temperature and vehicle attitude. However, since it uses a coordinate system based on the vehicle opening angle, the gravitational torque corresponding to the same opening angle is completely different under different slopes. The mapping table needs to cover the three-dimensional combination of "temperature-vehicle attitude-opening angle," resulting in a large calibration workload and difficulty in encompassing all the actual dispersion caused by continuous slope changes.

[0004] Second, the online compensation method based on the gravitational moment model. This method corrects the baseline current by calculating the changes in the gravitational component in real time using physical formulas. However, it relies on accurate vehicle parameters (such as the tailgate center of gravity position, hinge friction coefficient, etc.) and is difficult to compensate for current drift caused by lubrication conditions, mechanical wear, etc. Summary of the Invention

[0005] The purpose of this invention is to disclose a method, system and storage medium for calibrating the anti-pinch current of an electric tailgate, which solves the technical problems of high difficulty and low accuracy in calibrating the anti-pinch current threshold of existing electric tailgates, making it difficult to achieve accurate compensation under different slopes, leading to false triggering or excessive clamping force and causing safety hazards.

[0006] To achieve the above objectives, this invention discloses a method for calibrating the anti-pinch current of an electric tailgate, comprising the following steps: Data acquisition involves pre-setting calibration road surfaces with different longitudinal slopes and collecting vehicle position parameters, tailgate opening parameters, and motor parameters on the calibration road surfaces. Using the horizontal ground as a reference, the absolute angle of the tailgate relative to the horizontal ground is calculated based on the vehicle position parameters and tailgate opening parameters. Obtain the motor drive current corresponding to each absolute angle from the motor parameters, and construct a mapping relationship; The mapping relationship is further optimized based on the safety setting standards to obtain a mapping relationship lookup table that includes the anti-pinch current threshold.

[0007] This basic solution collects vehicle position, tailgate opening, and motor parameters under different longitudinal slopes to accurately calculate the absolute angle of the tailgate relative to the horizontal ground. This establishes a mapping relationship between the actual road slope and the drive current. By introducing safety margin optimization, the anti-pinch current threshold is calibrated. This allows the solution to adapt to different slope conditions, improve the accuracy and reliability of the anti-pinch current threshold, avoid false triggering or failure, and enhance the safety and adaptability of the electric tailgate.

[0008] As an optional implementation method, data acquisition involves pre-setting calibration road surfaces with different longitudinal slopes and collecting vehicle pose parameters, tailgate opening parameters, and motor parameters on the calibration road surfaces, including: Multiple actual road surfaces with different longitudinal slopes are pre-set as calibration road surfaces; Conduct a real-vehicle test, controlling the vehicle to perform the tailgate opening and closing on the calibrated road surface at each longitudinal slope; The system records data and saves the vehicle's position and orientation parameters, tailgate opening parameters, and motor parameters at every moment during the experiment.

[0009] This solution performs real-vehicle calibration by setting up multiple actual road surfaces with different longitudinal slopes, and fully records real-time data on vehicle position, tailgate opening, and motor parameters. This accurately reflects the dynamic operating conditions of the vehicle under different slopes, providing highly reliable raw data for the subsequent construction of the mapping relationship between longitudinal slope and drive current value, thereby improving the accuracy and practicality of the anti-pinch calibration.

[0010] As an optional implementation, using a horizontal ground as a reference, the absolute angle of the tailgate relative to the horizontal ground is calculated based on the vehicle's position parameters and tailgate opening parameters, including: Using the horizontal ground as a reference, calculate the installation tilt angle when the tailgate is closed; The vehicle pitch angle is determined based on the obtained vehicle pose parameters, and the tailgate opening angle is determined based on the obtained tailgate opening parameters. Based on the vehicle pitch angle and tailgate opening angle at the same sampling time, and combined with the installation tilt angle, the absolute angle of the tailgate relative to the horizontal ground is calculated using the following formula:

[0011] In the formula, Indicates an absolute angle. Indicates the tailgate opening angle. Indicates the installation tilt angle. This indicates the vehicle's pitch angle.

[0012] This solution uses a horizontal ground as a reference. By introducing the installation tilt angle when the tailgate is closed, the vehicle pitch angle, and the tailgate opening angle, it accurately calculates the absolute angle of the tailgate relative to the horizontal ground. This eliminates the distortion of the angle-torque relationship caused by vehicle pitch, allowing data from different slopes to be directly compared in the same coordinate system. It also accurately reflects the absolute position of the tailgate in space, providing a key angular basis for accurately determining the drive current requirements and anti-pinch threshold under different slopes, thus improving calibration accuracy.

[0013] As an optional implementation, the motor drive current corresponding to each absolute angle is obtained from the motor parameters, and a mapping relationship is constructed, including: The absolute angle is divided into interval boxes, and all current sampling values ​​in each angle box are obtained from the motor parameters. The maximum value is then taken as the drive current value. Based on the one-to-one correspondence of the absolute angle and driving current value, an upper envelope curve of the original current is constructed to characterize the mapping relationship between the tailgate and the driving current during the normal opening and closing process under different slopes.

[0014] As an optional implementation, the absolute angle is divided into interval bins, and all current sampling values ​​within each angle bin are obtained from the motor parameters. The maximum value is then taken as the drive current value, including: Based on the absolute angle, the boxes are divided into intervals according to a preset angle interval range to obtain multiple sets of angle boxes; Based on the motor parameters, all current sampling values ​​within each angle box interval are obtained, and then the maximum value is selected as the drive current value.

[0015] This solution divides the circuit into intervals based on absolute angles, obtaining the maximum value within each interval as the driving current value. Then, based on the corresponding absolute angles and driving current values, it plots the upper envelope curve of the original current, constructing a maximum threshold generation system that completely encompasses the normal current across the entire slope, grounded in absolute physical space. By utilizing multi-slope measured data, it comprehensively covers the maximum possible current under all normal slopes, ensuring that the anti-pinch current threshold is never lower than the maximum current under any normal operating condition. This fundamentally eliminates the risk of false triggering and missed detection caused by slope changes, guaranteeing zero false triggering when there is no clamping.

[0016] As an optional implementation, the mapping relationship is further optimized based on security setting standards to obtain a mapping relationship lookup table, including: Determine the safety current margin based on safety setting standards; The upper envelope curve is uniformly adjusted and optimized based on the safety current margin to obtain the optimized upper envelope curve. The optimized upper envelope curve is identified, and the corresponding absolute angle and anti-pinch current threshold are output to obtain a mapping relationship lookup table.

[0017] This solution determines the safety current margin based on safety setting standards. The optimized anti-pinch current threshold includes a controllable margin, so that once an obstacle is involved, the additional current increment can reliably trigger the anti-pinch mechanism.

[0018] The present invention also provides an anti-pinch current calibration system for electric tailgates, used to implement the anti-pinch current calibration method for electric tailgates as described above, comprising: Vehicle attitude measurement unit, used to detect vehicle attitude parameters; Tailgate angle sensor, used to detect the tailgate opening parameters of the vehicle; The current detection unit is used to detect the motor parameters of the tailgate strut motor; The calibration processing unit is connected to the vehicle posture measurement unit, tailgate angle sensor, and current detection unit, respectively. It is used to calculate the absolute angle of the tailgate relative to the horizontal ground, based on the vehicle posture parameters and tailgate opening parameters, using the horizontal ground as a reference. It then determines the longitudinal slope of the corresponding calibration road surface based on the absolute angle and obtains the drive current value from the corresponding motor parameters. A mapping relationship is constructed based on the one-to-one correspondence between the longitudinal slope and the drive current value. The mapping relationship is further optimized based on safety setting standards to obtain a mapping relationship lookup table. A memory is used to store the mapping table.

[0019] As an optional implementation, the vehicle body attitude measurement unit includes an inertial measurement unit fixed to the vehicle body.

[0020] As an optional implementation, the tailgate angle sensor includes a slope meter fixed to the tailgate latch area.

[0021] This solution uses an inertial measurement unit and an inclinometer to directly and in real-time measure the vehicle's attitude and tailgate angle. It is flexible to install, low in cost, and suitable for all types of vehicles.

[0022] The present invention also provides a storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the electric tailgate anti-pinch current calibration method as described above. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating the process of an electric tailgate anti-pinch current calibration method provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the installation tilt angle provided in an embodiment of the present invention; Figure 3 This is a system framework diagram of an electric tailgate anti-pinch current calibration system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the upper envelope curve provided in an embodiment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0027] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0028] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0029] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0030] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0031] Example 1 Please see Figure 1 and Figure 2 As shown in the figure, this application provides a method for calibrating the anti-pinch current of an electric tailgate, including the following steps: S1. Data Acquisition: Pre-set calibration road surfaces with different longitudinal slopes, and collect vehicle position parameters, tailgate opening parameters, and motor parameters on the calibration road surfaces, including: Multiple actual road surfaces with different longitudinal slopes are pre-set as calibration road surfaces; Conduct a real-vehicle test, controlling the vehicle to perform the tailgate opening and closing on the calibrated road surface at each longitudinal slope; The system records data and saves the vehicle's position and orientation parameters, tailgate opening parameters, and motor parameters at every moment during the experiment.

[0032] Specifically, the tailgate was opened and closed on multiple road surfaces with different longitudinal slopes, and the vehicle position parameters, tailgate opening parameters, and motor parameters were recorded at each moment.

[0033] In this embodiment, the calibration road surface with different longitudinal slopes at least covers the maximum uphill slope, maximum downhill slope and horizontal road surface allowed by the vehicle design, so that the collected drive current data can cover all possible slope conditions in actual use.

[0034] For example, during the vehicle development phase, five road surfaces with slopes of -20° (low front), -10°, 0° (horizontal), +10°, and +20° (high front) were selected. The vehicle was parked sequentially on each slope, and under the same operating conditions (uniform tailgate motor input voltage and ambient temperature), the electric tailgate was controlled to complete multiple full-open and full-close cycles via commands from a diagnostic tool, with the data acquisition system recording the data synchronously.

[0035] This embodiment performs real-vehicle calibration by setting multiple actual road surfaces with different longitudinal slopes, and fully records real-time data on vehicle position, tailgate opening, and motor parameters. This accurately reflects the dynamic operating conditions of the vehicle under different slopes, providing highly reliable raw data for the subsequent construction of the mapping relationship between longitudinal slope and drive current value, thereby improving the accuracy and practicality of the anti-pinch calibration.

[0036] S2. Using the horizontal ground as a reference, calculate the absolute angle of the tailgate relative to the horizontal ground based on the vehicle's position parameters and tailgate opening parameters, including: Using the horizontal ground as a reference, calculate the installation tilt angle when the tailgate is closed; The vehicle pitch angle is determined based on the obtained vehicle pose parameters, and the tailgate opening angle is determined based on the obtained tailgate opening parameters. Based on the vehicle pitch angle and tailgate opening angle at the same sampling time, and combined with the installation tilt angle, the absolute angle of the tailgate relative to the horizontal ground is calculated using the following formula:

[0037] In the formula, Indicates an absolute angle. Indicates the tailgate opening angle. This indicates the installation tilt angle (i.e., the installation tilt angle when the tailgate is closed and the ground is level). This indicates the vehicle's pitch angle.

[0038] Specifically, for each sampling moment, using the horizontal ground as a reference, the absolute angle of the tailgate relative to the horizontal ground at the current moment is calculated based on the vehicle pitch angle signal and the opening angle signal. This yields a set of data points containing the correspondence between absolute angle and driving current.

[0039] like Figure 2 The installation tilt angle is the acute angle between the plane P determined by the tailgate hinge rotation axis A and the tailgate electric suction lock buckle B and the horizontal plane, for example, 53°; The method for measuring the maximum value is as follows: Fix the inclinometer on the outer side of the straight area near latch B on the tailgate (e.g., Figure 2 As shown in the diagram, when the tailgate is fully closed, the inclinometer angle is zeroed. The angle displayed on the inclinometer when the tailgate is fully open is the maximum opening angle. In this embodiment... The maximum value is 57°.

[0040] This embodiment uses a horizontal ground as a reference. By introducing the installation tilt angle when the tailgate is closed, the vehicle pitch angle, and the tailgate opening angle, it accurately calculates the absolute angle of the tailgate relative to the horizontal ground. This eliminates the distortion of the angle-torque relationship caused by vehicle pitch, allowing data from different slopes to be directly compared in the same coordinate system. It also truly reflects the absolute position of the tailgate in space, providing a key angular basis for accurately determining the drive current requirements and anti-pinch threshold under different slopes, thus improving calibration accuracy.

[0041] S3. Obtain the motor drive current corresponding to each absolute angle from the motor parameters, and construct a mapping relationship, including: S31. Divide the absolute angle into interval bins, and obtain all current sampling values ​​within each angle bin from the motor parameters, then take the maximum value as the drive current value, including: Based on the absolute angle, the boxes are divided into intervals according to a preset angle interval range to obtain multiple sets of angle boxes; Based on the motor parameters, all current sampling values ​​within each angle box interval are obtained, and then the maximum value is selected as the drive current value.

[0042] S32. Based on the one-to-one correspondence of the absolute angle and driving current value, construct the upper envelope curve of the original current to characterize the mapping relationship between the tailgate and the driving current during the normal opening and closing process under different slopes.

[0043] Specifically, all sampling points are divided into bins with an absolute angle of 2° (i.e., the angle interval is defined as a left-closed and right-open interval in the form of [0°, 2°), [2°, 4°)...). In each angle bin, the current sampling values ​​(i.e. motor parameters) of all switching cycles and all slopes are retrieved, and the maximum value of the interval is recorded as the drive current value.

[0044] See Figure 4 This yields a scatter plot of the original maximum current spanning from -73° to 24° absolute angle (which can be offset to 0° to 97° for easier calculation), which is the upper envelope curve of the original current.

[0045] Since the upper envelope curve is derived from actual measurements, it incorporates the effects of all real-world factors, including changes in gravity, friction dispersion, voltage and temperature fluctuations, making the data accurate and relevant to actual vehicle conditions.

[0046] This embodiment divides the space into intervals based on absolute angles, obtains the maximum value within each angle interval as the driving current value, and then constructs a maximum threshold generation system based on the upper envelope curve of the original current plotted according to the one-to-one correspondence of absolute angles and driving current values. This system can completely encompass the normal current across the entire slope. By using measured data from multiple slopes, the maximum possible current under all normal slopes is comprehensively covered, ensuring that the anti-pinch current threshold is always no lower than the maximum current under any normal operating condition. This fundamentally eliminates the risk of false triggering and missed detection caused by slope changes, guaranteeing zero false triggering when there is no clamping.

[0047] S4. Based on the safety setting standards, further optimize the mapping relationship to obtain a mapping relationship lookup table that includes the anti-pinch current threshold, including: Determine the safety current margin based on safety setting standards; The upper envelope curve is uniformly adjusted and optimized based on the safety current margin to obtain the optimized upper envelope curve. The optimized upper envelope curve is identified, and the corresponding absolute angle and anti-pinch current threshold are output to obtain a mapping relationship lookup table.

[0048] The safety current margin is a fixed current increment that can be set according to the anti-pinch force limit and the actual anti-pinch sensation of the vehicle.

[0049] This embodiment determines the safety current margin according to the safety setting standard. The optimized anti-pinch current threshold includes a controllable margin. Once an obstacle intervenes, the additional current increment can reliably trigger the anti-pinch mechanism.

[0050] The above calibration method is automatically executed by diagnostic equipment during vehicle maintenance.

[0051] Example 2 The reference numerals in the accompanying drawings of the embodiments of the present invention include: vehicle body posture measurement unit 1, tailgate angle sensor 2, current detection unit 3, calibration processing unit 4, and memory 5.

[0052] This invention also provides an anti-pinch current calibration system for electric tailgates, see [link / reference]. Figure 3 The method for calibrating the anti-pinch current of an electric tailgate as described in Embodiment 1 above includes: Vehicle posture measurement unit 1 is used to detect the vehicle's posture parameters; Tailgate angle sensor 2 is used to detect the tailgate opening parameters of the vehicle; The current detection unit 3 is used to detect the motor parameters of the tailgate strut motor, with a preferred accuracy of 0.1A. The calibration processing unit 4 is connected to the vehicle posture measurement unit 1, the tailgate angle sensor 2, and the current detection unit 3, respectively. It is used to calculate the absolute angle of the tailgate relative to the horizontal ground, based on the vehicle posture parameters and tailgate opening parameters, using the horizontal ground as a reference. It determines the longitudinal slope of the corresponding calibration road surface based on the absolute angle and obtains the drive current value from the corresponding motor parameters. A mapping relationship is constructed based on the one-to-one correspondence between the longitudinal slope and the drive current value. The mapping relationship is further optimized based on safety setting standards to obtain a mapping relationship lookup table. Memory 5 is used to store the mapping relationship lookup table.

[0053] The calibration processing unit is integrated into the electric tailgate controller or the vehicle domain controller.

[0054] In this embodiment, the final "absolute angle - anti-pinch current threshold" array is stored in the Flash memory of the tailgate controller with a step size of 2°. In actual user scenarios, the calibration processing unit (controller) collects the vehicle pitch angle and tailgate opening angle in real time, calculates the absolute angle, and then obtains the current anti-pinch current threshold by looking up a table.

[0055] As an optional implementation, the vehicle attitude measurement unit 1 includes an inertial measurement unit fixed to the vehicle body. Preferably, the accuracy is 1°, and the pitch angle is defined as positive when the front of the vehicle is higher than the rear.

[0056] As an optional implementation, the tailgate angle sensor 2 includes a slope meter fixed to the tailgate latch area. A preferred accuracy is 0.5°.

[0057] This embodiment uses an inertial measurement unit and an inclinometer to directly and in real-time measure the vehicle body posture and tailgate angle. It is flexible in installation, low in cost, and suitable for all types of vehicles.

[0058] Example 3 This invention also provides a storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the electric tailgate anti-pinch current calibration method described in Embodiment 1 above.

[0059] This invention collects vehicle position, tailgate opening, and motor parameters under different longitudinal slopes to accurately calculate the absolute angle of the tailgate relative to the horizontal ground, thereby constructing a mapping relationship between the actual road slope and the drive current. It also introduces safety margin optimization and calibrates the anti-pinch current threshold. This enables it to adapt to different slope conditions, improve the accuracy and reliability of the anti-pinch current threshold, avoid false triggering or failure, and enhance the safety and adaptability of the electric tailgate.

[0060] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A method for calibrating the anti-pinch current of an electric tailgate, characterized in that, Including the following steps: Data acquisition involves pre-setting calibration road surfaces with different longitudinal slopes and collecting vehicle position parameters, tailgate opening parameters, and motor parameters on the calibration road surfaces. Using the horizontal ground as a reference, the absolute angle of the tailgate relative to the horizontal ground is calculated based on the vehicle position parameters and tailgate opening parameters. Obtain the motor drive current corresponding to each absolute angle from the motor parameters, and construct a mapping relationship; The mapping relationship is further optimized based on the safety setting standards to obtain a mapping relationship lookup table that includes the anti-pinch current threshold.

2. The method for calibrating the anti-pinch current of an electric tailgate as described in claim 1, characterized in that, Data acquisition involves pre-setting calibration road surfaces with different longitudinal slopes and collecting vehicle pose parameters, tailgate opening parameters, and motor parameters on these surfaces, including: Multiple actual road surfaces with different longitudinal slopes are pre-set as calibration road surfaces; Conduct a real-vehicle test, controlling the vehicle to perform the tailgate opening and closing on the calibrated road surface at each longitudinal slope; The system records data and saves the vehicle's position and orientation parameters, tailgate opening parameters, and motor parameters at every moment during the experiment.

3. The method for calibrating the anti-pinch current of an electric tailgate as described in claim 1, characterized in that, Using a horizontal ground as a reference, the absolute angle of the tailgate relative to the horizontal ground is calculated based on the vehicle's position parameters and tailgate opening parameters, including: Using the horizontal ground as a reference, calculate the installation tilt angle when the tailgate is closed; The vehicle pitch angle is determined based on the obtained vehicle pose parameters, and the tailgate opening angle is determined based on the obtained tailgate opening parameters. Based on the vehicle pitch angle and tailgate opening angle at the same sampling time, and combined with the installation tilt angle, the absolute angle of the tailgate relative to the horizontal ground is calculated using the following formula: In the formula, Indicates an absolute angle. Indicates the tailgate opening angle. Indicates the installation tilt angle. This indicates the vehicle's pitch angle.

4. The method for calibrating the anti-pinch current of an electric tailgate as described in claim 1, characterized in that, Obtain the motor drive current corresponding to each absolute angle from the motor parameters, and construct a mapping relationship, including: The absolute angle is divided into interval boxes, and all current sampling values ​​in each angle box are obtained from the motor parameters. The maximum value is then taken as the drive current value. Based on the one-to-one correspondence of the absolute angle and driving current value, an upper envelope curve of the original current is constructed to characterize the mapping relationship between the tailgate and the driving current during the normal opening and closing process under different slopes.

5. The method for calibrating the anti-pinch current of an electric tailgate as described in claim 4, characterized in that, The absolute angle is divided into interval bins, and all current sampling values ​​within each angle bin are obtained from the motor parameters. The maximum value is then taken as the drive current value, including: Based on the absolute angle, the boxes are divided into intervals according to a preset angle interval range to obtain multiple sets of angle boxes; Based on the motor parameters, all current sampling values ​​within each angle box interval are obtained, and then the maximum value is selected as the drive current value.

6. The method for calibrating the anti-pinch current of an electric tailgate as described in claim 4, characterized in that, The mapping relationship is further optimized based on the security setting standards to obtain a mapping relationship lookup table, including: Determine the safety current margin based on safety setting standards; The upper envelope curve is uniformly adjusted and optimized based on the safety current margin to obtain the optimized upper envelope curve. The optimized upper envelope curve is identified, and the corresponding absolute angle and anti-pinch current threshold are output to obtain a mapping relationship lookup table.

7. A current calibration system for an electric tailgate anti-pinch device, used to implement the current calibration method for an electric tailgate anti-pinch device as described in any one of claims 1 to 6, characterized in that, include: Vehicle attitude measurement unit, used to detect vehicle attitude parameters; Tailgate angle sensor, used to detect the tailgate opening parameters of the vehicle; The current detection unit is used to detect the motor parameters of the tailgate strut motor; The calibration processing unit is connected to the vehicle posture measurement unit, tailgate angle sensor and current detection unit respectively. It is used to calculate the absolute angle of the tailgate relative to the horizontal ground with the horizontal ground as a reference, based on the vehicle posture parameters and tailgate opening parameters; determine the longitudinal slope of the corresponding calibration road surface based on the absolute angle, and obtain the drive current value from the corresponding motor parameters. A mapping relationship is constructed based on the one-to-one correspondence of the longitudinal slope and drive current value. The mapping relationship is further optimized based on the security setting standards to obtain a mapping relationship lookup table; A memory is used to store the mapping table.

8. The electric tailgate anti-pinch current calibration system as described in claim 7, characterized in that: The vehicle body attitude measurement unit includes an inertial measurement unit fixed to the vehicle body.

9. The electric tailgate anti-pinch current calibration system as described in claim 7, characterized in that: The tailgate angle sensor includes a slope meter fixed to the tailgate latch area.

10. A storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the electric tailgate anti-pinch current calibration method as described in any one of claims 1-6.

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