CN117698858A - Tail wing control method and device, electronic equipment and computer readable storage medium - Google Patents

Abstract

The application provides a tail wing control method, a tail wing control device, electronic equipment, a computer readable storage medium and a computer program product; the method comprises the following steps: responding to the tail fin movement instruction, and acquiring historical position information of the tail fin; the historical position information of the tail wing is updated after each movement of the tail wing; comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the position deviation of the tail wing occurs or not; when the position deviation results show that the position deviation of the tail wing occurs, position correction processing is carried out on the tail wing, and historical position information of the tail wing is updated in the process of the position correction processing. Through this application, can carry out the position correction when the fin appears the position offset and handle, reduce the damage to the fin, increase the life of fin.

Description

Tail wing control method and device, electronic equipment and computer readable storage medium

Technical Field

The present application relates to vehicle technologies, and in particular, to a tail wing control method, a tail wing control device, an electronic device, a computer readable storage medium and a computer program product.

Background

With the development of diversification of automobiles, the demands of more and more users on the motion properties of automobiles are increasing. The empennage (electric empennage) not only can increase the motion attribute of the automobile, but also can increase the downward pressure of the automobile when the automobile runs at a high speed, has the function of balancing the automobile, and can improve the stability and safety of the automobile.

However, the tail wing may be positionally deviated due to aging of its own mechanism and influence of external environment, resulting in abrasion of its own mechanism and generation of noise. In view of this, in the scheme provided in the related art, the position correction process is generally performed on the tail wing every time the tail wing is powered up, however, the position correction frequency of the scheme is too high, and damage to the tail wing is easily caused.

Disclosure of Invention

The application provides a fin control method, a device, electronic equipment, a computer readable storage medium and a computer program product, which can correct positions when the fin is shifted, reduce damage to the fin and prolong the service life of the fin.

The technical scheme of the application is realized as follows:

the application provides a tail wing control method, which comprises the following steps:

responding to the tail fin movement instruction, and acquiring historical position information of the tail fin; the historical position information of the tail wing is updated after each movement of the tail wing;

Comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the tail wing has position deviation or not;

when the position deviation results represent that the position deviation of the tail wing occurs, position correction processing is carried out on the tail wing, and historical position information of the tail wing is updated in the process of the position correction processing.

The application provides a fin controlling means, include:

the acquisition module is used for responding to the tail fin movement instruction and acquiring historical position information of the tail fin; the historical position information of the tail wing is updated after each movement of the tail wing;

the comparison module is used for comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the tail wing has position deviation or not;

and the correction module is used for carrying out position correction processing on the tail wing when the position deviation result represents that the position deviation occurs on the tail wing, and updating the historical position information of the tail wing in the process of the position correction processing.

The application provides an electronic device, comprising:

A memory for storing executable instructions;

and the processor is used for realizing the tail wing control method provided by the application when executing the executable instructions stored in the memory.

The application provides a computer readable storage medium storing executable instructions for implementing the tail control method provided by the application when the executable instructions cause a processor to execute.

The present application provides a computer program product comprising executable instructions for implementing the tail control method provided herein when executed by a processor.

The application has the following beneficial effects:

according to the method, the historical position information updated after each movement of the tail wing is obtained in response to the tail wing movement instruction, the historical position information of the tail wing is compared with the preset position information, a position deviation result is obtained, when the position deviation result represents that the tail wing is in position deviation, the position correction is proved to be at the right moment, so that the position correction processing is carried out on the tail wing, the historical position information of the tail wing is updated in the position correction processing process, and the tail wing can be controlled according to the tail wing movement instruction conveniently. To sum up, this application carries out the position correction processing when the fin appears the position offset, can reduce the position correction frequency under the prerequisite of guaranteeing the position correction effect to reduce the damage to the fin, increase the life of fin.

Drawings

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

FIG. 1 is a schematic diagram of an architecture of a tail control system provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a terminal device according to an embodiment of the present application;

FIG. 3A is a schematic flow chart of a tail control method according to an embodiment of the present disclosure;

FIG. 3B is another schematic flow chart of the tail control method according to the embodiment of the present application;

FIG. 3C is another schematic flow chart of the tail control method according to the embodiment of the present application;

FIG. 3D is another schematic flow chart of the tail control method according to the embodiment of the present application;

FIG. 4 is a schematic diagram of an exemplary tail motor according to the present disclosure;

fig. 5 is another schematic flow chart of the tail control method provided in the embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict. In the following description, the term "plurality" refers to at least two.

In the following description, the terms "first", "second", and the like are merely used to distinguish similar objects and do not represent a particular ordering of the objects, it being understood that the "first", "second", and the like may be interchanged with one another, if permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

Before further describing embodiments of the present application in detail, the terms and expressions that are referred to in the embodiments of the present application are described, and are suitable for the following explanation.

1) Fin (or car spoiler): the automobile rear cover is characterized in that the automobile rear cover is provided with a protrusion which is arranged on the automobile rear cover and is shaped like a duck tail or a ski board, and the protrusion belongs to a part of an automobile aerodynamic suite and is mainly used for reducing lifting force of the tail of an automobile. In the embodiments of the present application, the tail fin refers to an electric tail fin, i.e. a tail fin motor can be driven to move, such as to be closed or opened.

2) Empennage motor: the tail wing needs to be powered by a tail wing motor to realize the movement of the tail wing. The tail motor may be a direct current motor or a stepper motor. In some embodiments, the tail motor may be a hall motor.

3) Tail virtual switch: or tail fin soft switch, refers to a virtual switch button displayed in the interface of the car machine. When receiving the triggering operation of the tail virtual switch in the vehicle-machine interface, the tail movement instruction (namely, the tail opening/closing is triggered) can be triggered. The embodiment of the application does not limit the form of the triggering operation, and for example, the triggering operation can be a clicking operation or a long-press operation.

4) Empennage physical switch: or fin hard switch, refers to the physical switch button that is actually installed inside the vehicle. When a triggering operation for the tail entity switch is received, a tail movement instruction (i.e., tail opening/closing is triggered) may be triggered.

5) In response to: for representing a condition or state upon which an operation is performed, one or more operations performed may be in real-time or with a set delay when the condition or state upon which the operation is dependent is satisfied; without being specifically described, there is no limitation in the execution sequence of the plurality of operations performed.

The embodiment of the application provides a tail wing control method, device, electronic equipment, computer readable storage medium and computer program product, which can carry out position correction processing when position deviation occurs on a tail wing, reduce damage to the tail wing and prolong the service life of the tail wing. An exemplary application of the electronic device provided by the embodiment of the present application is described below, where the electronic device provided by the embodiment of the present application may be implemented as various types of terminal devices (such as an in-vehicle device) or may be implemented as a server.

Referring to fig. 1, fig. 1 is a schematic diagram of an architecture of an empennage control system 100 provided in an embodiment of the present application, where a terminal device 400 is connected to a server 200 through a network 300, where the network 300 may be a wide area network or a local area network, or a combination of the two.

In some embodiments, taking an electronic device as an example of a terminal device, the tail control method provided in the embodiments of the present application may be implemented by the terminal device. For example, the terminal device 400 may be a vehicle-mounted device deployed in a vehicle, where the terminal device 400 obtains historical position information of a tail wing in response to a tail wing movement instruction of the vehicle; comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; when the position deviation results show that the position deviation of the tail wing occurs, position correction processing is carried out on the tail wing, and historical position information of the tail wing is updated in the process of the position correction processing. In some embodiments, the updated historical position information after each movement of the tail may be stored locally at the terminal device 400. In some embodiments, the terminal device 400 may implement control of the tail wing by controlling the tail motor.

In some embodiments, taking an electronic device as an example of a server, the tail control method provided in the embodiments of the present application may be implemented by the server. For example, the terminal device 400 may transmit the updated historical position information after each movement of the tail wing to the server 200, so that the server 200 stores the received historical position information in a local, database, or other storage location. When receiving the tail movement instruction, the terminal device 400 sends the tail movement instruction to the server 200; the server 200 obtains historical position information of the tail wing in response to the tail wing movement instruction; the server 200 compares the historical position information of the tail wing with preset position information to obtain a position deviation result; when the position deviation result indicates that the position deviation of the tail wing occurs, the server 200 performs a position correction process on the tail wing, for example, the server 200 may send a position correction instruction to the terminal device 400, so that the terminal device 400 performs the position correction process on the tail wing according to the received position correction instruction, and updates the historical position information of the tail wing during the position correction process.

In some embodiments, the terminal device 400 or the server 200 may implement the tail control method provided in the embodiments of the present application by running a computer program, for example, the computer program may be a native program or a software module in an operating system; a Native Application (APP), i.e. a program that needs to be installed in an operating system to run; the method can also be an applet, namely a program which can be run only by being downloaded into a browser environment; but also an applet that can be embedded in any APP. In general, the computer programs described above may be any form of application, module or plug-in.

In some embodiments, the server 200 may be a stand-alone physical server, a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal device 400 may be a vehicle-mounted device, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart television, a smart watch, etc., but is not limited thereto. The terminal device and the server may be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiments of the present application.

Taking the electronic device provided in the embodiment of the present application as an example of a terminal device, it is understood that, in a case where the electronic device is a server, portions (such as a user interface, a presentation module, and an input processing module) in the structure shown in fig. 2 may be omitted. Referring to fig. 2, fig. 2 is a schematic structural diagram of a terminal device 400 provided in an embodiment of the present application, and the terminal device 400 shown in fig. 2 includes: at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. The various components in terminal device 400 are coupled together by bus system 440. It is understood that the bus system 440 is used to enable connected communication between these components. The bus system 440 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled in fig. 2 as bus system 440.

The processor 410 may be an integrated circuit chip having signal processing capabilities such as a general purpose processor, such as a microprocessor or any conventional processor, or the like, a digital signal processor (DSP, digital Signal Processor), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.

The user interface 430 includes one or more output devices 431, including one or more speakers and/or one or more visual displays, that enable presentation of the media content. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.

Memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard drives, optical drives, and the like. Memory 450 optionally includes one or more storage devices physically remote from processor 410.

Memory 450 includes volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a random access Memory (RAM, random Access Memory). The memory 450 described in the embodiments herein is intended to comprise any suitable type of memory.

In some embodiments, memory 450 is capable of storing data to support various operations, examples of which include programs, modules and data structures, or subsets or supersets thereof, as exemplified below.

An operating system 451 including system programs, e.g., framework layer, core library layer, driver layer, etc., for handling various basic system services and performing hardware-related tasks, for implementing various basic services and handling hardware-based tasks;

network communication module 452 for reaching other computing devices via one or more (wired or wireless) network interfaces 420, exemplary network interfaces 420 include: bluetooth, wireless compatibility authentication (WiFi), and universal serial bus (USB, universal Serial Bus), etc.;

a presentation module 453 for enabling presentation of information (e.g., a user interface for operating peripheral devices and displaying content and information) via one or more output devices 431 (e.g., a display screen, speakers, etc.) associated with the user interface 430;

an input processing module 454 for detecting one or more user inputs or interactions from one of the one or more input devices 432 and translating the detected inputs or interactions.

In some embodiments, the tail control device provided in the embodiments of the present application may be implemented in software, and fig. 2 shows the tail control device 455 stored in the memory 450, which may be software in the form of a program, a plug-in, or the like, including the following software modules: the acquisition module 4551, the comparison module 4552 and the correction module 4553 are logical, and thus may be combined or split further according to the functions implemented. The functions of the respective modules will be described hereinafter.

The tail control method provided by the embodiment of the application will be described with reference to exemplary applications and implementations of the electronic device provided by the embodiment of the application.

Referring to fig. 3A, fig. 3A is a schematic flow chart of a tail control method according to an embodiment of the present application, and will be described with reference to the steps shown in fig. 3A.

In step 101, in response to a tail movement instruction, historical position information of a tail is obtained; wherein, the historical position information of the tail wing is updated after each movement of the tail wing.

Here, in order to determine whether the position deviation of the tail wing occurs in response to the triggered tail wing movement instruction, first, the historical position information of the tail wing is obtained.

The historical position information of the tail wing is updated after each movement of the tail wing, namely the historical position information reflects the position information of the latest (last) movement of the tail wing. For example, if the historical position information of the tail wing includes a historical closing position, recording the closed position as a new historical closing position when the tail wing is closed each time; if the historical position information of the tail wing comprises a historical opening position, when the tail wing is opened each time, the opened position is recorded to be used as a new historical opening position; if the historical position information of the tail wing includes a historical trip, the trip is recorded as a new historical trip each time the tail wing is turned off to be turned on or turned on to be turned off.

The storage location of the history location information in the embodiment of the present application is not limited, and may be stored in a volatile storage medium or a nonvolatile storage medium, for example. Historical position information is obtained from the storage location as the tail movement instructions are generated.

In some embodiments, the tail movement command may be a tail opening command triggered when the tail is closed (i.e., in a closed state), or a tail closing command triggered when the tail is opened (i.e., in an open state).

In some embodiments, prior to step 101, the tail control method further comprises: performing any one of the following processes; receiving an empennage movement instruction triggered by an empennage virtual switch in a vehicle-machine interface; receiving an empennage movement instruction triggered by an empennage entity switch; and triggering the tail fin movement instruction when the vehicle speed condition is met.

Here, three example ways of generating the tail movement instructions are given. In the first way, the tail movement instruction triggered by the tail virtual switch in the vehicle-machine interface is received, for example, the tail virtual switch (such as a switch button for turning on or off the tail) may be displayed in the vehicle-machine interface, and when the triggering operation for the tail virtual switch is received, the tail movement instruction is triggered. The triggering operation may be a clicking operation or a long-press operation, and the like, which is not limited. The first mode can improve the freedom and flexibility of tail fin control, namely, a user can trigger a tail fin movement instruction at any time; meanwhile, the operation habit of the user can be attached.

The second way is to receive the tail movement command triggered by the tail entity switch. Here, a tail entity switch, i.e., an entity switch button for controlling the opening/closing of the tail, is installed in the vehicle, and when a trigger operation for the tail entity switch is received, a tail movement command is triggered. The second mode is realized based on the tail entity switch, so that the operation habit of a user can be attached, and more operation mode choices can be provided for the user.

The third way is to trigger the tail movement command when the vehicle speed condition is satisfied. For example, the speed condition can be preset, and when the current speed of the vehicle meets the speed condition, the tail fin movement instruction is automatically triggered, so that whether the tail fin movement instruction is triggered or not is judged according to the kinematics of the vehicle, and intelligent control of the tail fin can be realized without user control.

In some embodiments, the vehicle speed condition includes any one of: increasing the vehicle speed to a first vehicle speed threshold; the vehicle speed is reduced to a second vehicle speed threshold value; wherein the first vehicle speed threshold is greater than or equal to the second vehicle speed threshold.

Here, the vehicle speed condition may be set according to the two movements of the tail being closed or opened, and may include any one of the following, for example: increasing the vehicle speed to a first vehicle speed threshold; the vehicle speed is reduced to a second vehicle speed threshold. Wherein the first vehicle speed threshold is greater than or equal to the second vehicle speed threshold, e.g., the first vehicle speed threshold is 100km/h and the second vehicle speed threshold is 80km/h.

When the speed of the vehicle increases to a first speed threshold value, the vehicle is proved to be changed from low-speed running to high-speed running, so that the tail opening instruction is triggered to open the tail, and the stability of the vehicle in high-speed driving can be improved because the tail can improve the downward pressure of the vehicle; when the speed of the vehicle decreases to the second threshold speed, it is confirmed that the vehicle is shifted from high-speed running to low-speed running, and thus the tail closing instruction is triggered to close the tail. The tail opening instruction and the tail closing instruction are tail movement instructions.

In step 102, comparing the historical position information of the tail with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the position deviation of the tail wing occurs or not.

When the historical position information of the tail wing is successfully obtained, the historical position information of the tail wing is compared with preset position information to obtain a position deviation result, and the position deviation result is used for representing whether the position deviation of the tail wing occurs or not. The preset position information indicates position information when the tail wing does not have position deviation, and can be preset.

Here, two scenarios of the contrast process are illustrated. The first scenario is that the historical position information is a specific certain value, the preset position information is also a specific certain value, and when the historical position information is the same as the preset position information, the comparison between the historical position information and the preset position information is determined to be successful, and the position deviation result is that no position deviation occurs; when the historical position information is different from the preset position information, determining that the comparison between the historical position information and the preset position information fails, and the position deviation result is that the position deviation occurs. The second scenario is that the history position information is a specific certain value, the preset position information is a range of values, and when the history position information is in the range represented by the preset position information, the comparison between the history position information and the preset position information is determined to be successful, and the position deviation result is that no position deviation occurs; when the historical position information is not in the range represented by the preset position information, determining that the comparison between the historical position information and the preset position information fails, and the position deviation result is that the position deviation occurs.

In some embodiments, when the acquisition of the historical position information of the tail fails, the position deviation result is determined to represent that the tail is shifted.

Here, when the acquisition of the historical position information of the tail wing fails, it is proved that the historical position information of the tail wing is lost, and whether the position deviation of the tail wing occurs cannot be judged based on the historical position information, in which case, the possibility of the position deviation of the tail wing exists, and therefore, the position deviation result is directly determined to represent the position deviation of the tail wing. When the historical position information of the tail wing is failed to be obtained, the position deviation of the default tail wing occurs, so that the situation that position correction processing is not performed in time when the position deviation actually occurs is avoided.

In step 103, when the position deviation result indicates that the position deviation of the tail wing occurs, the position correction process is performed on the tail wing, and the historical position information of the tail wing is updated in the process of the position correction process.

Here, when the position deviation result indicates that the position deviation occurs in the tail wing, the position correction processing (or initialization learning) is performed on the tail wing, where the position correction processing may refer to correcting the position information when the tail wing is closed or opened, so that the position deviation result obtained after the correction processing is compared with the preset position information indicates that the position deviation does not occur in the tail wing.

It is worth to say that the tail fin is controlled to move in the process of position correction processing, so that the historical position information of the tail fin needs to be updated in the process of position correction processing, and the conclusion that the tail fin does not have position deviation can be conveniently obtained according to the updated historical position information when the tail fin movement instruction is triggered next time.

In some embodiments, before performing the position correction processing on the tail wing, the tail wing control method further includes: outputting a position deviation prompt; the above-described position correction processing for the tail wing can be achieved in such a manner that: and performing position correction processing on the tail wing in response to a confirmation operation for the position deviation prompt.

Here, when it is determined that the position deviation of the tail wing occurs, a position deviation prompt may be output, which is used to prompt that the position deviation of the tail wing occurs. When a confirmation operation for the position deviation prompt is received, the tail wing is subjected to position correction processing, wherein the position deviation prompt can comprise a prompt for how to implement the confirmation operation, such as by triggering a confirmation button in the position deviation prompt or by triggering a tail wing soft switch in a vehicle engine interface. And when the confirmation operation aiming at the position deviation prompt is not received, controlling the tail wing to move according to the tail wing movement instruction, and updating the historical position information of the tail wing after the movement. By the above means, the user can determine whether to perform the position correction processing, and the user can be prevented from being bothered by the self-performing of the position correction processing, and the necessity of the position correction processing can be improved.

It should be noted that, in the embodiment of the present application, the manner of outputting the prompts (including, but not limited to, the position deviation prompt, the position correction prompt, and the tail environment prompt) is not limited, and may be displayed on a vehicle interface of a vehicle, may be subjected to voice broadcasting, and may also be sent to a mobile terminal of a user.

In some embodiments, the output position offset cues described above may be implemented in such a way: displaying a position deviation prompt in a vehicle-computer interface; the position deviation prompt is used for prompting a tail virtual switch in the interface of the trigger car machine; after the position deviation prompt is output, the tail wing control method further comprises the following steps: and determining triggering operation of the tail virtual switch in the vehicle-machine interface as confirmation operation of the position deviation prompt.

Here, a position shift cue may be displayed in the car-machine interface, wherein the position shift cue includes a cue for performing a confirmation operation by the tail virtual switch, for example, the position shift cue may be "tail position shift please long press tail off soft switch to complete initialization learning".

After the position deviation prompt is displayed in the vehicle-machine interface, if a trigger operation for the tail virtual switch in the vehicle-machine interface is received, the trigger operation is determined to be a confirmation operation for the position deviation prompt, and the position correction processing is performed on the tail. The triggering operation can be set according to the requirements in the actual application scene, for example, the triggering operation can be a long-press operation. Through the mode, the position deviation prompt can be ensured to be actually touched to reach a user, and meanwhile, the position correction processing is triggered through the tail virtual switch, so that the convenience of operation can be improved. In another embodiment, the tail entity switch may also perform this function, namely: and if the triggering operation of the tail entity switch in the vehicle-machine interface is received, determining the triggering operation as the confirmation operation of the position deviation prompt, and performing position correction processing on the tail.

In some embodiments, the above-mentioned confirmation operation in response to the position deviation prompt may be implemented in such a manner that the position correction processing is performed on the tail wing: outputting a position correction hint in response to a confirmation operation for the position offset hint; and performing position correction processing on the tail wing in response to a confirmation operation for the position correction prompt.

Here, when a confirmation operation for the positional deviation prompt is received, a secondary confirmation may be performed, and for example, a positional correction prompt may be output for prompting whether to perform the positional correction processing. When a confirmation operation aiming at the position correction prompt is received, the position correction processing is carried out on the tail wing; when the confirmation operation aiming at the position correction prompt is not received, the tail wing is controlled to move according to the tail wing movement instruction, and the historical position information of the tail wing is updated after the tail wing moves, or the tail wing can be kept motionless. Through the mode, the user can be ensured to know that the position correction processing is needed at present, the user experience is improved, and meanwhile, frequent position correction caused by misoperation of the user can be avoided.

In some embodiments, before performing the position correction processing on the tail wing, the tail wing control method further includes: outputting a tail environment confirmation prompt; the above-described position correction processing for the tail wing can be achieved in such a manner that: and performing position correction processing on the tail wing in response to the confirmation operation aiming at the tail wing environment confirmation prompt.

Here, when it is determined that the position deviation of the tail wing occurs, a tail wing environment confirmation prompt may be output, and the tail wing environment confirmation prompt is used to prompt a user to confirm whether the surrounding environment of the tail wing is appropriate. When a confirmation operation aiming at the tail environment confirmation prompt is received, the tail surrounding environment is proved to support the position correction processing of the tail, so that the position correction processing of the tail is carried out; when the confirmation operation aiming at the tail environment confirmation prompt is not received, the tail surrounding environment is proved to be incapable of supporting the position correction processing of the tail, so that the tail can be controlled to move according to the tail movement instruction, the historical position information of the tail is updated after the tail moves, or the tail can be kept motionless in consideration of safety. Through the mode, the position correction processing can be guaranteed to be carried out on the tail wing under the premise that the surrounding environment of the tail wing is proper, the accuracy of the position correction processing can be improved, and inaccurate position correction caused by improper surrounding environment of the tail wing (such as foreign matters existing around the tail wing) is avoided.

It should be noted that, in the embodiment of the present application, the output timing between the tail environment confirmation prompt and the position deviation prompt is not limited, for example, the tail environment confirmation prompt may be output simultaneously with the position deviation prompt; for another example, the tail environment confirmation cue may be output when a confirmation operation for the misalignment cue is received, and in this case, the tail environment confirmation cue may be output simultaneously with the misalignment cue or may be output in a first-to-first timing.

As shown in fig. 3A, in the embodiment of the present application, in response to an empennage movement instruction, historical position information updated after each movement of the empennage is obtained, and the historical position information of the empennage is compared with preset position information to obtain a position deviation result, when the position deviation result characterizes that the position deviation of the empennage occurs, the position deviation is proved to be the correct time for position correction at present, so that the position correction processing is performed on the empennage, and the historical position information of the empennage is updated in the process of the position correction processing, so that the empennage can be controlled according to the empennage movement instruction conveniently. In sum, this application embodiment carries out the position correction processing when the fin appears the position offset, can reduce the position correction frequency under the prerequisite of guaranteeing the position correction effect to reduce the damage to the fin, increase the life of fin.

In some embodiments, referring to fig. 3B, fig. 3B is a schematic flow chart of the tail wing control method provided in the embodiment of the present application, and step 103 shown in fig. 3A may be implemented through steps 201 to 203, which will be described in connection with the steps.

In step 201, when the position deviation result indicates that the position deviation of the tail wing occurs, the tail wing is closed to the closed stall position.

Here, the position correction process may refer to moving the tail to the closed limit position and then moving the tail from the closed limit position to the open limit position. Because the fin is provided power by fin motor, consequently, can close the fin to the shutoff position of fin motor, this shutoff position of blocking up is the extreme position that the fin closed. As an example, the present embodiment provides a schematic diagram of the tail motor as shown in fig. 4, the tail motor 41 is shown and a closed stall position with the tail motor 41.

In step 202, the tail is opened from a closed stall position to an open stall position.

Here, the tail fin is opened from the closing locked position of the tail fin motor to the opening locked position of the tail fin motor, and the opening locked position is the limit position of tail fin opening. As an example, the open stall position of the tail motor 41 is shown in fig. 4, it being worth noting that in fig. 4, the transition from the closed stall position to the open stall position is in a counter-clockwise direction.

In some embodiments, after the tail wing is opened from the closed stall position to the open stall position, the tail wing control method further comprises: and closing the tail wing from the opening locked position to the closing soft stop position.

The default state of the tail of the vehicle is the off state, so that after the position correction process is completed, the tail may be closed so as to be opened upon receiving the tail opening instruction. Here, the tail wing may be closed from an open stall position to a closed soft stall position, wherein the closed soft stall position is located between the closed stall position and the open stall position, and a first stroke between the closed stall position and the closed soft stall position may be preset, so that the closed soft stall position is determined according to the closed stall position and the first stroke. As an example, the off soft stop position of the tail motor 41 is shown in fig. 4. It should be noted that, the reason for closing the tail to the soft stop position is that the closed stall position is the limit position of tail closing, and if the tail is kept in the closed stall position for a long time, collision and noise of the tail self mechanism may be caused, so that damage to the tail is easily caused. The mode is used for closing the tail wing from the opening locked position to the closing soft stop position, so that the abnormal probability of the tail wing in the closed state can be reduced, the damage to the tail wing is reduced, and the service life of the tail wing is prolonged.

Similarly, after the tail wing is closed from the opening locked position to the closing soft stop position, the tail wing can be opened from the closing soft stop position to the opening soft stop position in response to the tail wing opening instruction, wherein the opening soft stop position is positioned between the closing locked position and the opening locked position, and a second stroke between the opening locked position and the opening soft stop position can be preset, so that the opening soft stop position is determined according to the opening locked position and the second stroke.

In step 203, the historical position information of the tail is updated during the position correction process.

Here, the generated position information is recorded in the process of position correction processing (that is, in the process of closing the tail to the closed stall position and opening the tail from the closed stall position to the open stall position), so as to be used as new historical position information, and a conclusion that the tail does not have position deviation can be obtained according to the new historical position information when the tail movement instruction is triggered next time.

In some embodiments, the historical position information of the tail includes at least one of a historical closed position, a historical open position, and a historical trip; updating the historical position information of the tail wing during the position correction process described above can be achieved in such a way that: performing at least one of the following: determining the closing locked rotor position as a new historical closing position; determining the opening locked position as a new historical opening position; the travel between the closed and open locked positions is determined as a new historical travel.

Here, the historical position information of the tail wing includes at least one of a historical closing position, a historical opening position, and a historical trip, and the update process will be described below for these three parameters, respectively:

1) Historical closed position. If the historical position information includes a historical closed position, the closed locked position may be determined to be a new historical closed position.

2) Historical open positions. If the historical location information includes a historical open location, the open locked position may be determined to be a new historical open location.

3) Historical travel. If the history position information includes a history travel, a travel between the closed and open locked positions may be calculated and determined as a new history travel.

By the method, the historical position information can be accurately updated, and the data accuracy of the historical position information is improved.

As shown in fig. 3B, in the embodiment of the present application, considering that the tail fin is driven by the tail fin motor, the position correction process is implemented by determining the closed locked position and the open locked position of the tail fin motor, so that the accuracy of the position correction process can be improved.

In some embodiments, referring to fig. 3C, fig. 3C is a schematic flow chart of the tail control method provided in the embodiment of the present application, and step 102 shown in fig. 3A may be implemented through steps 301 to 302, and will be described in connection with the steps.

In step 301, the historical position information of the tail wing is compared with the preset position information.

Here, the historical position information of the tail wing includes at least one of a historical closing position, a historical opening position and a historical trip, and correspondingly, the preset position information of the tail wing includes at least one of a preset closing position, a preset opening position and a preset trip, so step 301 may be implemented through at least one of steps 401 to 403, which will be described in connection with each step.

In step 401, the historical closing position is compared with a preset closing position.

Here, the historical closing position in the historical position information and the preset closing position in the preset position information are subjected to comparison processing, and a comparison result is obtained. The comparison processing mode is different according to different forms of preset closing positions in the preset position information.

For example, when the historical closing position in the historical position information designates a specific value (i.e. a position value), and the preset closing position in the preset position information also designates a specific value, the comparison between the historical closing position and the preset closing position is determined to be successful when the historical closing position is the same as the preset closing position; when the historical closing position is different from the preset closing position, determining that the comparison between the historical closing position and the preset closing position fails. This approach is more stringent for historical closed positions.

For another example, the historical closing position in the historical position information designates a specific value, and the preset closing position in the preset position information designates a range of values (the range includes a plurality of values or can be understood as a plurality of preset closing positions), and when the historical closing position is within the range designated by the preset closing position, the comparison between the historical closing position and the preset closing position is determined to be successful; when the historical closing position is not in the range specified by the preset closing position, determining that the comparison between the historical closing position and the preset closing position fails. The mode has loose requirements on the historical closing position, can tolerate that the historical closing position is in a certain position range, and is closer to an actual application scene.

In step 402, the historical open position is compared with a preset open position.

Here, the historical opening position in the historical position information and the preset opening position in the preset position information are subjected to comparison processing, and a comparison result is obtained. The comparison processing mode is different according to different forms of the preset opening position in the preset position information, and specific reference can be made to the related description of the preset closing position.

In step 403, the historical travel is compared with a preset travel.

Here, the history travel in the history position information is compared with the preset travel in the preset position information, and a comparison result is obtained. The comparison processing mode is different according to different forms of preset strokes in the preset position information, and specific reference can be made to the related description of the preset closing position.

In step 302, a position offset result is determined from the comparison result.

As described above, at least one of steps 401 to 403 may be performed, and when the comparison results obtained in all the performed steps are successful in comparison, it is determined that the position shift result is that the position shift does not occur; and when the comparison result obtained in any executed step is a comparison failure, determining that the position deviation result is the position deviation.

As shown in fig. 3C, in this embodiment of the present application, contrast processing may be implemented for at least one parameter of a closed position, an open position, and a stroke, which may improve flexibility of the contrast processing and accuracy of detecting a position offset, and is suitable for various practical application scenarios, for example, in a certain application scenario, the requirement on accuracy of detecting a position offset is high, and then contrast processing may be performed for the closed position, the open position, and the stroke at the same time, to obtain a position offset result.

In some embodiments, referring to fig. 3D, fig. 3D is a schematic flow chart of a tail wing control method provided in the embodiments of the present application, after step 102 shown in fig. 3A, in step 501, when a position deviation result indicates that a position deviation of a tail wing does not occur, the tail wing is controlled to move according to a tail wing movement instruction, and historical position information of the tail wing is updated after the movement.

Here, when the position deviation result represents that the position deviation does not occur in the tail wing, the tail wing is controlled to move according to the tail wing movement instruction, so that the problems of damage to the tail wing, noise generation and the like are avoided, the tail wing is controlled to move according to the tail wing movement instruction, and the historical position information of the tail wing is updated after the tail wing is moved.

For example, when the tail movement command is a tail opening command triggered when the tail is closed, the tail is controlled to open (e.g., to an open soft stop position, where the open soft stop position is historically determined), the opened position is recorded as a new historical open position, and/or the trip from closed to open is recorded as a new historical trip; when the tail movement command is a tail closing command triggered when the tail is opened, the tail is controlled to close (e.g., to a closed soft stop position, where the closed soft stop position is historically determined), the closed position is recorded as a new historical closed position, and/or the trip from open to closed is recorded as a new historical trip.

As shown in fig. 3D, when the position deviation of the tail wing does not occur, the embodiment of the application controls the tail wing to move according to the tail wing movement instruction, and updates the historical position information of the tail wing after the movement, so that the safety of the movement of the tail wing can be ensured on the premise of meeting the movement requirement of the tail wing, and damage to the tail wing in the movement process of the tail wing is avoided as much as possible.

In the following, an exemplary application of the embodiments of the present application in a practical application scenario will be described. For ease of understanding, the description will be given by way of step form in connection with fig. 5.

Step S1: when a user operates the tail fin soft switch on the vehicle-machine interface or the speed of the vehicle meets the speed condition, a tail fin movement instruction is triggered, the host controller responds to the tail fin movement instruction, historical position information of the tail fin is obtained, and the historical position information of the tail fin is compared with preset position information set by a factory to obtain a position deviation result.

The user operates the tail fin soft switch on the vehicle-machine interface, wherein the premise is that the vehicle is electrified and the vehicle-machine is in a normal working state; the vehicle speed condition may be that the vehicle speed increases to 100km/h (corresponding to the tail opening command) or the vehicle speed decreases to 80km/h (corresponding to the tail closing command); the positions where the comparison process is performed include a closed position, an open position, and a stroke.

Step S2-1: when the historical position information of the tail wing is not lost and the position deviation of the tail wing does not occur, the host controller sends a tail wing movement instruction to the tail wing controller, and the tail wing controller controls the tail wing motor to realize the movement (opening or closing) of the tail wing, and updates the historical position information of the tail wing after the movement.

Step S2-2: when the historical position information of the tail wing is lost or the position deviation of the tail wing occurs, the host controller outputs a position deviation prompt through a vehicle-machine interface and voice in a vehicle, for example, the tail wing position deviation please long press a tail wing closing soft switch to complete initialization learning. In order to avoid disturbing a user, the position deviation prompt is displayed in the vehicle-computer interface for 5 seconds and then stops displaying, and the voice broadcast is stopped after the position deviation prompt is broadcasted once. Through step S2-2, the user can be actively reminded when the historical position information of the tail wing is lost or the tail wing is shifted, and the user is informed of how to trigger initialization learning, so that the trouble of the user is reduced.

Step S3: the user long presses the tail in the car machine interface to turn off the soft switch (corresponding to the confirmation operation for the position deviation prompt above).

Step S4: the host controller outputs a position correction prompt and a tail environment confirmation prompt through a vehicle-to-vehicle interface and in-vehicle voice, wherein the position correction prompt is such as "whether to execute tail initialization self-learning", and the tail environment confirmation prompt is such as "please pay attention to the surrounding environment of the tail during the tail position learning process, please place hands or foreign matters nearby by mistake". When the position correction prompt and the tail environment confirmation prompt are displayed through the vehicle-computer interface, the confirmation button and the cancel button can be displayed together, the position correction prompt, the tail environment confirmation prompt and the related buttons are stopped to be displayed after 5 seconds, and the position correction prompt and the tail environment confirmation prompt are voice-broadcast once and then the broadcast is stopped. Step S4, by reminding a user to secondarily confirm whether to execute initialization learning, frequent occurrence of locked-rotor of the motor caused by misoperation is avoided; meanwhile, the attention points of the user in the initial learning process of the tail wing are reminded, and the occurrence of false clamping events and position learning deviation caused by foreign matter clamping are reduced.

Step S5-1: when a user clicks a 'confirmation' button or a voice reply confirmation word (a confirmation word such as 'good' or 'confirmation', etc.) in a vehicle interface, the host controller sends a position correction instruction to the tail controller, and the tail controller controls the tail motor to be firstly closed to a closed stall position P1, then opened to an open stall position P2 and then closed to a closed soft stop position P3 according to the position correction instruction, namely, a cycle process of closing-opening-closing is executed, in which the tail controller calculates a stroke between the closed stall position P1 and the open stall position P2, updates the closed stall position P1, the open stall position P2 and the calculated stroke into historical position information, completes initialization learning (or called position correction) of the tail, and simultaneously determines that the tail is in a closed state. It should be noted that, in addition to determining the closed soft stop position P3, the open soft stop position P4 may also be determined, and when the subsequent tail wing is opened, the tail wing may be opened to the open soft stop position P4.

Step S5-2: when the user clicks a cancel button or no operation in the car interface, the host controller stops displaying the position correction prompt, the tail environment confirmation prompt and related buttons and keeps the tail stationary.

Step S6: returning to step S1.

The embodiment of the application can at least realize the following technical effects:

1) When the tail wing moves each time, the historical position information is updated, and whether the tail wing has position deviation can be accurately judged by comparing the historical position information with the preset position information.

2) When historical position information is lost or the position of the tail wing is deviated, position correction processing is carried out, the necessity of position correction can be improved, the frequency of position correction is reduced, compared with the situation that the position correction processing is carried out when power is applied each time in the scheme provided by the related art, the damage to the tail wing motor can be reduced (namely, the damage to the tail wing is reduced), the service life of the tail wing motor is prolonged (namely, the service life of the tail wing is prolonged), and meanwhile, the resource consumption can be reduced.

3) The method actively reminds the user and informs the user of the mode of initializing learning, so that the trouble of the user and after-sales work can be reduced.

4) By reminding a user to secondarily confirm whether to execute initialization learning, frequent occurrence of locked-rotor of the motor caused by misoperation is avoided.

5) Through reminding the user to pay attention to whether the surrounding environment of the tail wing has foreign object clamping, the accuracy of position correction processing can be improved, position deviation is avoided, and meanwhile damage to the tail wing mechanism and the paint surface of the tail gate in the position correction process can be reduced.

Continuing with the description below, the exemplary architecture of the tail control device 455 provided in the embodiments of the present application implemented as a software module, in some embodiments, as shown in fig. 2, the software module stored in the tail control device 455 of the memory 450 may include: the acquisition module 4551 is configured to acquire historical position information of the tail wing in response to the tail wing movement instruction; the historical position information of the tail wing is updated after each movement of the tail wing; the comparison module 4552 is configured to compare the historical position information of the tail fin with the preset position information to obtain a position offset result; the position deviation result is used for representing whether the position deviation of the tail wing occurs or not; and the correction module 4553 is configured to perform a position correction process on the tail fin when the position deviation result indicates that the position deviation of the tail fin occurs, and update the historical position information of the tail fin during the position correction process.

In some embodiments, correction module 4553 is further to: closing the tail wing to a closing locked position; and opening the tail wing from the closed locked position to the open locked position.

In some embodiments, the historical position information of the tail includes at least one of a historical closed position, a historical open position, and a historical trip; the correction module 4553 is also configured to perform at least one of: determining the closing locked rotor position as a new historical closing position; determining the opening locked position as a new historical opening position; the travel between the closed and open locked positions is determined as a new historical travel.

In some embodiments, correction module 4553 is further to: and closing the tail wing from the opening locked position to the closing soft stop position.

In some embodiments, the historical position information of the tail includes at least one of a historical closed position, a historical open position, and a historical trip, and the preset position information of the tail includes at least one of a preset closed position, a preset open position, and a preset trip; the contrast module 4552 is also configured to perform at least one of: comparing the historical closing position with a preset closing position; comparing the historical opening position with a preset opening position; and comparing the historical travel with a preset travel.

In some embodiments, the tail control device 455 further includes a determining module for determining that the position deviation result indicates that the tail is shifted when the historical position information of the tail fails to be obtained.

In some embodiments, correction module 4553 is further to: outputting a position deviation prompt; and performing position correction processing on the tail wing in response to a confirmation operation for the position deviation prompt.

In some embodiments, correction module 4553 is further to: displaying a position deviation prompt in a vehicle-computer interface; the position deviation prompt is used for prompting a tail virtual switch in the interface of the trigger car machine; and determining triggering operation of the tail virtual switch in the vehicle-machine interface as confirmation operation of the position deviation prompt.

In some embodiments, correction module 4553 is further to: outputting a position correction hint in response to a confirmation operation for the position offset hint; and performing position correction processing on the tail wing in response to a confirmation operation for the position correction prompt.

In some embodiments, correction module 4553 is further to: outputting a tail environment confirmation prompt; and performing position correction processing on the tail wing in response to the confirmation operation aiming at the tail wing environment confirmation prompt.

In some embodiments, tail control 455 further includes a trigger module for performing any of the following processes; receiving an empennage movement instruction triggered by an empennage virtual switch in a vehicle-machine interface; receiving an empennage movement instruction triggered by an empennage entity switch; and triggering the tail fin movement instruction when the vehicle speed condition is met.

In some embodiments, the vehicle speed condition includes any one of: increasing the vehicle speed to a first vehicle speed threshold; the vehicle speed is reduced to a second vehicle speed threshold value; wherein the first vehicle speed threshold is greater than or equal to the second vehicle speed threshold.

In some embodiments, the tail control device 455 further includes a movement module for controlling the tail to move according to the tail movement command when the position deviation result indicates that the position deviation of the tail does not occur, and updating the historical position information of the tail after the movement.

Embodiments of the present application provide a computer program product or computer program comprising executable instructions stored in a computer readable storage medium. The processor of the electronic device reads the executable instructions from the computer readable storage medium, and the processor executes the executable instructions, so that the electronic device executes the tail wing control method according to the embodiment of the application.

The present embodiments provide a computer readable storage medium storing executable instructions, wherein the executable instructions are stored, which when executed by a processor, cause the processor to perform the tail control method provided by the embodiments of the present application.

In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories.

In some embodiments, the executable instructions may be in the form of programs, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

As an example, the executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).

As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or, alternatively, distributed across multiple sites and interconnected by a communication network.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and scope of the present application are intended to be included within the scope of the present application.

Claims (15)

1. A tail control method, comprising:

responding to the tail fin movement instruction, and acquiring historical position information of the tail fin; the historical position information of the tail wing is updated after each movement of the tail wing;

Comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the tail wing has position deviation or not;

when the position deviation results represent that the position deviation of the tail wing occurs, position correction processing is carried out on the tail wing, and historical position information of the tail wing is updated in the process of the position correction processing.

2. The method of claim 1, wherein said performing a position correction process on said tail comprises:

closing the tail wing to a closing locked position;

and opening the tail wing from the closed locked position to the open locked position.

3. The method of claim 2, wherein the historical position information of the tail includes at least one of a historical closed position, a historical open position, and a historical trip; the updating the historical position information of the tail wing in the position correction processing process comprises the following steps:

performing at least one of the following:

determining the closing locked rotor position as a new historical closing position;

determining the opening locked position as a new historical opening position;

And determining the stroke between the closing locked position and the opening locked position as a new historical stroke.

4. The method of claim 2, wherein after said opening of said tail from said closed stall position to said open stall position, said method further comprises:

and closing the tail wing from the opening locked position to the closing soft stop position.

5. The method of claim 1, wherein the historical position information of the tail comprises at least one of a historical closed position, a historical open position, and a historical trip, and the preset position information of the tail comprises at least one of a preset closed position, a preset open position, and a preset trip; the comparing the historical position information of the tail wing with the preset position information comprises the following steps:

performing at least one of the following:

comparing the historical closing position with the preset closing position;

comparing the historical opening position with the preset opening position;

and comparing the historical travel with the preset travel.

6. The method according to claim 1, wherein the method further comprises:

And when the acquisition of the historical position information of the tail wing fails, determining a position deviation result to represent the position deviation of the tail wing.

7. The method of claim 1, wherein prior to performing the position correction process on the tail, the method further comprises:

outputting a position deviation prompt;

the position correction processing for the tail wing comprises the following steps:

and responding to the confirmation operation of the position deviation prompt, and performing position correction processing on the tail wing.

8. The method of claim 7, wherein outputting the positional offset cue comprises:

displaying a position deviation prompt in a vehicle-computer interface; the position deviation prompt is used for prompting to trigger a tail wing virtual switch in the vehicle-machine interface;

the method further comprises the steps of:

and determining triggering operation of the tail virtual switch in the vehicle-machine interface as confirmation operation of the position deviation prompt.

9. The method of claim 7, wherein the performing a position correction process on the tail in response to a confirmation operation for the position shift cue comprises:

outputting a position correction hint in response to a confirmation operation for the position offset hint;

And responding to the confirmation operation of the position correction prompt, and performing position correction processing on the tail wing.

10. The method of claim 1, wherein prior to performing the position correction process on the tail, the method further comprises:

outputting a tail environment confirmation prompt;

the position correction processing for the tail wing comprises the following steps:

and responding to the confirmation operation of the tail environment confirmation prompt, and carrying out position correction processing on the tail.

11. The method according to claim 1, wherein the method further comprises:

performing any one of the following processes;

receiving an empennage movement instruction triggered by an empennage virtual switch in a vehicle-machine interface;

receiving an empennage movement instruction triggered by an empennage entity switch;

and triggering the tail fin movement instruction when the vehicle speed condition is met.

12. The method according to any one of claims 1 to 11, wherein after comparing the historical position information of the tail with the preset position information to obtain a position offset result, the method further comprises:

when the position deviation result indicates that the position deviation of the tail wing does not occur, the tail wing is controlled to move according to the tail wing movement instruction, and the historical position information of the tail wing is updated after the movement.

13. A tail control device, comprising:

the acquisition module is used for responding to the tail fin movement instruction and acquiring historical position information of the tail fin; the historical position information of the tail wing is updated after each movement of the tail wing;

the comparison module is used for comparing the historical position information of the tail wing with preset position information to obtain a position deviation result; the position deviation result is used for representing whether the tail wing has position deviation or not;

and the correction module is used for carrying out position correction processing on the tail wing when the position deviation result represents that the position deviation occurs on the tail wing, and updating the historical position information of the tail wing in the process of the position correction processing.

14. An electronic device, comprising:

a memory for storing executable instructions;

a processor for implementing the tail control method of any one of claims 1 to 12 when executing executable instructions stored in said memory.

15. A computer readable storage medium storing executable instructions for implementing the tail control method of any one of claims 1 to 12 when executed by a processor.