CN117127863A

CN117127863A - Electric tail gate unlocking method and device, electronic equipment and storage medium

Info

Publication number: CN117127863A
Application number: CN202311326094.7A
Authority: CN
Inventors: 杨洪君; 刘浩; 疏达
Original assignee: Benewake Beijing Co Ltd
Current assignee: Benewake Beijing Co Ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2023-11-28

Abstract

The embodiment of the application provides an electric tail gate unlocking method, an electric device, an electronic device and a storage medium, which belong to the field of intelligent automobiles, wherein when detecting that the current state of a vehicle meets unlocking action detection conditions, control equipment enables projection equipment to project light spots to the ground opposite to the tail of the vehicle, instructs a user to perform unlocking actions in the projection area of the light spots, enables a laser radar to detect the actions of the user, analyzes detection data after receiving detection data of the laser radar, and controls the tail gate of the vehicle to be switched to be opened or closed when judging that the state switching conditions of the tail gate are met according to detection results. Therefore, the tail gate is opened in a mode of not requiring a user to manually press a button or manually open the tail gate, and the method is convenient and quick. Meanwhile, the electric tail gate can be opened or closed only when the state switching condition of the tail gate is met by detecting through a laser radar and adding a verification link mode, so that the safety can be improved, and the potential safety hazard is reduced.

Description

Electric tail gate unlocking method and device, electronic equipment and storage medium

Technical Field

The application relates to the field of intelligent automobiles, in particular to an electric tail gate unlocking method and device, electronic equipment and a storage medium.

Background

With the development of automobile technology, the function of kicking an electric tail gate has become a conventional configuration of automobiles. The electric tail door foot kicking function can enable a user to open and close the electric tail door by touching the lower part of the tail of the automobile through feet under the condition that both hands are busy. The electric tail gate foot kicking function can promote driving experience.

At present, the realization logic of the kicking function of the electric tail gate is as follows: an infrared sensor or an ultrasonic sensor is arranged below the tail of the vehicle, the sensor is connected with a controller of the electric tail gate, and when the sensor detects the step action of a user, the controller receives a signal and starts the opening or closing operation of the tail gate. However, this approach is less sensitive and presents a safety hazard.

Disclosure of Invention

In view of the above, an object of the present application is to provide a method and apparatus for unlocking an electric tail gate, an electronic device, and a storage medium, which can improve the control sensitivity of the electric tail gate and reduce the potential safety hazard.

In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:

in a first aspect, an embodiment of the present application provides a method for unlocking an electric tail gate, which is applied to a control device of a vehicle, where the control device is communicatively connected with a projection device and a lidar disposed at a tail of the vehicle, and the method includes:

When the current state of the vehicle is detected to meet the unlocking action detection condition, sending a starting command to the projection equipment and the laser radar; the starting command is used for indicating the projection equipment to project a light spot to the ground opposite to the tail of the vehicle and indicating the laser radar to detect the action of a user in the projection area of the light spot;

receiving detection data of at least one detection of the laser radar, analyzing the detection data, and judging whether a tail gate state switching condition is met according to an analysis result;

if yes, controlling a tail gate of the vehicle to switch states; wherein the state of the tail gate comprises opening and closing.

Based on the electric tail gate unlocking method, when the control equipment detects that the current state of the vehicle meets the unlocking action detection condition, a starting command is sent to the projection equipment and the laser radar, so that the projection equipment projects a light spot to the ground opposite to the tail of the vehicle, the projection area of the light spot is indicated to perform unlocking action by a user, the laser radar detects the action of the user in the projection area of the light spot, after receiving detection data detected at least once by the laser radar, the control equipment analyzes the detection data, and when the detection result judges that the tail gate state switching condition is met, the tail gate of the vehicle is controlled to be switched to be opened or closed. Therefore, the tail gate is opened without manually pressing a button or manually opening by a user, the complicated step of manual opening is omitted, and two hands are liberated, so that the method is convenient and quick. Meanwhile, by means of laser radar detection and verification, the electric tail gate can be opened or closed only when the kick action or the step action meets the tail gate state switching condition, so that safety can be improved, and potential safety hazards are reduced.

In a possible implementation manner, the light spot comprises a plurality of treading areas, and the detection data comprises distance measurement values of the plurality of treading areas by a user in a period of time at one time;

the step of analyzing the detection data and judging whether the tail gate state switching condition is met according to the analysis result comprises the following steps:

determining the treaded time of each treading area according to a plurality of distance measurement values corresponding to the treading area;

obtaining unlocking actions of a user according to the trampling time of all trampling areas;

and judging whether the unlocking action of the user is consistent with the preset tail gate state switching action, and if so, judging that the tail gate state switching condition is met.

In this way, the treaded time of the treading area is determined according to the plurality of ranging values corresponding to the treading area, the user unlocking action is obtained according to the treading time of all the treading areas, and when the user unlocking action is consistent with the preset tail door state switching action, the condition that the tail door state switching condition is met is judged, so that the state switching of the tail door can be carried out only when the user carries out the correct unlocking action in the treading area, and the safety can be greatly improved.

In a possible implementation manner, the step of obtaining the user unlocking action according to the tread time of all the tread areas includes:

And sequencing the treading moments of all the treading areas according to the time sequence to obtain the treaded sequence about treading, and taking the treaded sequence as the unlocking action of the user.

Therefore, all the treading areas are ordered according to the treading time, the unlocking action of the user is obtained, and the unlocking action of the user can be accurately and rapidly determined.

In a possible implementation manner, the light spot comprises a plurality of treading areas, the detection data comprises distance measurement values of the plurality of treading areas by a user in a period of time at one time, and the detection data comprises first data and second data which are adjacent in acquisition order;

for each trampling area in the first data, obtaining a first ranging median value of the trampling area from a plurality of ranging values corresponding to the trampling area;

obtaining a second ranging median value of the trampling area from a plurality of ranging values corresponding to the trampling area for each trampling area in the second data;

and judging whether the tail gate state switching condition is met according to the first ranging median value and the second ranging median value of each treading area.

In this way, the first ranging median value of each stepping area is obtained from a plurality of ranging values of the first data in each detection data, the second ranging median value of each stepping area is obtained from a plurality of ranging values of the second data in each detection data, whether the tail gate state switching condition is met or not is judged according to the first ranging median value and the second ranging median value of each stepping area, and safety can be greatly improved through a ranging value verification mode.

In one possible implementation manner, the step of determining whether the tail gate state switching condition is met according to the first ranging median value and the second ranging median value of each tread area includes:

for each treading area, calculating an absolute difference value between the first ranging median value and the second ranging median value;

judging whether the absolute difference value of at least one trampling area is in a preset trampling range value, if yes, judging that the tail gate state switching condition is met.

Therefore, by calculating the absolute difference value between the first ranging median value and the second ranging median value of each treading area, when the absolute difference value of at least one treading area is in a preset treaded range value, the condition that the state of the tail gate is switched is judged to be met when the treading area is treaded, and verification is completed, so that the state of the tail gate is switched when the current state of the vehicle meets the unlocking action detection condition and the treading area is treaded, and the safety can be greatly improved.

In one possible embodiment, the method further comprises a step of detecting a current state of the vehicle, the step comprising:

and continuously detecting whether a tail gate switching command is received or not under the condition that the current running state of the vehicle is switched to a parking gear, and if so, meeting an unlocking action detection condition.

Therefore, when the vehicle is in a parking gear and a tail gate switching command is received, the detection condition of unlocking action is met, whether the state of the tail gate is switched is detected, the tail gate can be prevented from being opened when the vehicle is not parked to a certain extent, the safety is improved, and meanwhile, the tail gate is prevented from being switched out of control.

In a possible embodiment, the rear part of the vehicle is provided with a detector in communication with the control device and the key of the vehicle, the method further comprising the step of detecting the current state of the vehicle, the step comprising:

transmitting a detection command to the detector when the current running state of the vehicle is switched to a parking range; wherein the detection command is for instructing the detector to communicate with the key;

receiving detection information sent by the detector; wherein the detection information is generated after the detector communicates with the key;

And when the distance between the detector and the key is smaller than the preset trigger distance according to the detection information, judging that the current state of the vehicle meets the unlocking action detection condition.

By the mode, when the vehicle is in the parking gear, the control device sends a detection command to the detector, so that the detector communicates with the key, detection data generated after communication is sent to the control device, the control device analyzes the detection data, and when the distance between the detector and the key is determined to be smaller than the preset trigger distance, the current state of the vehicle is judged to meet the unlocking action detection condition. Therefore, only when a user carries a car key and approaches to the tail gate, whether the car key is unlocked correctly is detected, so that a layer of safety lock is added, theft of the tail gate by other people is avoided to a certain extent, and safety is improved.

In a possible embodiment, the vehicle is provided with a monitor at the rear, and the method further comprises a step of detecting the current state of the vehicle, the step comprising:

transmitting a detection command to the monitor under the condition that the current running state of the vehicle is switched to a parking gear; the detection command is used for indicating the monitor to detect the surrounding environment of the tail of the vehicle;

Receiving environment detection information of the monitor, and analyzing the environment detection information to obtain an analysis result; the analysis result comprises a person-vehicle distance between a person and the tail of the vehicle;

and if the distance between the vehicle and the person is smaller than the preset trigger distance, judging that the current state of the vehicle meets the unlocking action detection condition.

By the mode, when the vehicle is in the parking gear, the control equipment sends a detection command to the monitor, so that the monitor detects the surrounding environment of the tail of the vehicle, and sends environment detection information to the control equipment, the control equipment analyzes the environment detection information, and when the distance between the tail of the vehicle and a key or the distance between a person and the tail of the vehicle is determined to be smaller than a preset trigger distance, the current state of the vehicle is judged to meet the unlocking action detection condition. Therefore, only when a user or a user carrying a car key approaches to the tail gate, whether the car key is unlocked correctly is detected, so that a layer of safety lock is added, theft of the tail gate by other people is avoided to a certain extent, and safety is improved.

In a second aspect, an embodiment of the present application provides a method for unlocking an electric tail gate, which is applied to a projection device, where the projection device is set at a tail of a vehicle, and the projection device is communicatively connected to a control device of the vehicle, and the method includes:

And when receiving a starting command sent by the control equipment, projecting a light spot to the ground opposite to the tail of the vehicle so as to enable the control equipment to realize the electric tail door unlocking method according to any one of possible implementation modes of the first aspect.

Therefore, when the projection equipment receives a starting command sent by the control equipment, a light spot is projected to the ground opposite to the tail of the vehicle, and the action of a user in a projection area of the light spot is detected by matching with the laser radar, so that the control equipment can be used for carrying out satisfaction check on the state switching condition of the tail gate, and further the sensitivity and the safety of the electric tail gate can be improved.

In one possible embodiment, the light spot includes a plurality of treading areas, and the step of projecting the light spot toward the ground facing the vehicle tail includes:

projecting light spots to the ground opposite to the tail of the vehicle according to a preset projection configuration;

according to a preset prompting sequence, the shapes of the plurality of trampling areas are sequentially changed into trampling prompting shapes; the trampling prompt is used for prompting a user to trample.

By means of the mode, the projection equipment projects light spots to the ground opposite to the tail of the vehicle according to the preset projection configuration, the shapes of the multiple trampling areas are changed to trampling prompt shapes according to the preset prompt sequence, so that a user can trample according to the prompt to form unlocking actions, the control equipment is helped to carry out satisfaction check on the state switching conditions of the tail gate, and further the sensitivity and safety of the electric tail gate are helped to be improved.

In a third aspect, an embodiment of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, implements a method for unlocking a power tailgate according to any one of the possible embodiments of the first or second aspects.

In addition, the technical effects of the storage medium described in the third aspect may refer to the technical effects of the electric tail gate unlocking method described in any implementation manner of the first aspect and the second aspect, which are not described herein again.

In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory for storing one or more programs; when the one or more programs are executed by the processor, a method for unlocking a power tailgate is implemented according to any one of the possible implementation manners of the first aspect or the second aspect.

The electronic device may be a central control system of the vehicle, or may be a computer device in communication with the electric tail gate, such as a mobile phone, a driving computer, a server, etc., or may be a chip (system) or other parts or components that may be disposed on the electric tail gate, which is not limited in this application. The technical effects of the electronic device described in the eighth aspect may refer to the technical effects of the circuit described in any one of the possible implementation manners of the first aspect, which are not described herein.

In addition, the technical effects of the electronic device described in the fourth aspect may refer to the technical effects of the electric tail gate unlocking method described in any implementation manner of the first aspect and the second aspect, which are not described herein again.

In a fifth aspect, an embodiment of the present application provides a certain electric tail gate unlocking device, which is applied to a control device of a vehicle, where the control device is in communication connection with a projection device and a laser radar that are disposed at the tail of the vehicle, and the device includes a detection starting module, a data analysis module and a switching module;

the detection starting module is used for sending a starting command to the projection equipment and the laser radar when detecting that the current state of the vehicle meets the unlocking action detection condition; the starting command is used for indicating the projection equipment to project a light spot to the ground opposite to the tail of the vehicle and indicating the laser radar to detect the action of a user in the projection area of the light spot;

the data analysis module is used for receiving detection data detected by the laser radar at least once, analyzing the detection data, and judging whether the tail gate state switching condition is met according to an analysis result;

the switching module is used for controlling the tail gate of the vehicle to switch states if the tail gate state switching condition is met; wherein the state of the tail gate comprises opening and closing.

In addition, the technical effects of the electric tail gate unlocking device according to the fifth aspect may refer to the technical effects of the electric tail gate unlocking method according to any implementation manner of the first aspect, and are not described herein again.

In a sixth aspect, an embodiment of the present application provides an electronic device, including: the device comprises a first processing unit, a second processing unit and a third processing unit.

The first processing unit is used for sending a starting command to the projection equipment and the laser radar when detecting that the current state of the vehicle meets an unlocking action detection condition; the starting command is used for indicating the projection device to project a light spot to the ground opposite to the tail of the vehicle, and indicating the laser radar to detect the action of a user in the projection area of the light spot.

And the second processing unit is used for receiving the detection data detected by the laser radar at least once, analyzing the detection data, and judging whether the tail gate state switching condition is met or not according to the analysis result.

The third processing unit is used for controlling the tail gate of the vehicle to switch states if the tail gate state switching conditions are met; wherein the state of the tail gate comprises opening and closing.

The technical effects of the electronic device according to the sixth aspect may refer to the technical effects of the electric tail gate unlocking method according to any one of the implementation manners of the first aspect, which are not described herein again.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic structural diagram of an electric tail gate unlocking system according to an embodiment of the present application.

Fig. 2 shows one of flow diagrams of an unlocking method for an electric tail gate according to an embodiment of the present application.

Fig. 3 shows a second flowchart of an unlocking method for an electric tail gate according to an embodiment of the present application.

Fig. 4 shows one of the flow charts of a partial sub-step of step S11 in fig. 3.

Fig. 5 shows a second flow chart of a partial sub-step of step S11 in fig. 3.

Fig. 6 shows a schematic structural diagram of a light spot according to an embodiment of the present application.

Fig. 7 shows one of the flow charts of the partial sub-steps of step S14 in fig. 2 and 3.

Fig. 8 shows a second flow chart of a partial sub-step of step S14 in fig. 2 and 3.

Fig. 9 shows a schematic structural diagram of an electric tail gate unlocking device according to an embodiment of the present application.

Fig. 10 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.

Reference numerals illustrate: 1000-an electric tail gate unlocking system; 10-a control device; a 20-projection device; 30-laser radar; 40-detector; 50-a monitor; 60-an electric tail gate unlocking device; 601-a detection start module; 602-a data parsing module; 603-a switching module; 70-an electronic device.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

It is noted that 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 the element.

At present, the realization logic of the kicking function of the electric tail gate is as follows: an infrared sensor or an ultrasonic sensor is arranged below the tail of the vehicle, the sensor is connected with a controller of the electric tail gate, and when the sensor detects the step action of a user, the controller receives a signal and starts the opening or closing operation of the tail gate.

However, this power tailgate kick function has the following drawbacks:

(1) The sensitivity of the sensor is low in part of the electric tail gate foot kicking, and a user needs to kick for many times to start the electric tail gate, so that the use experience is affected.

(2) When a user walks or stands, the user can easily touch the sensor below the tail of the vehicle by mistake, so that the electric tail gate is triggered by mistake, and unnecessary troubles are caused.

(3) In the process of opening or closing the electric tail gate, the situations that the feet of a user kick below the electric tail gate, stand unstably or be blocked and the like easily occur, and potential safety hazards exist.

Based on the above consideration, the embodiment of the application provides an unlocking method for an electric tail gate, which can improve the control sensitivity of the electric tail gate and reduce potential safety hazards.

The electric tail gate unlocking method provided by the embodiment of the application can be applied to the electric tail gate unlocking system 1000 shown in fig. 1, the electric tail gate unlocking system 1000 can comprise a control device 10, a projection device 20, a laser radar 30, a detector 40 and a monitor 50 of a vehicle, the projection device 20, the laser radar 30, the detector 40 and the monitor 50 can be arranged in the tail area of the vehicle, and the control device 10 can be in communication connection with the monitor 50, the projection device 20, the laser radar 30, the detector 40 and the monitor 50 and a driving device of the electric tail gate or the electric tail gate of the vehicle through wires, wireless or networks.

The control device 10 is configured to perform detection in cooperation with the detector 40 or the monitor 50, and send a start command to the projection device 20 and the lidar 30 when detecting that the current state of the vehicle satisfies the unlock motion detection condition.

And the projection device 20 is used for projecting a light spot to the ground opposite to the tail of the vehicle after receiving the starting command so as to instruct a user to tread the projection area of the light spot to finish the unlocking action.

The lidar 30 is configured to detect the motion of the user in the projection area of the light spot multiple times after receiving the start command, and send detection data of each time to the control device 10. It should be noted that, the laser emitting direction of the laser radar 30 may be identical to the projection direction of the projection device 20, that is, both face the ground facing the tail gate of the parking space.

The control device 10 is further configured to analyze the received detection data, and control the tailgate of the vehicle to perform state switching when it is determined that the tailgate state switching condition is satisfied according to the analysis result. For example, the control device 10 transmits a switching command to the electric tailgate or the driving device of the electric tailgate, and opens the tailgate if the tailgate is originally closed, and closes the tailgate if the tailgate is originally opened.

The control device 10 may be, but is not limited to: cloud server, server cluster, independent server, vehicle's well accuse equipment and intelligent cabin etc..

In one possible embodiment, a method for unlocking an electric tailgate is provided, and referring to fig. 2, the following steps may be included. In the present embodiment, the control apparatus 10 in fig. 1 is exemplified with the application of the electric tail gate unlocking method.

And S12, when the current state of the vehicle is detected to meet the unlocking action detection condition, sending a starting command to the projection equipment and the laser radar.

The start command is used to instruct the projecting device 20 to project a light spot to the ground facing the tail of the vehicle, where the light spot is used to instruct the user to step on the projected area of the light spot, so as to complete the unlocking action. The start command is also used to instruct and instruct the lidar 30 to detect at least one movement of the user in the projected area of the spot and to send detection data to the control device 10.

S14, receiving detection data detected by the laser radar at least once, and analyzing the detection data.

S16, judging whether the tail gate state switching condition is met according to the analysis result. If yes, go to step S18.

S18, controlling a tail gate of the vehicle to switch states.

It should be understood that the state of the tailgate includes opening and closing.

The control device 10 detects in cooperation with the detector 40 or the monitor 50, and when detecting that the current state of the vehicle satisfies the unlock operation detection condition, transmits a start command to the projection device 20 and the laser radar 30. After receiving the start command, the projection device 20 projects a light spot to the ground facing the tail of the vehicle, so as to instruct the user to tread the projection area of the light spot, thereby completing the unlocking action. Meanwhile, after receiving the start command, the lidar 30 detects the motion of the user in the projection area of the light spot a plurality of times, and transmits detection data of each time to the control device 10.

In this process, since the laser radar 30 and the projection device 20 are activated synchronously, the laser radar 30 can detect the stepping action of the user on the projection area of the light spot to generate detection data.

The control device 10 analyzes the received detection data, and issues a switching command to the electric tailgate or the driver of the electric tailgate when it is determined that the tailgate state switching condition is satisfied based on the analysis result. After receiving the switching command, the electric tail gate or the driver of the electric tail gate opens the tail gate which is originally closed or closes the tail gate which is originally opened.

According to the electric tail gate unlocking method, a user does not need to manually press a button or manually open the tail gate to open or close the tail gate, the complicated step of manual opening is omitted, two hands are liberated, and the electric tail gate unlocking method is convenient and quick. Meanwhile, the laser radar 30 detects and adds a verification link mode, and the electric tail gate can be opened or closed only when the kick action or the step action meets the tail gate state switching condition, so that the safety can be improved, and the potential safety hazard is reduced.

In addition, by adopting the laser radar 30 for detection, the detection accuracy of the laser radar 30 can reach the millimeter level, and the detection sensitivity can be greatly improved.

In order to improve the accuracy of the unlocking detection of the electric tail gate, avoid the energy and resource consumption caused by unnecessary detection, and avoid the safety problem caused by the switching detection of the tail gate entering at dangerous moment, the detection of the current state of the vehicle is introduced. Referring to fig. 3, the method for unlocking an electric tail gate provided by the present application may further include step S11, which is performed before step S12.

S11, detecting the current state of the vehicle.

In one possible embodiment, in order to avoid false entry into the tail gate unlock detection, a distance detection of the key from the vehicle tail is introduced. Referring to fig. 4, step S11 may be implemented as the following steps.

S111A, when the current running state of the vehicle is switched to the park range, a detection command is transmitted to the detector.

In the present embodiment, the detection command is used to instruct the detector 40 to communicate with the key.

S112A, receiving detection information sent by a detector, and judging that the current state of the vehicle meets the unlocking action detection condition when the distance between the detector and the key is smaller than the preset trigger distance according to the detection information.

In one possible implementation, the detector 40 starts broadcasting the detection request signal after receiving the detection command. It should be noted that the broadcast range of the detector 40 may be configured in a preset range, where a radius of the preset range is not greater than a length of the vehicle and is consistent with a preset trigger distance, for example, the radius of the preset range may be 1m, 0.5m, and the like.

After the key of the vehicle captures the detection request signal, a detection response signal is returned to the detector 40. The detector 40 may generate detection information based on the detection response signal, and return the detection signal to the control apparatus 10. The detection information at this time may be detection information indicating that the communication is successful, and indicates that the distance between the detector 40 and the key is smaller than the preset trigger distance, and the user carrying the key approaches the tail of the vehicle.

If the key of the vehicle is not within the broadcast range of the detector 40, the key cannot capture the detection request signal. In this case, if the detector 40 does not acquire the detection response signal returned by the key within the preset period of time, detection information is generated and returned to the control apparatus 10. The detection signal at this time is detection information indicating that communication has failed, and indicates that the distance between the detector 40 and the key is greater than or equal to the preset trigger distance, and the user carrying the key is not approaching the tail of the vehicle.

Through the steps S111A to S112A, through the communication cooperation between the detector 40 and the key, only when the user carrying the car key approaches the tail gate, the detection of whether the car key is unlocked correctly is performed, so that a layer of safety lock is added, theft of the tail gate by other people is avoided to a certain extent, and safety is improved. Meanwhile, when a user carrying a car key is not close to the tail gate, the laser radar 30 and the projection equipment 20 do not need to be started, and energy consumption and resource waste can be reduced.

In another possible embodiment, environmental monitoring of the vehicle tail is introduced in order to avoid false entry of the tail gate unlock detection. Referring to fig. 5, step S11 may be implemented as the following steps.

S111B, when the current running state of the vehicle is switched to the park range, a detection command is transmitted to the monitor.

In the present embodiment, the detection command is used to instruct the monitor 50 to detect the surrounding environment of the vehicle tail.

And S112B, receiving environment detection information of the monitor, and analyzing the environment detection information to obtain an analysis result.

The analysis result may include a person-vehicle distance between the person and the tail of the vehicle.

And S113B, if the distance between the vehicles is smaller than the preset trigger distance, judging that the current state of the vehicles meets the unlocking action detection condition.

The monitor 50 may include a camera and a range finder, when the monitor 50 receives a detection command and the camera recognizes that a person exists in a tail area of the vehicle, the range finder starts ranging to obtain ranging data between the person and the tail of the vehicle, and sends the ranging data to the control device 10, and the control device 10 analyzes the ranging data to obtain a distance between the person and the vehicle. And when the distance between the vehicle and the person is smaller than the preset trigger distance, judging that the unlocking action detection condition is met.

Through the steps S111B to S113B, only when a person approaches the tail gate and a stop is at a stop, the detection of whether the tail gate is unlocked correctly is performed by the monitoring of the monitor 50, so that a layer of safety lock is added, the theft of the tail gate by other persons is avoided to a certain extent, and the safety is improved. Meanwhile, when a person is not close to the tail gate, the laser radar 30 and the projection device 20 do not need to be started, and energy consumption and resource waste can be reduced.

In one possible embodiment, for step S11, when the current running state of the vehicle is switched to the parking range, whether the tail gate switching command is received may be continuously detected, and if so, the unlock operation detection condition is satisfied. The tail gate switching command may be transmitted to the control device 10 by a user through voice input, keyboard input, or the like.

The configuration and detection of the unlocking operation may be flexibly set, for example, a pedal prompt area may be set to detect whether the pedal prompt area is stepped on, or whether the pedal sequence is consistent with the configured operation, and in this embodiment, the present embodiment is not particularly limited.

In order to improve safety, in one possible embodiment, it may be detected whether the pedaling sequence coincides with the configured action. The light spot may comprise a plurality of tread areas, each tread area having a unique identification, for example, may be a tread area arrangement as shown in fig. 6, with a total of three tread areas, identified as A, B, C. The primary detection data may include a user's ranging value for a plurality of tread areas over a period of time. The user may preset the user unlocking action, so that the user can tread in the same manner as the user unlocking action in the tread area.

At this time, referring to fig. 7, step S14 may be implemented by the following steps.

S141A, for each of the tread areas, a tread timing of the tread area is determined from a plurality of ranging values corresponding to the tread area.

S142A, obtaining the unlocking action of the user according to the treading time of all the treading areas.

S143A, judging whether the unlocking action of the user is consistent with the preset tail gate state switching action, if so, judging that the tail gate state switching condition is met.

In step S141A, for any one of the tread areas, if the distance measurement value corresponding to the tread area at a certain time is within the preset tread range, the time is taken as one of the tread areas. In this way, the treaded time of all treading areas is determined.

In step S142A, the stepping areas are ordered according to the sequence of the stepping times, the stepping order is obtained, and the stepping order is used as the user unlocking operation. For example, if the detection period is 0s-4s, the trampling time of the trampling area a is 1.5s and 3s, the trampling time of the trampling area B is 2s, and the trampling time of the trampling area C is 1s, the user unlocking action is as follows: treading area C-treading area A-treading area B-treading area A.

Through the steps, through detection of the unlocking action of the user, the switching willingness of the tail gate state of the user is obtained, so that the user experience is improved, and the control accuracy of the tail gate is improved. Meanwhile, the state of the tail gate is switched only when the unlocking action is consistent with the preset state switching action of the tail gate, and the electric tail gate can be prevented from being opened by others to a certain extent.

In a possible embodiment, based on the steps S141A to S143A, in order to improve the detection sensitivity, a user is prevented from stepping on the area, so that the detection information of the laser radar 30 is wrong, and a stepping prompt is introduced. The projection device 20 may sequentially change the shapes of the plurality of stepping areas to a stepping prompting shape according to a preset prompting sequence, so as to prompt the user to perform stepping.

The user steps on the area according to stepping on the suggestion form in proper order, can avoid the user to step on the mistake, improves detection accuracy.

In order to improve the safety, in one possible embodiment, whether the step area is stepped on may be detected to determine whether the tail gate state switching condition is satisfied. The spot may comprise a plurality of tread areas, each tread area having a unique identifier, for example, may be a tread area arrangement as shown, with a total of three tread areas, identified as A, B, C. The primary detection data may include ranging values of the user for a plurality of tread areas over a period of time, and the detection data may include first data and second data that are adjacent in acquisition order.

For example, after receiving the start command, the laser radar 30 acquires 10 frames of reference data, each frame of reference data obtaining one ranging value for each tread area, and at this time, the 10 frames of reference data are the first data. After 2 seconds of speaking, the laser radar 30 collects 10 frames Lei Dadian of cloud data, and each frame of radar point cloud data obtains a ranging value of each stepping area, and at this time, the 10 frames Lei Dadian of cloud data are second data.

At this time, referring to fig. 8, step S14 may be implemented by the following steps.

S141B, for each of the tread areas in the first data, obtaining a first ranging median value of the tread area from a plurality of ranging values corresponding to the tread area.

S142B, for each of the tread areas in the second data, obtaining a second ranging median value of the tread area from the plurality of ranging values corresponding to the tread area.

S143B, judging whether the tail gate state switching condition is met according to the first ranging median value and the second ranging median value of each treading area.

The first ranging median value may be a mean value of a plurality of ranging values corresponding to the first data, or may be a median value of a plurality of ranging values corresponding to the first data. Similarly, the second ranging median value may be a mean value of a plurality of ranging values corresponding to the second data, or may be a median value of a plurality of ranging values corresponding to the second data.

In step S143, for each pedal area, an absolute difference between the first ranging median and the second ranging median may be calculated, and it is determined whether at least one pedal area has an absolute difference within a preset pedal range, and if so, it is determined that the tail gate state switching condition is satisfied.

For example, there are three pedal areas A, B, C, the pedal range value may be 2cm to 6cm, and when the absolute difference of pedal area a, pedal area B or pedal area C is between 2cm to 6cm, it is indicated that the pedal area is pedal by the user, satisfying the tail gate state switching condition.

Through the steps S141B to S143B, the user 'S desire to switch the tail gate state is obtained through the user' S stepping action on the stepping area, so as to improve the user experience and the accuracy of tail gate control.

In one possible implementation, the embodiment of the present application further provides an electric tail gate unlocking method, which may be applied to the projection device 20. At this time, the electric tail gate unlocking method may include the steps of: when receiving the start command sent by the control device 10, a light spot is projected to the ground opposite to the tail of the vehicle, so that the control device 10 implements any one of the possible electric tail gate unlocking methods provided in the above embodiments.

In one possible embodiment, the projection device 20 may project the light spots onto the ground facing the rear of the vehicle according to a predetermined projection configuration, and sequentially change the shapes of the plurality of tread areas to tread prompt shapes according to a predetermined prompt sequence. The step-on prompt is used for prompting the user to step on.

By the above-mentioned electric tail gate unlocking method applied to the projection device 20, in order to avoid the error of the user stepping on the area, the detection information of the laser radar 30 is made to be wrong, the stepping prompt is introduced, the detection sensitivity is improved, and the user body jar is promoted.

The electric tail gate unlocking method provided by the application at least comprises the following beneficial effects:

(1) The electric foot kick can be used for rapidly opening the tail door, so that the complicated step of manual opening is omitted, two hands are liberated, and the automobile tail door is convenient and rapid.

(2) An unlocking verification link is added, and the state switching of the electric tail gate can be started only under the correct unlocking action, so that accidents are avoided, and the safety is improved.

(3) The electric tail door can be automatically closed, a user does not need to excessively bend down or forcefully pull the door, the electric tail door is suitable for long-term use, and the convenience and the comfort of use are improved.

(4) By adopting the laser radar detection, the detection precision of the laser radar can reach millimeter level, and the detection sensitivity can be greatly improved.

Based on the same concept as the above-described electric tail gate unlocking method, in one possible embodiment, an electric tail gate unlocking device 60 is provided, which electric tail gate unlocking device 60 can be applied to the control apparatus 10 in fig. 1. Referring to fig. 9, the electric tail gate unlocking apparatus 60 may include a detection starting module 601, a data parsing module 602, and a switching module 603.

The detection starting module 601 is configured to send a starting command to the projection device 20 and the laser radar 30 when detecting that the current state of the vehicle meets an unlocking motion detection condition. The start command is used for indicating the projection device 20 to project a light spot to the ground facing the tail of the vehicle, and indicating the laser radar 30 to detect the action of the user in the projection area of the light spot.

The data analysis module 602 is configured to receive detection data detected by the laser radar 30 at least once, analyze the detection data, and determine whether a tail gate state switching condition is satisfied according to an analysis result.

And the switching module 603 is configured to control the tail gate of the vehicle to perform state switching if the tail gate state switching condition is satisfied. Wherein the state of the tail gate includes opening and closing.

Further, a state detection module can be also included

And the state detection module is used for detecting the current state of the vehicle.

In the above-mentioned electric tail gate unlocking device 60, when detecting that the current state of the vehicle satisfies the unlocking action detection condition by the cooperative action of the detection starting module 601, the data analyzing module 602 and the switching module 603, the control device 10 sends a starting command to the projection device 20 and the laser radar 30, so that the projection device 20 projects a light spot onto the ground facing the tail of the vehicle, instructs the user to perform unlocking action in the projection area of the light spot, and causes the laser radar 30 to detect the action of the user in the projection area of the light spot, and after receiving the detection data detected by the laser radar 30 at least once, the control device 10 analyzes the detection data, and when determining that the state switching condition of the tail gate is satisfied according to the detection result, controls the tail gate of the vehicle to be switched on or off.

Therefore, the tail door is opened or closed without manual button pressing or manual opening by a user, the complicated step of manual opening is omitted, and the double hands are liberated, so that the method is convenient and quick. Meanwhile, the laser radar 30 detects and adds a verification link mode, and the electric tail gate can be opened or closed only when the kick action or the step action meets the tail gate state switching condition, so that the safety can be improved, and the potential safety hazard is reduced.

For a specific implementation of the electric tail gate unlocking device 60, reference may be made to the above description of the implementation of the electric tail gate unlocking device 60 method, which is not repeated herein. The various modules in the electric tail gate unlocking device 60 described above may be implemented in whole or in part by software, hardware, or a combination thereof.

An electronic device provided by an embodiment of the present application includes: a first processing unit, a second processing unit, and a third processing unit.

Wherein, the first processing unit is configured to send a start command to the projection device 20 and the laser radar 30 when detecting that the current state of the vehicle satisfies the unlock motion detection condition. The start command is used for indicating the projection device 20 to project a light spot to the ground facing the tail of the vehicle, and indicating the laser radar 30 to detect the action of the user in the projection area of the light spot.

The second processing unit is configured to receive the detection data detected by the laser radar 30 at least once, analyze the detection data, and determine whether the tail gate state switching condition is satisfied according to the analysis result.

And the third processing unit is used for controlling the tail gate of the vehicle to switch states if the tail gate state switching condition is met. Wherein the state of the tail gate includes opening and closing.

It should be noted that, in the electronic device provided in this embodiment, the method flow shown in the method flow implementation manner of the motor angle adoption method flow may be executed, so as to achieve the corresponding technical effects. For a brief description, reference is made to the corresponding parts of the above embodiments, where this embodiment is not mentioned.

Alternatively, the first processing unit, the second processing unit, and the third processing unit may be separately provided, or may be integrated in one unit, that is, the processing unit, and the specific implementation manner of the first processing unit, the second processing unit, and the third processing unit is not specifically limited in the present application.

Optionally, the electronic device may further include a storage unit, where the storage unit stores programs or instructions. The programs or instructions, when executed by the first processing unit, the second processing unit, and the third processing unit, enable the electronic device to perform any one of the possible implementations of the motor angle adoption method of the present application.

The electronic device may be a central control system of a vehicle, a central control system of an electric tail gate, or a computer device connected with the electric tail gate in a communication manner, such as a cloud server, a server, etc., or may be a chip (system) or other components or assemblies that may be disposed on the electric tail gate (or the central control system of the electric tail gate, or the computer device connected with the electric tail gate in a communication manner), which is not limited in the present application.

In addition, the technical effects of the electronic device may be the technical effects of the method shown in the embodiment of the motor angle sampling method, which are not described herein again.

The present application provides a computer readable storage medium storing computer instructions, a program which when read and executed perform the method of the above embodiments. The storage medium may include memory, flash memory, registers, combinations thereof, or the like.

An electronic device 70 is provided below, which may be a central control system of an electric tailgate, a vehicle, a central control system of a vehicle, or a computer device, such as a cell phone, a driving computer, a server, etc., communicatively connected to the electric tailgate. The electronic device 70 is shown in fig. 10, and the method described above may be implemented; specifically, the electronic device 70 includes a processor, a memory, and a communication module connected by a system bus. The processor may be a CPU. The memory is used for storing one or more programs, and when the one or more programs are executed by the processor, the motor angle sampling method provided by the embodiment is executed. The memory, the processor and the communication module are electrically connected with each other directly or indirectly so as to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

Wherein the memory is used for storing programs or data. The Memory may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor is configured to read/write data or programs stored in the memory, such as the above-mentioned LVDS, TDC, and programs and data for realizing the functions of the processing unit, and perform the method provided by any embodiment of the present application.

The communication module is used for establishing communication connection between the electronic device 70 and other communication terminals through a network, and for transceiving data through the network.

It should be understood that the configuration shown in fig. 8 is merely a schematic diagram of the electronic device 70, and that the electronic device 70 may also include more or fewer components than those shown in fig. 8, or have a different configuration than that shown in fig. 8.

An embodiment of the present application provides a computer program product comprising: a computer program (which may also be referred to as code, or instructions), when executed, causes a computer to perform the method of unlocking a power tailgate of any one of the possible implementations of the embodiments of the method of the application.

The embodiment of the application provides a chip system, which comprises: a processor and a memory for storing one or more programs; when the one or more programs are executed by the processor, a method for unlocking an electric tail gate according to any one of the possible implementation manners of the method embodiments of the present application is implemented.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An electric tailgate unlocking method, characterized by being applied to a control device of a vehicle, the control device being in communication connection with a projection device and a lidar provided at a rear portion of the vehicle, the method comprising:

2. The method of unlocking an electric tailgate according to claim 1 wherein the light spot comprises a plurality of trampling areas, the detection data once comprising a user's ranging value for the plurality of trampling areas over a period of time;

3. The method for unlocking an electric tail gate according to claim 2, wherein the step of obtaining the user unlocking action according to the tread timings of all the tread areas comprises:

4. The method for unlocking an electric tail gate according to claim 1, wherein the light spot comprises a plurality of treading areas, the detection data comprises a distance measurement value of a user on the plurality of treading areas in a period of time at one time, and the detection data comprises first data and second data which are adjacent in acquisition sequence;

5. The method of unlocking an electric tailgate according to claim 4, wherein the step of determining whether a tailgate state switching condition is satisfied according to a first ranging median value and a second ranging median value of each of the pedal areas comprises:

6. The electric tailgate unlocking method according to any one of claims 1 to 5, characterized in that the method further comprises a step of detecting a current state of the vehicle, the step comprising:

7. The electric tailgate unlocking method according to any one of claims 1 to 5, characterized in that the vehicle is provided with a detector at the rear thereof, which detector is in communication with the control device and the key of the vehicle, the method further comprising the step of detecting the current state of the vehicle, the step comprising:

8. The electric tailgate unlocking method according to any one of claims 1 to 5, characterized in that a monitor is provided at a rear portion of the vehicle, the method further comprising a step of detecting a current state of the vehicle, the step comprising:

9. A method of unlocking an electric tailgate, characterized by being applied to a projection device disposed in communication with a vehicle rear, the projection device being communicatively coupled to a control device of the vehicle, the method comprising:

when a start command sent by the control device is received, a light spot is projected to the ground opposite to the tail of the vehicle, so that the control device realizes the electric tail gate unlocking method according to any one of claims 1 to 8.

10. The method of unlocking an electric tailgate according to claim 9 wherein said light spot comprises a plurality of treading areas, said step of projecting a light spot toward the ground directly opposite said vehicle tail comprises:

11. A storage medium having stored thereon a computer program which, when executed by a processor, implements the electric tailgate unlocking method according to any one of claims 1 to 10.

12. An electronic device, comprising: a processor and a memory for storing one or more programs; the electric tail gate unlocking method of any one of claims 1 to 10 is implemented when the one or more programs are executed by the processor.

13. The electric tail door unlocking device is characterized by being applied to control equipment of a vehicle, wherein the control equipment is in communication connection with projection equipment and a laser radar arranged at the tail of the vehicle, and the device comprises a detection starting module, a data analysis module and a switching module;