CN111927234A - Vehicle and control method, device and equipment of tail gate of vehicle - Google Patents
Vehicle and control method, device and equipment of tail gate of vehicle Download PDFInfo
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- CN111927234A CN111927234A CN202010698118.1A CN202010698118A CN111927234A CN 111927234 A CN111927234 A CN 111927234A CN 202010698118 A CN202010698118 A CN 202010698118A CN 111927234 A CN111927234 A CN 111927234A
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- 238000013459 approach Methods 0.000 claims description 9
- 238000011161 development Methods 0.000 abstract description 20
- 238000012795 verification Methods 0.000 abstract description 8
- 238000011217 control strategy Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
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- 238000004088 simulation Methods 0.000 description 6
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
- E05F15/616—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings operated by push-pull mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/10—Doors arranged at the vehicle rear
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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Abstract
The invention discloses a vehicle and a control method, a control device and control equipment of a tail gate of the vehicle, wherein the control method comprises the following steps: acquiring operation data of a first support rod of the tail gate; determining a speed adjusting parameter of the tail gate according to the operation data; and adjusting the running speed of the first support rod according to the speed adjusting parameter. The method for adjusting the running speed of the tail gate to be consistent with the target speed in the current state is beneficial to realizing soft start and stop of the vehicle tail gate, avoids damage when the tail gate is unlocked and fully opened, improves the safety when the tail gate runs, can effectively verify the speed regulation control strategy of the vehicle tail gate when verifying the development strategy of the vehicle tail gate, and improves the accuracy and the practicability of the verification of the development strategy.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and a method, a device and equipment for controlling a tail gate of the vehicle.
Background
Currently, in the vehicle development process, most of the components and systems of the vehicle need to verify the development strategy to detect whether the development strategy matches the actual physical system.
In the case of verifying a control system of a tailgate of a vehicle, in the related art, it is common to control the tailgate to be lifted and lowered, closed, and the like at a single speed. However, in practical applications, the operation speed of the tailgate may vary, and therefore, the accuracy of the verification result of the above method is low, which is not favorable for verifying the system function design of the vehicle tailgate in practical applications.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for controlling a tailgate of a vehicle, the method determining a parameter for adjusting a speed of the tailgate according to current operation data of the tailgate, and adjusting the operation speed of a first stay bar according to the speed adjustment parameter, so that the operation speed of the tailgate can be consistent with a target speed in a current state, which is beneficial to implementing soft start and stop of the tailgate of the vehicle, avoiding damage when the tailgate is unlocked and fully opened, and improving safety when the tailgate is operated.
A second object of the present invention is to provide a control device for a tailgate of a vehicle.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a storage medium.
A fifth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a tail gate of a vehicle, including:
acquiring operation data of a first support rod of the tail gate;
determining a speed adjusting parameter of the tail gate according to the operation data; and
and adjusting the running speed of the first support rod according to the speed adjusting parameter.
According to one embodiment of the invention, the operational data comprises a first operational speed, an operational altitude and an operational direction, wherein said determining a speed adjustment parameter of the tailgate from said operational data comprises: acquiring a first target running speed of the first support rod on the running height according to the running height and the running direction; acquiring a first speed difference value between the first target running speed and the first running speed; and acquiring a first speed adjusting parameter of the first support rod according to the first speed difference.
According to an embodiment of the present invention, acquiring a first target operation speed of the first brace on the operation height according to the operation height and the operation direction comprises: and determining the current running interval of the first support rod according to the running height, and determining the first target running speed according to the moving direction of the first support rod and the running interval.
According to one embodiment of the invention, adjusting the operating speed of the first strut according to the speed adjustment parameter comprises: performing PID control on the running speed of the first support rod based on the first speed adjusting parameter so as to adjust the duty ratio of the driving pulse of the first support rod motor; and outputting the adjusted driving pulse to the first support rod motor, so that the first support rod motor drives the first support rod to operate according to the adjusted driving pulse to adjust the first operating speed to approach the first target operating speed.
According to an embodiment of the present invention, after the adjusting the duty ratio of the driving pulse of the first brace motor, the method further includes: and synchronizing the duty ratio of the drive pulse after adjustment to a second stay bar motor of the tail gate, so that the second stay bar motor drives the second stay bar to operate according to the duty ratio after adjustment so as to follow the first stay bar.
According to an embodiment of the present invention, the control method of the vehicle tail gate further includes: acquiring a second running speed of a second support rod of the tail gate; acquiring a second speed difference value between the second running speed and a second target running speed of the second support rod, wherein the second target running speed is a first running speed of the first support rod at the current moment; acquiring a second speed adjusting parameter of the second support rod according to the second speed difference value; and performing PID control on the running speed of the second support rod based on the second speed adjusting parameter so as to adjust the running speed of the second support rod motor to approach the running speed of the first support rod.
According to the control method of the vehicle tail gate provided by the embodiment of the invention, the parameter for adjusting the speed of the tail gate is determined according to the current operation data of the tail gate, and then the operation speed of the first support rod is adjusted according to the speed adjustment parameter, so that the operation speed of the tail gate is consistent with the target speed in the current state, soft start and stop of the vehicle tail gate are facilitated, damage during unlocking and full opening of the tail gate is avoided, the safety during operation of the tail gate is improved, and in addition, when the development strategy of the vehicle tail gate is verified, the method can effectively verify the speed regulation control strategy of the vehicle tail gate, and the accuracy and the practicability of the verification of the development strategy are improved.
An embodiment of a second aspect of the present invention provides a control apparatus for a vehicle tail gate, including:
the first acquisition module is used for acquiring the operation data of a first support rod of the tail gate;
the parameter determining module is used for determining the speed adjusting parameter of the tail gate according to the operation data; and
and the speed adjusting module is used for adjusting the running speed of the first support rod according to the speed adjusting parameter.
According to the control device of the vehicle tail gate provided by the embodiment of the invention, the parameter for adjusting the speed of the tail gate is determined according to the current operation data of the tail gate, and then the operation speed of the first support rod is adjusted according to the speed adjustment parameter, so that the operation speed of the tail gate is consistent with the target speed in the current state, soft start and stop of the vehicle tail gate are facilitated, damage during unlocking and full opening of the tail gate is avoided, the safety during operation of the tail gate is improved, and when the development strategy of the vehicle tail gate is verified, the device can effectively verify the speed regulation control strategy of the vehicle tail gate, and the accuracy and the practicability of the verification of the development strategy are improved.
An embodiment of a third aspect of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of controlling a vehicle tailgate as in any of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform a method of controlling a vehicle tailgate as in any one of the above embodiments.
An embodiment of a fifth aspect of the invention provides a vehicle comprising a control device of a vehicle tailgate as described in the above embodiment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling a tail gate of a vehicle according to an embodiment of the present invention;
FIG. 2 is a graph illustrating a corresponding relationship between a position of a tailgate in a landing process and a target speed according to an embodiment of the present invention;
FIG. 3 is a graph illustrating a relationship between a position and a target speed during a tail gate lift operation according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for controlling a tailgate of a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device of a vehicle tail gate according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The control method of the vehicle tail gate provided by the embodiment of the invention can be suitable for verifying the development strategy of the vehicle tail gate, and can also be used for actually controlling the operation of the vehicle tail gate. When a development strategy of the vehicle tail gate is verified, in one embodiment of the invention, a control model of the vehicle tail gate can be built in a simulation system, for example, Simulink, and then the model is compiled and input into a semi-physical simulation software and hardware working platform, for example, dSPACE, so as to execute the control method of the vehicle tail gate in the embodiment of the invention, thereby driving an actual load and checking whether the control model of the vehicle tail gate is matched with an actual physical system.
A vehicle and a control method, apparatus, and device of a tailgate thereof according to embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling a vehicle tail gate according to an embodiment of the present invention. As shown in fig. 1, a control method of a vehicle tail gate according to an embodiment of the present invention includes:
step 101, obtaining operation data of a first support rod of a tail gate.
Wherein, the first vaulting pole of tail-gate can be the vaulting pole that supports the tail-gate and drive the tail-gate and go up and down, open and close the equal motion, for example, when including two vaulting poles about in the tail-gate system, first vaulting pole is left vaulting pole, and right vaulting pole is the second vaulting pole. The operation data of the first support rod comprises the operation speed, the operation height, the operation direction and other data when the support rod is in a motion state.
The operation direction of the stay bar comprises a lifting direction and a descending direction, the stay bar drives the tail gate to unlock, lift, reach the highest position, descend and close when operating along the lifting direction and the descending direction, and the stay bar drives the tail gate to operate, so that the operation height of the stay bar is equivalent to the actual position of the tail gate, and the operation speed of the stay bar is the operation speed of the tail gate.
During specific implementation, the operation data of the first stay bar of the tail gate can be acquired in different manners, for example, the operation speed, the operation height, the operation direction and other data of the stay bar can be acquired through various sensors such as speed sensors and distance sensors preset at different positions of the first stay bar, and for example, during simulation verification in a simulation system, simulation software receives input parameters to acquire the operation data of the first stay bar module.
And step 102, determining a speed adjusting parameter of the tail gate according to the operation data.
The speed adjusting parameter is a control parameter for adjusting the current running speed of the tail gate to a set speed. In an embodiment of the present invention, in order to achieve soft start and stop of the tailgate, that is, when the tailgate is unlocked, the tailgate is slowly accelerated at the unlocked position, and when the tailgate is about to reach the highest position, the tailgate is slowly decelerated at a position close to the maximum opening position, and through a large number of experiments, a target speed at the position is set at different positions where the tailgate is located, so as to form a graph showing a corresponding relationship between the position where the tailgate is located and the target speed as shown in fig. 2 and 3, where fig. 2 is a graph in a lowering process of the tailgate, and fig. 3 is a graph in a lifting process of the tailgate, and when the tailgate runs according to the graph, collision can be avoided, and safety can be improved.
In actual operation, the current operation speed of the tail gate may deviate from the target speed, so that the speed adjusting parameter of the tail gate is determined according to the current operation data, and the operation speed of the first support rod is adjusted according to the speed adjusting parameter.
In specific implementation, as a possible implementation manner, first, a first target operation speed of the first support rod on the current operation height is obtained according to the operation height and the operation direction of the first support rod. Specifically, as can be seen from fig. 2 and 3, when the tail gate is at the same position, the corresponding target speeds may be different according to different lifting or lowering processes, and the target speed of the tail gate at different positions may be determined according to the corresponding relationship between the position interval represented by the corresponding graph and the target speed, so that when the first target operating speed is obtained, the current operating interval of the first strut may be determined according to the operating height of the first strut, and then the first target operating speed may be determined from the corresponding graph stored in advance according to the moving direction and the operating interval of the first strut. For example, when the travel height of the first support rod is 200 and the moving direction of the first support rod is the lifting direction, the corresponding relationship shown in fig. 3 is first obtained from the storage space according to the lifting direction, and then the second position interval where the first support rod is currently located in the graph is determined according to the travel height of the first support rod, and the first target travel speed in the second position interval is 300, so the first target travel speed of the first support rod on the current travel height is 300.
Further, the obtained first target running speed is differed from the current actual first running speed of the first support rod to obtain a first speed difference value, and the first speed difference value represents the deviation of the given value (target speed) and the actual measured value of the controlled variable (running speed of the first support rod). And then obtaining a first speed adjusting parameter of the first support rod according to the first speed difference, wherein the first speed difference can be directly used as the first speed adjusting parameter, or the first speed difference is firstly subjected to normalization processing according to an actual speed range and a range needing to be adjusted in order to improve the adjusting accuracy, and the processed first speed difference is used as the first speed adjusting parameter.
And 103, adjusting the running speed of the first support rod according to the speed adjusting parameter.
Specifically, when the operating speed of the first stay is adjusted, various adjustment controls such as adding or subtracting a speed adjustment parameter to or from the target speed may be performed according to the actual situation, so that the first operating speed approaches the first target operating speed.
In one embodiment of the present invention, since the first brace bar is driven by the first brace bar motor, and the operation speed of the first brace bar is related to the duty ratio of the driving pulse of the first brace bar motor, as a possible implementation manner, a proportional-integral-derivative (PID) control may be performed on the operation speed of the first brace bar to adjust the duty ratio of the driving pulse of the first brace bar motor based on the first speed adjustment parameter. The method comprises the steps of presetting mapping relations between different position ranges of a tail gate and a proportional adjustment parameter P, a integral adjustment parameter I and a differential adjustment parameter D, then determining the corresponding proportional adjustment parameter, integral adjustment parameter and differential adjustment parameter according to the current position of the tail gate, linearly combining a first speed adjustment parameter and the proportional integral differential parameter to form a control quantity, and adjusting the duty ratio of a driving pulse of a first strut motor.
Furthermore, the adjusted driving pulse is output to the first support rod motor, so that the first support rod motor drives the first support rod to operate according to the adjusted driving pulse, the first operating speed is adjusted to approach the first target operating speed, and the operating speed of the first support rod is adjusted to be the target speed.
For example, when a simulation verification is performed on a vehicle tail gate in a simulink simulation system, the actual hall speed of the left side stay bar is changed into an unsigned scalar quantity and is input to a deviation operation module in the system, meanwhile, a corresponding set target hall speed is determined according to the movement direction and the position of the tail gate, and the determined corresponding target hall speed in the current state is also input to the deviation operation module. Then, after the deviation operation module calculates the result, the deviation operation result is normalized, for example, the deviation result is divided by a constant 1000 according to the actual speed range and the required duty ratio range, and then the result is input to the PID module of the simulink. In addition, different proportional control parameters P and integral control parameters I are preset in different position ranges according to the actual position of the tail gate in advance, the preset proportional control parameters P and integral control parameters I in different positions are input to a PID module of the simulink, and the PID module adjusts the duty ratios of the different position ranges through the calibrated proportional control parameters P and integral control parameters I of each movement interval and deviation results in different states, so that the segmented PID control of the movement process of the tail gate is realized. Therefore, whether the control model of the tail gate is matched with an actual physical system or not can be finally verified, and the reasonability of soft start-stop and uniform speed control design of the tail gate is confirmed.
Therefore, according to the control method of the vehicle tail gate, the speed regulation control is carried out on the tail gate through the segmented PID regulation according to the difference of the speed characteristics of the tail gate in different movement sections, the soft start and stop of the vehicle tail gate are favorably realized, and the safety of the tail gate during operation is improved. And the method can also be suitable for verifying the development strategy of the vehicle tail gate, the tail gate control model is built through Simulink, the code compiled by the model is executed through dSPACE rapid prototyping, the actual load is driven, the development strategy of the tail gate can be verified in advance and rapidly, the development cycle of the tail gate product is shortened, meanwhile, the speed regulation control strategy of the vehicle tail gate can be effectively verified through the speed regulation control of the tail gate, and the accuracy and the practicability of the development strategy verification are improved.
In summary, in the control method of the vehicle tail gate according to the embodiment of the invention, the operation data of the first stay bar of the tail gate is firstly obtained, then the speed adjustment parameter of the tail gate is determined according to the operation data, and finally the operation speed of the first stay bar is adjusted according to the speed adjustment parameter. The method adjusts the operation speed of the first stay bar according to the speed adjusting parameter determined by the current operation data of the tail gate, so that the operation speed of the tail gate can be consistent with the target speed in the current state, soft start and stop of the vehicle tail gate are facilitated, damage to the tail gate during unlocking and full opening is avoided, the safety of the tail gate during operation is improved, and in addition, when the development strategy of the vehicle tail gate is verified, the method can effectively verify the speed regulation control strategy of the vehicle tail gate, and the accuracy and the practicability of the development strategy verification are improved.
Based on the above-described embodiments, it can be understood that when a plurality of stays are included in the tailgate system of the vehicle, for example, when two left and right stays are included in the tailgate system, after the operating speed of the first stay is adjusted, the speed regulation control of the second stay can also be performed. For a clearer description of the manner in which the operating speed of the second strut is adjusted, the following is described in detail by way of a few examples:
as a first example, based on the description of the above embodiment, after outputting the adjusted driving pulse to the first strut motor, the duty ratio of the adjusted driving pulse is synchronized to the second strut motor of the tail gate, so that the second strut motor drives the second strut to operate according to the adjusted duty ratio to follow the first strut, that is, the duty ratio of the right strut is directly equal to the duty ratio of the left strut, the control of the right strut is realized by the speed regulation control of the left strut, and the right strut directly follows the left strut to operate according to the adjusted speed of the left strut.
It should be noted that, in the above method of controlling the speed of the second stay at the same duty ratio, since feedback of the actual speed of the second stay cannot be obtained, the instantaneous speed difference between the first stay and the second stay may be large. Therefore, in order to improve the consistency of the operating speeds of the struts and meet the actual requirement for speed regulation control of the second strut, the invention further provides a specific control method of the vehicle tail gate, and fig. 4 is a schematic flow chart of the specific control method of the vehicle tail gate provided by the embodiment of the invention, as shown in fig. 4, the method includes the following steps:
step 201, a second operation speed of a second stay bar of the tail gate is obtained.
The second operation speed is an actual operation speed of the second support rod at different times, and the specific method for obtaining the second operation speed may refer to the description of obtaining the first operation speed, which is not described herein again.
Step 202, a second speed difference between the second operating speed and a second target operating speed of the second support rod is obtained, wherein the second target operating speed is a first operating speed of the first support rod at the current moment.
Specifically, the actual running speed of the first stay bar at the current moment is taken as the current target speed of the second stay bar, and then the difference between the current actual speed and the target speed of the second stay bar is calculated. For a specific method for calculating the difference, reference may be made to the description of the above embodiments, and details are not repeated here.
And step 203, acquiring a second speed adjusting parameter of the second support rod according to the second speed difference.
And 204, performing PID control on the running speed of the second support rod based on the second speed adjusting parameter to adjust the running speed of the second support rod motor to approach the running speed of the first support rod.
Specifically, after calculating the deviation between the current actual speed and the target speed of the second brace rod, the deviation is also normalized and input to the PID module, PID control is performed according to PID adjustment parameters set in advance according to different position ranges, and the duty ratio of the driving pulse of the second brace rod motor is adjusted by the calculated control quantity.
Therefore, the method takes the actual speed of the first support rod as the target speed of the second support rod, carries out PID speed regulation control on the second support rod, realizes PID following control, can obtain the feedback of the actual speed of the second support rod compared with the simple following with the same duty ratio, calculates the duty ratio of the control of the right support rod motor according to the parameters of the control of the left support rod motor, and further outputs the driving pulse after PID following regulation to the second support rod motor, thereby further improving the consistency of the second support rod following the first support rod.
In order to realize the embodiment, the invention further provides a control device of the vehicle tail gate. Fig. 5 is a schematic structural diagram of a control device for a vehicle tail gate according to an embodiment of the present invention.
As shown in fig. 5, the control apparatus of the vehicle tailgate includes: a first acquisition module 100, a parameter determination module 200, a speed adjustment module 300.
The first obtaining module 100 is configured to obtain operation data of a first strut of the tail gate.
And the parameter determining module 200 is used for determining the speed adjusting parameter of the tail gate according to the operation data.
And the speed adjusting module 300 is used for adjusting the running speed of the first support rod according to the speed adjusting parameter.
In an embodiment of the present invention, the operation data includes a first operation speed, an operation height, and an operation direction, and the parameter determining module 200 is specifically configured to obtain a first target operation speed of the first brace on the operation height according to the operation height and the operation direction, obtain a first speed difference between the first target operation speed and the first operation speed, and then obtain a first speed adjusting parameter of the first brace according to the first speed difference.
Specifically, the parameter determining module 200 is specifically configured to determine a current operating interval of the first brace according to the operating height, and determine the first target operating speed according to the moving direction of the first brace and the operating interval.
Further, in an embodiment of the present invention, the speed adjusting module 300 is specifically configured to perform PID control on the operation speed of the first strut based on the first speed adjusting parameter to adjust a duty ratio of a driving pulse of the first strut motor, and then output the adjusted driving pulse to the first strut motor, so that the first strut motor drives the first strut to operate according to the adjusted driving pulse to adjust the first operation speed to approach the first target operation speed.
Further, in an embodiment of the present invention, the speed adjusting module 300 is further configured to synchronize the duty ratio of the adjusted driving pulse to a second strut motor of the tail gate, so that the second strut motor drives the second strut to operate according to the adjusted duty ratio to follow the first strut. Or acquiring a second running speed of a second support rod of the tail gate, acquiring a second speed difference value between the second running speed and a second target running speed of the second support rod, wherein the second target running speed is a first running speed of the first support rod at the current moment, then acquiring a second speed adjusting parameter of the second support rod according to the second speed difference value, and finally performing PID control on the running speed of the second support rod based on the second speed adjusting parameter to adjust the running speed of a second support rod motor to approach the running speed of the first support rod.
It should be noted that the control device for the vehicle tail gate in the embodiment of the present invention may verify the development strategy of the vehicle tail gate on a software and hardware working platform for simulation, and may also actually control the operation of the vehicle tail gate. The above explanation of the embodiment of the method for controlling the vehicle tailgate is also applicable to the control device for the vehicle tailgate of this embodiment, and therefore will not be described again here.
In summary, the control device for the vehicle tailgate according to the embodiment of the present invention first obtains the operation data of the first stay of the tailgate, then determines the speed adjustment parameter of the tailgate according to the operation data, and finally adjusts the operation speed of the first stay according to the speed adjustment parameter. The device adjusts the operating speed of first vaulting pole according to the speed governing parameter that the current operation data of tail-gate determined, thereby can make the operating speed of tail-gate unanimous with the target speed under the current state, be favorable to realizing the soft opening of vehicle tail-gate and open, take place to damage when avoiding the tail-gate unblock and opening entirely, the security when improving the tail-gate operation, and, when verifying the development strategy of vehicle tail-gate, the device can effectively verify the speed governing control strategy of vehicle tail-gate, improve accuracy and the practicality that the development strategy was verified.
In order to implement the above embodiment, the present invention also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a tailgate of a vehicle as described in the above embodiments.
In order to achieve the above embodiments, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to execute the control method of the vehicle tailgate as described in the above embodiments.
In order to realize the embodiment, the invention further provides a vehicle. As shown in fig. 6, the vehicle includes the control device 100 of the vehicle tail gate in the above embodiment.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a vehicle tailgate, characterized by comprising:
acquiring operation data of a first support rod of the tail gate;
determining a speed adjustment parameter of the tailgate according to the operation data; and
adjusting the operating speed of the first strut according to the speed adjustment parameter.
2. The method of claim 1, wherein the operational data comprises a first operational speed, an operational altitude, and an operational direction, and wherein determining the speed adjustment parameter for the tailgate based on the operational data comprises:
acquiring a first target running speed of the first support rod on the running height according to the running height and the running direction;
acquiring a first speed difference value between the first target running speed and the first running speed; and
and acquiring a first speed adjusting parameter of the first support rod according to the first speed difference.
3. The method of claim 2, wherein said obtaining a first target travel speed of the first strut at a travel height based on the travel height and the travel direction comprises:
and determining the current running interval of the first support rod according to the running height, and determining the first target running speed according to the moving direction of the first support rod and the running interval.
4. The method of any of claims 1-3, wherein said adjusting said operating speed of said first strut in accordance with said speed adjustment parameter comprises:
performing PID control on the running speed of the first support rod based on the first speed adjusting parameter so as to adjust the duty ratio of the driving pulse of the first support rod motor; and
and outputting the adjusted driving pulse to the first support rod motor, so that the first support rod motor drives the first support rod to operate according to the adjusted driving pulse to adjust the first operating speed to approach the first target operating speed.
5. The method of claim 4, wherein after adjusting the duty cycle of the drive pulses of the first strut motor, further comprising:
and synchronizing the duty ratio of the drive pulse after adjustment to a second stay bar motor of the tail gate, so that the second stay bar motor drives the second stay bar to operate according to the duty ratio after adjustment so as to follow the first stay bar.
6. The method of claim 2, further comprising:
acquiring a second running speed of a second support rod of the tail gate;
acquiring a second speed difference value between the second running speed and a second target running speed of the second support rod, wherein the second target running speed is a first running speed of the first support rod at the current moment;
acquiring a second speed adjusting parameter of the second support rod according to the second speed difference value; and
and performing PID control on the running speed of the second support rod based on the second speed adjusting parameter so as to adjust the running speed of a second support rod motor to approach the running speed of the first support rod.
7. A control device for a vehicle tailgate, characterized by comprising:
the first acquisition module is used for acquiring the operation data of a first support rod of the tail gate;
the parameter determining module is used for determining the speed adjusting parameter of the tail gate according to the operation data; and
and the speed adjusting module is used for adjusting the running speed of the first support rod according to the speed adjusting parameter.
8. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a vehicle tailgate of any of claims 1-6.
9. A computer-readable storage medium storing computer instructions for causing a computer to execute the method of controlling a vehicle tailgate according to any one of claims 1-6.
10. A vehicle characterized by comprising the control device of the vehicle tailgate as claimed in claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010698118.1A CN111927234A (en) | 2020-07-17 | 2020-07-17 | Vehicle and control method, device and equipment of tail gate of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010698118.1A CN111927234A (en) | 2020-07-17 | 2020-07-17 | Vehicle and control method, device and equipment of tail gate of vehicle |
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| CN111927234A true CN111927234A (en) | 2020-11-13 |
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| CN202010698118.1A Pending CN111927234A (en) | 2020-07-17 | 2020-07-17 | Vehicle and control method, device and equipment of tail gate of vehicle |
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| CN118110402A (en) * | 2024-03-26 | 2024-05-31 | 重庆赛力斯凤凰智创科技有限公司 | Tailgate control method, system, electronic device, computer readable medium and product |
| CN118855343A (en) * | 2024-07-01 | 2024-10-29 | 重庆赛力斯凤凰智创科技有限公司 | Tailgate control method, device and vehicle using the control method |
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Application publication date: 20201113 |