Rear spoiler control method and apparatus, electronic device, and computer readable storage medium

Abstract

A rear spoiler control method and apparatus, an electronic device, and a computer readable storage medium. The method comprises: in response to a rear spoiler motion instruction, obtaining historical position information of a rear spoiler, wherein the historical position information of the rear spoiler is updated after each motion of the rear spoiler (101); comparing the historical position information of the rear spoiler with preset position information to obtain a position offset result, wherein the position offset result is used for representing whether a position offset occurs in the rear spoiler (102); and when the position offset result represents that a position offset occurs in the rear spoiler, performing position correction processing on the rear spoiler, and during the position correction processing, updating the historical position information of the rear spoiler (103).

Description

Tail control method, device, electronic device and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 20, 2023, with application number 202311552844.2, and invention name “Tail control method, device, electronic device and computer-readable storage medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to vehicle technology, and in particular to a tail wing control method, device, electronic device, and computer-readable storage medium. Background Art

[0003] With the diversification of automobiles, more and more users are demanding more sporty features. Rear wings (electric rear wings) not only enhance a car's sportiness but also increase downforce at high speeds, balancing the vehicle and improving stability and safety.

[0004] However, the tail can drift due to mechanical aging and environmental influences, causing wear and noise. To address this, conventional solutions typically calibrate the tail's position each time it's powered on. However, this calibration frequency is too high, potentially damaging the tail.

[0005] Summary of the Invention

[0006] The present application provides a tail control method, device, electronic device and computer-readable storage medium, which can perform position correction processing when the tail is offset, reduce damage to the tail, and increase the service life of the tail.

[0007] The technical solution of this application is achieved as follows:

[0008] The present application provides a tail control method, comprising:

[0009] In response to the tail movement instruction, acquiring historical position information of the tail; wherein the historical position information of the tail is updated after each movement of the tail;

[0010] Comparing the historical position information of the tail with the preset position information to obtain a position shift result; wherein the position shift result is used to indicate whether the tail has a position shift;

[0011] When the position offset result indicates that the tail wing has a position offset, a position correction process is performed on the tail wing, and historical position information of the tail wing is updated during the position correction process.

[0012] The present application provides a tail control device, comprising:

[0013] An acquisition module, configured to acquire historical position information of the tail in response to a tail movement instruction; wherein the historical position information of the tail is updated after each movement of the tail;

[0014] a comparison module, configured to compare the historical position information of the tail wing with the preset position information to obtain a position shift result; wherein the position shift result is used to indicate whether the tail wing has position shift;

[0015] The correction module is configured to perform position correction processing on the tail wing when the position offset result indicates that the tail wing has position offset, and to update historical position information of the tail wing during the position correction processing.

[0016] The present application provides an electronic device, including:

[0017] a memory for storing executable instructions;

[0018] The processor is configured to implement the tail control method provided in the present application when executing the executable instructions stored in the memory.

[0019] The present application provides a computer-readable storage medium storing executable instructions for causing a processor to execute the instructions to implement the tail control method provided in the present application.

[0020] The present application provides a computer program product, which includes executable instructions for causing a processor to execute the instructions to implement the tail control method provided in the present application.

[0021] This application has the following beneficial effects:

[0022] The present application responds to the tail movement instruction, obtains the historical position information updated after each movement of the tail, and compares the historical position information of the tail with the preset position information to obtain a position offset result. When the position offset result indicates that the tail has a position offset, it proves that it is currently the right time to perform position correction. Therefore, the tail is subjected to position correction processing, and the historical position information of the tail is updated during the position correction processing, so that the tail can be subsequently controlled according to the tail movement instruction. In summary, the present application performs position correction processing when the tail has a position offset, which can reduce the frequency of position correction while ensuring the effect of position correction, thereby reducing damage to the tail and increasing the service life of the tail. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] FIG1 is a schematic diagram of the architecture of a tail control system provided by an embodiment of the present application;

[0025] FIG2 is a schematic structural diagram of a terminal device provided in an embodiment of the present application;

[0026] FIG3A is a schematic flow chart of a tail wing control method provided in an embodiment of the present application;

[0027] FIG3B is another schematic flow chart of the tail wing control method provided in an embodiment of the present application;

[0028] FIG3C is another schematic flow chart of the tail wing control method provided in an embodiment of the present application;

[0029] FIG3D is another schematic flow chart of the tail wing control method provided in an embodiment of the present application;

[0030] FIG4 is a schematic diagram of a tail wing motor provided in an embodiment of the present application;

[0031] FIG5 is another schematic flow chart of the tail wing control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0033] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. In the following description, the term "plurality" refers to at least two.

[0034] In the following description, the terms "first\second" are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0036] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0037] 1) Spoiler (also known as a car spoiler): This refers to a protrusion mounted on the trunk lid of a car, resembling a ducktail or skid plate. It is part of a car's aerodynamic package and its primary function is to reduce lift at the rear of the vehicle. In the embodiments of this application, the spoiler is an electric spoiler, meaning it can be moved, such as closed or opened, by a motor.

[0038] 2) Tail Motor: The tail needs to be powered by a tail motor to achieve tail movement. The tail motor can be a DC motor or a stepper motor. In some embodiments, the tail motor can be a Hall effect motor.

[0039] 3) Rear wing virtual switch: Also known as the rear wing soft switch, this refers to the virtual switch button displayed in the vehicle interface. When a trigger operation is received for the rear wing virtual switch in the vehicle interface, a rear wing movement command (i.e., opening / closing the rear wing) can be triggered. This embodiment of the application does not limit the form of the trigger operation; for example, it can be a single click or a long press.

[0040] 4) Rear wing physical switch: Also known as the rear wing hard switch, this refers to the physical switch button installed inside the vehicle. When a trigger operation is received on the rear wing physical switch, the rear wing movement command can be triggered (i.e., the rear wing is turned on or off).

[0041] 5) In response to: used to indicate the conditions or states on which the executed operations depend. When the dependent conditions or states are met, one or more operations executed can be in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations executed are executed.

[0042] The present invention provides a tail wing control method, apparatus, electronic device, computer-readable storage medium, and computer program product, which can perform position correction processing when the tail wing is misaligned, thereby reducing damage to the tail wing and increasing the service life of the tail wing. The following describes exemplary applications of the electronic device provided by the present invention. The electronic device provided by the present invention can be implemented as various types of terminal devices (such as vehicle-mounted devices) or as a server.

[0043] 1 , which is a schematic diagram of the architecture of a tail control system 100 according to an embodiment of the present application, wherein a terminal device 400 is connected to a server 200 via a network 300 , wherein the network 300 may be a wide area network or a local area network, or a combination of the two.

[0044] In some embodiments, taking the electronic device as a terminal device as an example, the tail control method provided in the embodiments of the present application can be implemented by the terminal device. For example, the terminal device 400 can be an on-board device deployed on a vehicle. The terminal device 400 responds to the vehicle's tail movement instruction to obtain the historical position information of the tail; compares the historical position information of the tail with the preset position information to obtain a position offset result; when the position offset result indicates that the tail has a position offset, the tail is corrected, and the historical position information of the tail is updated during the position correction process. In some embodiments, the historical position information updated after each movement of the tail can be stored locally on the terminal device 400. In some embodiments, the terminal device 400 can control the tail by controlling the tail motor.

[0045] In some embodiments, taking the electronic device as a server as an example, the tail control method provided in the embodiments of the present application can be implemented by the server. For example, the terminal device 400 can send the historical position information updated after each movement of the tail to the server 200, so that the server 200 stores the received historical position information locally, in a database, or in other storage locations. When the terminal device 400 receives the tail movement instruction, the tail movement instruction is sent to the server 200; the server 200 responds to the tail movement instruction and obtains the historical position information of the tail; the server 200 compares the historical position information of the tail with the preset position information to obtain a position offset result; when the position offset result indicates that the tail has a position offset, the server 200 performs position correction processing on the tail, for example, the server 200 can send the position correction instruction to the terminal device 400, so that the terminal device 400 performs position correction processing on the tail according to the received position correction instruction, and updates the historical position information of the tail during the position correction process.

[0046] In some embodiments, the terminal device 400 or the server 200 can implement the tail control method provided in the embodiments of the present application by running a computer program. For example, the computer program can be a native program or software module in the operating system; it can be a native application (APP), that is, a program that needs to be installed in the operating system to run; it can also be a mini-program, that is, a program that can be run by simply downloading it into a browser environment; it can also be a mini-program that can be embedded in any APP. In short, the above-mentioned computer program can be an application, module, or plug-in in any form.

[0047] In some embodiments, the server 200 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The terminal device 400 can be a vehicle-mounted device, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, a smart watch, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiments of the present application.

[0048] Taking the electronic device provided in the embodiment of the present application as a terminal device as an example, it is understandable that, for the case where the electronic device is a server, parts of the structure shown in Figure 2 (such as a user interface, a presentation module, and an input processing module) can be omitted. Referring to Figure 2, Figure 2 is a structural diagram of a terminal device 400 provided in an embodiment of the present application. The terminal device 400 shown in Figure 2 includes: at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. The various components in the terminal device 400 are coupled together via a bus system 440. It is understandable that the bus system 440 is used to realize connection communication between these components. In addition to including a data bus, the bus system 440 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 440 in Figure 2.

[0049] The processor 410 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., where the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0050] The user interface 430 includes one or more output devices 431 that enable presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

[0051] The memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, etc. The memory 450 may optionally include one or more storage devices that are physically remote from the processor 410.

[0052] The memory 450 includes volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), and the volatile memory may be a random access memory (RAM). The memory 450 described in the embodiments of the present application is intended to include any suitable type of memory.

[0053] In some embodiments, the memory 450 can store data to support various operations, examples of which include programs, modules, and data structures, or a subset or superset thereof, as exemplified below.

[0054] Operating system 451, including system programs for processing various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and process hardware-based tasks;

[0055] A network communication module 452 for reaching other computing devices via one or more (wired or wireless) network interfaces 420 , exemplary network interfaces 420 including Bluetooth, WiFi, and USB;

[0056] a presentation module 453 for enabling presentation of information via one or more output devices 431 (e.g., a display screen, a speaker, etc.) associated with the user interface 430 (e.g., a user interface for operating peripheral devices and displaying content and information);

[0057] The input processing module 454 is configured to detect one or more user inputs or interactions from one of the one or more input devices 432 and to translate the detected inputs or interactions.

[0058] In some embodiments, the tail control device provided in the embodiments of the present application can be implemented using software. FIG2 shows a tail control device 455 stored in memory 450. The tail control device 455 can be software in the form of a program or plug-in, and includes the following software modules: an acquisition module 4551, a comparison module 4552, and a correction module 4553. These modules are logical and can be arbitrarily combined or further separated according to the functions implemented. The functions of each module will be described below.

[0059] The tail wing control method provided in the embodiment of the present application will be described in conjunction with the exemplary application and implementation of the electronic device provided in the embodiment of the present application.

[0060] 3A , which is a flow chart of a tail wing control method provided in an embodiment of the present application, will be described in conjunction with the steps shown in FIG. 3A .

[0061] In step 101, in response to a tail movement instruction, historical position information of the tail is obtained; wherein the historical position information of the tail is updated after each movement of the tail.

[0062] Here, in response to the triggered tail movement instruction, in order to determine whether the tail has position deviation, the historical position information of the tail is first obtained.

[0063] The tail wing's historical position information is updated after each movement of the tail wing, that is, the historical position information reflects the position information of the tail wing's most recent (most recent) movement. For example, if the tail wing's historical position information includes a historical closed position, then each time the tail wing is closed, the closed position is recorded as the new historical closed position; if the tail wing's historical position information includes a historical open position, then each time the tail wing is opened, the opened position is recorded as the new historical open position; if the tail wing's historical position information includes a historical travel distance, then each time the tail wing is opened from closed to open or from open to closed, the travel distance is recorded as the new historical travel distance.

[0064] The embodiment of the present application does not limit the storage location of the historical position information, and it can be stored in a volatile storage medium or a non-volatile storage medium. When the tail movement instruction is generated, the historical position information is obtained from the storage location.

[0065] In some embodiments, the tail movement instruction may be a tail opening instruction triggered when the tail is closed (ie, in a closed state), or may be a tail closing instruction triggered when the tail is opened (ie, in an open state).

[0066] In some embodiments, before step 101, the tail wing control method also includes: performing any of the following processing; receiving a tail wing movement instruction triggered by a tail wing virtual switch in the vehicle-computer interface; receiving a tail wing movement instruction triggered by a tail wing physical switch; and triggering the tail wing movement instruction when the vehicle speed condition is met.

[0067] Here, three example methods of generating tail wing movement instructions are given. The first method is to receive a tail wing movement instruction triggered by a tail wing virtual switch in the car interface. For example, the tail wing virtual switch (such as a switch button for turning the tail wing on or off) can be displayed in the car interface. When a trigger operation for the tail wing virtual switch is received, the tail wing movement instruction is triggered. Among them, the trigger operation can be a click operation or a long press operation, etc., which is not limited. The above first method can enhance the freedom and flexibility of tail wing control, that is, the user can trigger the tail wing movement instruction at any time; at the same time, it can also fit the user's operating habits.

[0068] The second method is to receive a tail wing movement command triggered by a physical tail wing switch. Here, the vehicle is equipped with a physical tail wing switch, which is a physical switch button used to control the opening and closing of the tail wing. When the tail wing physical switch is triggered, the tail wing movement command is triggered. This second method, based on the physical tail wing switch, can adapt to user operating habits and provide users with more operating options.

[0069] The third method is to trigger the tail wing movement command when the vehicle speed condition is met. For example, the speed condition can be pre-set, and when the current vehicle speed meets the speed condition, the tail wing movement command is automatically triggered. In this way, the triggering of the tail wing movement command is determined based on the vehicle's own kinematic conditions, which can achieve intelligent control of the tail wing without user operation.

[0070] In some embodiments, the vehicle speed condition includes any one of the following: the vehicle speed increases to a first vehicle speed threshold; the vehicle speed decreases to a second vehicle speed threshold; wherein the first vehicle speed threshold is greater than or equal to the second vehicle speed threshold.

[0071] Here, the vehicle speed condition can be set based on the two movements of closing or opening the rear wing. For example, the vehicle speed condition can include any of the following: the vehicle speed increases to a first speed threshold; the vehicle speed decreases to a second speed threshold. The first speed threshold is greater than or equal to the second speed threshold, for example, the first speed threshold is 100 km / h and the second speed threshold is 80 km / h.

[0072] When the vehicle's speed increases to a first speed threshold, indicating a transition from low-speed to high-speed driving, the tail wing opening command is triggered to open the tail wing. Since the tail wing can increase the vehicle's downforce, it can improve the vehicle's stability at high speeds. When the vehicle's speed decreases to a second speed threshold, indicating a transition from high-speed to low-speed driving, the tail wing closing command is triggered to close the tail wing. Both the tail wing opening command and the tail wing closing command are tail wing movement commands.

[0073] In step 102, the historical position information of the tail wing is compared with the preset position information to obtain a position offset result; wherein the position offset result is used to indicate whether the tail wing has position offset.

[0074] When the historical position information of the tail is successfully obtained, the historical position information of the tail is compared with the preset position information to obtain a position offset result, which is used to indicate whether the tail has position offset. The preset position information represents the position information of the tail when there is no position offset, and can be preset.

[0075] Here, two scenarios of comparison processing are illustrated. The first scenario is that the historical location information is a specific value, and the preset location information is also a specific value. When the historical location information is the same as the preset location information, it is determined that the comparison between the historical location information and the preset location information is successful, and the position offset result is that no position offset occurs; when the historical location information is different from the preset location information, it is determined that the comparison between the historical location information and the preset location information fails, and the position offset result is that a position offset occurs. The second scenario is that the historical location information is a specific value, and the preset location information is a range of values. When the historical location information is within the range represented by the preset location information, it is determined that the comparison between the historical location information and the preset location information is successful, and the position offset result is that no position offset occurs; when the historical location information is not within the range represented by the preset location information, it is determined that the comparison between the historical location information and the preset location information fails, and the position offset result is that a position offset occurs.

[0076] In some embodiments, when acquiring the historical position information of the tail wing fails, determining the position offset result indicates that a position offset occurs in the tail wing.

[0077] Here, if the acquisition of the tail's historical position information fails, it indicates that the historical position information has been lost, and it is impossible to determine whether the tail has shifted based on the historical position information. In this case, the tail may have shifted, so directly determining the position shift result indicates that the tail has shifted. In the above method, if the acquisition of the tail's historical position information fails, it is assumed that the tail has shifted, thereby avoiding the delay in timely position correction when the actual position shift occurs.

[0078] In step 103 , when the position offset result indicates that the tail wing has a position offset, a position correction process is performed on the tail wing, and historical position information of the tail wing is updated during the position correction process.

[0079] Here, when the position offset result indicates that the tail wing has a position offset, the tail wing is subjected to position correction processing (or initialization learning), wherein the position correction processing may refer to correcting the position information when the tail wing is closed or opened, so that after comparing the corrected position information with the preset position information, the position offset result obtained indicates that the tail wing has no position offset.

[0080] It is worth noting that the tail wing will be controlled to move during the position correction process. Therefore, the historical position information of the tail wing needs to be updated during the position correction process so that when the tail wing movement instruction is triggered next time, it can be concluded that there is no position offset in the tail wing based on the updated historical position information.

[0081] In some embodiments, before performing position correction processing on the tail wing, the tail wing control method further includes: outputting a position offset prompt; the above-mentioned position correction processing on the tail wing can be achieved in the following manner: in response to a confirmation operation on the position offset prompt, performing position correction processing on the tail wing.

[0082] Here, when it is determined that the rear wing has a positional offset, a positional offset prompt can be output. The positional offset prompt is used to indicate that the rear wing has a positional offset. When a confirmation operation is received for the positional offset prompt, the rear wing is positionally corrected. The positional offset prompt may include instructions on how to perform the confirmation operation, such as by triggering a confirmation button in the positional offset prompt or by triggering a rear wing soft switch in the vehicle interface. When no confirmation operation is received for the positional offset prompt, the rear wing is controlled to move according to the rear wing movement instruction, and the historical position information of the rear wing is updated after the movement. In this way, the user determines whether to perform positional correction processing, which can avoid the user's trouble caused by performing positional correction processing on their own and also increase the necessity of positional correction processing.

[0083] It is worth noting that the embodiment of the present application does not limit the method of outputting prompts (including but not limited to position offset prompts, position correction prompts, and tail wing environment prompts). For example, it can be displayed on the vehicle's computer interface, can be voice broadcast, or can be sent to the user's mobile terminal.

[0084] In some embodiments, the above-mentioned output position offset prompt can be implemented in the following manner: displaying a position offset prompt in the vehicle-machine interface; wherein the position offset prompt is used to prompt the triggering of the tail wing virtual switch in the vehicle-machine interface; after outputting the position offset prompt, the tail wing control method also includes: determining the triggering operation of the tail wing virtual switch in the vehicle-machine interface as a confirmation operation for the position offset prompt.

[0085] Here, a position offset prompt can be displayed in the vehicle interface, wherein the position offset prompt includes a prompt to implement a confirmation operation through the tail wing virtual switch. For example, the position offset prompt can be "The tail wing position has deviated, please press and hold the tail wing to close the soft switch to complete the initialization learning."

[0086] After the position offset prompt is displayed in the vehicle interface, if a trigger operation for the virtual switch of the tail wing in the vehicle interface is received, the trigger operation is determined as a confirmation operation for the position offset prompt, and the position correction processing of the tail wing is performed. Among them, the trigger operation can be set according to the needs of the actual application scenario, for example, it can be a long press operation. Through the above method, it can be ensured that the position offset prompt actually reaches the user. At the same time, the position correction processing is triggered by the virtual switch of the tail wing, which can improve the convenience of operation. In another embodiment, the physical switch of the tail wing can also realize this function, that is: if a trigger operation for the physical switch of the tail wing in the vehicle interface is received, the trigger operation is determined as a confirmation operation for the position offset prompt, and the position correction processing of the tail wing is performed.

[0087] In some embodiments, the above-mentioned position correction processing of the tail wing in response to the confirmation operation for the position offset prompt can be achieved in the following manner: in response to the confirmation operation for the position offset prompt, a position correction prompt is output; in response to the confirmation operation for the position correction prompt, the position correction processing of the tail wing is performed.

[0088] Here, when a confirmation operation is received for the position offset prompt, a second confirmation can be performed. For example, a position correction prompt can be output, which is used to prompt whether to perform position correction processing. When a confirmation operation for the position correction prompt is received, the position of the tail is corrected. When a confirmation operation for the position correction prompt is not received, the tail is controlled to move according to the tail movement instruction, and the historical position information of the tail is updated after the movement, or the tail can remain stationary. In this way, the user can be ensured to be aware of the need for position correction processing, which improves the user experience and avoids frequent position corrections caused by user errors.

[0089] In some embodiments, before performing position correction processing on the tail, the tail control method further includes: outputting a tail environment confirmation prompt; the above-mentioned position correction processing on the tail can be achieved in the following manner: in response to a confirmation operation on the tail environment confirmation prompt, the tail is position corrected.

[0090] Here, when it is determined that the tail has a position offset, a tail environment confirmation prompt can be output, and the tail environment confirmation prompt is used to prompt the user to confirm whether the environment around the tail is suitable. When a confirmation operation for the tail environment confirmation prompt is received, it is proved that the environment around the tail can support position correction processing of the tail, and therefore, the tail is corrected; when a confirmation operation for the tail environment confirmation prompt is not received, it is proved that the environment around the tail cannot support position correction processing of the tail, and therefore the tail can be controlled to move according to the tail movement instruction, and the historical position information of the tail is updated after the movement, or, for safety reasons, the tail can be kept stationary. Through the above method, it can be ensured that the tail is corrected under the premise that the environment around the tail is suitable, the accuracy of the position correction processing can be improved, and the inaccurate position correction caused by the unsuitable environment around the tail (such as the presence of foreign matter around the tail) is avoided.

[0091] It is worth noting that the embodiment of the present application does not limit the output timing between the tail environment confirmation prompt and the position offset prompt. For example, the tail environment confirmation prompt can be output simultaneously with the position offset prompt; for another example, the tail environment confirmation prompt can also be output when a confirmation operation for the position offset prompt is received. In this case, the tail environment confirmation prompt can be output simultaneously with the position correction prompt, or it can be output in a sequence of one before and one after.

[0092] As shown in FIG3A , the embodiment of the present application responds to the tail movement instruction, obtains the historical position information updated after each movement of the tail, and compares the historical position information of the tail with the preset position information to obtain a position offset result. When the position offset result indicates that the tail has a position offset, it proves that it is currently the right time to perform position correction. Therefore, the tail is subjected to position correction processing, and the historical position information of the tail is updated during the position correction process, so that the tail can be subsequently controlled according to the tail movement instruction. In summary, the embodiment of the present application performs position correction processing when the tail has a position offset, which can reduce the frequency of position correction while ensuring the effect of position correction, thereby reducing damage to the tail and increasing the service life of the tail.

[0093] In some embodiments, referring to FIG3B , FIG3B is a flow chart of a tail wing control method provided in an embodiment of the present application. Step 103 shown in FIG3A can be implemented through steps 201 to 203 , which will be described in conjunction with each step.

[0094] In step 201 , when the position deviation result indicates that the tail wing has a position deviation, the tail wing is closed to a closed and locked position.

[0095] Here, the position correction process may refer to first moving the tail to the closed extreme position, and then moving the tail from the closed extreme position to the open extreme position. Since the tail is powered by the tail motor, the tail can be closed to the closed stall position of the tail motor, which is the closed stall position of the tail. As an example, an embodiment of the present application provides a schematic diagram of a tail motor as shown in Figure 4, in which Figure 4 shows the tail motor 41 and the closed stall position of the tail motor 41.

[0096] In step 202 , the tail is opened from a closed locked position to an open locked position.

[0097] Here, the tail is opened from the closed stall position of the tail motor to the open stall position of the tail motor, which is the extreme position of tail opening. As an example, the open stall position of the tail motor 41 is shown in Figure 4. It is worth noting that in Figure 4, the direction from the closed stall position to the open stall position is counterclockwise.

[0098] In some embodiments, after opening the tail wing from the closed locked position to the open locked position, the tail wing control method further includes: closing the tail wing from the open locked position to the closed soft stop position.

[0099] The default state of the vehicle's tail is the closed state, so after the position correction process is completed, the tail can be closed so that it can be opened when the tail opening command is received. Here, the tail can be closed from the open stall position to the closed soft stop position, wherein the closed soft stop position is between the closed stall position and the open stall position, and the first stroke between the closed stall position and the closed soft stop position can be pre-set so that the closed soft stop position can be determined based on the closed stall position and the first stroke. As an example, the closed soft stop position of the tail motor 41 is shown in Figure 4. It is worth noting that the reason for closing the tail to the closed soft stop position rather than the closed stall position is that the closed stall position is the extreme position for closing the tail. If the tail is kept in the closed stall position for a long time, it may cause the tail itself to collide and generate noise, which can easily cause damage to the tail. The above method closes the tail from the open stall position to the closed soft stop position, which can reduce the probability of abnormalities in the tail when closed, reduce damage to the tail, and increase the service life of the tail.

[0100] Similarly, after the tail wing is closed from the open locked position to the closed soft stop position, the tail wing can be opened from the closed soft stop position to the open soft stop position in response to the tail wing opening instruction, wherein the open soft stop position is between the closed locked position and the open locked position, and the second stroke between the open locked position and the open soft stop position can be pre-set so that the open soft stop position can be determined based on the open locked position and the second stroke.

[0101] In step 203, the historical position information of the tail is updated during the position correction process.

[0102] Here, the position information generated during the position correction process (i.e., the process of closing the tail wing to the closed locked position, and opening the tail wing from the closed locked position to the open locked position) is recorded as new historical position information, so that when the tail wing movement instruction is triggered next time, it can be concluded that the tail wing has not experienced position deviation based on the new historical position information.

[0103] In some embodiments, the historical position information of the tail wing includes at least one of the historical closed position, the historical open position and the historical travel; the above-mentioned updating of the historical position information of the tail wing during the position correction processing can be achieved in the following way: performing at least one of the following processing: determining the closed blocking position as the new historical closed position; determining the open blocking position as the new historical open position; determining the travel between the closed blocking position and the open blocking position as the new historical travel.

[0104] Here, the historical position information of the tail includes at least one of the historical closed position, the historical open position, and the historical travel. The following will illustrate the update process for these three parameters respectively:

[0105] 1) Historical closing position: If the historical position information includes a historical closing position, the closed stall position may be determined as the new historical closing position.

[0106] 2) Historical opening position: If the historical position information includes a historical opening position, the opening stall position may be determined as a new historical opening position.

[0107] 3) Historical travel: If the historical position information includes historical travel, the travel between the closed blocking position and the open blocking position can be calculated and determined as the new historical travel.

[0108] Through the above method, accurate updating of historical location information can be achieved, thereby improving the data accuracy of historical location information.

[0109] As shown in FIG3B , the embodiment of the present application takes into account that the tail wing is driven by the tail wing motor, and position correction processing is implemented by determining the closed locked position and the open locked position of the tail wing motor, which can improve the accuracy of the position correction processing.

[0110] In some embodiments, referring to FIG3C , FIG3C is a flow chart of a tail wing control method provided in an embodiment of the present application. Step 102 shown in FIG3A can be implemented through steps 301 to 302 , which will be described in conjunction with each step.

[0111] In step 301, the historical position information of the tail wing is compared with the preset position information.

[0112] Here, the historical position information of the tail wing includes at least one of the historical closed position, the historical open position and the historical travel. Correspondingly, the preset position information of the tail wing includes at least one of the preset closed position, the preset open position and the preset travel. Therefore, step 301 can be implemented by at least one step from step 401 to step 403, which will be explained in combination with each step.

[0113] In step 401, the historical closing position is compared with the preset closing position.

[0114] Here, the historical closing position in the historical position information is compared with the preset closing position in the preset position information to obtain a comparison result. The comparison processing method is different according to the different forms of the preset closing position in the preset position information.

[0115] For example, if the historical closing position in the historical position information specifies a specific value (i.e., a position value), and the preset closing position in the preset position information also specifies a specific value, then when the historical closing position and the preset closing position are the same, the comparison between the historical closing position and the preset closing position is determined to be successful; when the historical closing position and the preset closing position are different, the comparison between the historical closing position and the preset closing position is determined to be unsuccessful. This method has stricter requirements for the historical closing position.

[0116] For another example, the historical closing position in the historical position information specifies a specific value, while the preset closing position in the preset position information specifies a range of values ​​(the range includes multiple values, or it can be understood that there are multiple preset closing positions). When the historical closing position is within the range specified by the preset closing position, the comparison between the historical closing position and the preset closing position is determined to be successful; when the historical closing position is not within the range specified by the preset closing position, the comparison between the historical closing position and the preset closing position is determined to be unsuccessful. This method has a looser requirement for the historical closing position and can tolerate the historical closing position being within a certain position range, which is closer to the actual application scenario.

[0117] In step 402, the historical opening position is compared with the preset opening position.

[0118] Here, the historical open position in the historical position information is compared with the preset open position in the preset position information to obtain a comparison result. The comparison processing method varies depending on the form of the preset open position in the preset position information. For details, please refer to the relevant description of the preset closed position above.

[0119] In step 403, the historical itinerary is compared with the preset itinerary.

[0120] Here, the historical itinerary in the historical location information is compared with the preset itinerary in the preset location information to obtain a comparison result. Depending on the form of the preset itinerary in the preset location information, the comparison processing method is also different. For details, please refer to the relevant description of the preset closed position above.

[0121] In step 302, a position offset result is determined according to the comparison result.

[0122] As described above, at least one of steps 401 to 403 may be executed. When the comparison results obtained in all the executed steps are successful, the position shift result is determined to be that no position shift occurs. When the comparison result obtained in any of the executed steps is a failed comparison, the position shift result is determined to be that a position shift occurs.

[0123] As shown in Figure 3C, the embodiment of the present application can implement comparison processing for at least one parameter among the closed position, open position and stroke, which can improve the flexibility of comparison processing and the accuracy of detecting position offset, and is suitable for various practical application scenarios. For example, in a certain application scenario, the detection accuracy of position offset is required to be high, then the closed position, open position and stroke can be compared and processed at the same time to obtain the position offset result.

[0124] In some embodiments, referring to FIG3D , FIG3D is a flow chart of a tail wing control method provided in an embodiment of the present application. After step 102 shown in FIG3A , in step 501 , when the position offset result indicates that the tail wing has not undergone position offset, the tail wing is controlled to move according to the tail wing motion instruction, and the historical position information of the tail wing is updated after the movement.

[0125] Here, when the position offset result indicates that the tail wing has no position offset, it is proved that controlling the tail wing to move according to the tail wing motion instruction will not cause damage to the tail wing, generate noise, and other problems. Therefore, the tail wing is controlled to move according to the tail wing motion instruction, and the historical position information of the tail wing is updated after the movement.

[0126] For example, when the tail wing movement instruction is a tail wing opening instruction triggered when the tail wing is closed, the tail wing is controlled to open (such as opening to the opening soft stop position, where the opening soft stop position is determined historically), and the position after opening is recorded as the new historical opening position, and / or, the travel from closing to opening is recorded as the new historical travel; when the tail wing movement instruction is a tail wing closing instruction triggered when the tail wing is open, the tail wing is controlled to close (such as closing to the closing soft stop position, where the closing soft stop position is determined historically), the position after closing is recorded as the new historical closing position, and / or, the travel from opening to closing is recorded as the new historical travel.

[0127] As shown in Figure 3D, in the embodiment of the present application, when the tail wing has no position offset, the tail wing is controlled to move according to the tail wing movement instruction, and the historical position information of the tail wing is updated after the movement. In this way, the safety of the tail wing movement can be guaranteed while meeting the tail wing movement requirements, and damage to the tail wing during the tail wing movement can be avoided as much as possible.

[0128] The following describes an exemplary application of the embodiment of the present application in a practical application scenario. For ease of understanding, the following description will be given in the form of steps in conjunction with FIG5 .

[0129] Step S1: When the user operates the tail wing soft switch on the vehicle interface, or the vehicle speed meets the speed condition, the tail wing movement instruction is triggered. The host controller responds to the tail wing movement instruction, obtains the historical position information of the tail wing, compares the historical position information of the tail wing with the preset position information set by the factory, and obtains the position offset result.

[0130] Among them, the prerequisite for the user to operate the tail wing soft switch on the vehicle interface is that the vehicle is powered on and the vehicle interface is in normal working condition; the vehicle speed condition can be that the vehicle speed increases to 100km / h (corresponding to the tail wing opening command) or the vehicle speed decreases to 80km / h (corresponding to the tail wing closing command); the positions for comparison processing include the closed position, the open position and the travel distance.

[0131] Step S2-1: When the historical position information of the tail wing is not lost and the tail wing has not shifted in position, the host controller sends the tail wing movement instruction to the tail wing controller, and the tail wing controller controls the tail wing motor to realize the movement of the tail wing (open or close), and updates the historical position information of the tail wing after the movement.

[0132] Step S2-2: If the rear wing's historical position information is lost or the rear wing's position shifts, the host controller outputs a position shift notification through the vehicle interface and in-vehicle voice commands, such as "Rear wing position shift. Press and hold the rear wing soft switch to complete initialization learning." To avoid disturbing the user, the position shift notification appears on the vehicle interface for five seconds before fading. The voice command also announces the position shift once and then stops. Step S2-2 proactively alerts the user when the rear wing's historical position information is lost or the rear wing's position shifts, and provides instructions on how to trigger initialization learning, reducing user inconvenience.

[0133] Step S3: The user long presses the tail wing closing soft switch in the vehicle interface (corresponding to the confirmation operation for the position offset prompt above).

[0134] Step S4: The host controller outputs the position correction prompt and the tail wing environment confirmation prompt through the vehicle interface and the voice in the vehicle, wherein the position correction prompt is such as "Do you want to execute the tail wing initialization self-learning?" and the tail wing environment confirmation prompt is such as "Please pay attention to the environment around the tail wing during the tail wing position learning process, please do not accidentally place your hands or foreign objects nearby." When the position correction prompt and the tail wing environment confirmation prompt are displayed through the vehicle interface, the "Confirm" and "Cancel" buttons can also be displayed at the same time. After 5 seconds, the position correction prompt, the tail wing environment confirmation prompt and the related buttons will stop being displayed. The position correction prompt and the tail wing environment confirmation prompt will be broadcast once by voice and then stopped. Step S4 avoids frequent motor stalls due to misoperation by reminding the user to confirm twice whether to execute the initialization learning. At the same time, it reminds the user of the precautions in the tail wing initialization learning process to reduce the occurrence of mis-clamping incidents and position learning deviation caused by foreign objects being stuck.

[0135] Step S5-1: When the user clicks the "Confirm" button in the vehicle interface or responds with a confirmation word (confirmation words such as "OK" or "Confirm", etc.), the host controller sends a position correction instruction to the tail controller. The tail controller controls the tail motor according to the position correction instruction to first close to the closed stall position P1, then open to the open stall position P2, and then close to the closed soft stop position P3, that is, to perform a cycle of close-open-close. During this process, the tail controller calculates the travel between the closed stall position P1 and the open stall position P2, and updates the closed stall position P1, the open stall position P2 and the calculated travel to the historical position information, completing the initialization learning of the tail (or position correction), and at the same time determining that the tail is in the closed state. It is worth noting that in addition to determining the closed soft stop position P3, the open soft stop position P4 can also be determined. When the tail is subsequently opened, it can be opened to the open soft stop position P4.

[0136] Step S5-2: When the user clicks the "Cancel" button in the vehicle interface or does not perform any operation, the host controller stops displaying the position correction prompt, the tail wing environment confirmation prompt and related buttons, and keeps the tail wing stationary.

[0137] Step S6: Return to step S1.

[0138] The embodiments of the present application can at least achieve the following technical effects:

[0139] 1) When the tail wing updates its historical position information after each movement, by comparing the historical position information with the preset position information, it is possible to accurately determine whether the tail wing has position deviation.

[0140] 2) When historical position information is lost or the tail wing is offset, position correction processing is performed, which can increase the necessity of position correction and reduce the frequency of position correction. Compared with the solution provided by the related technology that performs position correction processing every time the power is turned on, the embodiment of the present application can reduce damage to the tail wing motor (that is, reduce damage to the tail wing), increase the service life of the tail wing motor (that is, increase the service life of the tail wing), and at the same time, it can also reduce resource consumption.

[0141] 3) Proactively reminding users and informing them of the initialization learning method can reduce user troubles and after-sales work.

[0142] 4) By reminding the user to confirm whether to perform initialization learning again, frequent motor stalling due to incorrect operation can be avoided.

[0143] 5) By reminding the user to check whether there are any foreign objects stuck in the environment around the tail wing, the accuracy of the position correction process can be improved, positioning deviation can be avoided, and damage to the tail wing mechanism and tailgate paint during the position correction process can also be reduced.

[0144] The following continues to describe an exemplary structure of the tail control device 455 provided in an embodiment of the present application implemented as a software module. In some embodiments, as shown in Figure 2, the software modules stored in the tail control device 455 of the memory 450 may include: an acquisition module 4551, used to obtain the historical position information of the tail in response to the tail movement instruction; wherein the historical position information of the tail is updated after each movement of the tail; a comparison module 4552, used to compare the historical position information of the tail with the preset position information to obtain a position offset result; wherein the position offset result is used to indicate whether the tail has a position offset; a correction module 4553, used to perform position correction processing on the tail when the position offset result indicates that the tail has a position offset, and to update the historical position information of the tail during the position correction process.

[0145] In some embodiments, the correction module 4553 is further configured to: close the tail wing to a closed and locked position; and open the tail wing from the closed and locked position to an open and locked position.

[0146] In some embodiments, the historical position information of the tail wing includes at least one of a historical closed position, a historical open position, and a historical travel; the correction module 4553 is also used to perform at least one of the following processing: determining the closed blocking position as a new historical closed position; determining the open blocking position as a new historical open position; determining the travel between the closed blocking position and the open blocking position as a new historical travel.

[0147] In some embodiments, the correction module 4553 is further configured to close the tail wing from the open stall position to the closed soft stop position.

[0148] In some embodiments, the historical position information of the tail wing includes at least one of the historical closed position, the historical open position and the historical travel, and the preset position information of the tail wing includes at least one of the preset closed position, the preset open position and the preset travel; the comparison module 4552 is also used to perform at least one of the following processing: comparing the historical closed position with the preset closed position; comparing the historical open position with the preset open position; comparing the historical travel with the preset travel.

[0149] In some embodiments, the tail control device 455 further includes a determination module for determining, when acquisition of historical position information of the tail fails, whether the position offset result indicates that a position offset has occurred in the tail.

[0150] In some embodiments, the correction module 4553 is further configured to: output a position offset prompt; and perform position correction processing on the tail wing in response to a confirmation operation on the position offset prompt.

[0151] In some embodiments, the correction module 4553 is also used to: display a position offset prompt in the vehicle-machine interface; wherein the position offset prompt is used to prompt the triggering of the tail wing virtual switch in the vehicle-machine interface; and determine the triggering operation of the tail wing virtual switch in the vehicle-machine interface as a confirmation operation for the position offset prompt.

[0152] In some embodiments, the correction module 4553 is further configured to: output a position correction prompt in response to a confirmation operation on the position offset prompt; and perform position correction processing on the tail wing in response to a confirmation operation on the position correction prompt.

[0153] In some embodiments, the correction module 4553 is further configured to: output a tail environment confirmation prompt; and perform position correction processing on the tail in response to a confirmation operation on the tail environment confirmation prompt.

[0154] In some embodiments, the tail wing control device 455 also includes a trigger module for performing any of the following processing: receiving a tail wing movement instruction triggered by a tail wing virtual switch in the vehicle-computer interface; receiving a tail wing movement instruction triggered by a tail wing physical switch; triggering a tail wing movement instruction when the vehicle speed condition is met.

[0155] In some embodiments, the vehicle speed condition includes any one of the following: the vehicle speed increases to a first vehicle speed threshold; the vehicle speed decreases to a second vehicle speed threshold; wherein the first vehicle speed threshold is greater than or equal to the second vehicle speed threshold.

[0156] In some embodiments, the tail control device 455 further includes a motion module for controlling the tail to move according to the tail motion instruction when the position offset result indicates that the tail has no position offset, and updating the historical position information of the tail after the movement.

[0157] The present invention provides a computer program product or computer program, which includes executable instructions stored in a computer-readable storage medium. A processor of an electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, causing the electronic device to perform the tail control method described in the present invention.

[0158] An embodiment of the present application provides a computer-readable storage medium storing executable instructions, wherein the executable instructions are stored. When the executable instructions are executed by a processor, the processor will execute the tail control method provided by the embodiment of the present application.

[0159] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface storage, optical disk, or CD-ROM; or various devices including one or any combination of the above memories.

[0160] In some embodiments, executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0161] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinating files (e.g., files storing one or more modules, subroutines, or code portions).

[0162] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0163] The above are merely examples of the present application and are not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and scope of the present application are included in the scope of protection of the present application.

Claims

1. A tail control method, characterized in that: include: In response to the tail movement instruction, acquiring historical position information of the tail; wherein the historical position information of the tail is updated after each movement of the tail; Comparing the historical position information of the tail wing with the preset position information to obtain a position shift result; wherein the position shift result is used to indicate whether the tail wing has a position shift; When the position shift result indicates that the tail wing has a position shift, a position correction process is performed on the tail wing, and the historical position information of the tail wing is updated during the position correction process.

2. The method according to claim 1, characterized in that: The performing position correction processing on the tail wing comprises: Closing the tail wing to a closed and locked position; The tail wing is opened from the closed locked position to an open locked position.

3. The method according to claim 2, characterized in that The historical position information of the tail wing includes at least one of a historical closed position, a historical open position, and a historical travel; and updating the historical position information of the tail wing during the position correction process includes: Perform at least one of the following actions: Determining the closed and blocked position as a new historical closed position; Determining the opening and blocking position as a new historical opening position; The travel between the closed blocking position and the open blocking position is determined as a new historical travel.

4. The method according to claim 2, characterized in that: After the tail wing is opened from the closed locked position to the open locked position, the method further comprises: The tail wing is closed from the open locked position to the closed soft stop position.

5. The method according to claim 1, characterized in that The historical position information of the tail wing includes at least one of a historical closed position, a historical open position, and a historical itinerary, and the preset position information of the tail wing includes at least one of a preset closed position, a preset open position, and a preset itinerary; the comparing the historical position information of the tail wing with the preset position information includes: Perform at least one of the following actions: Comparing the historical closing position with the preset closing position; Comparing the historical opening position with the preset opening position; The historical itinerary is compared with the preset itinerary.

6. The method according to claim 1, characterized in that The method further comprises: When the acquisition of the historical position information of the tail fails, determining the position shift result indicates that the tail has a position shift.

7. The method according to claim 1, characterized in that Before the position correction processing is performed on the tail wing, the method further includes: Output position offset prompt; The performing position correction processing on the tail wing comprises: In response to a confirmation operation on the position deviation prompt, a position correction process is performed on the tail wing.

8. The method according to claim 7, characterized in that The output position offset prompt includes: Displaying a position offset prompt in the vehicle interface; wherein the position offset prompt is used to prompt triggering of the tail wing virtual switch in the vehicle interface; The method further comprises: The triggering operation of the tail wing virtual switch in the vehicle machine interface is determined as a confirmation operation for the position offset prompt.

9. The method according to claim 7, characterized in that: The step of performing position correction processing on the tail wing in response to a confirmation operation on the position offset prompt includes: In response to a confirmation operation on the position offset prompt, outputting a position correction prompt; In response to a confirmation operation for the position correction prompt, a position correction process is performed on the tail wing.

10. The method according to claim 1, characterized in that Before the position correction processing is performed on the tail wing, the method further includes: Output tail wing environment confirmation prompt; The performing position correction processing on the tail wing comprises: In response to a confirmation operation on the tail environment confirmation prompt, a position correction process is performed on the tail.

11. The method according to claim 1, characterized in that The method further comprises: Perform any of the following processing; Receiving a tail wing movement command triggered by a tail wing virtual switch in the vehicle computer interface; Receiving tail wing movement instructions triggered by tail wing physical switches; When the vehicle speed conditions are met, the tail wing movement command is triggered.

12. The method according to any one of claims 1 to 11, characterized in that: After the historical position information of the tail wing is compared with the preset position information to obtain the position shift result, the method further includes: When the position offset result indicates that the tail wing has no position offset, the tail wing is controlled to move according to the tail wing movement instruction, and the historical position information of the tail wing is updated after the movement.

13. A tail wing control device, characterized in that: include: An acquisition module, used for acquiring historical position information of the tail in response to a tail movement instruction; wherein the historical position information of the tail is updated after each movement of the tail; A comparison module, used for comparing the historical position information of the tail wing with the preset position information to obtain a position shift result; wherein the position shift result is used to indicate whether the tail wing has a position shift; The correction module is used to perform position correction processing on the tail wing when the position offset result indicates that the tail wing has a position offset, and to update the historical position information of the tail wing during the position correction processing.

14. An electronic device, characterized in that: include: A memory for storing executable instructions; The processor is configured to implement the tail control method according to any one of claims 1 to 12 when executing the executable instructions stored in the memory.

15. A computer-readable storage medium, characterized in that: Executable instructions are stored, and when executed by a processor, the tail wing control method according to any one of claims 1 to 12 is implemented.

Images