CN113928266A

CN113928266A - Method and equipment for controlling electric tail gate of vehicle

Info

Publication number: CN113928266A
Application number: CN202010662152.3A
Authority: CN
Inventors: 朱震海; 王万荣; 陈艳子; 毛承志
Original assignee: SAIC Motor Corp Ltd
Current assignee: SAIC Motor Corp Ltd
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2022-01-14
Anticipated expiration: 2040-07-10
Also published as: CN113928266B

Abstract

The embodiment of the application discloses a method and equipment for controlling an electric tail gate of a vehicle, and particularly relates to the method and equipment for obtaining the distance between a user and the electric tail gate when the user is detected to be close to the electric tail gate. And when the distance meets a preset condition, acquiring the image to be recognized. That is, when the user approaches the vehicle and the distance reaches the preset distance, an image in front of the electric tailgate is collected as an image to be recognized. And inputting the image to be recognized into a pre-trained image classification model so as to obtain a classification result corresponding to the image to be recognized. The classification result comprises goods which are not carried and goods which are carried. And when the classification result is that the goods are carried, controlling the electric tail gate to open. Namely, the embodiment of the application determines whether to open the electric tail gate or not in a mode of collecting images and identifying the images, so that a user does not need to perform extra triggering actions, and the user experience is improved.

Description

Method and equipment for controlling electric tail gate of vehicle

Technical Field

The application relates to the technical field of automatic control, in particular to a method and equipment for controlling an electric tail gate of a vehicle.

Background

At present, the conventional electric tail gate of the vehicle mainly adopts a key type and an induction type. In the push-button scheme, a user is required to touch a control switch on the tail gate to open; in the inductive scheme, often install special electric capacity or sensor in vehicle rear bumper additional, judge to open the vehicle tail-gate through the foot kicks specific position or senses that there is the object in the corresponding region.

Both of these methods have some disadvantages: in the button-type scheme, if a user holds a heavy object by hand or embraces the heavy object, the user needs to put down the object first, and the operation is inconvenient. Although this problem has been solved to the scheme of induction type, still need the user to be close to the vehicle, when the object that the user carried is comparatively big, for example the express delivery person carries big carton, prevented that the user from being close to the vehicle, inconvenient user opens the trigger action.

Disclosure of Invention

In view of this, embodiments of the present application provide a method and an apparatus for controlling a vehicle power tailgate, so as to open the vehicle tailgate without a specific action performed by a user, thereby improving flexibility.

In order to solve the above problem, the technical solution provided by the embodiment of the present application is as follows:

in a first aspect of embodiments of the present application, a method for controlling a power tailgate of a vehicle is provided, which may include:

when detecting that a user approaches to the electric tailgate, acquiring the distance between the user and the electric tailgate, wherein the user is a user carrying a remote control key of the vehicle;

when the distance meets a preset condition, acquiring an image to be recognized;

inputting the image to be recognized into an image classification model, and obtaining a classification result output by the image classification model, wherein the image classification model is generated according to a training image and a classification label corresponding to the training image, and the classification result comprises goods which are not carried and goods which are carried;

and when the classification result is that the goods are carried, controlling the electric tail gate to be opened.

In one possible implementation manner, the carrying cargo includes a visible height that surrounds the cargo, an invisible height that surrounds the cargo, or a lifting cargo, and when the classification result is the carrying cargo, the controlling the electric tailgate to open includes:

when the classification result is that the visible height embraces goods or carries goods, determining a first target opening degree of the electric tail gate according to the height of the user, the gain coefficient and the maximum opening degree of the electric tail gate;

controlling the electric tail gate to open the first target opening degree;

when the classification result is that the invisible height embraces the goods, determining a second target opening degree of the electric tail gate according to the height of the goods, the height of the visible part of the user and the maximum opening degree of the electric tail gate;

and controlling the electric tail gate to open the second target opening degree.

In one possible implementation, the controlling the power tailgate to open the first target opening degree or the second target opening degree includes:

controlling the electric tail gate lock to open;

and controlling the tail gate support rod to act until the opening degree of the electric tail gate is the first target opening degree or the second target opening degree.

In a possible implementation manner, when the distance satisfies a preset condition, before the image to be recognized including the user is acquired, the method further includes:

and controlling a buzzer to work so as to prompt the user that the user is collecting images and keep standing still.

In one possible implementation, the method includes:

and when the distance is changed, controlling the electric tail gate not to be opened.

In one possible implementation, detecting that a user is approaching a power tailgate includes:

and determining that a user approaches the electric tail gate according to an induction signal received by the radio frequency identification RFID antenna, wherein the induction signal is a signal transmitted by the remote control key.

In one possible implementation, the vehicle includes at least two RFID antennas, and the obtaining the distance between the user and the power tailgate includes:

and determining the distance between the user and the electric tail gate according to the field intensity position information of each RFID antenna.

In one possible implementation, the method further includes:

and determining the direction information of the user relative to the electric tail gate according to the field intensity position information of each RFID antenna.

In a possible implementation manner, after obtaining the image to be recognized, before inputting the image to be recognized into the image classification model, the method further includes:

judging whether a target area exists in the image to be identified according to the distance and the direction information, wherein the target area is an area where the user is located;

if so, inputting the image to be identified only including the target area into an image classification model, and acquiring a classification result output by the image classification model;

and if not, controlling the electric tail gate not to be opened.

In a possible implementation manner, when the classification result is carrying goods, the method further includes:

and acquiring the height of the goods and the height of the user or the height of the visible part of the user according to the height of the image acquisition equipment, the distance, the direction information and the image to be identified.

In a second aspect of embodiments of the present application, there is provided a vehicle power tailgate control apparatus, the apparatus comprising: the RFID system comprises at least two Radio Frequency Identification (RFID) antennas, an image acquisition device and a controller, wherein the RFID antennas and the image acquisition device are positioned on the outer side of the electric tail gate;

the RFID antenna is used for receiving the induction signal transmitted by the remote control key and forwarding the induction signal to the controller;

the controller is used for determining the distance between the user and the electric tail gate according to the induction signals transmitted by the RFID antennae;

the controller is also used for controlling the image acquisition device to acquire an image to be identified when the distance meets a preset condition;

the controller is further configured to classify the image to be identified by using an image classification model to obtain a classification result, where the classification result includes an unloaded cargo and a loaded cargo;

the controller is further used for controlling the electric tail gate to be opened when the classification result is that the goods are carried.

In one possible implementation, the apparatus further includes: the electric tail door lock, the tail door stay bar and the tail door stay bar motor;

the controller is specifically configured to control the tailgate lock to open, and control the tailgate brace motor to raise the tailgate brace, so as to open the electric tailgate.

In one possible implementation, the apparatus further includes: a buzzer;

the controller is further used for controlling the buzzer to work when the distance meets a preset condition so as to prompt the user that the image is collected and the user keeps standing still.

Therefore, the embodiment of the application has the following beneficial effects:

according to the embodiment of the application, when the situation that the user is close to the electric tailgate is detected, the distance between the user and the electric tailgate is obtained. And when the distance meets a preset condition, acquiring the image to be recognized. That is, when the user approaches the vehicle and the distance reaches the preset distance, an image in front of the electric tailgate is collected as an image to be recognized. And inputting the image to be recognized into a pre-trained image classification model so as to obtain a classification result corresponding to the image to be recognized. The classification result comprises goods which are not carried and goods which are carried. And when the classification result is that the goods are carried, controlling the electric tail gate to open. Namely, the embodiment of the application determines whether to open the electric tail gate or not in a mode of collecting images and identifying the images, so that a user does not need to perform extra triggering actions, and the user experience is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flowchart of a method for controlling a power tailgate of a vehicle according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of distance determination provided in an embodiment of the present application;

fig. 3 is a schematic illustration of a region labeling provided in the embodiment of the present application;

FIG. 4 is a diagram illustrating classification results provided in accordance with an embodiment of the present application;

fig. 5 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 6 is a block diagram of a power tailgate control frame of a vehicle according to an embodiment of the present disclosure;

fig. 7 is a structural diagram of a vehicle electric tailgate control device according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

The inventor finds that a user needs to implement a specific action to trigger the opening of the electric tailgate in the research of the traditional electric tailgate control method, and the action of the user may be interfered under the condition that the user carries and embraces a large object, so that the user is inconvenient to trigger the opening of the electric tailgate, and the flexibility is low.

Furthermore, the opening degree of the traditional electric tail gate is preset by a user and stored locally, and when the electric tail gate is opened, the electric tail gate is controlled to be opened according to the preset opening degree. However, in general, there are many users of vehicles for transporting goods, and there are often large differences in the height of each user and the size of articles placed at each time. The opening degree of the electric tail gate cannot be determined according to the individual size of a user and the specific size of the size of an article by the conventional control method, the setting needs to be changed frequently by the user, and the use experience of the user is influenced.

Based on this, the embodiment of the application provides a method for controlling an electric tailgate of a vehicle, and specifically, an image classification model capable of performing image classification is generated by training in advance, and meanwhile, whether a user approaches the electric tailgate is detected in real time. And when detecting that the user approaches the electric tailgate, acquiring the distance between the user and the electric tailgate. And when the distance meets a preset condition, acquiring the image to be recognized. That is, an image including the user in front of the power tailgate is captured. And inputting the image to be identified into an image classification model, and acquiring a classification result output by the image classification model, wherein the classification result comprises goods which are not carried and goods which are carried. And when the classification result is that the goods are carried, controlling the electric tail gate to open. That is, when the user is close to electronic tail-gate, carry the goods through this user of image identification, and then control electronic tail-gate and open, need not to carry out specific action, improve the flexibility.

Further, when the user is determined to carry the goods, the height of the user and/or the height of the goods can be further obtained through an image processing technology, and then the opening degree of the electric tail gate is determined without setting the opening degree by the user. Moreover, different opening degrees of the electric tail gate can be controlled according to specific conditions, and the user experience is improved.

For the convenience of understanding the control method provided in the embodiments of the present application, the control method will be described below with reference to the accompanying drawings.

Method embodiment one

Referring to fig. 1, which is a flowchart of a method for controlling an electric tailgate of a vehicle according to an embodiment of the present application, as shown in fig. 1, the method may include:

s101: and when detecting that the user approaches the electric tailgate, acquiring the distance between the user and the electric tailgate.

In this embodiment, the controller may detect whether a user is approaching the electric tailgate in real time, so as to obtain a distance between the user and the electric tailgate when detecting that the user is approaching the electric tailgate. Wherein, this user is the user who carries the key fob of this vehicle.

Specifically, a Radio Frequency Identification (RFID) antenna may be included at the power tailgate, and the RFID antenna may receive an induction signal transmitted by the key fob so as to verify the validity of the key fob carried by the user. Therefore, when the RFID antenna receives the induction signal transmitted by the remote control key, the induction signal is transmitted to the controller, so that the controller can detect that a user approaches the power tail gate.

In some implementations, the controller can obtain the distance between the user and the power tailgate by using the position information of different field strengths generated between the RFID antenna and the key fob. In this case, the vehicle comprises at least two RFID antennas in order to determine the distance of the user from the electric tailgate from the intersection of the field strengths formed by the two RFID antennas, respectively. Further, the controller can also determine the direction information of the user relative to the electric tail gate according to the position information of different field strengths. For example, fig. 2 shows a schematic view of a scene, in which 3 RFID antennas are included, and are respectively located at the bottom of the outer side of the electric tail gate. And determining the distance and direction information of the user relative to the vehicle according to the different field strength position information generated between the 3 RFID antennas and the remote control key (R).

S102: and when the distance meets a preset condition, acquiring the image to be recognized.

In this embodiment, the controller can acquire the distance between the user and the electric tailgate in real time, and when the distance satisfies the preset condition, the controller controls the image acquisition device to acquire the image to be recognized in front of the electric tailgate.

In specific implementation, the distance can be calibrated in advance for acquiring a clear image to be recognized, and when the distance between a user and the electric tail gate reaches the preset calibrated distance, the image acquisition device is controlled to start to acquire the image to be recognized. In order to further acquire a high-quality image to be identified, the user can be prompted to stand still at the current position when the image acquisition device is used. Specifically, when the distance meets a preset condition, the controller controls the buzzer to work so as to prompt the user that the image is collected and the user keeps standing still. For example, a buzzer is controlled to sound for 3 seconds, and the user is prompted that the image acquisition device is acquiring images.

When the user does not want to open the electric tailgate, the user may ignore the prompt of the buzzer and continue to move, and at this time, the controller controls the electric tailgate not to act when the controller detects that the field intensity position information generated between the RFID antenna and the remote control key is greatly changed and the distance between the user and the electric tailgate is changed through the RFID antenna. Namely, the electric tail gate is controlled not to be opened.

In some implementations, when the image to be recognized is acquired, in order to enhance the image features of the image to be recognized, the acquired multiple images to be recognized may be preprocessed, and S103 is performed by using the processed images. For example, the image with poor quality is deleted, image noise and interference information are removed, and graying is performed.

In some implementation manners, before S103 is executed by using the image to be recognized, whether a target area exists in the image to be recognized may also be determined according to the distance and the direction information, where the target area is an area where the user is located. Specifically, after the image to be recognized is acquired, the controller may perform area division according to the number of people included in the image to be recognized. And then, determining whether the area of a target user exists in the divided areas according to the distance and direction information, wherein the target user refers to a user carrying a remote control key. For example, fig. 3 shows a schematic diagram of region division, in which 4 regions are divided into a region a, a region b, a region c, and a region d. Wherein, the area d is a background area. The controller determines that the target area, namely the area a, exists according to the distance and direction information.

S103: and inputting the image to be recognized into the image classification model, and obtaining a classification result output by the image classification model.

In this embodiment, after the image to be recognized is obtained, the image to be recognized is input into the image classification model to obtain a classification result corresponding to the image to be recognized. The classification result may include not-carried goods and carried goods. Further, the class of the carried goods can be further divided according to the position of the goods relative to the user, for example, the goods are embraced by the visible height, the goods are embraced by the invisible height, and the goods are carried. For example, as the classification result shown in fig. 4, type 1 is not carrying goods, type 2 is visible height embracing goods, type 3 is invisible height embracing goods, and type 4 is carrying goods.

The image classification model is generated by training according to the training images and the classification labels corresponding to the training images. Specifically, in the training stage, a large number of images of different types can be acquired, the person region, the cargo region and the background region in the images are divided by using a semantic segmentation labeling mode, and a classification label corresponding to each image, namely the type, is labeled. And training to generate an image classification model by adopting a neural network model training method.

Specifically, the image to be recognized may be a pre-processed image, or after the controller detects that the image to be recognized includes the target region, the image to be recognized is cut to obtain the image to be recognized that only includes the target region, so as to perform classification and recognition by using the image to be recognized that only includes the target region.

S104: and when the classification result is that the goods are carried, controlling the electric tail gate to open.

In this embodiment, when the obtained classification result is that the goods are carried, the controller may control the electric tailgate to be opened.

In some implementation manners, in order to adapt to the heights of different users or the sizes of goods to realize different opening degrees, when the classification result is to carry the goods, the controller can also determine the mapping relation between the image distance and the actual distance according to the height, the distance and the direction information of the image acquisition device, and further determine the actual height of the goods and the actual height of the user or the actual height of the visible part of the user according to the mapping relation and the height of the goods in the image to be identified or the height of the user.

Specifically, when the classification result is that the visible height surrounds the goods or the goods are lifted, the real height of the user is obtained, the first target opening degree of the electric tail gate is determined according to the height of the user, the preset gain coefficient and the maximum opening degree of the electric tail gate, and the first target opening degree of the electric tail gate is controlled to be opened.

When the classification result is that the invisible height surrounds the goods, the goods height of the user and the height of the visible part of the user are obtained, the second target opening degree of the electric tail gate is determined according to the goods height, the height of the visible part of the user and the maximum opening degree of the electric tail gate, and the opening degree of the second target of the electric tail gate is controlled to be opened.

Specifically, the controller controls the electric tail gate lock to be opened, and further controls the tail gate support rod to act until the opening degree of the electric tail gate is the first target opening degree or the second target opening degree. The position information of the tail gate stay bar can be obtained through a position sensor on the tail gate stay bar.

According to the above description, when it is detected that the user approaches the electric tailgate, the distance between the user and the electric tailgate is acquired. And when the distance meets a preset condition, acquiring the image to be recognized. That is, when the user approaches the vehicle and the distance reaches the preset distance, an image in front of the electric tailgate is collected as an image to be recognized. And inputting the image to be recognized into a pre-trained image classification model so as to obtain a classification result corresponding to the image to be recognized. The classification result comprises goods which are not carried and goods which are carried. And when the classification result is that the goods are carried, controlling the electric tail gate to open. Namely, the embodiment of the application determines whether to open the electric tail gate or not in a mode of collecting images and identifying the images, so that a user does not need to perform extra triggering actions, and the user experience is improved.

Method embodiment two

For the convenience of understanding the embodiments of the present application, the description will be made with reference to the schematic application scenario diagram shown in fig. 5. The controller, the electric tail door lock, the tail door brace motor, the tail door brace rod, the tail door, the wide-angle looking-around camera, the RFID antennas, the remote control key, the buzzer, the goods at the rear of Y1, the height of Y2 user, the height of Y3 goods and the partial height of the visible user area in the image shot by Y4 are distributed in the figure 5. Referring to the processing frame diagram shown in fig. 6, the method specifically includes the following steps:

s1: and acquiring a training image and a classification label corresponding to the training image, and training to generate an image classification model.

S2: when a user approaches the vehicle, the position and the distance of the user relative to the vehicle are obtained by utilizing the RFID antenna and the field intensity position information generated by the remote control key.

S3: judging whether the field intensity position information has large-amplitude change, if so, executing S9; otherwise, S4 is executed.

S4: the controller controls the image acquisition device to acquire an image to be identified and preprocesses the image to be identified.

S5 a: and the controller performs region labeling in the preprocessed image.

S5 b: judging whether the marked area has a target area, if so, executing S6 a; otherwise, S9 is executed.

S6 a: inputting the preprocessed image into an image classification model, obtaining a classification result, judging whether the classification result is no carried goods, and if so, executing S9; otherwise, S6b is executed.

S6 b: user area, cargo area and height information in the image are obtained.

For example, as shown in fig. 5, if the classification result is that the invisible height embraces the cargo, the height information obtained is the cargo height Y3 and the user visible part height Y4.

S7: the opening degree Y1 of the electric tailgate is calculated according to the height information.

S8: and controlling a tail gate stay bar motor to lift the tail gate stay bar to a corresponding opening degree.

S9: the electric tail gate is not opened.

Apparatus embodiment

Based on the above method embodiment, an embodiment of the present application further provides a vehicle electric tailgate control device, referring to a device structure diagram shown in fig. 7, where the device may include: at least two Radio Frequency Identification (RFID) antennas 701, an image acquisition device 702, and a controller 703. Wherein the RFID antenna and the image capturing device are located outside the electric tailgate 700.

The RFID antenna 701 is configured to receive an induction signal transmitted by a remote control key and forward the induction signal to the controller;

the controller 703 is configured to determine a distance between the user and the power tailgate 700 according to the sensing signal forwarded by each RFID antenna 701;

the controller 703 is further configured to control the image acquisition device 702 to acquire an image to be identified when the distance meets a preset condition;

the controller 703 is further configured to classify the image to be identified by using an image classification model, and obtain a classification result, where the classification result includes an unloaded cargo and a loaded cargo;

the controller 703 is further configured to control the electric tailgate to open when the classification result is that the electric tailgate carries goods.

In some implementations, the apparatus further includes: an electric tail door lock 704, a tail door stay 705 and a tail door stay motor 706;

the controller 703 is specifically configured to control the tailgate lock 704 to open, and control the tailgate brace motor 706 to raise the tailgate brace 705, so as to open the electric tailgate.

In some implementations, the apparatus further includes: a buzzer 707;

the controller 703 is further configured to control the buzzer 707 to work when the distance meets a preset condition, so as to prompt the user that an image is being acquired and the user keeps standing still.

In some implementations, the image acquisition device is a wide-angle panoramic camera.

It should be noted that, for specific implementation of each module in this embodiment, reference may be made to the foregoing method embodiment, and this embodiment is described herein again.

According to the automobile tail gate, the existing hardware scheme does not need to be changed greatly, the RFID antenna points of the electric tail gates of the vehicles only need to be increased, the tail gates behind the vehicles can be opened through the image classification models and the control strategies in advance, specific actions are not required to be performed by users, convenience is brought to users when the users embrace heavy objects, and the flexibility is high. Moreover, the opening degree of the rear tail gate of the vehicle can be automatically set according to the height of the user and the size of the carried object, the rear tail gate is suitable for occasions such as transport vehicles special for express delivery and the like, the number of users is large, the difference of the heights of the users is large, and the situation that the opening degree of the rear tail gate is manually set is avoided.

It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system or the device disclosed by the embodiment, the description is simple because the system or the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of controlling a power tailgate of a vehicle, the method comprising:

2. The method of claim 1, wherein the carried goods comprise visible height embracing goods, invisible height embracing goods or carrying goods, and the controlling the electric tailgate to open when the classification result is carried goods comprises:

controlling the electric tail gate to open the first target opening degree;

3. The method of claim 2, wherein said controlling said power tailgate to open said first target opening degree or said second target opening degree comprises:

controlling the electric tail gate lock to open;

4. The method according to claim 1, wherein when the distance satisfies a preset condition, before acquiring the image to be recognized including the user, the method further comprises:

5. The method of claim 4, wherein the method comprises:

6. The method of claim 1, wherein detecting that a user is approaching a power tailgate comprises:

7. The method of claim 6, wherein the vehicle includes at least two RFID antennas, and wherein the obtaining the distance of the user from the power tailgate comprises:

8. The method of claim 7, further comprising:

9. The method of claim 8, wherein after acquiring the image to be recognized and before inputting the image to be recognized into the image classification model, the method further comprises:

and if not, controlling the electric tail gate not to be opened.

10. A vehicle power tailgate control apparatus, characterized in that the apparatus comprises: the RFID system comprises at least two Radio Frequency Identification (RFID) antennas, an image acquisition device and a controller, wherein the RFID antennas and the image acquisition device are positioned on the outer side of the electric tail gate;