CN112550216A - Control method and system of vehicle trunk and vehicle - Google Patents
Control method and system of vehicle trunk and vehicle Download PDFInfo
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- CN112550216A CN112550216A CN201910915850.7A CN201910915850A CN112550216A CN 112550216 A CN112550216 A CN 112550216A CN 201910915850 A CN201910915850 A CN 201910915850A CN 112550216 A CN112550216 A CN 112550216A
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- trunk
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- touch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/2054—Means to switch the anti-theft system on or off by foot gestures
Abstract
The invention provides a control method and a control system for a vehicle trunk, a vehicle, an electronic device and a storage medium. The control method comprises the steps that elastic wave signals generated when a vehicle body is touched are collected through a sensor arranged on the vehicle body, and the elastic wave signals are converted into electrical signals; determining the type of the touch according to the electrical signal; and when the type of the touch is a kick action, controlling the trunk to execute a corresponding action. Utilize the sensor that sets up on the automobile body can effectively gather the automobile body because of receiving the produced electricity signal of touching, when determining the type of touching for the kick action according to this electricity signal, control trunk execution corresponding action. Can realize the action of the interactive control trunk of kick, improve interactive experience to, only, just control the trunk action when the touching that the discernment automobile body received is the kick action, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method for controlling a vehicle trunk, a system for controlling a vehicle trunk, a vehicle, an electronic device, and a computer-readable storage medium.
Background
In the related art, in a trunk of a vehicle, a kick sensor is often used as a non-contact sensor, i.e., a non-contact sensor that generates a signal without contact, such as a laser sensor, an inductive proximity sensor, or the like.
Obviously, the non-contact sensor adopted in the related art has low recognition efficiency in the process of controlling the opening and closing of the trunk, and thus, the user interaction satisfaction is poor.
Disclosure of Invention
The present invention is directed to solve at least one of the problems of the prior art, and provides a method for controlling a vehicle trunk, a system for controlling a vehicle trunk, a vehicle, an electronic device, and a computer-readable storage medium.
In a first aspect of the present invention, there is provided a control method of a vehicle trunk, including:
acquiring an elastic wave signal generated when a vehicle body is touched through a sensor arranged on the vehicle body, and converting the elastic wave signal into an electrical signal;
determining the type of the touch according to the electrical signal;
and when the type of the touch is a kick action, controlling the trunk to execute a corresponding action.
Optionally, the determining the type of the touch according to the electrical signal includes:
and judging whether the signal characteristic value of the electrical signal accords with a preset reference signal characteristic value or not, and if so, judging that the type of the touch is the kick action.
Optionally, when the type of the touch is a kick action, controlling the trunk to perform a corresponding action, including:
calling a matched kicking interaction instruction from a prestored kicking interaction instruction library according to the kicking action; the kick interaction instruction library comprises corresponding relation information of kick actions and corresponding trunk actions;
and controlling the trunk to execute corresponding actions according to the matched kicking interaction instructions.
Optionally, the determining whether the signal characteristic value of the electrical signal meets a preset reference signal characteristic value includes:
acquiring reference elastic wave signals generated by different kick action types acting on the vehicle body in advance, and converting the reference elastic wave signals into corresponding reference electrical signals;
extracting the reference signal characteristic value of each reference electrical signal, and forming a reference characteristic library by using each reference signal characteristic value;
and comparing the signal characteristic value of the electrical signal with a reference signal characteristic value in the reference characteristic library to determine the type of the touch.
Optionally, the comparing the signal characteristic value of the electrical signal with the reference signal characteristic value in the reference characteristic library, and the determining the type of the touch includes:
judging whether the signal characteristic value of the electrical signal exceeds a jump threshold value for multiple times within a preset time period, and comparing the signal characteristic value of the electrical signal exceeding the jump threshold value with a reference signal characteristic value in the reference characteristic library;
and judging whether the signal characteristic values of the multiple sections of electrical signals meet preset conditions or not for the multiple sections of electrical signals which accord with the same reference signal characteristic values, and if so, determining that the touch type is multi-time kicking action.
Optionally, when the type of the touch is a kick action, controlling the trunk to perform a corresponding action, including:
receiving an intelligent steam key signal;
determining whether the intelligent automobile key is positioned near the automobile body or not according to the intelligent automobile key signal;
and when the intelligent automobile key is positioned near the automobile body, controlling the trunk to execute corresponding actions according to the kick actions.
Optionally, after the touch type is determined to be a kick action, the trunk is controlled to execute a corresponding action, and vehicle running state information is also acquired; determining whether the vehicle is in a running state or not according to the vehicle running state information;
the control of the trunk performs corresponding actions, including: controlling the trunk to remain closed when the vehicle is in a driving state; and when the vehicle is in a non-driving state, calling a matched kicking interaction instruction from a pre-stored kicking interaction instruction library according to the kicking action.
In a second aspect of the invention, a control system of a vehicle trunk is provided, which comprises a control module and a sensor connected with the control module, wherein the sensor is arranged on a vehicle body; wherein the content of the first and second substances,
the sensor is used for collecting an elastic wave signal generated when the automobile body is touched and converting the elastic wave signal into an electrical signal;
and the control module is used for determining the type of the touch according to the electrical signal and controlling the trunk to execute corresponding action when the type of the touch is a kick action.
Optionally, the sensor is provided on the rear bumper region and/or the trunk.
In a third aspect of the invention, a vehicle is provided, comprising the system as described above.
In a fourth aspect of the present invention, there is provided an electronic apparatus comprising:
one or more processors;
a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method according to the preceding description.
In a fifth aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method according to the above description.
The invention provides a control method and a control system for a vehicle trunk, a vehicle, an electronic device and a storage medium. Utilize the sensor that sets up on the automobile body can effectively gather the automobile body because of receiving the produced electricity signal of touching, when determining the type of touching for the kick action according to this electricity signal, control trunk execution corresponding action. Can realize the action of the interactive control trunk of kick, improve interactive experience to, only, just control the trunk action when the touching that the discernment automobile body received is the kick action, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
Drawings
FIG. 1 is a flowchart of a control method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control system according to a second embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A first aspect of the present invention, as shown in fig. 1, relates to a control method S100 for a vehicle trunk (also called a power tailgate), where the control method S100 includes the steps of:
s110, elastic wave signals generated when the automobile body is touched are collected through a sensor arranged on the automobile body, and the elastic wave signals are converted into electric signals.
Specifically, in this step, for example, one or more sensors may be disposed in an area such as an aft body or a trunk, and the sensors may be piezoelectric sensors, such as piezoelectric ceramic sensors, piezoelectric film sensors, piezoelectric crystal sensors, or other sensors having a piezoelectric effect. When the automobile body is touched, the sensor can collect elastic wave signals generated by touch and convert the elastic wave signals into electrical signals, the electrical signals are generally voltage signals, and of course, the electrical signals can be designed to be charge signals or current signals and the like according to actual needs.
And S120, determining the type of the touch according to the electrical signal.
Specifically, in this step, when the vehicle body is touched, the electrical signals generated by different touch types are different, and therefore, the corresponding touch type can be determined according to the collected electrical signals.
And S130, controlling the trunk to execute corresponding actions when the touch type is a kick action.
Specifically, in this step, when it is determined that the type of the touch currently received by the vehicle body is a kick action according to step S120, the trunk is controlled to execute a corresponding action, for example, the trunk is opened, the trunk is closed, or the trunk is opened to a certain position to wait, which may specifically be determined according to actual needs.
According to the control method of the vehicle trunk, the electric signals generated by the vehicle body due to touch can be effectively collected by the sensor arranged on the vehicle body, and the trunk is controlled to execute corresponding actions when the touch type is determined to be kicking actions according to the electric signals. The control method can realize the action of the kick interactive control trunk, improves the interactive experience, only controls the action of the trunk when the fact that the automobile body is touched to be the kick action is recognized, can effectively improve the reliability of the action of the kick interactive control trunk, and avoids the occurrence of false triggering.
Optionally, step S120 specifically includes:
and judging whether the signal characteristic value of the electrical signal accords with a preset reference signal characteristic value or not, and if so, judging that the type of the touch is the kick action.
Specifically, in this step, the signal characteristic value may be an energy value, the reference signal characteristic value is a reference energy threshold value correspondingly, and it may be determined whether the energy value of the electrical signal meets the reference energy threshold value, if yes, the current touch is represented as a kick action, otherwise, the current touch is not a kick action, and the specific energy value may be obtained by calculating according to the following method:
in particular, in the present embodiment, one or more piezoelectric sensors C may be utilized1To CnRespectively converting the respective received elastic wave signals into electrical signals D with the frequencies consistent with those of the elastic wave signals received by the respective elastic wave signals1To DnThen according to each electrical signal D1To DnRespectively calculate the fluctuation variation value ofEnergy value E of each electrical signal1To EnAnd finally, the energy value E is used1To EnTo obtain a final value of the total energy of the elastic wave (when only one energy value E is obtained)1When the sum is not accumulated and averaged or 1 × E11); it should be noted that, in the above process, the method for calculating the energy value according to the electrical signal can be mainly calculated by the following formula:
In the above formula, m is the number of collected signal points; n is the number of signal points determined by selecting the wavelength of the electrical signal with the preset length according to the actual situation, and related technicians in the field can select the setting according to the actual needs, and the invention is not further limited herein; e is the energy value of the electrical signal.
Of course, besides the above, those skilled in the art may also select other signal characteristic values, such as voltage amplitude or voltage fluctuation, according to actual needs.
According to the control method of the vehicle trunk, whether the touch on the vehicle body is a kick action or not can be determined by comparing the signal characteristic value of the electrical signal with the preset reference characteristic value, so that the action of the trunk can be controlled according to the kick action, therefore, the anti-interference capability can be effectively improved, and the user interaction satisfaction degree is improved.
Optionally, the step S130 includes:
calling a matched kicking interaction instruction from a prestored kicking interaction instruction library according to the kicking action; the kick interaction instruction library comprises corresponding relation information of kick actions and corresponding trunk actions;
and controlling the trunk to execute corresponding actions according to the matched kicking interaction instructions.
Specifically, in this step, the user kick interaction instruction library may be as shown in table 1 below:
TABLE 1
The user behavior schemes of the trunk actions can be combined at will, and a user can conveniently open the trunk in a proper mode under different states. Preferably: the mode of opening one foot or knocking once and closing two feet or knocking twice is adopted.
Of course, besides the kick interactive instruction library shown in table 1 above, those skilled in the art may also define some other kick interactive instructions according to actual needs, for example, the trunk is opened and kicks three times; trunk closed, kicked three times, etc.
Optionally, the determining whether the signal characteristic value of the electrical signal meets a preset reference signal characteristic value includes:
the method comprises the steps of collecting reference elastic wave signals generated by different kick action types acting on a vehicle body in advance, and converting the reference elastic wave signals into corresponding reference electrical signals.
Specifically, in this step, a reference elastic wave signal generated when the user kicks the body with different types of shoes (e.g., leather shoes, sneakers, slippers, or the like) can be collected, and the reference elastic wave signal can be converted into a corresponding reference electrical signal.
And extracting the reference signal characteristic value of each reference electrical signal, and forming a reference characteristic library by using each reference signal characteristic value.
Specifically, in this step, the reference signal characteristic value may be a voltage amplitude or an energy value or a fluctuation amplitude corresponding to the reference electrical signal.
And comparing the signal characteristic value of the electrical signal with a reference signal characteristic value in the reference characteristic library to determine the type of the touch.
According to the control method of the vehicle trunk, when the touch type is determined according to the voltage signal, different kick action types can be collected in advance to act on the reference elastic wave signal generated by the vehicle body, each reference elastic wave signal is converted into the corresponding reference electrical signal, and then the signal characteristic value of the electrical signal is compared with the reference signal characteristic value corresponding to the reference electrical signal, so that the touch type can be determined, for example, whether the touch type is a kick action or not, or the kick action and the like sent by which user wears which shoe can be determined, therefore, the kick interaction reliability of the user can be further effectively improved, the kick interaction experience can be improved, and the occurrence of the interaction interference phenomenon can be avoided.
Optionally, the comparing the signal characteristic value of the electrical signal with the reference signal characteristic value in the reference characteristic library, and the determining the type of the touch includes:
and judging whether the signal characteristic value of the electrical signal exceeds a jump threshold value for multiple times within a preset time period, and comparing the signal characteristic value of the electrical signal exceeding the jump threshold value with a reference signal characteristic value in the reference characteristic library.
Specifically, in this step, as long as the corresponding signal characteristic value of the collected electrical signal exceeds the jump threshold, it indicates that the current car body may be subjected to a kicking action. Therefore, if it is desired to identify whether a plurality of kicks occur within a time period, it is first determined whether a signal characteristic value corresponding to the electrical signal within the time period exceeds the transition threshold a plurality of times. And comparing the signal characteristic value corresponding to the electrical signal exceeding the jump threshold value with the reference signal characteristic value in the reference characteristic library every time to determine whether the signal characteristic value exceeding the jump threshold value is a kicking action.
And judging whether the signal characteristic values of the multiple sections of electrical signals meet preset conditions or not for the multiple sections of electrical signals which accord with the same reference signal characteristic values, and if so, determining that the touch type is multi-time kicking action.
Specifically, in this step, in addition to analyzing the signal characteristic value exceeding the jump threshold each time, the electrical signal within the preset time period also needs to analyze multiple segments of electrical signals meeting the same reference signal characteristic value, for example, whether a peak-to-peak value or an average value between multiple segments of electrical signals meeting the same reference signal characteristic value meets a preset condition, where the preset condition may be a similarity threshold or a matching threshold, and if so, the type of the touch is determined to be a multiple-time kick action.
Optionally, when the type of the touch is a kick action, controlling the trunk to perform a corresponding action, including:
receiving an intelligent steam key signal;
determining whether the intelligent automobile key is positioned near the automobile body or not according to the intelligent automobile key signal;
and when the intelligent automobile key is positioned near the automobile body, controlling the trunk to execute corresponding actions according to the kick actions.
The control method of the vehicle trunk of the embodiment combines the foot-kicking action and also combines the intelligent steam key signal, and only when the intelligent steam key is near the vehicle body, the current determined foot-kicking action is combined to control the trunk to execute the corresponding action, so that the action of the foot-kicking interaction control trunk can be realized, the property safety in the trunk can be effectively guaranteed, and the hidden danger of theft and the like is avoided.
Optionally, after the touch type is determined to be a kick action, the trunk is controlled to execute a corresponding action, and vehicle running state information is also acquired; determining whether the vehicle is in a running state or not according to the vehicle running state information;
the control of the trunk performs corresponding actions, including: controlling the trunk to remain closed when the vehicle is in a driving state; and when the vehicle is in a non-driving state, calling a matched kicking interaction instruction from a pre-stored kicking interaction instruction library according to the kicking action.
The control method of the vehicle trunk of the embodiment combines the kick action and the vehicle running state information, and when the vehicle is in a non-running state, the currently determined kick action is combined to control the trunk to execute the corresponding action, otherwise, when the vehicle is in a running state, the trunk is controlled to be kept closed. Therefore, the hidden danger that the trunk is opened when the vehicle is in a running state can be avoided, and the property safety in the trunk is effectively guaranteed.
As shown in fig. 2, according to a second aspect of the present invention, there is provided a control system 100 for a vehicle trunk, where the control system 100 may be applied to the control method described above, and the details of the control method may refer to the related description, which is not repeated herein. The control system 100 comprises a control module 110 and a sensor 120 connected with the control module 110, wherein the sensor 120 is arranged on the vehicle body; the sensor 120 is configured to collect an elastic wave signal generated when the body of the vehicle is touched, and convert the elastic wave signal into an electrical signal. And the control module 110 is configured to determine a touch type according to the electrical signal, and control the trunk to execute a corresponding action when the touch type is a kick action.
The control system of vehicle trunk of this embodiment utilizes the sensor that sets up on the automobile body can effectively gather the automobile body because of receiving the produced electricity signal of touching, and control module determines the type of touching according to this electricity signal and when playing the action for the foot, controls the trunk and carries out corresponding action. This control system can realize the action of the interactive control trunk of kick, improves interactive experience to, only, the touching that the discernment automobile body received just controls the trunk action for the kick action time, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
Optionally, the sensor is disposed in the rear bumper region, or the sensor may be disposed in the trunk, or both the rear bumper region and the trunk may be disposed. Preferably, the sensor is a piezoelectric effect sensor.
Of course, besides, the skilled person can select other areas of the vehicle body to place the sensors according to actual needs.
The control system of this embodiment, low cost, the low power dissipation to the installation is simple, need not to punch, and under the equal or less than other types of sensor quantity's of sensor quantity condition, this embodiment adopts piezoelectric effect sensor, can make the user's foot play interactive region bigger, and user operation is more convenient, simple.
In a third aspect of the present invention, a vehicle is provided, where the vehicle includes the control system of the vehicle trunk described above, and the specific structure of the control system may refer to the related description above, and will not be described herein again.
The vehicle with the structure of the embodiment is provided with the control system described above, the sensor arranged on the vehicle body can be used for effectively acquiring the electrical signal generated by the vehicle body due to touch, and the control module controls the trunk to execute the corresponding action when determining that the touch type is the kick action according to the electrical signal. This control system can realize the action of the interactive control trunk of kick, improves interactive experience to, only, the touching that the discernment automobile body received just controls the trunk action for the kick action time, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
In a fourth aspect of the present invention, there is provided an electronic apparatus comprising:
one or more processors;
a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement a method of controlling a trunk according to the foregoing.
The electronic device of this embodiment can execute the control method described above, and can effectively acquire the electrical signal generated by the body being touched by using the sensor disposed on the body, and control the trunk to execute the corresponding action when determining that the type of the touch is the kick action according to the electrical signal. Can realize the action of the interactive control trunk of kick, improve interactive experience to, only, just control the trunk action when the touching that the discernment automobile body received is the kick action, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
In a fifth aspect of the present invention, a computer readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the trunk control method according to the preamble.
The computer-readable storage medium of this embodiment may execute the control method described above, and the sensor disposed on the vehicle body may be used to effectively collect an electrical signal generated by the vehicle body being touched, and when it is determined that the type of the touch is a kick operation according to the electrical signal, the trunk is controlled to execute a corresponding operation. Can realize the action of the interactive control trunk of kick, improve interactive experience to, only, just control the trunk action when the touching that the discernment automobile body received is the kick action, can effectively improve the reliability of the interactive control trunk action of kick, avoid the spurious triggering phenomenon to take place.
The computer readable medium may be included in the apparatus, device, system, or may exist separately.
The computer readable storage medium may be any tangible medium that can contain or store a program, and may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, more specific examples of which include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, an optical fiber, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.
The computer readable storage medium may also include a propagated data signal with computer readable program code embodied therein, for example, in a non-transitory form, such as in a carrier wave or in a carrier wave, wherein the carrier wave is any suitable carrier wave or carrier wave for carrying the program code.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (12)
1. A control method of a vehicle trunk, characterized by comprising:
acquiring an elastic wave signal generated when a vehicle body is touched through a sensor arranged on the vehicle body, and converting the elastic wave signal into an electrical signal;
determining the type of the touch according to the electrical signal;
and when the type of the touch is a kick action, controlling the trunk to execute a corresponding action.
2. The method of claim 1, wherein said determining the type of the touch from the electrical signal comprises:
and judging whether the signal characteristic value of the electrical signal accords with a preset reference signal characteristic value or not, and if so, judging that the type of the touch is the kick action.
3. The method according to claim 1, wherein when the type of the touch is a kick action, controlling the trunk to perform a corresponding action, comprising:
calling a matched kicking interaction instruction from a prestored kicking interaction instruction library according to the kicking action; the kick interaction instruction library comprises corresponding relation information of kick actions and corresponding trunk actions;
and controlling the trunk to execute corresponding actions according to the matched kicking interaction instructions.
4. The method of claim 2, wherein the determining whether the signal characteristic value of the electrical signal meets a predetermined reference signal characteristic value comprises:
acquiring reference elastic wave signals generated by different kick action types acting on the vehicle body in advance, and converting the reference elastic wave signals into corresponding reference electrical signals;
extracting the reference signal characteristic value of each reference electrical signal, and forming a reference characteristic library by using each reference signal characteristic value;
and comparing the signal characteristic value of the electrical signal with a reference signal characteristic value in the reference characteristic library to determine the type of the touch.
5. The method of claim 4, wherein comparing the signal characteristic value of the electrical signal to a reference signal characteristic value in the reference signature library, and determining the type of the touch comprises:
judging whether the signal characteristic value of the electrical signal exceeds a jump threshold value for multiple times within a preset time period, and comparing the signal characteristic value of the electrical signal exceeding the jump threshold value with a reference signal characteristic value in the reference characteristic library;
and judging whether the signal characteristic values of the multiple sections of electrical signals meet preset conditions or not for the multiple sections of electrical signals which accord with the same reference signal characteristic values, and if so, determining that the touch type is multi-time kicking action.
6. The method according to any one of claims 1 to 5, wherein when the type of the touch is a kick action, controlling the trunk to perform a corresponding action comprises:
receiving an intelligent steam key signal;
determining whether the intelligent automobile key is positioned near the automobile body or not according to the intelligent automobile key signal;
and when the intelligent automobile key is positioned near the automobile body, controlling the trunk to execute corresponding actions according to the kick actions.
7. The method of claim 3, further comprising:
after the touch type is determined to be a kick action, the trunk is controlled to execute a corresponding action, and vehicle running state information is also acquired; determining whether the vehicle is in a running state or not according to the vehicle running state information;
the control of the trunk performs corresponding actions, including: controlling the trunk to remain closed when the vehicle is in a driving state; and when the vehicle is in a non-driving state, calling a matched kicking interaction instruction from a pre-stored kicking interaction instruction library according to the kicking action.
8. The control system of the vehicle trunk is characterized by comprising a control module and a sensor connected with the control module, wherein the sensor is arranged on a vehicle body; wherein the content of the first and second substances,
the sensor is used for collecting an elastic wave signal generated when the automobile body is touched and converting the elastic wave signal into an electrical signal;
and the control module is used for determining the type of the touch according to the electrical signal and controlling the trunk to execute corresponding action when the type of the touch is a kick action.
9. The system of claim 8, wherein the sensor is disposed on the aft bumper region and/or the trunk.
10. A vehicle comprising a system according to claim 8 or 9.
11. An electronic device, comprising:
one or more processors;
a storage unit for storing one or more programs which, when executed by the one or more processors, enable the one or more processors to implement the method of any one of claims 1 to 7.
12. A computer-readable storage medium having stored thereon a computer program, characterized in that,
the computer program is capable of implementing a method according to any one of claims 1 to 7 when executed by a processor.
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| CN201910915850.7A CN112550216A (en) | 2019-09-26 | 2019-09-26 | Control method and system of vehicle trunk and vehicle |
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| CN201910915850.7A CN112550216A (en) | 2019-09-26 | 2019-09-26 | Control method and system of vehicle trunk and vehicle |
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| CN112627671A (en) * | 2020-12-16 | 2021-04-09 | 江铃汽车股份有限公司 | Kick control method and system for automobile tail gate and readable storage medium |
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