CN109505484B

CN109505484B - Control method and device for vehicle back door

Info

Publication number: CN109505484B
Application number: CN201710835282.0A
Authority: CN
Inventors: 陈小虎; 何智锋; 梁群; 吴春芬; 钟益林
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2017-09-15
Filing date: 2017-09-15
Publication date: 2020-05-22
Anticipated expiration: 2037-09-15
Also published as: CN109505484A

Abstract

The invention provides a control method and a device for a vehicle back door, wherein the method comprises the following steps: receiving a control instruction sent by a vehicle-mounted intelligent terminal; the control instruction is generated by the vehicle-mounted intelligent terminal when the vehicle-mounted intelligent terminal rotates; and controlling the back door of the vehicle to execute the control command. By the method, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, the opening height of the back door can be accurately adjusted in real time, and the technical problems that the back door can only be opened according to the default fixed height and cannot be adjusted in real time in the prior art are solved.

Description

Control method and device for vehicle back door

Technical Field

The invention relates to the technical field of vehicle control, in particular to a method and a device for controlling a back door of a vehicle.

Background

In order to improve the intelligent degree and the technological sense of vehicles and meet the use habits of different users, at present, more and more household automobiles are provided with a multistage adjustable back door.

However, in the related art, the adjustable height of the back door of the automobile is fixed, the back door of the automobile can only be opened manually or remotely, and the back door is directly opened to the default fixed height, so that the back door cannot be adjusted in real time, and the user experience is poor.

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 objective of the present invention is to provide a method for controlling a back door of a vehicle, so as to achieve intelligent control of the back door of the vehicle, precisely adjust an opening height of the back door in real time, and solve the technical problem that the back door can only be opened manually or remotely to a default fixed height and cannot be adjusted in real time in the prior art.

A second object of the present invention is to propose another control method of a back door of a vehicle.

A third object of the present invention is to provide a control device for a vehicle back door.

A fourth object of the present invention is to propose another control device for a back door of a vehicle.

A fifth object of the present invention is to provide a control system of a back door of a vehicle.

A sixth object of the invention is to propose a non-transitory computer-readable storage medium.

A seventh object of the invention is to propose another non-transitory computer-readable storage medium.

To achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a vehicle back door, including:

receiving a control instruction sent by a vehicle-mounted intelligent terminal; the control instruction is generated by the vehicle-mounted intelligent terminal when the vehicle-mounted intelligent terminal rotates;

and controlling the back door of the vehicle to execute the control command.

According to the control method of the vehicle back door, the vehicle back door is controlled to execute the control instruction by receiving the control instruction generated and sent when the vehicle-mounted intelligent terminal rotates, so that the control of the back door is realized. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to achieve the above object, an embodiment of a second aspect of the present invention provides another method for controlling a back door of a vehicle, including:

detecting whether the vehicle-mounted intelligent terminal rotates or not;

when the vehicle-mounted intelligent terminal is detected to rotate, a control instruction is sent to a control unit of a back door of a vehicle, so that the control unit controls the back door to execute the control instruction.

According to the control method of the vehicle back door, whether the vehicle-mounted intelligent terminal rotates or not is detected, and when the vehicle-mounted intelligent terminal is detected to rotate, a control instruction is sent to the control unit of the vehicle back door, so that the control unit controls the vehicle back door to execute the control instruction. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

To achieve the above object, a third aspect of the present invention provides a control device for a vehicle back door, including:

the receiving module is used for receiving a control instruction sent by the vehicle-mounted intelligent terminal; the control instruction is generated by the vehicle-mounted intelligent terminal when the vehicle-mounted intelligent terminal rotates;

and the control module is used for controlling the back door of the vehicle to execute the control command.

The control device for the vehicle back door of the embodiment of the invention controls the vehicle back door to execute the control command by receiving the control command generated and sent when the vehicle-mounted intelligent terminal rotates, so as to realize the control of the back door. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

To achieve the above object, a fourth aspect of the present invention provides another control device for a vehicle back door, including:

the detection module is used for detecting whether the vehicle-mounted intelligent terminal rotates or not;

and the sending module is used for sending a control instruction to a control unit of a back door of the vehicle when the vehicle-mounted intelligent terminal is detected to rotate, so that the control unit controls the back door to execute the control instruction.

According to the control device of the vehicle back door, whether the vehicle-mounted intelligent terminal rotates or not is detected, and when the vehicle-mounted intelligent terminal is detected to rotate, a control command is sent to the control unit of the vehicle back door, so that the control unit controls the vehicle back door to execute the control command. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to achieve the above object, an embodiment of a fifth aspect of the present invention provides a control system for a vehicle back door, including the control device for a vehicle back door according to the embodiment of the third aspect, and the control device for a vehicle back door according to the embodiment of the fourth aspect.

According to the control system of the vehicle back door, whether the vehicle-mounted intelligent terminal rotates or not is detected, when the vehicle-mounted intelligent terminal is detected to rotate, a control instruction is sent to the control unit of the vehicle back door, the control unit receives the control instruction sent by the vehicle-mounted intelligent terminal and controls the back door to execute the control instruction, and therefore the control of the vehicle back door is achieved. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

To achieve the above object, a sixth aspect of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control method of a vehicle back door as described in the first aspect of the embodiment.

To achieve the above object, a seventh embodiment of the present invention proposes another non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the control method of the vehicle back door as described in the second 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

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flowchart of a first method for controlling a back door of a vehicle according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a second method for controlling a back door of a vehicle according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating a third method for controlling a back door of a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a prompt message displayed to a user via a vehicle-mounted intelligent terminal;

FIG. 5 is a flowchart illustrating a fourth method for controlling a back door of a vehicle according to an embodiment of the present invention;

fig. 6(a) is a schematic view of the rotation direction and the rotation angle of the vehicle-mounted intelligent terminal;

FIG. 6(b) is a schematic view of the back door opening angle;

FIG. 7 is a schematic diagram illustrating the rotation angle and the height of the back door of the vehicle-mounted intelligent terminal;

FIG. 8 is a schematic view of a back door minimum opening angle setting;

fig. 9 is a schematic flowchart of a fifth control method for a back door of a vehicle according to an embodiment of the present invention;

fig. 10 is a flowchart illustrating a sixth method for controlling a back door of a vehicle according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a control device for a back door of a vehicle according to a first embodiment of the present invention;

fig. 12 is a schematic structural diagram of a control device for a back door of a second vehicle according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a third control device for a back door of a vehicle according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a fourth control device for a vehicle back door according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a fifth control device for a vehicle back door according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of a control system of a vehicle back door 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.

A method and apparatus for controlling a vehicle back door according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a first method for controlling a back door of a vehicle according to an embodiment of the present invention, where the method may be implemented by an Electronic Control Unit (ECU), where the ECU is configured to Control lifting and lowering of the back door of the vehicle.

As shown in fig. 1, the control method of the back door of the vehicle includes the steps of:

and step 101, receiving a control instruction sent by the vehicle-mounted intelligent terminal.

The control instruction is generated by the vehicle-mounted intelligent terminal when the vehicle-mounted intelligent terminal rotates.

In this embodiment, a vehicle-mounted intelligent terminal is installed on a vehicle, and a control instruction can be sent to the vehicle through the vehicle-mounted intelligent terminal. The vehicle-mounted intelligent terminal can be a vehicle-mounted Pad, a mobile phone, a tablet computer and other equipment.

Specifically, when the vehicle-mounted intelligent terminal is detected to rotate, the vehicle-mounted intelligent terminal generates and sends a control command, and the control unit ECU receives the control command.

The vehicle-mounted intelligent terminal is provided with the angle sensor, and information such as the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal can be collected. When the vehicle-mounted intelligent terminal rotates, the angle sensor can detect the rotation information of the vehicle-mounted intelligent terminal, such as the rotation direction, the rotation angle and the like, and sends the acquired rotation information to the vehicle-mounted intelligent terminal. The vehicle-mounted intelligent terminal generates a control instruction according to the acquired rotation information and then sends the control instruction to the control unit ECU, wherein the control instruction can include information such as the rotation direction and the rotation angle of the vehicle-mounted intelligent terminal.

Taking a vehicle-mounted intelligent terminal as an example of the rotating Pad, an angle sensor arranged in the rotating Pad can detect whether the rotating Pad rotates in real time, and when the rotating Pad rotates, the information such as the rotating angle and the rotating direction of the rotating Pad is collected, the collected rotating information is fed back to the rotating Pad, the rotating Pad generates a control instruction according to the received rotating information, and the generated control instruction is sent to a control unit ECU of a back door of a vehicle.

And 102, controlling the back door of the vehicle to execute a control command.

In this embodiment, after receiving the control instruction sent by the vehicle-mounted intelligent terminal, the control unit ECU may control the vehicle back door to execute the control instruction, so as to control the vehicle back door based on the control instruction.

As a possible implementation, the opening and/or closing of the vehicle back door may be implemented based on the control instruction. For example, the rotation direction of the vehicle-mounted intelligent terminal may include clockwise and counterclockwise, and the opening of the back door may be determined by clockwise and the closing of the back door may be determined by counterclockwise.

As a possible implementation, flexible adjustment of the opening height of the vehicle back door may be implemented based on the control instruction. For example, the opening height or the closing height of the back door can be calculated according to the rotation angle of the vehicle-mounted intelligent terminal every time, so that the opening height of the back door can be flexibly controlled.

As a possible implementation, setting of the opening height of the vehicle back door may be implemented based on the control instruction. For example, the maximum opening height or the minimum opening height of the back door can be set through the vehicle-mounted intelligent terminal.

It should be noted here that a plurality of control modes can be set on the vehicle-mounted intelligent terminal, and a user can select a required control mode on the vehicle-mounted intelligent terminal according to own control requirements. For setting the control mode of the vehicle-mounted intelligent terminal, reference may be made to the description of relevant contents in the following embodiments, which are not described herein again.

In order to more clearly describe the above embodiments, the present invention provides another control method for a back door of a vehicle, and fig. 2 is a flowchart illustrating a second control method for a back door of a vehicle according to an embodiment of the present invention. In this embodiment, the vehicle control method provided in the above embodiment is explained in a scenario of controlling the opening or closing of the back door of the vehicle. As shown in fig. 2, based on the embodiment shown in fig. 1, step 102 may include the following steps:

step 201, acquiring attitude information of the vehicle-mounted intelligent terminal from a control instruction; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal; the attitude information is detected by the vehicle-mounted intelligent terminal through the angle sensor.

The control unit ECU receives the control command generated by the vehicle-mounted intelligent terminal according to the rotation information such as the rotation direction and the rotation angle detected by the angle sensor, and the control command may include the rotation information of the vehicle-mounted intelligent terminal, so that the control unit ECU may obtain the rotation direction of the vehicle-mounted intelligent terminal from the received control command.

And step 202, controlling to open or close the back door according to the rotation direction.

In this embodiment, after the control unit ECU obtains the rotation direction of the vehicle-mounted intelligent terminal from the control instruction, the back door may be opened or closed according to the rotation direction control.

For example, a corresponding relationship between the rotation direction of the vehicle-mounted intelligent terminal and the opening or closing of the back door may be preset on the vehicle-mounted intelligent terminal, and the corresponding relationship may be sent to the ECU and stored in the ECU. For example, when the rotation direction of the vehicle-mounted intelligent terminal is set to rotate leftwards, the back door is controlled to be opened; when the rotation direction of the vehicle-mounted intelligent terminal is rightward rotation, the back door is controlled to be closed. Furthermore, when the rotation direction sent by the vehicle-mounted intelligent terminal acquired by the control unit ECU is leftward rotation, the back door is controlled to be opened; and when the acquired rotation direction of the vehicle-mounted intelligent terminal is rightward rotation, controlling the back door to close.

According to the control method of the vehicle back door, the rotation direction of the vehicle-mounted intelligent terminal is obtained from the control instruction, and the back door is controlled to be opened or closed according to the rotation direction, so that the back door can be intelligently controlled, and the convenience of back door control is improved.

It will be appreciated that it is not always appropriate to open the tailgate, for example, when the vehicle is driving, opening the tailgate may cause items on the vehicle to fall off, causing property damage to the user. Therefore, in order to ensure the property safety of a user, the invention provides another control method of the back door of the vehicle. Fig. 3 is a flowchart illustrating a third method for controlling a back door of a vehicle according to an embodiment of the present invention.

As shown in fig. 3, on the basis of the embodiment shown in fig. 2, when it is determined to control the opening of the back door according to the rotation direction, before the control of the opening of the back door, the following steps may be further included:

step 301, obtaining the state information of the vehicle, and judging whether to execute the control command according to the state information.

In this embodiment, the state information of the vehicle may include a locked/unlocked state and an operating/stopped state of the vehicle. The locking/unlocking state of the vehicle may be acquired by a Body Control Module (BCM), and after acquiring Body state information, which is the locking/unlocking state of the vehicle, the BCM sends the acquired Body state information to the Control unit ECU. The running/stopping state of the vehicle can be acquired by an Electronic Stability Program (ESP), a wheel sensor built in the ESP can acquire the rotation speed of the wheel, and the ESP can acquire the running/stopping state of the vehicle according to the rotation speed of the wheel. When the wheel speed is 0, it indicates that the vehicle is in a stopped state. The ESP transmits the acquired running/stopping state of the vehicle to the control unit ECU.

It should be noted that, when the vehicle is in a locked state, the vehicle enters an anti-theft protection state, and all doors of the vehicle cannot be opened; when the vehicle is in an open state, the anti-theft protection state of the vehicle is released, and the vehicle door can be normally opened.

Further, the control unit ECU may determine whether to execute the control command based on the acquired state information after receiving the vehicle state information.

Specifically, the determining whether to execute the control instruction according to the state information may include: judging whether the vehicle is in a locked state, and if the vehicle is in the locked state, determining to refuse to execute the control instruction; and/or judging whether the vehicle is in the running state, and if the vehicle is in the running state, determining to refuse to execute the control command.

In this embodiment, when the state information of the vehicle acquired by the control unit ECU is the locked/unlocked state and the running/stopped state of the vehicle, it may be determined whether the vehicle is in the locked state according to the locked/unlocked state of the vehicle and whether the vehicle is in the running state according to the running/stopped state of the vehicle, and when the vehicle is in the locked state or the running state, it is determined that the execution of the control instruction is denied, that is, the back door of the vehicle is not controlled to be opened; when the vehicle is in an opening state and the vehicle is in a stopping state, the control instruction is judged to be executed, namely the back door is controlled to be opened.

Whether the control instruction is executed or not is judged according to the state information of the vehicle, the situation that the back door is opened when the vehicle runs or is in an anti-theft state can be avoided, and the safety of the vehicle and property is guaranteed.

Further, in a possible implementation manner of the embodiment of the present invention, when the control unit ECU determines that the vehicle is in the locked state, the information that the vehicle is currently in the locked state may be fed back to the vehicle-mounted intelligent terminal, and the vehicle-mounted intelligent terminal displays a prompt message that "the vehicle is in the anti-theft state and the back door cannot be opened", as shown in fig. 4, to prompt the user to unlock the vehicle first. When the control unit ECU determines that the vehicle is currently in the running state, the information that the vehicle is currently in the running state may be fed back to the vehicle-mounted intelligent terminal, and the vehicle-mounted intelligent terminal displays a prompt message of "please stop and then open the back door", as shown in fig. 4, to remind the user to stop. The prompt information is displayed in the display interface of the vehicle-mounted intelligent terminal, so that the user can be reminded of the operation to be executed when the back door is opened in the current state, and the user is helped to quickly open the back door.

Step 302, if the judgment result is to execute the control command, the control command is executed.

In this embodiment, when the control unit ECU determines to execute the control instruction according to the state information, it controls to open the back door.

When the control unit ECU determines to refuse to execute the control instruction according to the state information, the control instruction is not executed, and a reminding message can be sent to the vehicle-mounted intelligent terminal, for example, when the vehicle is in a running state, a reminding message of 'please stop and then open the back door' is fed back to the vehicle-mounted intelligent terminal so as to attract the attention of the user.

According to the control method of the vehicle back door, when the control instruction is to open the back door, the state information of the vehicle is obtained, whether the control instruction is executed or not is judged according to the state information, and when the control instruction is judged to be executed, the control instruction is executed, so that property loss caused to a user due to the fact that the back door is opened at an improper time can be avoided, and property safety of the user is guaranteed.

Generally, the maximum height at which the tailgate of a vehicle can be opened is determined at the time of manufacturing the vehicle, however, in a low parking lot, the tailgate is completely opened and may collide with a building in the parking lot. In order to prevent the backdoor from being damaged due to collision with a parking lot building after the backdoor is opened in a short parking lot, a user can configure the opening height of the backdoor through the vehicle-mounted intelligent terminal, so that the backdoor cannot collide with the building in the parking lot after being opened at the height.

Therefore, in a possible implementation manner of the embodiment of the present invention, when the control unit ECU controls to open the back door according to the acquired rotation direction, the user may also configure a target height for opening the back door through the vehicle-mounted intelligent terminal, so that the control unit ECU controls the back door to open to the target height.

The target height is set through the vehicle-mounted intelligent terminal by the user, and the back door is controlled to be opened to the target height, so that the back door can be flexibly adjusted, the requirement of the user on the opening height of different back doors is met, and the user experience is improved.

As described above, the angle sensor of the vehicle-mounted intelligent terminal may obtain the rotation direction of the vehicle-mounted intelligent terminal, and may also obtain the rotation angle of the vehicle-mounted intelligent terminal, and in order to further improve the adjustment accuracy of the back door opening height, the invention provides another control method of the vehicle back door, which may adjust the opening height of the back door according to the rotation angle of the vehicle-mounted intelligent terminal. Fig. 5 is a flowchart illustrating a fourth method for controlling a back door of a vehicle according to an embodiment of the present invention. In this embodiment, the above embodiment is explained by taking flexible adjustment of the opening height of the back door of the vehicle according to the control command as a scenario, and as shown in fig. 5, on the basis of the embodiment shown in fig. 1, step 102 may further include the following steps:

step 401, acquiring attitude information of the vehicle-mounted intelligent terminal from a control instruction; the attitude information comprises a rotation angle and a rotation direction of the vehicle-mounted intelligent terminal; the attitude information is detected by the vehicle-mounted intelligent terminal through the angle sensor.

In this embodiment, in order to adjust the opening height of the back door through the vehicle-mounted intelligent terminal, a control mode corresponding to the adjustment of the opening height of the back door through the vehicle-mounted intelligent terminal needs to be selected in multiple control modes of the vehicle-mounted intelligent terminal, for example, the control mode may be set to "control the opening height of the back door through rotating the vehicle-mounted Pad", that is, the back door may follow the movement according to the rotation angle of the vehicle-mounted intelligent terminal. After the control mode is set, the vehicle-mounted intelligent terminal can send the control mode to the control unit ECU.

The angle sensor in the vehicle-mounted intelligent terminal can detect the rotating direction and the rotating angle of the vehicle-mounted intelligent terminal and sends the collected rotating direction and the collected rotating angle to the vehicle-mounted intelligent terminal. When the vehicle-mounted intelligent terminal generates the control instruction according to the rotating direction and the rotating angle, the control instruction may include the rotating direction and the rotating angle of the vehicle-mounted intelligent terminal. Therefore, the control unit ECU can acquire the rotation direction and the rotation angle of the vehicle-mounted intelligent terminal from the control instruction according to the received control instruction.

Here, it should be noted that the in-vehicle intelligent terminal may also directly send the collected rotation direction and rotation angle to the ECU, and the ECU generates the control command according to the rotation direction and rotation angle.

Step 402, determining a target motion of the back door according to the rotation direction.

Wherein the target action comprises turning on or off.

For example, when the rotation direction is left rotation, the target action is on; when the rotation direction is rightward rotation, the target action is off.

And step 403, controlling the back door to execute the target action, determining an action angle of the back door according to the rotation angle, and performing action following according to the action angle.

In this embodiment, the action angle of the back door, that is, the angle at which the back door rises or falls, may be determined according to the rotation angle of the vehicle-mounted intelligent terminal, and the back door is further controlled to execute the target action at the determined action angle.

In order to better implement the embodiment, in the control mode in which the tailgate follows the movement according to the movement angle, the tailgate needs to be opened before receiving a control instruction sent by the vehicle-mounted intelligent terminal. Specifically, the control unit ECU may receive an opening instruction for opening the back door, the opening instruction being triggered by a remote control device or manually; and controlling to open the back door according to the opening instruction. For example, the back door can be opened remotely, or the back door can be opened by triggering an in-vehicle switch, or the back door can be opened by triggering an outside switch, and when the back door is controlled to be opened according to an opening instruction, the back door is opened to the maximum opening angle. As an example, as shown in fig. 6(a), the vehicle-mounted intelligent terminal can rotate around a central axis, and when the vehicle-mounted intelligent terminal is vertical to the screen, the vehicle-mounted intelligent terminal is at 0 degree, and when the vehicle-mounted intelligent terminal is turned left, the vehicle-mounted intelligent terminal is at a negative angle, and the angle value acquired by the angle sensor is-X; when the vehicle-mounted intelligent terminal turns right, the angle value is + X.

As shown in fig. 6(b), if the vehicle-mounted intelligent terminal turns to open the back door to the left and turns to the right to close the back door, and if the vehicle-mounted intelligent terminal is not rotated, the back door is not opened, the opening angle is 0 °, and if the back door is completely opened, the opening angle is Z °, when the vehicle-mounted intelligent terminal is rotated from 0 ° to 360 ° to the left, the vehicle-mounted intelligent terminal rotates 1 ° every time, and the back door rises by Z °/360 °; under the condition that the back door is completely opened, when the vehicle-mounted intelligent terminal rotates from 0 degree to 360 degrees rightwards, every time the vehicle-mounted intelligent terminal rotates 1 degree, the back door descends by Z degrees/360 degrees.

As another example, as shown in fig. 6(b), if the vehicle-mounted intelligent terminal turns to open the back door to the left, and turns to the right to close the back door, and if the minimum opening angle of the back door set by the user through the vehicle-mounted intelligent terminal is Y ° and the vehicle-mounted intelligent terminal is not rotated, the opening angle of the back door is Y ° (at this time, the back door can be opened by an in-vehicle switch, or the back door is opened by remote control, or an out-vehicle switch opens the back door, etc.), when the back door is completely opened, the opening angle is Z °, when the vehicle-mounted intelligent terminal is rotated from 0 ° to 360 ° to the left, the back door is raised (Z ° -Y °/360 °) every time the vehicle-mounted intelligent terminal rotates 1 °; under the condition that the back door is completely opened, when the vehicle-mounted intelligent terminal rotates from 0 degree to 360 degrees rightwards, the back door descends (Z-Y degrees)/360 degrees every time the vehicle-mounted intelligent terminal rotates 1 degree.

Therefore, in this embodiment, according to the rotation angle of the vehicle-mounted intelligent terminal, the action angle of the back door ascending or descending can be determined, and the back door is controlled to execute the target action according to the action angle.

Further, in the process of executing the target action by the back door, the control unit ECU can also judge whether the back door is completely opened or closed in real time; controlling the back door to stop the target action if the back door is completely opened or closed; and forming a feedback message according to the current state of the back door, and feeding the feedback message back to the vehicle-mounted intelligent terminal for displaying.

Still taking fig. 4 as an example, as shown in fig. 4, when the back door is completely opened, a prompt message that the back door has risen to the highest position is displayed in the display interface of the vehicle-mounted intelligent terminal to remind the user that the opening height of the back door cannot be continuously raised. When the back door is completely closed, a prompt message of 'the back door is completely closed' is displayed in a display interface of the vehicle-mounted intelligent terminal so as to remind a user that the back door is closed.

Through the state of the back door of real-time judgement to the state with the back door feeds back to on-vehicle intelligent terminal, can convenience of customers know the state information of back door, and user experience is good.

And step 404, feeding back the current opening height of the back door in real time.

In this embodiment, after the back door is controlled to execute the target action according to the action angle, the control unit ECU may also feed back the current opening height of the back door to the vehicle-mounted intelligent terminal in real time, so that the user may check whether the current opening height of the back door can meet the user demand from the vehicle-mounted intelligent terminal. The current opening height of the back door fed back by the control unit ECU in real time can be the actual opening angle of the back door or the percentage of the opening angle.

As an example, when the current opening height of the back door fed back by the control unit ECU in real time is a percentage of the opening angle, the control unit ECU may use the current opening height of the back door and the maximum opening height to make a ratio, feed the obtained ratio as a result back to the vehicle-mounted intelligent terminal, and display the obtained ratio by the vehicle-mounted intelligent terminal.

For example, fig. 7 is a schematic diagram illustrating a rotation angle and a back door height of the vehicle-mounted intelligent terminal. As can be seen from fig. 7, the current rotation angle of the vehicle-mounted intelligent terminal can be displayed in the display interface of the vehicle-mounted intelligent terminal, and the percentage of the opening height of the back door corresponding to the current rotation angle to the maximum opening height can also be displayed. In fig. 7, -X ° represents that the vehicle-mounted intelligent terminal rotates X ° to the left; + X represents the vehicle-mounted intelligent terminal rotating X rightwards.

According to the control method of the vehicle back door, the posture information of the vehicle-mounted intelligent terminal is obtained from the control command, the target action of the back door is determined according to the rotating direction, the back door is controlled to execute the target action, the action angle of the back door is determined according to the rotating angle, action following is carried out according to the action angle, and the accuracy of the back door opening height can be improved. Through the current height of opening of real-time feedback back door, can convenience of customers knows the height information of opening of back door, promoted user experience.

In order to describe the vehicle control method more clearly in the embodiment of the present invention, in a possible implementation manner of the embodiment of the present invention, on the basis of the embodiment shown in fig. 5, before receiving a control instruction sent by the vehicle-mounted intelligent terminal, the control unit ECU may further receive configuration information sent by a user through the vehicle-mounted intelligent terminal, where the configuration information includes a correspondence relationship between a rotation angle of the vehicle-mounted intelligent terminal and a back door action angle. As an example, when the rotation angle of the in-vehicle smart terminal is 0 ° and the opening height of the corresponding back door is 0 °, the correspondence relationship between the rotation angle of the in-vehicle smart terminal and the back door action angle is shown in table 1(a) and table 1(b), where X represents the rotation angle of the in-vehicle smart terminal and y represents the back door action angle.

TABLE 1(a)

X(0≤X≤180)(°)	0	1	2	…	180
						y(°)	0	Z/180	2Z/180	…	Z

TABLE 1(b)

X(180≤X≤360)(°)	180	181	182	…	360
						y(°)	Z	179Z/180	178Z/180	…	0

As can be seen from table 1(a), when the rotation angle of the in-vehicle smart terminal is rotated from 0 ° to 180 ° to the right or left, the back door rises by Z/180 every time the in-vehicle smart terminal rotates by 1 °. When the rotation angle of the vehicle-mounted intelligent terminal is rotated to 360 degrees from 180 degrees to the right or the left, or the rotation angle of the vehicle-mounted intelligent terminal returns to 0 degree from 180 degrees, the back door descends by Z/180 degrees after the vehicle-mounted intelligent terminal rotates by 1 degree. In summary, the vehicle control method provided by the embodiment of the invention can control the ascending or descending amplitude of the back door of the vehicle according to the rotation angle of the vehicle-mounted intelligent terminal, and the rotation direction of the vehicle-mounted intelligent terminal is not required to be acquired, so that the vehicle control method is more convenient and faster.

As another example, the control unit ECU may further receive setting information sent by a user through the vehicle-mounted intelligent terminal, where the setting information carries a minimum opening angle and/or a maximum opening angle of the back door; according to the minimum opening angle and the maximum opening angle, calculating the following proportion of the backdoor when the backdoor executes the target action once, namely calculating the angle change value of the backdoor when the vehicle-mounted intelligent terminal rotates 1 DEG every time when the target action is executed.

It should be noted here that, when the user sets only the minimum opening angle through the vehicle-mounted intelligent terminal, the maximum opening angle may adopt a default maximum opening angle, and then the following proportion when the back door executes a target action may be calculated.

The following describes in detail the implementation process of setting the minimum opening angle of the back door by the user through the vehicle-mounted intelligent terminal by taking the vehicle-mounted intelligent terminal as a rotating Pad as an example, and fig. 8 is a schematic diagram of a setting mode of the minimum opening angle of the back door. As shown in fig. 8, three rotation definitions of Pad are provided in the setting options of the swivel Pad, that is, "control the back door by swivel Pad", "set the back door opening height by swivel Pad", and "swivel Pad does not control the back door". When the user selects the definition of "setting the back door opening height by rotating the Pad", the user is continuously reminded to set the minimum opening angle of the back door. Two ways of setting the minimum opening angle of the back door are provided in the rotary Pad, namely "input minimum opening angle percentage" and "manually set minimum opening angle". When the user selects to set the minimum opening angle in a mode of inputting the minimum opening angle percentage, the input window is popped out in the display interface of the Pad in a rotating mode, and after the user inputs the minimum opening angle percentage in the input box, the user clicks the 'confirm' button. The rotating Pad sends the percentage of the minimum opening angle set by the user to the control unit ECU, and the control unit ECU stores the opening angle corresponding to the percentage as the minimum opening angle of the back door. When a user selects to set the minimum opening angle in a mode of manually setting the minimum opening angle, prompt information of 'please manually lift the back door to a required height and press a confirmation key' is popped up in a display interface of the rotating Pad, the user opens the back door to a target height and presses the confirmation key, the rotating Pad sends confirmation information to the control unit ECU, and the control unit ECU stores the height of the back door at the moment and takes the height as the minimum opening angle for opening the back door.

After receiving the minimum opening angle set by the user, the control unit ECU may calculate a following ratio when the back door performs a target action according to the minimum opening angle and the default maximum opening angle, that is, determine a correspondence between the rotation angle of the vehicle-mounted intelligent terminal and the back door action angle, as shown in table 2(a) and table 2(b), where X represents the rotation angle of the vehicle-mounted intelligent terminal, Y represents the back door action angle, and Y represents the minimum opening angle of the back door set by the user through the vehicle-mounted intelligent terminal.

TABLE 2(a)

X(0≤X≤180)(°)	0	1	2	…	180
						y(°)	Y	Y+(Z-Y)/180	Y+2(Z-Y)/180	…	Z

TABLE 2(b)

X(180≤X≤360)(°)	180	181	182	…	360
						y(°)	Z	Y+179(Z-Y)/180	Y+178(Z-Y)/180	…	Y

As can be seen from tables 2(a) and 2(b), when the vehicle-mounted intelligent terminal is not rotated, and the back door of the vehicle is opened in remote control or manual triggering and other manners, the opening height of the back door is the minimum opening height of Y degrees; when the rotation angle of the vehicle-mounted intelligent terminal is 180 degrees, the opening angle of the back door is the maximum opening angle Z degrees; when the rotation angle of the vehicle-mounted intelligent terminal is 360 degrees, the opening height of the back door is the minimum opening height Y degrees; when the rotation angle of the vehicle-mounted intelligent terminal is other angles, the opening height of the back door can be determined according to the corresponding relation between the rotation angles and the action angles of the table 2(a) and the table 2 (b).

To achieve the above object, an embodiment of the present invention provides another method for controlling a back door of a vehicle. Fig. 9 is a flowchart illustrating a fifth method for controlling a back door of a vehicle according to an embodiment of the present invention, where the method may be executed by a vehicle-mounted intelligent terminal, where an angle sensor is disposed in the vehicle-mounted intelligent terminal and is used to detect a rotation direction and a rotation angle of the vehicle-mounted intelligent terminal.

As shown in fig. 9, the control method of the vehicle back door may include the steps of:

step 501, detecting whether the vehicle-mounted intelligent terminal rotates.

In this embodiment, whether the vehicle-mounted intelligent terminal rotates or not can be detected by an angle sensor of the vehicle-mounted intelligent terminal.

Step 502, when the vehicle-mounted intelligent terminal is detected to rotate, a control instruction is sent to a control unit of a back door of the vehicle, so that the control unit controls the back door to execute the control instruction.

In this embodiment, when the angle sensor detects that the vehicle-mounted intelligent terminal rotates, the vehicle-mounted intelligent terminal generates a control instruction according to the rotation information and sends the control instruction to the control unit of the vehicle back door, so that the control unit controls the back door to execute the control instruction, and therefore the purpose of controlling the back door of the vehicle based on the vehicle-mounted intelligent terminal is achieved.

In the control method of the vehicle back door of the embodiment, whether the vehicle-mounted intelligent terminal rotates or not is detected, and when the vehicle-mounted intelligent terminal rotates, a control instruction is sent to the control unit of the vehicle back door, so that the control unit controls the vehicle back door to execute the control instruction. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to more clearly illustrate the above embodiments, the present invention provides another method for controlling a back door of a vehicle, and fig. 10 is a flowchart illustrating a sixth method for controlling a back door of a vehicle according to an embodiment of the present invention.

As shown in fig. 10, the control method of the vehicle back door may include the steps of:

step 601, receiving configuration information input by a user, wherein the configuration information is used for indicating the type of a control instruction generated when the vehicle-mounted intelligent terminal rotates.

Different rotation definitions can be provided for a user in the setting options of the vehicle-mounted intelligent terminal, so that the user can select the type of the control instruction generated when the vehicle-mounted intelligent terminal rotates, and the control operation of the back door corresponding to the type of the control instruction is further realized.

Still taking fig. 8 as an example, three rotation definitions of Pad are provided in the setting options of the rotating Pad, that is, "control the back door by rotating Pad", "set the back door opening height by rotating Pad", and "Pad does not control the back door". When a user selects the option of controlling the back door through the rotating Pad, the opening or closing of the back door can be directly controlled through the rotating Pad, and the type of the generated control instruction is to control the opening or closing of the back door; when a user selects the option of setting the back door opening height by rotating the Pad, the maximum opening height of the back door can be defined through the Pad position, and then when the back door is opened by remote control or manual triggering, the maximum opening height of the back door is the height corresponding to the Pad position; when the user selects the option "Pad does not control the back door", the opening or closing of the back door cannot be controlled by rotating the Pad.

It should be noted that fig. 8 is only an example, and the in-vehicle smart terminal may further include other control modes besides the two control modes.

The type of the generated control instruction is determined according to the configuration information input by the user, various control methods of the back door can be provided for the user to select, different requirements of the user can be met, the flexibility and the applicability of the method are improved, and the user experience is improved.

Step 602, detecting whether the vehicle-mounted intelligent terminal rotates.

Step 603, when the vehicle-mounted intelligent terminal is detected to rotate, sending a control instruction to a control unit of the vehicle back door, so that the control unit controls the back door to execute the control instruction.

It should be noted that, in the present embodiment, for the description of step 602 to step 603, reference may be made to the description of step 501 to step 502 in the foregoing embodiment, and the implementation principle is similar, which is not described herein again.

Step 604, receiving and displaying the current opening height of the back door fed back by the control unit in real time; or the receiving control unit receives and displays the current opening height of the back door according to the ratio of the current opening height to the maximum opening height of the back door.

In this embodiment, when the control unit controls the back door to be opened to a height matched with the rotation angle of the vehicle-mounted intelligent terminal, the control unit may feed back the current opening height of the back door or the ratio of the current opening height to the maximum opening height to the vehicle-mounted intelligent terminal. The vehicle-mounted intelligent terminal receives the current opening height of the back door, or after the current opening height of the back door is compared with the maximum opening height, the current opening height of the back door or the current opening height and the maximum opening height ratio can be displayed in a display interface, so that a user can conveniently check the current opening height information of the back door.

According to the control method of the vehicle back door, the configuration information input by the user is received, the configuration information is used for indicating the type of the control instruction generated by triggering when the vehicle-mounted intelligent terminal rotates, various control methods of the back door can be provided for the user to select, different requirements of the user are met, and flexibility and applicability of the method are improved. Whether the vehicle-mounted intelligent terminal rotates or not is detected, when the vehicle-mounted intelligent terminal is detected to rotate, a control command is sent to a control unit of a back door of a vehicle, so that the control unit controls the back door to execute the control command, intelligent control over the back door can be achieved based on the vehicle-mounted intelligent terminal, and convenience in back door control is improved. Through receiving the current height of opening of back door that the control unit feedbacks in real time and showing, perhaps, receiving the control unit and opening the ratio between the height and the biggest according to the back door is current and showing, can convenience of customers knows the current height information of opening of back door, promotes user experience.

Further, in order to control the tailgate of the vehicle according to the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal, in a possible implementation manner of the embodiment of the present invention, the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal may be detected by an angle sensor, and the posture information of the vehicle-mounted intelligent terminal is generated and sent to the control unit, so that the control unit may determine the action (opening or closing) and the angle of the action performed by the tailgate according to the received rotation angle and rotation direction, thereby implementing accurate control of the tailgate and improving the accuracy of tailgate control.

In order to realize the above embodiment, the invention also provides a control device of the vehicle back door.

Fig. 11 is a schematic structural diagram of a first control device for a vehicle back door according to an embodiment of the present invention, which can be applied to an electronic control unit ECU.

As shown in fig. 11, the control device 100 for the vehicle back door includes: a receiving module 110 and a control module 120. Wherein the content of the first and second substances,

the receiving module 110 is configured to receive a control instruction sent by the vehicle-mounted intelligent terminal; the control instruction is generated by the vehicle-mounted intelligent terminal when the vehicle-mounted intelligent terminal rotates.

And the control module 120 is used for controlling the back door of the vehicle to execute the control command.

Further, in a possible implementation manner of the embodiment of the present invention, as shown in fig. 12, on the basis of the embodiment shown in fig. 11, the control module 120 may include:

the acquiring unit 121 is configured to acquire the posture information of the vehicle-mounted intelligent terminal from the control instruction; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal; the attitude information is detected by the vehicle-mounted intelligent terminal through the angle sensor.

And a control unit 122 for controlling the opening or closing of the back door according to the rotation direction.

Through the direction of rotation who obtains on-vehicle intelligent terminal from the control command, according to opening or closing of direction of rotation control back door, can realize the intelligent control to back door, improved the convenience of back door control.

Further, when the control command determined by the control unit 122 according to the rotation direction is to open the back door, before the control unit 122 controls to open the back door, the state information of the vehicle may be acquired, and it may be determined whether to execute the control command according to the state information. Specifically, it may be determined whether the vehicle is in a locked state, and if the vehicle is in the locked state, it is determined that execution of the control instruction is denied; and/or judging whether the vehicle is in the running state, and if the vehicle is in the running state, determining to refuse to execute the control command. When the vehicle is not in the locked state and the vehicle is not in the running state, it is determined that the control instruction is executed, and the control unit 122 executes the control instruction.

In a possible implementation manner of the embodiment of the present invention, a user may configure a target opening angle of the back door through the vehicle-mounted intelligent terminal, and further, when the control unit 122 controls to open the back door, the back door is controlled to be opened to a target height. Therefore, the flexible adjustment of the back door can be realized, and the requirements of users on different heights are met.

Optionally, in a possible implementation manner of the embodiment of the present invention, as shown in fig. 13, on the basis of the embodiment shown in fig. 12, the control module 120 may further include:

a determining unit 123 for determining a target motion of the back door according to the rotation direction, the target motion including opening or closing.

And the feedback unit 124 is used for feeding back the current opening height of the back door in real time.

Specifically, the feedback unit 124 is configured to use a ratio between a current opening height of the back door and a maximum opening height, and feed back the ratio as a result to the vehicle-mounted intelligent terminal.

In this embodiment, the obtaining unit 121 is specifically configured to obtain the posture information of the vehicle-mounted intelligent terminal from the control instruction; the attitude information comprises a rotation angle and a rotation direction of the vehicle-mounted intelligent terminal; the attitude information is detected by the vehicle-mounted intelligent terminal through the angle sensor. The control unit 122 is specifically configured to control the back door to execute the target motion, determine a motion angle of the back door according to the rotation angle, and follow the motion according to the motion angle.

The posture information of the vehicle-mounted intelligent terminal is acquired from the control command, the target action of the back door is determined according to the rotating direction, the back door is controlled to execute the target action, the action angle of the back door is determined according to the rotating angle, action following is carried out according to the action angle, and the accuracy of the back door opening height can be improved. Through the current height of opening of real-time feedback back door, can convenience of customers knows the height information of opening of back door, promoted user experience.

Further, in this embodiment, in the process that the control unit 122 controls the back door to execute the target motion, it may also be determined in real time whether the back door is fully opened or fully closed; controlling the back door to stop the target action if the back door is completely opened or closed; and forming a feedback message according to the current state of the back door, and feeding the feedback message back to the vehicle-mounted intelligent terminal for displaying.

In a possible implementation manner of the embodiment of the present invention, the receiving module 110 may be further configured to receive configuration information sent by a user through the vehicle-mounted intelligent terminal before receiving the control instruction sent by the vehicle-mounted intelligent terminal; the configuration information comprises the corresponding relation between the rotation angle of the vehicle-mounted intelligent terminal and the action angle of the back door.

In another possible implementation manner of the embodiment of the present invention, the receiving module 110 may be further configured to receive an opening instruction for opening the back door, where the opening instruction is triggered by a remote control device or manually, so that the control module 120 may control to open the back door according to the opening instruction.

In a possible implementation manner of the embodiment of the present invention, the receiving module 110 may also be configured to receive setting information sent by a user through the vehicle-mounted intelligent terminal, where the setting information carries a minimum opening angle of the back door; and calculating the following proportion of the backdoor when the backdoor executes the target action once according to the minimum opening angle and the maximum opening angle.

It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle back door is also applicable to the control device for the vehicle back door of the present embodiment, and the implementation principle is similar, and is not repeated here.

The control device for the vehicle back door of the embodiment controls the vehicle back door to execute the control command by receiving the control command generated and sent when the vehicle-mounted intelligent terminal rotates, so that the control on the back door is realized. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to realize the above embodiment, the present invention also provides another control device for a vehicle back door. Fig. 14 is a schematic structural diagram of a fourth control device for a back door of a vehicle according to an embodiment of the present invention, where the device may be applied to a vehicle-mounted intelligent terminal.

As shown in fig. 14, the control device 140 of the vehicle back door may include: a detection module 1410 and a transmission module 1420. Wherein the content of the first and second substances,

and the detection module 1410 is used for detecting whether the vehicle-mounted intelligent terminal rotates or not.

The sending module 1420 is configured to send a control instruction to a control unit of a back door of the vehicle when it is detected that the vehicle-mounted intelligent terminal rotates, so that the control unit controls the back door to execute the control instruction.

Further, in a possible implementation manner of the embodiment of the present invention, as shown in fig. 15, on the basis of the embodiment shown in fig. 14, the control device 140 for a back door of a vehicle may further include:

the receiving and displaying module 1430 is used for receiving and displaying the current opening height of the back door fed back by the control unit in real time; or the receiving control unit receives and displays the current opening height of the back door according to the ratio of the current opening height to the maximum opening height of the back door.

The receiving module 1400 is configured to receive configuration information input by a user, where the configuration information is used to indicate a type of a control instruction that is triggered and generated when the in-vehicle intelligent terminal rotates.

Further, in order to control the back door of the vehicle according to the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal, in a possible implementation manner of the embodiment of the present invention, the detecting module 1410 may be further configured to detect the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal through an angle sensor, generate the posture information of the vehicle-mounted intelligent terminal, and send the posture information to the control unit through the sending module 1420.

The control device for the vehicle back door of the embodiment detects whether the vehicle-mounted intelligent terminal rotates or not, and when the vehicle-mounted intelligent terminal rotates, sends a control instruction to the control unit of the vehicle back door, so that the control unit controls the vehicle back door to execute the control instruction. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to realize the embodiment, the invention further provides a control system of the vehicle back door.

Fig. 16 is a schematic structural diagram of a control system of a vehicle back door according to an embodiment of the present invention. As shown in fig. 16, the control system 160 for the vehicle back door includes: the control device 100 of the vehicle back door, and the control device 140 of the vehicle back door described in the foregoing embodiments.

It should be noted that the foregoing explanation of the embodiment of the control device for the vehicle back door is also applicable to the control system for the vehicle back door of the present embodiment, and the implementation principle is similar, and is not repeated here.

The control system of the vehicle back door of the embodiment sends a control instruction to the control unit of the vehicle back door by detecting whether the vehicle-mounted intelligent terminal rotates or not when detecting that the vehicle-mounted intelligent terminal rotates, and the control unit receives the control instruction sent by the vehicle-mounted intelligent terminal and controls the back door to execute the control instruction, so that the control of the vehicle back door is achieved. Therefore, the intelligent control of the back door of the vehicle can be realized based on the rotation of the vehicle-mounted intelligent terminal, and the opening height of the back door can be accurately adjusted in real time. Compared with the prior art, control command through control vehicle back door execution receipt is in order to control the back door, confirms the height of opening of back door based on control command, makes the height of opening of back door not confine to the fixed height of acquiescence, and can control the back door according to control command real time to can solve among the prior art back door and only can open according to the fixed height of acquiescence, technical problem that can not adjust in real time.

In order to achieve the above-described embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the vehicle back door as described in the foregoing embodiments.

In order to achieve the above-described embodiments, the present invention also proposes another non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements another control method of a vehicle back door as described in the foregoing embodiments.

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.

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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. 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

1. A control method of a vehicle back door, characterized by comprising the steps of:

controlling a back door of the vehicle to execute the control command, wherein posture information of the vehicle-mounted intelligent terminal is obtained from the control command; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal and the rotation angle of the vehicle-mounted intelligent terminal, and the attitude information is detected by the vehicle-mounted intelligent terminal through an angle sensor;

and controlling to open or close the back door according to the rotation direction, determining the action angle of the back door according to the rotation angle, and controlling the back door to follow the action according to the action angle.

2. The method for controlling a back door of a vehicle according to claim 1, wherein if the control command is to open the back door, before controlling to open the back door, further comprising:

acquiring state information of a vehicle, and judging whether to execute the control command or not according to the state information;

and if the judgment result is that the control instruction is executed, executing the control instruction.

3. The method of controlling a back door of a vehicle according to claim 2, wherein the determining whether to execute the control command based on the state information includes:

judging whether the vehicle is in a locked state, and if the vehicle is in the locked state, determining that the control instruction is refused to be executed; and/or the presence of a gas in the gas,

and judging whether the vehicle is in a running state, and if the vehicle is in the running state, determining that the control instruction is refused to be executed.

4. The control method of a vehicle back door according to claim 1, characterized in that when controlling to open the back door, the back door is controlled to be opened to a target height; wherein the target height is configured by the user through the vehicle-mounted intelligent terminal.

5. The method for controlling a back door of a vehicle according to claim 1, further comprising, after the controlling the back door to perform motion following according to the motion angle:

and feeding back the current opening height of the back door in real time.

6. The control method of the vehicle back door according to claim 1, further comprising:

in the process of executing target actions by the back door, judging whether the back door is completely opened or completely closed in real time, wherein the target actions comprise opening or closing;

controlling the back door to stop the target action if the back door has been fully opened or fully closed;

and forming a feedback message according to the current state of the back door, and feeding the feedback message back to the vehicle-mounted intelligent terminal for displaying.

7. The method for controlling the back door of the vehicle according to claim 1, wherein before receiving the control command sent by the vehicle-mounted intelligent terminal, the method further comprises:

receiving configuration information sent by a user through the vehicle-mounted intelligent terminal; the configuration information comprises the corresponding relation between the rotation angle of the vehicle-mounted intelligent terminal and the action angle of the back door.

8. The method for controlling the back door of the vehicle according to claim 1, wherein before receiving the control command sent by the vehicle-mounted intelligent terminal, the method further comprises:

receiving an opening instruction for opening the back door, wherein the opening instruction is triggered by remote control equipment or manually;

and controlling to open the back door according to the opening instruction.

9. The method for controlling a back door of a vehicle according to claim 5, wherein the feeding back a current opening height of the back door in real time comprises:

and a ratio is made by using the current opening height and the maximum opening height of the back door, and the ratio is used as a result and fed back to the vehicle-mounted intelligent terminal.

10. The control method of the vehicle back door according to claim 1, further comprising:

receiving setting information sent by a user through the vehicle-mounted intelligent terminal, wherein the setting information carries the minimum opening angle of the back door;

and calculating a following proportion of the backdoor when the backdoor executes a target action once according to the minimum opening angle and the maximum opening angle, wherein the target action comprises opening or closing.

11. A control method of a vehicle back door, characterized by comprising:

detecting whether the vehicle-mounted intelligent terminal rotates or not;

when the vehicle-mounted intelligent terminal is detected to rotate, sending a control instruction to a control unit of a back door of a vehicle, so that the control unit controls the back door to execute the control instruction, wherein when the control unit controls the back door to execute the control instruction, posture information of the vehicle-mounted intelligent terminal is obtained from the control instruction; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal and the rotation angle of the vehicle-mounted intelligent terminal, and the attitude information is detected by the vehicle-mounted intelligent terminal through an angle sensor; and controlling to open or close the back door according to the rotation direction, determining the action angle of the back door according to the rotation angle, and controlling the back door to follow the action according to the action angle.

12. The control method of the vehicle back door according to claim 11, further comprising:

and detecting the rotation angle and the rotation direction of the vehicle-mounted intelligent terminal through an angle sensor, generating attitude information of the vehicle-mounted intelligent terminal and sending the attitude information to the control unit.

13. The control method of the vehicle back door according to claim 11, further comprising:

receiving and displaying the current opening height of the back door fed back by the control unit in real time; alternatively, the first and second electrodes may be,

and receiving and displaying the ratio of the current opening height and the maximum opening height of the back door by the control unit.

14. The control method of the vehicle back door according to any one of claims 11 to 13, further comprising:

receiving configuration information input by a user, wherein the configuration information is used for indicating the type of the control instruction generated by triggering when the vehicle-mounted intelligent terminal rotates.

15. A control device for a vehicle back door, characterized by comprising:

the control module is used for controlling a back door of the vehicle to execute the control instruction, wherein the posture information of the vehicle-mounted intelligent terminal is obtained from the control instruction; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal and the rotation angle of the vehicle-mounted intelligent terminal, and the attitude information is detected by the vehicle-mounted intelligent terminal through an angle sensor;

16. A control device for a vehicle back door, characterized by comprising:

the sending module is used for sending a control instruction to a control unit of a back door of a vehicle when the vehicle-mounted intelligent terminal is detected to rotate, so that the control unit controls the back door to execute the control instruction, wherein when the control unit controls the back door to execute the control instruction, the control unit acquires attitude information of the vehicle-mounted intelligent terminal from the control instruction; the attitude information comprises the rotation direction of the vehicle-mounted intelligent terminal and the rotation angle of the vehicle-mounted intelligent terminal, and the attitude information is detected by the vehicle-mounted intelligent terminal through an angle sensor; and controlling to open or close the back door according to the rotation direction, determining the action angle of the back door according to the rotation angle, and controlling the back door to follow the action according to the action angle.

17. A control system for a vehicle back door, comprising: the control device of the vehicle back door according to claim 15, and the control device of the vehicle back door according to claim 16.

18. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the control method of the vehicle back door according to any one of claims 1 to 10.

19. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the control method of the vehicle back door according to any one of claims 11 to 14.