CN117127883A - Automobile tail door control method and system, controller and automobile - Google Patents

Abstract

The invention relates to the technical field of automobile tail gate control, and discloses an automobile tail gate control method, an automobile tail gate control system, an automobile tail gate controller and an automobile, wherein the method comprises the following steps: when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, acquiring starting distance information and actual movement speed of the automobile tail door; determining a current target speed corresponding to the starting distance information, and determining an automobile tail door running state according to the current target speed and the actual movement speed; and executing a tail gate control strategy according to the running state of the automobile tail gate. The invention can realize the accurate in-place door opening and closing of the automobile tail door, can prevent the shaking in the door opening and closing process of the automobile tail door, and improves the operation convenience and the door opening and closing smoothness of the automobile tail door control.

Description

Automobile tail door control method and system, controller and automobile

Technical Field

The invention relates to the technical field of automobile tail gate control, in particular to an automobile tail gate control method, an automobile tail gate control system, an automobile tail gate controller and an automobile.

Background

With the continuous development of the automobile industry in China, the development of automobile electronics is more and more varied, the requirements of people on the automation and intelligence level of automobile electronics technology are also continuously improved, and the operation system of the automobile is also continuously updated and updated along with the development of technology. At present, whether the automobile tail door is opened or closed and braked smoothly, safely and conveniently is an important experience and feel for a majority of users as part of an automatic control system of an automobile. In the prior art, the weight of the automobile tail door of each automobile type is inconsistent with the design of the automobile type, so that the situation that the automobile tail door is not opened or closed in place can often occur, and meanwhile, the automobile tail door is also easily influenced by various external environments or the gravity and inertia of the automobile tail door, and obvious shaking occurs in the door opening and closing process.

Disclosure of Invention

The embodiment of the invention provides an automobile tail door control method, an automobile tail door control system, an automobile tail door controller and an automobile.

A method of controlling a tailgate of an automobile, comprising:

when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, acquiring starting distance information and actual movement speed of the automobile tail door;

determining a current target speed corresponding to the starting distance information, and determining an automobile tail door running state according to the current target speed and the actual movement speed;

and executing a tail gate control strategy according to the running state of the automobile tail gate.

A controller for executing the automobile tail gate control method.

A vehicle tailgate control system includes a controller for executing the vehicle tailgate control method.

An automobile comprises the controller or the automobile tail door control system.

The invention provides an automobile tail door control method, an automobile tail door control system, a controller and an automobile, wherein the automobile tail door control method comprises the following steps: when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, acquiring starting distance information and actual movement speed of the automobile tail door; determining a current target speed corresponding to the starting distance information, and determining an automobile tail door running state according to the current target speed and the actual movement speed; and executing a tail gate control strategy according to the running state of the automobile tail gate.

In the embodiment of the invention, when the automobile tail gate is normally driven by the tail gate motor, the automobile tail gate operates according to the target speed, so that each piece of starting distance information in the motion process of the automobile tail gate corresponds to one target speed (namely the current target speed); therefore, when the tail gate motor is started and the automobile tail gate is in a non-anti-pinch running state, the current target speed of the automobile tail gate can be determined according to the starting distance information of the automobile tail gate, the running state of the automobile tail gate is determined according to the current target speed and the actual moving speed, and then the tail gate control strategy is executed according to the determined running state of the automobile tail gate, so that the automobile tail gate can be accurately opened and closed in place through the tail gate control strategies corresponding to different running states of the automobile tail gate, and meanwhile, shaking in the process of opening and closing the automobile tail gate can be prevented, and the operation convenience and the door opening and closing smoothness of automobile tail gate control are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a method for controlling a tailgate of a vehicle according to an embodiment of the invention.

Fig. 2 is a flowchart of step S20 of the automobile tail gate control method according to an embodiment of the present invention.

FIG. 3 is a schematic diagram showing a comparison between a preset target speed curve and an actual movement speed when an automobile tail gate is opened by an automobile tail gate control method according to an embodiment of the present invention.

FIG. 4 is a schematic diagram showing a comparison between a preset target speed profile and an actual movement speed when the tail gate of the automobile is closed by the tail gate control method according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In an embodiment, as shown in fig. 1, the present invention provides a method for controlling a tail gate of an automobile, comprising the following steps S10 to S30:

s10, when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, acquiring starting distance information and actual movement speed of the automobile tail door; the tail door motor of the automobile is used for driving the tail door of the automobile to be opened and closed and the like. Understandably, the automobile tail door is in a non-anti-pinch running state, which means that the running state of the automobile tail door is not monitored to be the anti-pinch running state at present; for example, the automobile tail gate is currently in a boosting operation state or a normal operation state, wherein the boosting operation state refers to an operation state that boosting force with the same current movement direction is applied to the automobile tail gate so as to assist the automobile tail gate to be opened or closed. The anti-pinch running state means that the automobile tail door is currently clamped to a certain object or living things, so that the clamped object generates an anti-pinch force opposite to the current moving direction, and further an anti-pinch operation (to avoid pinching people or other living things or objects or the like) needs to be performed on the anti-pinch force, for example, an anti-pinch control strategy is implemented, and specifically, the anti-pinch control strategy can be used for controlling the automobile tail door to move in a direction opposite to the current moving direction or stop at the current opening degree. The normal running state refers to other running states of the automobile tail door except the anti-clamping running state or the boosting running state; understandably, in the boosting operation state or the normal operation state, since the automobile tail gate is in the non-anti-pinch operation state, the automobile tail gate can be controlled to execute the non-anti-pinch control strategy at the moment, that is, under the condition that the anti-pinch force does not exist, whether the boosting force exists or not, the automobile tail gate can be controlled to normally operate towards the original movement direction. The actual movement speed is understood to mean the movement speed of the tailgate of the motor vehicle at the current point in time.

Further, the starting distance information includes the current starting distance of the automobile tail door, and in the opening stroke of the automobile tail door, the starting distance refers to the width of an opening gap or the opening angle of the current automobile tail door facing the opening direction; in the closing stroke of the automobile tail door, the starting distance refers to the corresponding closing gap width or closing angle and the like when the current automobile tail door moves towards the closing direction; it is understood that the maximum starting distance between the fully closed and fully opened tail gate of the automobile may be different for different automobile types, and the maximum starting distance may be adjusted within a certain range according to the actual use requirement for the same automobile type; however, after the adjustment is completed, the maximum starting distance is considered to be fixed for the current adjustment of the vehicle type, so that the opening stroke or the closing stroke of the tail gate of the vehicle is also fixed in the state, and at this time, the starting distance information can represent the current movement stroke of the tail gate of the vehicle.

It can be understood that the current starting distance of the tail gate of the automobile can be measured by the hall sensor (when the tail gate of the automobile stops moving, the hall counts will stop counting), at this time, the maximum starting distance of the automobile is set to correspond to the preset number (for example, N may be 500-700) of hall counts, taking the opening stroke of the tail gate of the automobile as an example (the closing stroke of the tail gate of the automobile is similar to the opening stroke, which will not be repeated here), the hall count is 0 when the tail gate of the automobile is closed, the hall count is N hall counts when the tail gate of the automobile is completely opened, and the hall count is greater than 0 and less than N in the opening process of the tail gate of the automobile.

In one embodiment, the step S10 specifically includes: when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, if a Hall count value of a Hall sensor for measuring the real-time starting distance of the automobile tail door is larger than a preset value, starting distance information and actual movement speed of the automobile tail door are obtained, wherein the starting distance information comprises the real-time starting distance. The real-time starting distance refers to the starting distance of the automobile tail door at the current time point, and when the Hall count value is smaller than or equal to a preset value, the automobile tail door is represented to be just started to be opened or just started to be closed, and the measured actual movement speed, current value and the like are not stable at the moment, so that the starting distance information and the actual movement speed of the automobile tail door cannot be obtained; therefore, when the Hall count value is larger than a preset value, the starting distance information and the actual movement speed of the automobile tail door are obtained, the subsequent judgment precision of the anti-clamping abnormality or the boosting abnormality can be improved, the erroneous judgment is avoided, and the accuracy of determining the running state of the automobile tail door is further improved.

S20, determining a current target speed corresponding to the starting distance information, and determining the running state of the tail gate of the automobile according to the current target speed and the actual movement speed; the current target speed is a target speed corresponding to the current starting distance information, the target speed is preset, and each starting distance information corresponds to one current target speed. Further, the running states of the automobile tail gate comprise an anti-pinch running state, a boosting running state, a normal running state and the like. In the step, the current target speed and the actual movement speed are compared, so that the running state of the automobile tail gate can be determined, and the tail gate control strategy is conveniently executed according to the running state of the automobile tail gate.

In an embodiment, in the step S20, the determining the current target speed corresponding to the starting distance information includes:

and acquiring a preset target speed curve, wherein the preset target speed curve comprises target speeds corresponding to different opening durations. In one embodiment, as shown in fig. 3 and 4, the preset target speed profile includes the following four serially connected motion phases: a starting acceleration movement stage A, a stable acceleration movement stage B, a full-speed uniform movement stage C and a deceleration movement stage D; the motion speed curve V1 is an actual motion speed curve corresponding to the fact that the tail gate motor of the automobile is driven to be normally started in a normal running state; the preset target speed curve V0 is a curve of a target speed set corresponding to each opening duration when the tail gate motor of the automobile is driven to be normally started in a normal running state; it is understood that each opening duration after normal start of the tail gate corresponds to a predetermined target speed. Each motion phase includes a target speed corresponding to a number of on durations.

The comparison schematic diagram of the actual movement speed and the target speed corresponding to the four movement phases when the automobile tail gate is opened in the normal operation state is shown in fig. 3. And the comparison schematic diagram of the actual movement speed and the target speed corresponding to the four movement phases when the automobile tail gate is closed in the normal operation state is shown in fig. 4. Specifically, among the four motion phases, the start acceleration motion phase a refers to a phase corresponding to the tail gate of the automobile when the tail gate motor of the automobile is just started (opened or closed), at this time, the tail gate motor drives the tail gate of the automobile to be quickly accelerated to open, so as to increase the actual motion speed of the tail gate of the automobile as soon as possible (shorten the whole opening stroke, and improve the user experience), until the actual motion speed is increased to be consistent with the target speed set corresponding to a preset target speed curve at this time (consistent refers to that the actual motion speed fluctuates within a preset range of the target speed corresponding to the actual motion speed, such as within ±20% of the target speed corresponding to the actual motion speed), at this time, the start acceleration motion phase a is considered to be ended, and at this time, the stationary acceleration motion phase B is entered.

In the stable acceleration movement stage B, the automobile tail gate continues to accelerate according to the target speed set in the preset target speed curve so as to improve the actual movement speed, but the acceleration in the stage is smaller than that in the starting acceleration movement stage A, so that the speed improvement of the actual movement speed is more gentle, the starting acceleration movement stage A and the full-speed uniform movement stage C can be better connected, shake in the opening stroke of the automobile tail gate is reduced, and the opening smoothness is improved. Further, after the actual movement speed is increased to be equal to the preset maximum target speed (set according to the time length required for opening and closing the tail gate of the automobile, the stability requirement, etc.) set in the full-speed uniform movement stage C (for example, after the tail gate of the automobile is opened by 40 hall values, the equality here means that the actual movement speed fluctuates within the preset range of the preset maximum target speed, for example, within the range of ±20% of the preset maximum target speed), the full-speed uniform movement stage C may be switched.

In the full-speed uniform motion stage C, the automobile tail gate always moves at a preset highest target speed (specifically, fluctuates within a certain range of the preset highest target speed, such as ±5% range), until reaching a time corresponding to certain opening distance information (which can be set according to the requirement, for example, when the starting distance of the whole opening stroke is set to only 20 hall values).

In the deceleration movement stage D, the actual movement speed of the automobile tail door is gradually reduced according to the corresponding target speed in the preset target speed curve, and finally the actual movement speed at the moment corresponding to the complete opening of the automobile tail door is 0, so that the situation that the automobile tail door rebounds due to certain running speed still existing when the automobile tail door is completely opened, the damage of people is avoided, and the user experience is reduced.

It can be understood that the four stages in the closing stroke of the tail gate shown in fig. 4 are different from the four stages in the opening stroke of the tail gate shown in fig. 3 in that in the final deceleration movement stage D of the tail gate closing, the actual movement speed of the tail gate is gradually reduced according to the corresponding target speed in the preset target speed curve, but since the final moment of the tail gate closing needs to keep a certain movement speed to achieve locking engagement with the tail gate lock, the actual movement speed of the tail gate at the moment of the tail gate closing is not 0 (i.e. the target speed corresponding to the final moment in the preset target speed curve), thus the locking of the tail gate lock can be successfully achieved, but since the actual movement speed is already reduced to a certain extent, too much door closing sound will not occur.

And acquiring the starting time length of the tail gate motor according to the starting distance information, determining the starting time length matched with the starting time length in the preset target speed curve, and recording the target speed corresponding to the matched starting time length as the current target speed. The present starting distance in the starting distance information characterizes the starting time corresponding to the present movement stroke of the automobile tail gate, specifically, in an ideal and complete opening stroke or closing stroke (i.e. opening or closing is completed in a normal running state), if the starting distance information is detected by the hall sensor, the maximum starting distance of the automobile corresponds to a preset number of hall counts, and in the whole opening stroke or closing stroke of the automobile, each actually detected different hall count (i.e. starting distance information) is correspondingly associated with one starting time; therefore, the starting time length of the tail gate motor can be acquired according to the starting distance information. Understandably, the above-mentioned association relationship between the hall count (i.e. the starting distance information) and the starting time period can be obtained by testing a real vehicle, that is, in the real vehicle test, the tail gate of the vehicle will be gradually opened or closed according to the target speed in the preset target speed curve in the normal running state, in this case, each different hall count will correspond to different starting time periods, at this time, the association relationship between the hall count and the starting time period can be obtained and a data table can be generated according to the association relationship, and further after the starting distance information is obtained by the distance measurement of the hall sensor, the starting time period corresponding to the starting distance information can be obtained by querying the data table.

S30, executing a tail gate control strategy according to the running state of the automobile tail gate. In an embodiment, the step S30, that is, the executing the tail gate control strategy according to the running state of the tail gate of the automobile, includes: when the running state of the automobile tail door is a boosting running state or a normal running state, controlling the automobile tail door to be in a non-anti-clamping running state and executing a non-anti-clamping control strategy; the normal running state refers to other running states of the automobile tail door except the anti-clamping running state or the boosting running state; that is, the tail gate control strategy also includes a non-anti-pinch control strategy that is executed in a normal operation state and a boost operation state, at which time, in the absence of an anti-pinch force, the automobile tail gate can be controlled to normally operate in the original movement direction regardless of the presence or absence of a boost force.

And when the running state of the automobile tail door is the anti-clamping running state, controlling the automobile tail door to execute an anti-clamping control strategy. That is, the tailgate control strategy may include an anti-pinch control strategy that is executed in an anti-pinch operation state, and may be to control the movement of the tailgate of the automobile in a direction opposite to the current movement direction or to stop at the current opening degree, etc.

In an embodiment, before the step S30, that is, before the executing the tail gate control strategy according to the running state of the tail gate of the automobile, the method further includes: and when the current of the tail gate motor is larger than or equal to the preset locked-rotor current, determining that the running state of the automobile tail gate is an anti-clamping running state. That is, in this embodiment, after the tail gate motor is started, the current of the tail gate motor is measured at regular time or in real time, and when the current of the tail gate motor is greater than or equal to the preset stall current (the preset stall current is set according to the requirement), which represents that the currently clamped object or living being is clamped to a certain object, the clamped object generates an anti-clamping force opposite to the current moving direction, the anti-clamping force causes the tail gate motor to stall, and the current is abnormally increased to the preset stall current, at this time, the actual running speed and the moving phase of the automobile tail gate are not required to be considered, the running state of the automobile tail gate is directly determined to be the anti-clamping running state, and then the anti-clamping control strategy is executed.

In another embodiment, before the step S30, that is, before the executing the tail gate control strategy according to the running state of the tail gate of the automobile, the method further includes: and when the starting distance in the starting distance information is constant for a specific time, determining that the running state of the automobile tail door is an anti-pinch running state. That is, in this embodiment, if the starting distance is measured by the hall sensor after the tail gate motor is started, when the starting distance is constant for a specific period of time (the specific period of time is set according to the requirement), it represents that the clamped object generates an anti-clamping force opposite to the current movement direction due to the fact that the tail gate of the automobile clamps to a certain object or living beings, and the anti-clamping force makes the tail gate of the automobile unable to move, so that the hall sensor cannot update the hall count (i.e., the starting distance), at this time, the actual running speed and the movement stage of the tail gate of the automobile need not be considered, and the running state of the tail gate of the automobile is directly determined to be the anti-clamping running state, so that the anti-clamping control strategy is executed.

In the embodiment of the invention, when the automobile tail gate is normally driven by the tail gate motor (the automobile tail gate is in a normal running state and one of running states of the automobile tail gate) the automobile tail gate operates according to the target speed, so that the starting distance information of each automobile tail gate in the running process of the automobile tail gate corresponds to the target speed (namely the current target speed) in the state; therefore, when the tail gate motor is started and the automobile tail gate is in a non-anti-pinch running state, the current target speed of the automobile tail gate can be determined according to the starting distance information of the automobile tail gate, the running state of the automobile tail gate is determined according to the current target speed and the actual moving speed, and then the tail gate control strategy is executed according to the determined running state of the automobile tail gate, so that the automobile tail gate can be accurately opened and closed in place through the tail gate control strategies corresponding to different running states of the automobile tail gate, and meanwhile, shaking in the process of opening and closing the automobile tail gate can be prevented, and the operation convenience and the door opening and closing smoothness of automobile tail gate control are improved. And the invention can be applied to different vehicle types.

In an embodiment, as shown in fig. 2, in step S20, the determining the running state of the tail gate of the automobile according to the current target speed and the actual movement speed includes:

S201, determining the current movement stage of the automobile tail gate according to the starting time of the tail gate motor and a preset target speed curve; understandably, the activation time period may be determined according to the activation distance information; as shown in fig. 3, the preset target speed profile includes the following four sequentially connected motion phases: a starting acceleration movement stage A, a stable acceleration movement stage B, a full-speed uniform movement stage C and a deceleration movement stage D. Each movement stage includes a target speed corresponding to a plurality of opening periods, wherein for a certain point in a preset target speed curve, the opening period refers to a total starting period when the tail gate of the automobile is driven to be normally started by the tail gate motor in a normal running state, and in fig. 3, the period from the abscissa of 0 point to the abscissa of the point corresponds. It is understood that each of the movement phases in the preset target speed profile includes a target speed corresponding to a number of on periods.

Further, the step S201, that is, the determining, according to the starting duration of the tail gate motor and the preset target speed curve, the current movement stage of the tail gate of the automobile includes:

Acquiring all opening duration ranges in the preset target speed curve; the preset target speed curve comprises at least two motion phases; each of the motion phases corresponds to a range of opening durations; wherein, an opening duration range refers to a range of opening durations corresponding to a movement stage in a preset target speed curve. For example, the A, B, C, D segments in fig. 3 respectively correspond to four opening duration ranges.

And determining the opening duration range matched with the starting duration of the tail gate motor, and determining the motion phase corresponding to the matched opening duration range as the current motion phase of the tail gate of the automobile. That is, when the acquired starting time length corresponding to the current time point falls into one of the opening time length ranges, the starting time length is considered to be longer than the opening time length range to be matched. At this time, the automobile tail gate at the current time point is considered to be in a motion stage corresponding to the matched opening duration range.

S202, determining whether the motion of the tail gate of the automobile is abnormal or not according to the current target speed and the actual motion speed; the abnormal movement of the automobile tail door comprises boosting abnormality and clamping prevention abnormality, wherein the boosting abnormality means that the current automobile tail door can be opened and closed by boosting force, and the boosting force with the same movement direction as the automobile tail door exists on the automobile tail door; the anti-clamping abnormality means that the automobile tail door may be clamped to a foreign object (living things or objects, etc.), and at this time, an anti-clamping force opposite to the movement direction of the automobile tail door exists on the automobile tail door. The boosting abnormality and the anti-pinch abnormality can be determined according to the current target speed and the actual movement speed.

Further, the step S202, that is, the determining whether the motion of the tail gate of the automobile is abnormal according to the current target speed and the actual motion speed, includes:

judging whether the actual movement speed is greater than a first measurement speed or not, and judging whether the actual movement speed is less than a second measurement speed or not at the same time; the first measurement speed is the sum of the current target speed and a first preset deviation speed; the second measurement speed is the difference between the current target speed and a second preset deviation speed; the first metrology speed is greater than the second metrology speed; that is, in this embodiment, the first preset deviation speed is a boost deviation speed set according to the requirement; the second preset deviation speed is an anti-pinch deviation speed set according to requirements; for example, the first preset deviation may be an absolute value of 10% -30% of the current target speed, and the second preset deviation may be an absolute value of 10% -30% of the current target speed. The actual movement speed and the current target speed used in the above-described judgment process are also calculated in absolute values. It is understood that the first preset deviation speed or/and the second preset deviation speed set correspondingly for each movement stage may be the same or different. For example, since the constant motion in the full-speed constant motion stage C is relatively stable, the first preset deviation speed or/and the second preset deviation speed set in the full-speed constant motion stage C may be smaller than those in the other three motion stages (the deceleration motion stage D, the start acceleration motion stage a, and the steady acceleration motion stage B).

When the actual movement speed is greater than the first measurement speed and a first duration time is greater than a first preset duration time threshold, confirming that boosting abnormality occurs in the movement of the automobile tail gate, wherein the first duration time refers to the duration time that the actual movement speed is greater than the first measurement speed; that is, when the actual movement speed is greater than the first measurement speed, it indicates that the boosting force applied to the tail gate of the automobile is already greater to a certain extent, so that the actual movement speed is already higher than the normal deviation upper limit (i.e. the first preset deviation) of the tail gate of the automobile relative to the current target speed under the pushing of the boosting force, at this time, if the first duration time that the actual movement speed is higher than the normal deviation upper limit of the tail gate of the automobile relative to the current target speed is longer than the first preset duration time threshold (for example, the first preset duration time threshold can be set to be 10-20 hall count corresponding durations), the state of applying the boosting force can be considered to be stable at this time, and the situation that the boosting abnormality occurs in the movement of the tail gate of the automobile is not caused by accidental collision or current fluctuation or other accidental events can be immediately determined. In contrast, if the actual movement speed is greater than the first measurement speed, but the first duration is less than or equal to the first preset duration threshold (the detected boosting force may be an accidental unstable event caused by accidental collision or current fluctuation, etc., and the boosting abnormality is not considered to occur in the movement of the tail gate of the automobile in order to improve the control accuracy).

When the actual movement speed is smaller than the second measurement speed and the second duration time is longer than a second preset duration time threshold value, confirming that the anti-pinch abnormality occurs in the movement of the automobile tail gate, wherein the second duration time refers to the duration time that the actual movement speed is smaller than the second measurement speed; that is, when the actual movement speed is smaller than the second measurement speed, it indicates that the anti-pinch force applied to the tail gate of the automobile is already large to a certain extent, so that the actual movement speed is already lower than the lower limit of the normal deviation of the tail gate of the automobile relative to the current target speed (i.e. the second preset deviation) under the reaction barrier of the anti-pinch force, at this time, if the second duration time that the actual movement speed is lower than the lower limit of the normal deviation of the tail gate of the automobile relative to the current target speed is longer than the second preset duration threshold (for example, the second preset duration threshold can be set to be 10-20 hall count corresponding durations), the state of applying the anti-pinch force can be considered to be stable, and the occurrence of the anti-pinch abnormality in the movement of the tail gate of the automobile can be immediately determined not due to accidental collision or current fluctuation or the like. In contrast, if the actual movement speed is less than the second measurement speed, but the second duration is less than or equal to the second preset duration threshold (the detected anti-pinching force may be an accidental unstable event caused by accidental collision or current fluctuation, etc., and the anti-pinching force will not be counted in the judgment for improving the control accuracy), then the anti-pinching abnormality is not considered to occur in the movement of the tail gate of the automobile. And when the actual movement speed is less than or equal to the first measurement speed and the actual movement speed is greater than or equal to the second measurement speed, confirming that no abnormality occurs in the movement of the automobile tail gate. That is, if the actual movement speed is less than or equal to the first measurement speed and the actual movement speed is greater than or equal to the second measurement speed, it is indicated that the actual movement speed fluctuates within the normal deviation range of the current target speed, at this time, even if the actual movement speed is subjected to the opposite or same force as the movement direction of the tailgate of the automobile, since the magnitude of the actual movement speed which causes the actual movement speed to decrease or increase is small, it is insufficient to determine whether the pinching prevention abnormality (the movement may be stopped or the movement in the opposite direction when the pinching prevention abnormality occurs) or the boosting abnormality (the power of the tailgate motor may decrease and thus stop running when the boosting abnormality occurs, the movement is pushed only by the boosting force), and at this time, the tailgate of the automobile will continue to move in the same direction as the original movement direction under the driving of the tailgate motor.

And S203, when the motion of the automobile tail door is abnormal, determining the running state of the automobile tail door according to the current motion stage of the automobile tail door.

In an embodiment, the preset target speed curve includes the following four movement phases connected in sequence: a starting acceleration movement stage A, a stable acceleration movement stage B, a full-speed uniform movement stage C and a deceleration movement stage D; further, the step S203, that is, when the motion of the tail gate of the automobile is abnormal, determines the running state of the tail gate of the automobile according to the current motion phase of the tail gate of the automobile, includes:

when the motion of the automobile tail door is abnormal in boosting, if a preset boosting condition is met, determining that the running state of the automobile tail door is a boosting running state; the preset boosting condition comprises any one of the following conditions:

the current motion stage of the automobile tail gate is the starting acceleration motion stage A or the stable acceleration motion stage B, and the current of the tail gate motor meets the preset stable condition; the preset stable condition means that the current of the tail gate motor is kept stable within a preset current stable period (fluctuation is represented by current stability within a preset current range), and understandably, the preset current stable period and the preset current range can be set according to requirements. Further, in this embodiment, since the starting acceleration movement phase a or the stationary acceleration movement phase B is the initial phase of the movement of the tail gate of the automobile, the current is easy to unstably fluctuate immediately after the tail gate motor is started, so that when the current of the tail gate motor is considered to meet the preset stable condition in the starting acceleration movement phase a or the stationary acceleration movement phase B, the running state of the current tail gate motor is stable, and at this time, the running state of the tail gate of the automobile is determined to be the boosting running state, so that the accurate running of the final judgment on boosting abnormality can be improved.

The current motion stage of the automobile tail door is the full-speed uniform motion stage C or the deceleration motion stage D. It can be appreciated that in the full-speed uniform motion stage C or the deceleration motion stage D, since the tail gate motor has been operated for a period of time, the current is generally stable, so that the current of the tail gate motor is not monitored any more, and the running state of the tail gate of the automobile can be determined to be the boosting running state directly when the boosting abnormality is determined, so that the control operation workload and load can be reduced.

Further, after step S203, that is, after determining the running state of the tail gate according to the current movement stage of the tail gate when the motion of the tail gate is abnormal, the method further includes:

after determining that the running state of the automobile tail gate is the boosting running state, if the current movement stage of the automobile tail gate is the full-speed uniform movement stage C and the current of the tail gate motor meets the preset boosting current condition, controlling the running state of the automobile tail gate to be kept unchanged in the boosting running state, and simultaneously acquiring the boosting movement speed of the automobile tail gate in real time until the boosting movement speed is reduced to the preset proportion of the preset highest target speed, and controlling the running state of the automobile tail gate to be switched to the normal running state; the preset highest target speed is a target speed of uniform motion of the automobile tail door in the full-speed uniform motion stage C in the preset target speed curve, and the preset highest target speed is the maximum value of all target speeds corresponding to the preset target speed curve.

Understandably, after determining that the running state of the tail gate of the automobile is a boosting running state, explaining that the current boosting force in the same direction as the running direction of the tail gate of the automobile causes the actual running speed to increase to the upper limit of deviation exceeding the current target speed, and at the moment, controlling the output power of the tail gate motor to be reduced or even the output power of the tail gate motor to be zero in the boosting running state; and if the boosting force is lost, the output power of the load of the automobile tail gate relative to the tail gate motor is overlarge, and the operation state of the automobile tail gate can be misjudged to be the anti-pinch operation state. Therefore, in this embodiment, after determining that the running state of the tail gate of the automobile is the boosting running state, if the current running stage of the tail gate of the automobile is the full-speed uniform running stage C (the other running stages are the acceleration or deceleration stages, the corresponding first preset deviation speed or/and the second preset deviation speed will be greater than the full-speed uniform running stage C, and the speed change of the running process is larger, so that the accuracy of the determination for the case of small boosting force is improved, and the determination is not taken as the determination object of this embodiment), and the current of the tail gate motor satisfies the preset boosting current condition, the running state of the tail gate of the automobile is controlled to be kept unchanged continuously (the situation that the tail gate of the automobile is switched to the anti-pinch running state under the condition that the boosting force suddenly disappears is avoided). Then, the tail gate of the automobile will not stop moving or move in the opposite direction (if stopping or moving in the opposite direction will shake violently and be contrary to the original wish of boosting movement), but continue moving in the original moving direction, at this time, the actual moving speed of the tail gate of the automobile will be recorded as the boosting moving speed, and the boosting moving speed will gradually decrease due to the disappearance of the boosting force until the boosting moving speed decreases to the preset ratio (the preset ratio may be set according to the requirement of the duration and stability required by opening and closing the tail gate of the automobile, for example, the preset ratio may be set to 40% -60% of the preset maximum target speed, further, the preset ratio may be 50%) of the preset target speed, at this time, the tail gate motor will be controlled to switch to the normal operating state, and at this time, the tail gate motor will execute the non-anti-pinch control strategy.

Further, in the above embodiment, satisfying the preset boost current condition means that all of the following conditions are satisfied:

the current of the tail gate motor meets the preset stable condition; the preset stable condition means that the current of the tail gate motor is kept stable within a preset current stable period (fluctuation is represented by current stability within a preset current range), and understandably, the preset current stable period and the preset current range can be set according to requirements. And when the current of the tail gate motor meets the preset stable condition, the running state of the front tail gate motor is stable. If the current of the tail gate motor does not meet the preset stabilizing condition, then the current of the tail gate motor will be considered to not meet the preset boost current condition in the previous embodiment.

The average value of the current of the tail gate motor in a preset time period (which can be set according to the requirement) is smaller than or equal to a preset boosting current threshold value, and the preset boosting current threshold value is determined according to the starting distance information, the starting time period of the automobile tail gate and the actual movement speed; the preset boost current threshold is a normal working current (or a difference between the working current and a preset deviation current value) when the tail gate motor and the boost force push the tail gate of the automobile together when the boost force exists, and the working current can be determined according to the starting distance information, the starting time of the tail gate of the automobile, the actual movement speed and the like, and is not repeated herein. That is, corresponding to the previous embodiment, after determining that the running state of the tail gate of the automobile is the boosting running state, if the current motion phase of the tail gate of the automobile is the full-speed uniform motion phase C, at this time, if the average value of the current of the tail gate motor in the preset duration is less than or equal to the preset boosting current threshold, it is stated that: it may be the case that the boost force is lost from present. If the average value of the current of the tail gate motor in the preset time period is greater than the preset boosting current threshold value, the current of the tail gate motor is considered to not meet the preset boosting current condition in the previous embodiment.

And the duration time length of the current average value smaller than or equal to the preset boosting current threshold value is longer than a third preset duration time threshold value. That is, if the duration time of the current average value being less than or equal to the preset boost current threshold value is greater than the third preset duration time threshold value and both of the other previous conditions are satisfied, it may be determined that the boost force is present to disappear from the present condition. If the duration of the current average value greater than the preset boosting current threshold is less than or equal to the third preset duration threshold, it still cannot be determined that the boosting force is present to disappear from the present state, and other situations may be possible, so that the current of the tail gate motor may not meet the preset boosting current condition in the previous embodiment. The duration refers to the total duration that the average value of the current is smaller than or equal to a preset boosting current threshold value; the third preset duration threshold may be set according to requirements.

That is, in this embodiment, after the boost is removed from the present state, after the running state of the tail gate of the automobile is determined to be the boost running state, if the current of the tail gate motor satisfies the preset boost current condition (three conditions in the above embodiment are satisfied simultaneously, it is detected that the current satisfies the preset stable condition and is effective, and the current average value is less than or equal to the preset boost current threshold value, and the third preset duration threshold value is continued), the running state of the tail gate of the automobile is controlled to be kept unchanged, that is, the running state of the tail gate of the automobile is kept continuously, and meanwhile, the boost running speed of the tail gate of the automobile is obtained in real time until the boost running speed is reduced to the preset proportion of the preset highest target speed, and the running state of the tail gate of the automobile is controlled to be switched to the normal running state, so that the anti-pinch running state is not triggered by mistake.

In an embodiment, the preset target speed curve includes a stationary acceleration motion stage B, a full-speed uniform motion stage C, and a deceleration motion stage D; further, the step S203, that is, when the motion of the tail gate of the automobile is abnormal, determines the running state of the tail gate of the automobile according to the current motion phase of the tail gate of the automobile, includes:

when the anti-pinch abnormality occurs in the motion of the automobile tail door, if the current motion stage of the automobile tail door is a stable acceleration motion stage B, a full-speed uniform motion stage C or a deceleration motion stage D, determining that the running state of the automobile tail door is an anti-pinch running state. Namely, in the starting acceleration movement stage A, the articles are not clamped generally because the starting distance of the tail door of the automobile is too small in the opening process, and the articles do not need to be considered for anti-clamping in the gradual opening process; in the closing process, the automobile tail door is just closed, so that anti-clamping is not needed; therefore, even if the anti-pinching abnormality has been determined, it is not necessary to determine that the running state of the tailgate of the automobile is the anti-pinching running state in the start acceleration movement stage a. Therefore, in this embodiment, the anti-pinch operation state is considered only in the three stages of the stationary acceleration motion stage B, the full-speed uniform motion stage C, or the deceleration motion stage D, that is, the anti-pinch abnormality occurs in the stationary acceleration motion stage B, the full-speed uniform motion stage C, or the deceleration motion stage D, that is, the current running state of the tail gate of the automobile is judged to be the anti-pinch operation state, so that the anti-pinch control strategy is executed, the safety of the person is ensured, frequent triggering of the anti-pinch control strategy is avoided, and the operation workload is reduced.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.

The invention also provides a controller for executing the automobile tail gate control method. For specific limitations of the controller, reference may be made to the above limitations of the method for controlling the tail gate of the automobile, and no further description is given here. The various modules in the controller described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

The invention also provides an automobile tail gate control system which comprises a controller for executing the automobile tail gate control method. For more specific limitations on the vehicle tailgate control system and controller, reference is made to the above limitations on the vehicle tailgate control method, and no further description is given here.

The invention also provides an automobile, which comprises the controller.

The invention further provides an automobile, which comprises the automobile tail door control system.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims (14)

1. A method for controlling a tailgate of an automobile, comprising:

when a tail door motor of an automobile is started and the automobile tail door is in a non-anti-pinch running state, acquiring starting distance information and actual movement speed of the automobile tail door;

determining a current target speed corresponding to the starting distance information, and determining an automobile tail door running state according to the current target speed and the actual movement speed;

and executing a tail gate control strategy according to the running state of the automobile tail gate.

2. The automobile tail gate control method of claim 1, wherein the determining a current target speed corresponding to the starting distance information includes:

Acquiring a preset target speed curve, wherein the preset target speed curve comprises target speeds corresponding to different opening durations;

and acquiring the starting time length of the tail gate motor according to the starting distance information, determining the starting time length matched with the starting time length in the preset target speed curve, and recording the target speed corresponding to the matched starting time length as the current target speed.

3. The automobile tail gate control method of claim 1, wherein said determining an automobile tail gate operating state based on said current target speed and said actual movement speed comprises:

determining the current movement stage of the automobile tail gate according to the starting time of the tail gate motor and a preset target speed curve;

determining whether the motion of the tail door of the automobile is abnormal according to the current target speed and the actual motion speed;

when the motion of the automobile tail door is abnormal, determining the running state of the automobile tail door according to the current motion stage of the automobile tail door.

4. The method for controlling a tailgate of an automobile according to claim 3, wherein the determining a current movement stage of the tailgate of the automobile according to a starting time of the tailgate motor and a preset target speed curve comprises:

Acquiring all opening duration ranges in the preset target speed curve; the preset target speed curve comprises at least two motion phases; each of the motion phases corresponds to a range of opening durations;

and determining the opening duration range matched with the starting duration of the tail gate motor, and determining the motion phase corresponding to the matched opening duration range as the current motion phase of the tail gate of the automobile.

5. The automobile tail gate control method as claimed in claim 3, wherein said determining whether an abnormality occurs in the automobile tail gate movement based on the current target speed and the actual movement speed includes:

judging whether the actual movement speed is greater than a first measurement speed or not, and judging whether the actual movement speed is less than a second measurement speed or not at the same time; the first measurement speed is the sum of the current target speed and a first preset deviation speed; the second measurement speed is the difference between the current target speed and a second preset deviation speed; the first metrology speed is greater than the second metrology speed;

when the actual movement speed is greater than the first measurement speed and a first duration time is greater than a first preset duration time threshold, confirming that boosting abnormality occurs in the movement of the automobile tail gate, wherein the first duration time refers to the duration time that the actual movement speed is greater than the first measurement speed;

When the actual movement speed is smaller than the second measurement speed and the second duration time is longer than a second preset duration time threshold value, confirming that the anti-pinch abnormality occurs in the movement of the automobile tail gate, wherein the second duration time refers to the duration time that the actual movement speed is smaller than the second measurement speed;

and when the actual movement speed is less than or equal to the first measurement speed and the actual movement speed is greater than or equal to the second measurement speed, confirming that no abnormality occurs in the movement of the automobile tail gate.

6. The automobile tail gate control method as claimed in claim 3, wherein the preset target speed profile comprises the following four movement stages connected in sequence: a starting acceleration movement stage, a stable acceleration movement stage, a full-speed uniform movement stage and a deceleration movement stage;

when the motion of the automobile tail door is abnormal, determining the running state of the automobile tail door according to the current motion stage of the automobile tail door, including:

when the motion of the automobile tail door is abnormal in boosting, if a preset boosting condition is met, determining that the running state of the automobile tail door is a boosting running state; the preset boosting condition comprises any one of the following conditions:

The current motion stage of the automobile tail gate is the starting acceleration motion stage or the stable acceleration motion stage, and the current of the tail gate motor meets the preset stable condition;

the current motion stage of the automobile tail door is the full-speed uniform motion stage or the deceleration motion stage.

7. The method for controlling a tailgate of a motor vehicle according to claim 6, wherein when the movement of the tailgate is abnormal, after determining the running state of the tailgate according to the current movement stage of the tailgate, the method further comprises:

after determining that the running state of the automobile tail gate is the boosting running state, if the current movement stage of the automobile tail gate is the full-speed uniform movement stage and the current of the tail gate motor meets the preset boosting current condition, controlling the running state of the automobile tail gate to be kept unchanged in the boosting running state, and simultaneously acquiring the boosting movement speed of the automobile tail gate in real time until the boosting movement speed is reduced to the preset proportion of the preset highest target speed, and controlling the running state of the automobile tail gate to be switched to the normal running state; the preset highest target speed is a target speed of uniform motion of the automobile tail door in the full-speed uniform motion stage in the preset target speed curve, and the preset highest target speed is the maximum value of all target speeds corresponding to the preset target speed curve.

8. The automobile tail gate control method of claim 7, wherein meeting the preset boost current condition is in accordance with all of the following conditions:

the current of the tail gate motor meets the preset stable condition;

the average value of the current of the tail gate motor in the preset duration is smaller than or equal to a preset boosting current threshold value, and the preset boosting current threshold value is determined according to the starting distance information, the starting duration of the automobile tail gate and the actual movement speed;

and the duration time length of the current average value smaller than or equal to the preset boosting current threshold value is longer than a third preset duration time threshold value.

9. The automobile tail gate control method as claimed in claim 3, wherein the preset target speed curve comprises a steady acceleration movement stage, a full-speed uniform movement stage and a deceleration movement stage;

when the motion of the automobile tail door is abnormal, determining the running state of the automobile tail door according to the current motion stage of the automobile tail door, including:

when the anti-pinch abnormality occurs in the motion of the automobile tail door, if the current motion stage of the automobile tail door is the stable acceleration motion stage, the full-speed uniform motion stage or the deceleration motion stage, determining that the running state of the automobile tail door is the anti-pinch running state.

10. The automobile tail gate control method of claim 1, wherein before executing the tail gate control strategy according to the automobile tail gate operating state, further comprising:

and when the current of the tail gate motor is larger than or equal to the preset locked-rotor current, determining that the running state of the automobile tail gate is an anti-clamping running state.

11. The automobile tail gate control method of claim 1, wherein the executing a tail gate control strategy according to the automobile tail gate operating state comprises:

when the running state of the automobile tail gate is a boosting running state or a normal running state, controlling the automobile tail gate to execute a non-anti-pinch control strategy; the normal running state refers to other running states of the automobile tail door except the anti-clamping running state or the boosting running state;

and when the running state of the automobile tail door is the anti-clamping running state, controlling the automobile tail door to execute an anti-clamping control strategy.

12. A controller for performing the automobile tailgate control method according to any one of claims 1 to 11.

13. A tail gate control system for a motor vehicle, comprising a controller for performing the method of controlling a tail gate of a motor vehicle as claimed in any one of claims 1 to 11.

14. An automobile comprising the controller of claim 12 or comprising the automobile tailgate control system of claim 13.