CN115288556B - Electric tail gate control method and device - Google Patents
Electric tail gate control method and device Download PDFInfo
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- CN115288556B CN115288556B CN202210903773.5A CN202210903773A CN115288556B CN 115288556 B CN115288556 B CN 115288556B CN 202210903773 A CN202210903773 A CN 202210903773A CN 115288556 B CN115288556 B CN 115288556B
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- 241000282414 Homo sapiens Species 0.000 claims abstract description 194
- 238000001514 detection method Methods 0.000 claims description 21
- 230000004044 response Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims 2
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000077 insect repellent Substances 0.000 description 1
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Classifications
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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
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
- E05Y2900/532—Back doors or end doors
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Abstract
The application relates to a method and a device for controlling an electric tail gate, which relate to the technical field of vehicle control, and the method comprises the following steps: responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions or not; if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human 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 an opening degree matched with the height parameter of the human body. According to the method, aiming at car owners with different heights, the electric tail gate is opened according to the matched opening degrees of the different heights, so that the electric tail gate openers with different heights can store articles in the electric tail gate in a comfortable posture.
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 progress of the technology in the automobile field and the improvement of the life quality of human beings, the tail gate of many automobiles 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, an automobile tail door is usually opened by an automobile owner pressing an electric tail door opening button, and the electric tail door can be opened to a certain height for the automobile owner to store and take articles in the electric tail door. Because people who open the electric tail gate of the vehicle often not only have car owners, but also car owners and car owners family friends, the height that these people all were different, however the electric tail gate was opened highly is fixed, and then the higher people of height deposit and take article in the electric tail gate and probably collide with electric tail gate edge to cause inconvenience for people.
Therefore, how to enable people with different heights to store and take articles in the electric tail gate safely and conveniently is a technical problem which needs to be solved at present.
Disclosure of Invention
The application provides a control method and a control device for an electric tail gate, which enable people with different heights to store articles in the electric tail gate more safely and conveniently.
To achieve the above object, the present application provides the following means.
In a first aspect, the present application provides a method for controlling an electric tail gate, the method comprising the steps of:
responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions or not;
if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human 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 an opening degree matched with the height parameter of the human body.
Further, the step of obtaining the human height parameter corresponding to the human point cloud data based on the obtained human point cloud data within a 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 human height parameters corresponding to the human point cloud data based on the human profile.
Further, the calculating the human height parameter corresponding to the human point cloud data according to the human profile graph includes the following steps:
receiving a scanning distance value from the position of the detection point to the highest point on the human body profile graph and a vertical distance value from the detection point to the human body profile graph;
and calculating a human 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 where the current vehicle is located; the step of calculating the human height parameter 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 of the radar detector from the plane of the current vehicle as a second height of the human body below the horizontal center line;
and obtaining parameters of the height of the human body according to the first height and the second height.
Further, when the electric tail gate opening request is received, judging whether the running state of the current vehicle meets the preset condition or not, including the following steps:
receiving an electric tail gate opening request in response to the triggering of an electric tail gate opening button on the current vehicle;
acquiring speed information and key authentication information of a current vehicle based on the electric tail gate opening request;
and judging whether the speed of the current vehicle and the effectiveness of the key meet preset conditions according to the speed information and the key authentication information.
Further, the 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 includes:
if the speed of the current vehicle is smaller than a preset threshold value and effective key information exists, calculating the matched electric tail gate opening according to the height of the human body;
and controlling the opening of the electric tail gate based on the opening of the electric tail gate.
Further, the calculating the matched electric tail gate opening according to the height of the human body includes:
obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and 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 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 electric tail gate control device, the device comprising:
the judging module is used for responding to the electric tail door 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 human body height parameters corresponding to 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 preset conditions;
and the control module is used for controlling the electric tail door 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 human body point cloud data in a preset range and extracting effective point cloud data from the human body point cloud data;
the profile generation sub-module is used for generating a human body profile corresponding to the human body point cloud data according to the effective point cloud data;
and the first calculation sub-module is used for obtaining human height parameters corresponding to the human point cloud data based on the human profile map.
Further, the profile generation submodule includes:
the distance value acquisition sub-module is used for receiving a scanning distance value from the position of the detection point to the highest point on the human body profile graph and a vertical distance value from the detection point to the human body profile graph;
and the second calculation sub-module is used for controlling the in-vehicle air outlet mechanism to purge the gas containing the mosquito repellent substances into the vehicle based on the target release amount.
Further, the horizontal center line of the detection point is parallel to the plane where the current vehicle is located; the second computing submodule includes:
a first height acquisition sub-module for acquiring a first height of the human body above the horizontal center line based on the scan distance value and the vertical distance value;
a second height acquisition sub-module for regarding a distance of the radar detector from a plane in which the current vehicle is located as a second height of the human body below the horizontal center line;
and the third calculation sub-module is used for obtaining the parameters of the height 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 receiving an electric tail gate opening request in response to the triggering of an electric tail gate opening button on the current vehicle;
the information acquisition sub-module 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 sub-module is used for judging whether the speed of the current vehicle and the effectiveness of the key meet preset conditions according to the speed information and the key authentication information.
Further, the control module includes:
the opening obtaining submodule is used for obtaining the matched opening of the electric tail gate according to the height of the human body;
and the information sending sub-module is used for controlling the opening of the electric tail gate based on the opening of the electric tail gate.
Further, the opening degree acquisition 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 sub-module 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 used for controlling 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 scheme provided by the application has the beneficial effects that:
firstly, responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions or not; if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human 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 an opening degree matched with the height parameters of the human body.
In the control process of the electric tail gate, when an electric tail gate opening request is received and the running state of a current vehicle meets the preset condition, human body point cloud data at a preset position from a detection point is obtained, human body height parameters corresponding to the human body point cloud data are obtained based on the human body point cloud data, and then the electric tail gate is controlled to be opened according to the opening matched with the human body height parameters, so that after an electric tail gate opening button is opened, electric tail gates are opened according to vehicle owners with different heights, the electric tail gate can be opened according to the opening matched with different heights, and therefore the electric tail gate opening people with different heights can store articles in the electric tail gate in a comfortable posture. Therefore, people with different heights can store articles in the electric tail gate more safely and conveniently.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of steps of a method for controlling an electric tail gate according to 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 diagram of an intelligent electric tail gate height opening system according to an embodiment of the present application;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiments of the present application are described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a control method and a control device for an electric tail gate, which enable people with different heights to store and take articles in the electric tail gate more safely and conveniently.
In order to achieve the technical effects, the general idea of the application is as follows:
an electric tail gate control method, comprising the steps of:
s1, responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions or not;
s2, if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human point cloud data within a preset range from the current vehicle;
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 are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present application provides a method for controlling an electric tail gate, including the following steps:
s1, responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions.
The electric tail gate opening request is generated after the vehicle owner triggers an electric tail gate opening button;
the running state of the vehicle refers to the speed information of the current vehicle and whether valid key information exists.
Specifically, after the vehicle owner triggers the electric tail gate opening button, the electric tail gate sends an electric tail gate opening request to the electric tail gate calculation control unit, and when the electric tail gate calculation control unit receives the electric tail gate opening request, the electric tail gate calculation control unit starts to acquire running state information of the current vehicle.
In this embodiment, when receiving the electric tail gate opening request, the electric tail gate calculation control unit actively obtains the speed information of the current vehicle and the valid key information of the current vehicle, and determines whether the speed information and the valid key information of the current vehicle meet the preset conditions.
S2, if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human point cloud data within a preset range from the current vehicle.
Wherein the point cloud data refers to a set of vectors in a three-dimensional coordinate system.
The human body point cloud data refers to the fact that a human body is scanned by laser to obtain scanned human body point data, and the human body point cloud data are used for determining position information of the scanned human body.
The human body point cloud data can be obtained through a laser radar detector installed on a tail gate of a current vehicle, wherein the laser radar detector can be a millimeter wave radar detector.
Specifically, when the laser radar detector of the current vehicle detects a human body within a preset range from the electric tail gate of the current vehicle, laser is emitted to the human body and scanned to obtain human body point cloud data of the human body, and 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.
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.
The opening matched with the height parameter of the human body refers to the opening height matched with the height parameter of the human body, and the opening can be a preset multiple of the height parameter of the human body.
After the electric tail gate calculation control unit acquires corresponding human body height parameters according to the human body point cloud data, the human body height data are sent to the electric tail gate opening unit, so that the electric tail gate opening unit opens the electric tail gate of the current vehicle according to the electric tail gate opening matched with the human body height parameters.
In the embodiment of the application, in the control process of the electric tail gate, when an electric tail gate opening request is received and the running state of a current vehicle meets the preset condition, human body point cloud data at a preset position from a detection point is acquired, then human body height parameters corresponding to the human body point cloud data are acquired based on the human body point cloud data, and then the electric tail gate is controlled to be opened according to the opening matched with the human body height parameters, so that after an electric tail gate opening button is opened, electric tail gate openers aiming at different heights can be opened according to the opening matched with the heights of the electric tail gate, and therefore, the electric tail gate openers with different heights can store articles in the electric tail gate in a comfortable posture, and therefore, the electric tail gate can store articles in the electric tail gate more safely and conveniently.
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 car owners will be present within a predetermined range from the electric tail gate, but passers-by may also be present within the predetermined range from the electric tail gate. Therefore, how to distinguish passersby and car owners is an urgent problem to be solved.
When the electric tail gate calculation control unit receives an electric tail gate opening request sent by the electric tail gate and a passer-by just appears in the scanning radius range of the laser radar, the laser radar can scan human body point cloud data of the passer-by.
Since passers-by is typically farther from the current vehicle electric tailgate than the vehicle owner, the passers-by's body data is typically incomplete and discontinuous compared to the vehicle owner.
Therefore, the effective human body point cloud data can refer to continuous and complete human body point cloud data of all human body point cloud data obtained by scanning by 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 in this embodiment may be a complete and continuous whole body map.
S202, generating a human body contour map corresponding to 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 human body point cloud data according to the effective point cloud data.
Generally, the human body contour map reconstruction method generally uses special equipment to obtain dense three-dimensional point cloud data or depth data of a human body, and then fits space parameters in a point cloud registration, template deformation and other modes to reconstruct the three-dimensional human body shape.
S203, acquiring human height parameters corresponding to the human point cloud data based on the human contour map.
Specifically, first, the laser radar detector detects a scanning distance value from a position of the laser radar detector to a highest point of the human body contour map and a vertical distance value from the position of the laser radar detector to the human body contour map.
And then obtaining the height parameters of the human body corresponding to the point cloud data based on the scanning distance value and the vertical distance value.
Because the horizontal center line of the detection point is parallel to the plane of the current vehicle; the step of calculating the human height parameter 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 a 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 collude operation on a scanning distance value between a position of a detection point and a highest point on the human body contour map and a vertical distance value from the detection point to the human body contour map, so as to obtain a first height of the human body above a horizontal center line.
Taking the distance between the radar detector and the plane of the current vehicle as a second height of the human body below the horizontal center line;
since the horizontal center line of the radar detector is parallel to the horizontal direction, the distance of the radar detector from the current plane of the vehicle can be regarded as the second height of the human body below the horizontal center line.
And obtaining parameters of the height of the human body according to the first height and the second height.
Specifically, the first height of the human body above the horizontal center line of the radar detector and the second height of the human body below the horizontal center line of the radar detector are added to obtain the height parameter of the human body.
In this embodiment, when the electric tail gate opening request is received and the running state of the current vehicle meets the preset condition, the corresponding height of the human body is determined through the human body point cloud data, and in this embodiment, only when the electric tail gate opening request is received and the running state of the current vehicle meets the preset condition, the laser radar is controlled to sweep the height of the human body within the preset distance, and the laser radar is not always in the working state, so that the calculation amount of the electric tail gate calculation control unit is reduced.
In one embodiment, step S1 includes:
s101, responding to the triggering of an electric tail gate opening button on the current vehicle, 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 tail gate calculation control unit receives an electric tail gate opening request, the electric tail gate calculation control unit obtains 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 speed of the current vehicle and the effectiveness of the key meet preset conditions according to the speed information and the key authentication information;
the verification of the validity of the key can be that a Bluetooth unlocking signal of the current vehicle is received, or that key authentication information of a key authentication system is received.
When the current vehicle speed is less than the preset value and valid key authentication information is detected, the key can be judged to meet the preset condition.
In the embodiment, the vehicle speed information and the validity of the key are verified a priori before the electric tail gate opening height matched with the height parameter of the human body is calculated, so that the situation that a vehicle owner mistakenly touches an electric tail gate opening button to open the electric tail gate in the vehicle running process is avoided.
In one embodiment, step S3 includes:
s301, acquiring the matched electric tail gate opening according to the height of a human body;
firstly, the minimum electric tail gate opening height is obtained according to the first height of a human body on the horizontal center line of the radar detector and the detection distance preset by the radar detector, namely, the minimum electric tail gate opening height is obtained by utilizing the hook operation according to the first height and the detection distance. And then based on the minimum electric tail gate opening and a preset coefficient, obtaining the electric tail gate opening matched with the height of the human body.
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 electric tail gate opening height to the electric tail gate control unit so as to control the electric tail gate to be opened according to the electric tail gate opening.
According to the embodiment of the application, the electric tail gate openers with different heights can be opened according to the opening degrees matched with the heights, so that the electric tail gate openers with different heights can store and take articles in the electric tail gate in a comfortable posture.
In one embodiment, as shown in FIG. 3, an intelligent motorized tail gate height opening system frame diagram 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 executing mechanism, a vehicle speed information providing unit and a key authentication system.
The detailed embodiment thereof 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 acquires current vehicle speed information and key authentication information, if the current vehicle speed is smaller than a preset value and effective key authentication information exists, the millimeter wave radar is controlled to detect whether a moving object exists in a 1m range, and when the millimeter wave radar scans that the moving object enters the 1m range, the scanning user point cloud data and the distance are uploaded to the electric tail gate calculation control unit;
wherein the millimeter wave radar arrangement should ensure that the view angle centerline is parallel to the vehicle XOY plane; the millimeter wave radar requires that the vertical view angle HOV be more than or equal to 120 degrees (can be selected according to actual calibration parameters), so that the upper body point cloud data of a user can be completely detected when the user is 1m away from the vehicle by 1.9m 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 view centerline is parallel to the vehicle XOY plane; the millimeter wave radar requires that the vertical view angle HOV be more than or equal to 120 degrees (can be selected according to actual calibration parameters), so that the upper body point cloud data of a user can be completely detected when the user is 1m away from the vehicle by 1.9m height; the horizontal visual angle FOV of the millimeter wave radar should be 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 user point cloud data, extracts and forms a human body outline drawing, calculates the height of a user body according to the measured distance parameter, and calculates the opening height of the electric tail gate matched with the user, wherein the opening height of the tail gate can be set to be 1.1 times of the height of the user body, and can be calibrated according to the actual situation;
a4, sending the opening height of the electric tail gate to the electric tail gate control unit, and controlling the electric tail gate to be opened according to the opening height of the electric tail gate by utilizing the electric tail gate state sensor and the electric tail gate actuating mechanism, and simultaneously, feeding back the opening height of the electric tail gate in real time by the electric tail gate state sensor in the moving process of the electric tail gate.
In the embodiment of the application, in the control process of the electric tail gate, when an electric tail gate opening request is received and the running state of a current vehicle meets the preset condition, human body point cloud data at a preset position from a detection point is acquired, then human body height parameters corresponding to the human body point cloud data are acquired based on the human body point cloud data, and then the electric tail gate is controlled to be opened according to the opening matched with the human body height parameters, so that after an electric tail gate opening button is opened, electric tail gate openers aiming at different heights can be opened according to the opening matched with the heights of the electric tail gate, and therefore, the electric tail gate openers with different heights can store articles in the electric tail gate in a comfortable posture, and therefore, the electric tail gate can store articles in the electric tail gate more safely and conveniently.
It should be noted that, step numbers of each step in the embodiment of the present application are not limited to the order of each operation in the technical solution 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, where the device includes: the judging module is used for responding to the electric tail door 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 human body height parameters corresponding to 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 preset conditions; and the control module is used for controlling the electric tail door of the current vehicle to be opened to an opening degree matched with the height parameter of the human body.
In the control process of the electric tail gate, when an electric tail gate opening request is received and the running state of a current vehicle meets the preset condition, human body point cloud data at a preset position from a detection point is obtained, human body height parameters corresponding to the human body point cloud data are obtained based on the human body point cloud data, and then the electric tail gate is controlled to be opened according to the opening matched with the human body height parameters, so that after an electric tail gate opening button is opened, electric tail gate openers aiming at different heights can open the electric tail gate according to the opening matched with the height, and the electric tail gate openers of different heights can store articles in the electric tail gate in a comfortable posture. Therefore, people with different heights can store articles in the electric tail gate more safely and conveniently.
Further, the parameter obtaining module includes:
the effective data extraction sub-module is used for receiving human body point cloud data in a preset range and extracting effective point cloud data from the human body point cloud data;
the profile generation sub-module is used for generating a human body profile corresponding to the human body point cloud data according to the effective point cloud data;
and the first calculation sub-module is used for obtaining human height parameters corresponding to the human point cloud data based on the human profile map.
Further, the profile generation submodule includes:
the distance value acquisition sub-module is used for receiving a scanning distance value from the position of the detection point to the highest point on the human body profile graph and a vertical distance value from the detection point to the human body profile graph;
further, the horizontal center line of the detection point is parallel to the plane where the current vehicle is located; the second computing submodule includes:
a first height acquisition sub-module for acquiring a first height of the human body above the horizontal center line based on the scan distance value and the vertical distance value;
a second height acquisition sub-module for regarding a distance of the radar detector from a plane in which the current vehicle is located as a second height of the human body below the horizontal center line;
and the third calculation sub-module is used for obtaining the parameters of the height 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 receiving an electric tail gate opening request in response to the triggering of an electric tail gate opening button on the current vehicle;
the information acquisition sub-module 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 sub-module is used for judging whether the speed of the current vehicle and the effectiveness of the key meet preset conditions according to the speed information and the key authentication information.
Further, the control module includes:
the opening obtaining submodule is used for obtaining the matched opening of the electric tail gate according to the height of the human body;
and the information sending sub-module is used for controlling the opening of the electric tail gate based on the opening of the electric tail gate.
Further, the opening degree acquisition 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 sub-module 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 used for controlling 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.
It should be noted that, the electric tail gate control device provided by the embodiment of the application has the corresponding technical problems, technical means and technical effects, and is similar to the electric tail gate control method in principle.
It should be 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of embodiments of the present application to enable those skilled in the art to understand or practice the 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 (5)
1. A method of controlling an electric tail gate, the method comprising the steps of:
responding to an electric tail gate opening request, and judging whether the running state of the current vehicle meets preset conditions or not;
if the running state of the current vehicle meets the preset condition, acquiring human height parameters corresponding to human point cloud data based on the human point cloud data within a preset range from the current vehicle;
controlling the electric tail gate of the current vehicle to be opened to an opening matched with the height parameter of the human body;
the method for obtaining the human height parameters corresponding to human point cloud data based on the 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;
acquiring human height parameters corresponding to the human point cloud data based on the human profile map;
the step of calculating the human height parameters corresponding to the human point cloud data according to the human contour map comprises the following steps:
receiving a scanning distance value from the position of the detection point to the highest point on the human body profile graph and a vertical distance value from the detection point to the human body profile graph;
acquiring human height parameters 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 step of calculating the human height parameter 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 of the radar detector from the plane of the current vehicle as a second height of the human body below the horizontal center line;
obtaining parameters of the height of the human body according to the first height and the second height;
the obtaining the parameters of the height of the human body according to the first height and the second height specifically comprises: adding the first height and the second height to obtain parameters of the height of the human body;
the step of 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 comprises the following steps:
obtaining the matched electric tail gate opening according to the height parameters of the human body;
controlling the opening of the electric tail gate based on the opening of the electric tail gate;
the step of calculating the matched electric tail gate opening according to the height parameters of the human body comprises the following steps:
obtaining the minimum electric tail gate opening according to the first height and the preset distance;
and obtaining the electric tail gate opening matched with the height parameter of the human body based on the minimum electric tail gate opening and a preset coefficient.
2. The electric tail gate control method as set forth in claim 1, wherein the step of judging whether the current running state of the vehicle satisfies a preset condition in response to the electric tail gate opening request, comprises the steps of:
receiving an electric tail gate opening request in response to the triggering of an electric tail gate opening button on the current vehicle;
acquiring speed information and key authentication information of a current vehicle based on the electric tail gate opening request;
and judging whether the speed of the current vehicle and the effectiveness of the key meet preset conditions according to the speed information and the key authentication information.
3. The electric 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.
4. An electric tail gate control apparatus employing the electric tail gate control method as set forth in claim 1, characterized in that the apparatus includes:
the judging module is used for responding to the electric tail door 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 human body height parameters corresponding to 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 preset conditions;
and the control module is used for controlling the electric tail door of the current vehicle to be opened to an opening degree matched with the height parameter of the human body.
5. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method according to any one of claims 1 to 3.
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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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| CN115288556A (en) | 2022-11-04 |
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