CN115288556A - Electric tail gate control method and device - Google Patents
Electric tail gate control method and device Download PDFInfo
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- CN115288556A CN115288556A CN202210903773.5A CN202210903773A CN115288556A CN 115288556 A CN115288556 A CN 115288556A CN 202210903773 A CN202210903773 A CN 202210903773A CN 115288556 A CN115288556 A CN 115288556A
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
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Abstract
The application relates to an electric tail gate control method and device, relating to the technical field of vehicle control, wherein the method comprises the following steps: responding to an electric tail gate opening request, and judging whether the current running state of the vehicle meets a preset condition or not; if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle; and controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body. This application adopts this method to the car owner of different heights for the electricity tail-gate is opened with different height assorted apertures, thereby makes the electricity tail-gate of different heights open the people and can both deposit in the electricity tail-gate with a comfortable posture and take article.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to an electric tail gate control method and device.
Background
With the technical progress in the field of automobiles and the improvement of the quality of life of human beings, a tail gate of an automobile is changed into an electric state, a user sends a command to an automobile tail gate control unit through a remote control switch, and the automobile tail gate control unit receives the command and controls a motor to open the automobile tail gate through a program.
In the conventional technology, when the automobile tail gate is opened, an automobile owner usually presses an electric tail gate opening button, and the electric tail gate can be opened to a certain height for the automobile owner to store and take articles in the electric tail gate. Because the people who opens vehicle electric tail-gate often not only have the car owner, car owner and car owner family friend in addition, the height of these people is all different, and the height that nevertheless electric tail-gate was opened is fixed, and the higher people of so height deposit in electric tail-gate and take article and can collide with electric tail-gate edge to cause inconvenience for people.
Therefore, how to enable people with different heights to more safely and conveniently store and take articles in the electric tail gate is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The application provides an electric tail gate control method and device, so that people of different heights can more safely and conveniently store and take articles in the electric tail gate.
To achieve the above object, the present application provides the following solutions.
In a first aspect, the present application provides a method of electrical tail gate control, the method comprising the steps of:
responding to an electric tail gate opening request, and judging whether the current running state of the vehicle meets a preset condition or not;
if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle;
and controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body.
Further, the method for obtaining the human body height parameter corresponding to the human body point cloud data based on the obtained human body point cloud data within the preset range from the current vehicle comprises the following steps:
receiving human body point cloud data in a preset range, and extracting effective point cloud data from the human body point cloud data;
generating a human body contour map corresponding to the human body point cloud data according to the effective point cloud data;
and obtaining a human height parameter corresponding to the human point cloud data based on the human body contour map.
Further, the step of calculating the height parameter of the human body corresponding to the point cloud data of the human body according to the human body profile map comprises the following steps:
receiving a scanning distance value between the position of the detection point and the highest point on the human body contour map and a vertical distance value from the detection point to the human body contour map;
and calculating a human body height parameter corresponding to the point cloud data according to the scanning distance value and the vertical distance value.
Further, the horizontal center line of the detection point is parallel to the plane of the current vehicle; the human body height parameter corresponding to the point cloud data is calculated according to the scanning distance value and the vertical distance value, and the method comprises the following steps:
acquiring a first height of the human body above the horizontal center line based on the scanning distance value and the vertical distance value;
taking the distance from the radar detector to the plane where the current vehicle is located as a second height of the human body below the horizontal center line;
and obtaining the height parameter of the human body according to the first height and the second height.
Further, when receiving an electric tailgate opening request, determining whether the current operating state of the vehicle meets a preset condition, including the steps of:
receiving an electric tailgate opening request in response to an electric tailgate opening button on a current vehicle being triggered;
acquiring the speed information and key authentication information of the current vehicle based on the electric tail gate opening request;
and judging whether the speed of the current vehicle and the key validity meet preset conditions or not according to the speed information and the key authentication information.
Further, control the electric tail gate of present vehicle open with human height parameter assorted aperture includes:
if the speed of the current vehicle is smaller than a preset threshold value and valid key information exists, calculating the opening of the matched electric tail gate according to the height of the human body;
and controlling the electric tail gate to be opened based on the opening degree of the electric tail gate.
Further, according to the human height calculate assorted electric tail gate aperture, include:
obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and obtaining the electric tail gate opening degree matched with the height of the human body based on the minimum electric tail gate opening degree and a preset coefficient.
Further, the method further comprises: and if the running state of the current vehicle does not meet the preset condition, controlling the electric tail gate of the current vehicle not to be opened.
In a second aspect, the present application provides an electrical tailgate control apparatus, said apparatus comprising:
the judging module is used for responding to the electric tail gate opening request and judging whether the running state of the current vehicle meets the preset condition or not;
the parameter acquisition module is used for acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle if the running state of the current vehicle meets a preset condition;
and the control module is used for controlling the electric tail gate of the current vehicle to be opened to an opening degree matched with the height parameter of the human body.
Further, the parameter obtaining module includes:
the effective data extraction sub-module is used for receiving the human body point cloud data in a preset range and extracting effective point cloud data from the human body point cloud data;
the contour map generation submodule is used for generating a human body contour map corresponding to the human body point cloud data according to the effective point cloud data;
a first calculation submodule for obtaining a human height parameter corresponding to the human point cloud data based on the human body profile.
Further, the contour map generation sub-module includes:
the distance value acquisition submodule is used for receiving a scanning distance value from the position of the detection point to the highest point on the human body contour map and a vertical distance value from the detection point to the human body contour map;
and the second calculation submodule is used for controlling the in-vehicle air outlet mechanism to purge the gas containing the mosquito repellent substance into the vehicle based on the target release amount.
Further, the horizontal center line of the detection point is parallel to the plane of the current vehicle; the second computation submodule includes:
a first height acquisition submodule for acquiring a first height of the human body above the horizontal center line based on the scanning distance value and the vertical distance value;
a second height acquisition submodule for taking the distance from the radar detector to the plane of the current vehicle as a second height of the human body below the horizontal center line;
and the third calculation submodule is used for obtaining the height parameter of the human body according to the first height and the second height.
Further, the judging module includes:
the request receiving submodule is used for responding to the triggering of an electric tail gate opening button on the current vehicle and receiving an electric tail gate opening request;
the information acquisition submodule is used for acquiring the speed information and the key authentication information of the current vehicle based on the electric tail gate opening request;
and the comparison submodule is used for judging whether the speed of the current vehicle and the key validity meet preset conditions or not according to the speed information and the key authentication information.
Further, the control module includes:
the opening obtaining sub-module is used for obtaining the opening of the matched electric tail gate according to the height of the human body;
and the information sending submodule is used for controlling the opening of the electric tail gate based on the opening of the electric tail gate.
Further, the opening degree obtaining submodule includes:
the minimum opening obtaining submodule is used for obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and the fourth calculation submodule is used for obtaining the electric tail gate opening matched with the height of the human body based on the minimum electric tail gate opening and a preset coefficient.
Further, the electric tailgate control device is also used for controlling the electric tailgate of the current vehicle not to be opened if the running state of the current vehicle does not meet the preset condition.
The beneficial effect that technical scheme that this application provided brought includes:
the method comprises the steps of firstly responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets a preset condition or not; if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle; and controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body.
This application is to electric tail-gate control in-process, when receiving electric tail-gate and open the request and when the running state of current vehicle satisfied the preset condition, acquire the human body point cloud data apart from the probe point preset position department, then acquire the human body height parameter corresponding with human body point cloud data based on human body point cloud data, the electric tail-gate of controlling again is opened according to the aperture with human body height parameter assorted, thereby open the back as electric tail-gate, to the car owner of different heights, make electric tail-gate with different height assorted aperture, thereby make the electric tail-gate of different heights open the people and can both deposit in electric tail-gate with a comfortable posture and take article. Therefore, this application can make the people of different heights can make things convenient for deposit in the earth's electricity tail-gate more safely and take article.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of steps of a method of electrical tail gate control provided in an embodiment of the present application;
FIG. 2 is a diagram of a height calculation model provided in an embodiment of the present application;
FIG. 3 is a block diagram of an intelligent power-operated tailgate height opening system according to an embodiment of the present disclosure;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a control method and device for an electric tail gate, so that people with different heights can safely and conveniently store and take articles in the electric tail gate.
In order to achieve the technical effect, the general idea of the application is as follows:
a method of electrical tail gate control, the method comprising the steps of:
s1, responding to an electric tail gate opening request, and judging whether the current running state of the vehicle meets a preset condition or not;
s2, if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle;
and S3, controlling the electric tail gate of the current vehicle to be opened to an opening degree matched with the height parameter of the human body.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present application provides an electric tail gate control method, including the following steps:
s1, responding to an electric tail gate opening request, and judging whether the current running state of the vehicle meets a preset condition.
The electric tail door opening request is generated after an owner triggers an electric tail door opening button;
the running state of the vehicle refers to the current vehicle speed information and whether valid key information exists.
Specifically, after an owner triggers an electric tail gate opening button, the electric tail gate sends an electric tail gate opening request to an electric tail gate calculation control unit, and the electric tail gate calculation control unit starts to acquire the running state information of the current vehicle when receiving the electric tail gate opening request.
In this embodiment, when receiving an electric tailgate opening request, the electric tailgate calculation control unit may actively acquire vehicle speed information of a current vehicle and valid key information of the current vehicle, and determine whether the vehicle speed information of the current vehicle and the valid key information satisfy a preset condition.
And S2, if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle.
The point cloud data refers to a set of vectors in a three-dimensional coordinate system.
The human body point cloud data is scanned by laser to obtain scanned human body point data, and the human body point cloud data is used for determining the position information of the scanned human body.
The acquisition of the human body point cloud data can be acquired through a laser radar detector installed on a tail door of the current vehicle, wherein the laser radar detector can be a millimeter wave radar detector.
Specifically, when a laser radar detector of the current vehicle detects a human body within a preset range from the current vehicle electric tail gate, laser is emitted to the human body and scanned, human body point cloud data of the human body are obtained through scanning, and then corresponding human body height parameters are obtained according to the human body point cloud data.
In addition, if the running state of the current vehicle does not meet the preset condition, the electric tail gate of the current vehicle is controlled not to be opened.
And S3, controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body.
The opening degree matched with the human height parameter refers to an opening height matched with the human height parameter, and the opening degree can be a preset multiple of the human height parameter.
And the electric tail gate computing control unit is used for acquiring corresponding human height parameters according to the human point cloud data and then sending the human height data to the electric tail gate opening unit so that the electric tail gate opening unit can open the electric tail gate of the current vehicle according to the electric tail gate opening degree matched with the human height parameters.
In the embodiment of the application, to electric tail gate control process, when receiving when the electric tail gate opening request and the running state of current vehicle when satisfying preset condition, acquire the human body point cloud data apart from the probe point preset position department, then acquire the human body height parameter corresponding with human body point cloud data based on human body point cloud data, the electric tail gate of controlling again is opened according to the aperture with human body height parameter assorted, thereby after electric tail gate opening button is opened, open the people to the electric tail gate of different heights and can make the electric tail gate open with height assorted aperture, thereby make the electric tail gate of different heights open the people and can both deposit the article with a comfortable posture in the electric tail gate, therefore, this application can make things convenient for the electric tail gate to deposit the article more safely.
In the embodiment of the present application, step S2 includes the following steps:
s201, receiving human body point cloud data in a preset range, and extracting effective point cloud data from the human body point cloud data;
it should be understood that not only the vehicle owner, but generally the passerby may also be present within a predetermined range from the electric tailgate. Therefore, how to distinguish passers-by and car owners is an urgent problem to be solved.
When the electric tail gate computing control unit receives an electric tail gate opening request sent by the electric tail gate and at the moment, exactly one passerby appears in the scanning radius range of the laser radar, the laser radar can scan the human body point cloud data of the passerby.
Because passersby are typically farther from the current vehicle electrical tailgate than the vehicle owner is, passersby's body data is typically incomplete and discontinuous compared to the vehicle owner.
Therefore, the effective human body point cloud data can be all the continuous and complete human body point cloud data obtained by scanning of the laser radar detector.
Specifically, the electric tail gate calculation control unit receives human body point cloud data within a preset range, and extracts complete and continuous point cloud data from the human body point cloud data, which may be a complete and continuous whole body map in this embodiment.
S202, generating a human body contour map corresponding to the human body point cloud data according to the effective point cloud data;
specifically, the electric tail gate calculation control unit generates a three-dimensional human body contour map corresponding to the human body point cloud data according to the effective point cloud data.
Generally, a human body contour map reconstruction method usually obtains dense three-dimensional point cloud data or depth data of a human body by using special equipment, and then fits spatial parameters in a manner of point cloud registration, template deformation and the like to reconstruct the shape of the three-dimensional human body.
S203, obtaining a human height parameter corresponding to the human point cloud data based on the human body contour map.
Specifically, firstly, the laser radar detector detects a scanning distance value between the position of the laser radar detector and the highest point of the human body profile map and a vertical distance value between the position of the laser radar detector and the human body profile map.
And then obtaining a human height parameter corresponding to the point cloud data based on the scanning distance value and the vertical distance value.
The horizontal center line of the detection point is parallel to the plane of the current vehicle; the method for calculating the height parameter of the human body corresponding to the point cloud data according to the scanning distance value and the vertical distance value comprises the following steps:
acquiring a first height of the human body above the horizontal center line based on the scanning distance value and the vertical distance value;
specifically, as shown in fig. 2, the electric tail gate calculation control unit performs a thigh-hooking operation on a scanning distance value between the position of the detection point and the highest point on the human body profile and a vertical distance value from the detection point to the human body profile to obtain a first height of the human body above the horizontal center line.
Taking the distance from the radar detector to the plane where the current vehicle is located as a second height of the human body below the horizontal center line;
because the horizontal center line of the radar detector is parallel to the horizontal direction, the distance between the radar detector and the plane where the current vehicle is located can be used as the second height of the human body below the horizontal center line.
And obtaining the height parameter of the human body according to the first height and the second height.
Specifically, a first height of the human body above a horizontal center line of the radar detector and a second height of the human body below the horizontal center line of the radar detector are added to obtain a human body height parameter.
In this embodiment, when the electric tailgate opening request is received and the running state of the current vehicle satisfies the preset condition, the corresponding height of the human body is determined through the point cloud data of the human body, and because only when the electric tailgate opening request is received and the running state of the current vehicle satisfies the preset condition in this embodiment, the laser radar is controlled to scan the height of the human body within the preset distance, and the laser radar is not always in a working state, thereby reducing the calculation amount of the electric tailgate calculation control unit.
In one embodiment, step S1 includes:
s101, responding to the fact that an electric tail gate opening button on a current vehicle is triggered, and receiving an electric tail gate opening request;
when an electric tail gate opening button on the current vehicle is triggered, the electric tail gate sends an electric tail gate opening instruction to the electric tail gate calculation control unit.
S102, acquiring speed information and key authentication information of a current vehicle based on an electric tail gate opening request;
specifically, when the electric tailgate calculation control unit receives an electric tailgate opening request, the electric tailgate calculation control unit acquires vehicle speed information from the vehicle speed information providing unit and sends a key authentication request to the key authentication system.
S103, judging whether the current vehicle speed and the key validity meet preset conditions or not according to the vehicle speed information and the key authentication information;
the verification of the key validity can be receiving a bluetooth unlocking signal of the current vehicle or receiving key authentication information of a key authentication system.
When the speed of the current vehicle is less than the preset value and valid key authentication information is detected, it may be determined that the key satisfies the preset condition.
In this embodiment, the validity of vehicle speed information and a key is verified before the electric tailgate opening height matched with the height parameter of the human body is calculated, so that the phenomenon that a vehicle owner mistakenly touches an electric tailgate opening button to open the electric tailgate in the vehicle advancing process is avoided.
In one embodiment, step S3 includes:
s301, acquiring the matched opening degree of the electric tail gate according to the height of a human body;
firstly, the minimum electric tail gate opening height is obtained according to the first height of the human body on the horizontal center line of the radar detector and the preset detection distance of the radar detector, namely the minimum electric tail gate opening height is obtained by utilizing the thigh-hooking operation according to the first height and the detection distance. And then obtaining the electric tail gate opening degree matched with the height of the human body based on the minimum electric tail gate opening degree and a preset coefficient.
And S302, controlling the electric tail gate to be opened based on the opening degree of the electric tail gate.
The electric tail gate calculation control unit sends the calculated opening height of the electric tail gate to the electric tail gate control unit so that the electric tail gate is controlled to be opened according to the opening degree of the electric tail gate.
Can open the people to the electric tail-gate of different heights in this application embodiment can make the electric tail-gate open with height assorted aperture to make the electric tail-gate of different heights open the people and can both deposit in the electric tail-gate with a comfortable posture and take article.
In one embodiment, as shown in fig. 3, a framework diagram of an intelligent power tailgate height opening system is provided.
The system frame diagram comprises a millimeter wave radar, an electric tail gate opening switch, an electric tail gate calculation control unit, an electric tail gate state sensor, an electric tail gate actuating mechanism, a vehicle speed information providing unit and a key authentication system.
The detailed implementation scheme comprises the following steps:
a1, when an electric tail gate opening button is triggered, an electric tail gate calculation control unit receives an electric tail gate opening instruction sent by an electric tail gate opening switch;
a2, based on the electric tail gate opening instruction, the electric tail gate calculation control unit obtains current vehicle speed information and key authentication information, if the current vehicle speed is smaller than a preset value and valid key authentication information exists, the millimeter wave radar is controlled to detect whether a moving object exists in a range of 1m, and when the millimeter wave radar scans that the moving object enters the range of 1m, scanned user point cloud data and distance are uploaded to the electric tail gate calculation control unit;
wherein the millimeter wave radar arrangement should ensure that the view angle center line is parallel to the vehicle XOY plane; the millimeter wave radar requires that the HOV (vertical viewing angle) is more than or equal to 120 degrees (can be selected according to actual calibration parameters), and ensures that the point cloud data of the upper body of a user can be completely detected when the user is 1m away from the vehicle by 1.9m in height; the horizontal visual angle FOV of the millimeter wave radar is ensured to be more than or equal to 60 degrees (can be selected according to actual calibration parameters); it will be appreciated that the millimeter wave radar arrangement should ensure that the viewing angle centre line is parallel to the vehicle XOY plane; the vertical viewing angle HOV (selected according to actual calibration parameters) required by the millimeter wave radar is more than or equal to 120 degrees, and the point cloud data of the upper body of the user can be completely detected when the user is 1m away from the vehicle by 1.9m in height; the horizontal visual angle FOV of the millimeter wave radar is ensured to be more than or equal to 60 degrees (can be selected according to actual calibration parameters)
A3, the electric tail gate calculation control unit removes invalid point cloud information in the point cloud data of the user, extracts and forms a human body contour map, calculates the human body height of the user according to the measured distance parameters, and calculates the electric tail gate opening height matched with the user, wherein the tail gate opening height can be set to be 1.1 times of the height of the user, and can also be calibrated according to the actual situation;
a4, the opening height of the electric tail gate is sent to an electric tail gate control unit, the electric tail gate is controlled to be opened according to the opening height of the electric tail gate by using an electric tail gate state sensor and an electric tail gate executing mechanism, and meanwhile, the opening height of the electric tail gate is fed back in real time by the electric tail gate state sensor in the movement process of the electric tail gate.
In this application embodiment to electric tail-gate control process, when receiving electric tail-gate and open the request and when the running state of current vehicle satisfied the preset condition, acquire the human body point cloud data apart from the probe point preset position department, then acquire the human body height parameter corresponding with human body point cloud data based on human body point cloud data, the electric tail-gate of controlling again is opened according to the aperture with human body height parameter assorted, thereby after electric tail-gate opening button is opened, open the people to the electric tail-gate of different heights and can make the electric tail-gate open with height assorted aperture, thereby make the electric tail-gate of different heights open the people and can both deposit in the electric tail-gate with a comfortable posture and take article, consequently, this application can make the people of different heights can make things convenient for safely to deposit article in the electric tail-gate more.
It should be noted that, the step numbers of the steps in the embodiments of the present application do not limit the sequence of the operations in the technical solutions of the present application.
In a second aspect, referring to fig. 1, an embodiment of the present application provides an electric tail gate control device, including: the judging module is used for responding to the opening request of the electric tail gate and judging whether the running state of the current vehicle meets the preset condition or not; the parameter acquisition module is used for acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle if the running state of the current vehicle meets a preset condition; and the control module is used for controlling the electric tail gate of the current vehicle to be opened to an opening degree matched with the height parameter of the human body.
This application is to electric tail-gate control in-process, when receiving electric tail-gate and open the request and when the running state of current vehicle satisfied the preset condition, acquire the human body point cloud data apart from the probe point preset position department, then acquire the human body height parameter corresponding with human body point cloud data based on human body point cloud data, the electric tail-gate of controlling again is opened according to the aperture with human body height parameter assorted, thereby when electric tail-gate open button is opened the back, open the people to the electric tail-gate of different heights and can make the electric tail-gate open with height assorted aperture, thereby make the electric tail-gate of different heights open the people and can both deposit and take article in the electric tail-gate with a comfortable posture. Consequently, this application can make the people of different heights can make things convenient for more safely to deposit in the earth's current tail-gate and take article.
Further, the parameter obtaining module includes:
the effective data extraction sub-module is used for receiving the human body point cloud data in a preset range and extracting effective point cloud data from the human body point cloud data;
the contour map generation submodule is used for generating a human body contour map corresponding to the human body point cloud data according to the effective point cloud data;
a first calculation submodule for obtaining a human height parameter corresponding to the human point cloud data based on the human body profile.
Further, the contour map generation sub-module includes:
the distance value acquisition submodule is used for receiving a scanning distance value between the position of the detection point and the highest point on the human body contour map and a vertical distance value from the detection point to the human body contour map;
further, the horizontal center line of the detection point is parallel to the plane of the current vehicle; the second computation submodule includes:
a first height obtaining submodule for obtaining a first height of the human body above the horizontal center line based on the scanning distance value and the vertical distance value;
a second height acquisition submodule, configured to use a distance from the radar detector to a plane where the current vehicle is located as a second height of the human body below the horizontal centerline;
and the third calculation submodule is used for obtaining the height parameter of the human body according to the first height and the second height.
Further, the determining module includes:
the request receiving submodule is used for responding to the triggering of an electric tail gate opening button on the current vehicle and receiving an electric tail gate opening request;
the information acquisition submodule is used for acquiring the speed information and the key authentication information of the current vehicle based on the electric tail gate opening request;
and the comparison submodule is used for judging whether the speed of the current vehicle and the key validity meet preset conditions or not according to the speed information and the key authentication information.
Further, the control module includes:
the opening obtaining sub-module is used for obtaining the opening of the matched electric tail gate according to the height of the human body;
and the information sending submodule is used for controlling the opening of the electric tail gate based on the opening degree of the electric tail gate.
Further, the opening degree obtaining submodule includes:
the minimum opening obtaining submodule is used for obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and the fourth calculation submodule is used for obtaining the electric tail gate opening matched with the height of the human body based on the minimum electric tail gate opening and a preset coefficient.
Further, the electric tail gate control device is further configured to control the electric tail gate of the current vehicle not to be opened if the running state of the current vehicle does not meet the preset condition.
The technical problems, technical means and technical effects of the electric tail gate control device provided by the embodiment of the present application are similar to the principle of the electric tail gate control method in the principle aspect.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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 phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely exemplary embodiments of the present application and are intended to enable those skilled in the art to understand and practice 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 (10)
1. A method of electrical tail gate control, the method comprising the steps of:
responding to an electric tail gate opening request, and judging whether the current running state of the vehicle meets a preset condition or not;
if the running state of the current vehicle meets a preset condition, acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle;
and controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body.
2. The electric tail gate control method of claim 1, wherein the obtaining of the human height parameter corresponding to the human point cloud data based on the obtained human point cloud data within a preset range from a current vehicle comprises the following steps:
receiving human body point cloud data in a preset range, and extracting effective point cloud data from the human body point cloud data;
generating a human body contour map corresponding to the human body point cloud data according to the effective point cloud data;
and obtaining a human height parameter corresponding to the human point cloud data based on the human body contour map.
3. The electric tail gate control method as claimed in claim 2, wherein the step of calculating the height parameter of the human body corresponding to the point cloud data of the human body according to the human body profile map comprises the following steps:
receiving a scanning distance value between the position of the detection point and the highest point on the human body contour map and a vertical distance value from the detection point to the human body contour map;
and obtaining a human height parameter corresponding to the point cloud data based on the scanning distance value and the vertical distance value.
4. The electric tailgate control method according to claim 3, characterized in that a horizontal center line of said detection point is parallel to a plane of said present vehicle; the method for calculating the height parameter of the human body corresponding to the point cloud data according to the scanning distance value and the vertical distance value comprises the following steps:
acquiring a first height of the human body above the horizontal center line based on the scanning distance value and the vertical distance value;
taking the distance from the radar detector to the plane where the current vehicle is located as a second height of the human body below the horizontal center line;
and obtaining the height parameter of the human body according to the first height and the second height.
5. The electric tailgate control method according to claim 1, wherein said judging whether or not the running state of the current vehicle satisfies a preset condition in response to an electric tailgate opening request comprises the steps of:
receiving an electric tailgate opening request in response to an electric tailgate opening button on a current vehicle being triggered;
acquiring the speed information and key authentication information of the current vehicle based on the electric tail gate opening request;
and judging whether the speed of the current vehicle and the key validity meet preset conditions or not according to the speed information and the key authentication information.
6. The electric tail gate control method of claim 1, wherein the controlling the electric tail gate of the current vehicle to open to an opening degree matching the body height parameter comprises:
acquiring the matched opening degree of the electric tail gate according to the height of the human body;
and controlling the electric tail gate to be opened based on the opening degree of the electric tail gate.
7. The electric tail gate control method of claim 6, wherein the calculating the matched electric tail gate opening according to the body height comprises:
obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and obtaining the electric tail gate opening degree matched with the height of the human body based on the minimum electric tail gate opening degree and a preset coefficient.
8. The electrical tail gate control method of claim 1, further comprising:
and if the running state of the current vehicle does not meet the preset condition, controlling the electric tail gate of the current vehicle not to be opened.
9. An electric tailgate control apparatus, characterized in that the apparatus comprises:
the judging module is used for responding to the electric tail gate opening request and judging whether the running state of the current vehicle meets the preset condition or not;
the parameter acquisition module is used for acquiring a human body height parameter corresponding to the human body point cloud data based on the human body point cloud data within a preset range from the current vehicle if the running state of the current vehicle meets a preset condition;
and the control module is used for controlling the electric tail gate of the current vehicle to be opened to the opening degree matched with the height parameter of the human body.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN202210903773.5A CN115288556B (en) | 2022-07-28 | 2022-07-28 | Electric tail gate control method and device |
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| CN202210903773.5A CN115288556B (en) | 2022-07-28 | 2022-07-28 | Electric tail gate control method and device |
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| CN115288556B (en) | 2023-11-28 |
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