阅读说明：本技术 用于车尾门的防夹系统、方法、计算机设备、介质及车辆 (Anti-pinch system, method, computer device, medium and vehicle for tailgate ) 是由 兰志斌 于 2021-06-30 设计创作，主要内容包括：本发明涉及一种用于车尾门的防夹系统。该系统包括：传感器,其配置成在所述车尾门下降时感测所述传感器与所述车尾门的周围物体之间的最小距离的实时值,其中,所述车尾门的所述周围物体包括位于所述车尾门的运动轨迹上的物体；以及控制器,其配置成在所述实时值不大于第一距离阈值时进行以下操作：确定与所述实时值对应的标定值,比较所述实时值和所述对应的标定值,以及当所述实时值小于所述对应的标定值时,发出第一预警信号。本发明还涉及用于车尾门的防夹方法、计算机设备、计算机存储介质以及车辆。(The invention relates to an anti-pinch system for a tailgate. The system comprises: a sensor configured to sense a real-time value of a minimum distance between the sensor and a surrounding object of the tailgate as the tailgate descends, wherein the surrounding object of the tailgate comprises an object located on a motion trajectory of the tailgate; and a controller configured to, when the real-time value is not greater than a first distance threshold: determining a calibration value corresponding to the real-time value, comparing the real-time value with the corresponding calibration value, and sending a first early warning signal when the real-time value is smaller than the corresponding calibration value. The invention also relates to an anti-pinch method for a tailgate, a computer device, a computer storage medium and a vehicle.)

1. An anti-pinch system for a tailgate, comprising:

a sensor configured to sense a real-time value of a minimum distance between the sensor and a surrounding object of the tailgate as the tailgate descends, wherein the surrounding object of the tailgate comprises an object located on a motion trajectory of the tailgate; and

a controller configured to, when the real-time value is not greater than a first distance threshold:

determining a calibration value corresponding to the real-time value,

comparing said real-time value with said corresponding calibration value, an

And when the real-time value is smaller than the corresponding calibration value, sending a first early warning signal.

2. The anti-pinch system for a tailgate of claim 1, wherein the controller is further configured to:

when the real-time value is less than the corresponding calibration value, also comparing the real-time value to a second distance threshold, an

And when the real-time value is not greater than the second distance threshold value, sending a stop signal to stop the tail gate from descending.

3. The anti-pinch system for a tailgate of claim 2, wherein the controller is further configured to:

and when the real-time value is not greater than the second distance threshold value, sending a second early warning signal.

4. The anti-pinch system for a tailgate of claim 2, wherein the controller is further configured to:

when the real-time value is not larger than the second distance threshold, judging whether the duration of the real-time value smaller than the calibration value reaches a predetermined time threshold or not; and

and if the duration reaches the time threshold, sending a turnover signal to enable the tail gate to turn upwards, otherwise, sending a descending signal to enable the tail gate to continuously descend.

5. The anti-pinch system for a tailgate of claim 4, wherein the controller is further configured to:

and if the duration reaches the time threshold, sending a third early warning signal.

6. The anti-pinch system for a tailgate of claim 1, wherein said controller is configured to determine said calibration value corresponding to said real-time value by:

determining a height of the tailgate corresponding to the real-time value; and

and determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value.

7. The anti-pinch system for a tailgate of claim 6, wherein said correspondence between said tailgate height and said calibrated value in said controller is determined according to the following:

setting a current height of the tailgate to a maximum height in response to receiving a height learning signal;

causing the tailgate to descend from the maximum height in response to receiving a calibration signal;

receiving calibration values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate while the tailgate is being lowered; and

and establishing the corresponding relation between the height of the tail gate and the calibration value.

8. The anti-pinch system for a tailgate of claim 1, wherein said sensor is disposed on said tailgate.

9. An anti-pinch method for a tailgate, comprising:

sensing, with a sensor, a real-time value of a minimum distance between the sensor and a surrounding object of the tailgate while the tailgate is descending, wherein the surrounding object of the tailgate includes an object located on a motion trajectory of the tailgate;

comparing the real-time value to a first distance threshold;

when the real-time value is not larger than the first distance threshold, determining a calibration value corresponding to the real-time value;

comparing the real-time value with the corresponding calibration value; and

when the real-time value is smaller than the corresponding calibration value, a first early warning signal is sent out,

wherein, the sensor is arranged on the tail door of the vehicle.

10. The anti-pinch method for a tailgate of claim 9, further comprising:

when the real-time value is less than the corresponding calibration value, also comparing the real-time value to a second distance threshold, an

And when the real-time value is not greater than the second distance threshold value, sending a stop signal to stop the tail gate from descending.

11. The anti-pinch method for a tailgate of claim 10, further comprising:

and when the real-time value is not greater than the second distance threshold value, sending a second early warning signal.

12. The anti-pinch method for a tailgate of claim 10, further comprising:

when the real-time value is not larger than the second distance threshold, judging whether the duration of the real-time value smaller than the calibration value reaches a predetermined time threshold or not; and

and if the duration reaches the time threshold, sending a turnover signal to enable the tail gate to turn upwards, otherwise, sending a descending signal to enable the tail gate to continuously descend.

13. The anti-pinch method for a tailgate of claim 12, further comprising:

and if the duration reaches the time threshold, sending a third early warning signal.

14. The anti-pinch method for a tailgate according to claim 9, wherein said calibration value corresponding to said real-time value is determined by:

determining a height of the tailgate corresponding to the real-time value; and

and determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value.

15. The anti-pinch method for a tailgate of claim 14, wherein said correspondence of said tailgate height to said calibrated value is determined according to the following:

setting a current height of the tailgate to a maximum height in response to receiving a height learning signal;

causing the tailgate to descend from the maximum height in response to receiving a calibration signal;

receiving calibration values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate while the tailgate is being lowered; and

and establishing the corresponding relation between the height of the tail gate and the calibration value.

16. The anti-pinch method for a tailgate of claim 9, wherein said sensor is disposed on said tailgate.

17. A computer storage medium, characterized in that the medium comprises instructions which, when executed, perform the method of any of claims 9 to 16.

18. A computer device comprising a processor and a memory, characterized in that the method of any of claims 9 to 16 is implemented when a computer program stored on the memory is run on the processor.

19. A vehicle characterized by being provided with the system according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of automobiles, in particular to an anti-pinch system and method for a tail door, computer equipment, a computer storage medium and a vehicle.

Background

With the continuous development and popularization of automation technology, more and more automobiles are equipped with electric tail gates. The user can automatically open or close the tail gate through a switch arranged at a proper position in the vehicle, on the tail gate or on a key of the vehicle.

Considering that the electric tail gate has the risk of mistakenly clamping obstacles and even personnel, an anti-clamping function needs to be configured for the electric tail gate. The current function of preventing pressing from both sides often is based on to the motor ripple or to the motor from taking hall signal's detection, when detecting the operation of electronic tail-gate and having been hindered by barrier or personnel, starts the operation of preventing pressing from both sides.

However, a mis-pinch may have occurred before such an anti-pinch operation is initiated, thereby causing problems such as an obstacle being pinched, a tailgate being damaged, or a person being accidentally injured.

It is thus seen that there is a need for an anti-pinch technique that better addresses the problem of mis-pinching of tailgate.

Disclosure of Invention

To solve or at least alleviate one or more of the above problems, the following technical solutions are provided.

According to one aspect of the present invention, an anti-pinch system for a tailgate is provided. The system comprises: a sensor configured to sense a real-time value of a minimum distance between the sensor and a surrounding object of the tailgate as the tailgate descends, wherein the surrounding object of the tailgate comprises an object located on a motion trajectory of the tailgate; and a controller configured to, when the real-time value is not greater than a first distance threshold: determining a calibration value corresponding to the real-time value, comparing the real-time value with the corresponding calibration value, and sending a first early warning signal when the real-time value is smaller than the corresponding calibration value.

Optionally, in the above anti-pinch system for a tailgate, the controller is further configured to: when the real-time value is smaller than the corresponding calibration value, the real-time value is also compared with a second distance threshold value, and when the real-time value is not larger than the second distance threshold value, a stop signal is sent out, so that the tail gate stops descending.

Optionally, in the above anti-pinch system for a tailgate, the controller is further configured to: and when the real-time value is not greater than the second distance threshold value, sending a second early warning signal.

Optionally, in the above anti-pinch system for a tailgate, the controller is further configured to: when the real-time value is not larger than the second distance threshold, judging whether the duration of the real-time value smaller than the calibration value reaches a predetermined time threshold or not; and if the duration reaches the time threshold, sending a turnover signal to enable the tail gate to turn upwards, otherwise, sending a descending signal to enable the tail gate to continue descending.

Optionally, in the above anti-pinch system for a tailgate, the controller is further configured to: and if the duration reaches the time threshold, sending a third early warning signal.

Optionally, in the above anti-pinch system for a tailgate, the controller is configured to determine the calibration value corresponding to the real-time value by: determining a height of the tailgate corresponding to the real-time value; and determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value.

Optionally, in the controller of the anti-pinch system for a tailgate, the correspondence between the height of the tailgate and the calibrated value is determined according to the following operations: setting a current height of the tailgate to a maximum height in response to receiving a height learning signal; causing the tailgate to descend from the maximum height in response to receiving a calibration signal; receiving calibration values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate while the tailgate is being lowered; and establishing the corresponding relation between the height of the tail gate and the calibration value.

Optionally, in the above anti-pinch system for a tailgate, the sensor is disposed on the tailgate.

In accordance with another aspect of the present invention, a pinch resistant method for a tailgate is provided. The method comprises the following steps: sensing, with a sensor, a real-time value of a minimum distance between the sensor and a surrounding object of the tailgate while the tailgate is descending, wherein the surrounding object of the tailgate includes an object located on a motion trajectory of the tailgate; comparing the real-time value to a first distance threshold; when the real-time value is not larger than the first distance threshold, determining a calibration value corresponding to the real-time value; comparing the real-time value with the corresponding calibration value; and when the real-time value is smaller than the corresponding calibration value, sending a first early warning signal, wherein the sensor is arranged on the tail gate of the vehicle.

Optionally, in the above anti-pinch method for a tailgate, the method further includes: when the real-time value is smaller than the corresponding calibration value, the real-time value is also compared with a second distance threshold value, and when the real-time value is not larger than the second distance threshold value, a stop signal is sent out, so that the tail gate stops descending.

Optionally, in the above anti-pinch method for a tailgate, the method further includes: and when the real-time value is not greater than the second distance threshold value, sending a second early warning signal.

Optionally, in the above anti-pinch method for a tailgate, the method further includes: when the real-time value is not larger than the second distance threshold, judging whether the duration of the real-time value smaller than the calibration value reaches a predetermined time threshold or not; and if the duration reaches the time threshold, sending a turnover signal to enable the tail gate to turn upwards, otherwise, sending a descending signal to enable the tail gate to continue descending.

Optionally, in the above anti-pinch method for a tailgate, the method further includes: and if the duration reaches the time threshold, sending a third early warning signal.

Optionally, in the above anti-pinch method for a tailgate, the calibration value corresponding to the real-time value is determined by: determining a height of the tailgate corresponding to the real-time value; and determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value.

Optionally, in the anti-pinch method for a tailgate, the corresponding relationship between the height of the tailgate and the calibration value is determined according to the following operations: setting a current height of the tailgate to a maximum height in response to receiving a height learning signal; causing the tailgate to descend from the maximum height in response to receiving a calibration signal; receiving calibration values of the minimum distance between the sensor and the surrounding objects of the tailgate at different heights of the tailgate while the tailgate is being lowered; and establishing the corresponding relation between the height of the tail gate and the calibration value.

Optionally, in the above anti-pinch method for a tailgate, the sensor is disposed on the tailgate.

According to yet another aspect of the present invention, a computer storage medium is provided. The medium includes instructions that when executed perform any of the above anti-pinch methods for a tailgate.

According to yet another aspect of the present invention, a computer device is provided. The computer device includes a processor and a memory. Any of the above anti-pinch methods for a tailgate is implemented when a computer program stored on the memory is run on the processor.

According to yet another aspect of the present invention, a vehicle is provided. The vehicle is provided with any one of the anti-pinch systems for the tail gate.

Drawings

The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings.

FIG. 1 shows a block diagram of an anti-pinch system 1000 for a tailgate, according to one embodiment of the invention.

FIG. 2 shows a schematic view of a vehicle 2000 having an anti-pinch system for a tailgate, according to one embodiment of the invention.

FIG. 3 illustrates a flow diagram of an anti-pinch method 3000 for a tailgate, according to an embodiment of the present invention.

Detailed Description

It should be noted that the term "vehicle", "automobile" or other similar terms herein include motor vehicles in general, such as passenger cars (including sport utility vehicles, buses, trucks, etc.), various commercial vehicles, boats, planes, etc., and include hybrid cars, electric cars, plug-in hybrid electric vehicles, etc. A hybrid vehicle is a vehicle having two or more power sources, such as gasoline powered and electric vehicles. Furthermore, the terms "first," "second," "third," and the like herein are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, unless specifically stated otherwise, the terms "comprises," "comprising," and the like, herein are intended to mean non-exclusive inclusion.

It should also be noted that, herein, the origin of the vehicle coordinate system coincides with the center of mass, the longitudinal axis of the vehicle is intended to mean pointing parallel to the ground towards the front of the vehicle, the transverse axis of the vehicle is intended to mean pointing parallel to the ground towards the left of the driver, and the vertical axis of the vehicle is intended to mean pointing upwards through the center of mass of the car.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows a block diagram of an anti-pinch system 1000 for a tailgate, according to one embodiment of the invention. As shown in fig. 1, an anti-pinch system 1000 for a tailgate includes a sensor 110 and a controller 120.

Wherein the sensor 110 is configured to sense a real-time value of a minimum distance between the sensor 110 and a surrounding object of the tailgate 210 when the tailgate 210 descends. Among them, the surrounding objects of the tailgate 210 include objects located on the movement trace of the tailgate 210. Therefore, when an obstacle appears on the movement trace of the tailgate 210, the sensor 110 can sense the obstacle. Alternatively, the sensor 110 is disposed on the tailgate 210 of the vehicle 2000 as shown in fig. 2. Herein, the "movement trace of the tailgate" is intended to mean a trace line formed during the ascent or descent of the tailgate.

Optionally, the sensor 110 is a millimeter radar sensor that is centrosymmetric along the longitudinal axis of the vehicle. It should be noted that the "sensor" herein is not limited to such a millimeter wave radar sensor, but may be any suitable sensor that can implement a ranging function, such as a laser radar sensor, an ultrasonic radar sensor, or the like. It should also be noted that the "sensors" herein are not limited to a centrally symmetric arrangement along the longitudinal axis of the vehicle, but may be arranged at other suitable positions of the tailgate. Furthermore, an "obstacle" in this context may be an object, but also a part of a human or animal.

Wherein the controller 120 is configured to, when the real-time value sensed by the sensor 110 is not greater than the first distance threshold: and determining a calibration value corresponding to the real-time value, comparing the real-time value with the corresponding calibration value, and sending a first early warning signal to remind a user that the tail door of the vehicle faces the wrong clamping risk when the real-time value is smaller than the corresponding calibration value.

Here, the first distance threshold is predetermined, which may be 30 mm. The present invention is not intended to limit the distance threshold to any value that can reflect that the distance between the sensor and the surrounding object of the tailgate 210 is as small as a concern, such as 25mm, 35mm, 45mm, etc.

In addition, here, the first warning signal causes the vehicle 2000 to warn the user that there may be a risk of a wrong clamp, for example, causing a delay switch indicator light on the tailgate 210 to enter a blinking state. It should be noted that the first warning signal may also enable the vehicle 2000 to alert the user that there may be a risk of mistaken clipping in any other suitable manner, such as a voice manner, a text, graphic, etc. manner displayed on a display screen in the vehicle, a text, graphic, etc. manner displayed on a mobile device connected to the vehicle, etc.

Controller 120 may be further configured to further compare the real-time value to a second distance threshold when the real-time value is less than the corresponding calibration value. When the real-time value is less than the second distance threshold, the controller 120 is configured to issue a stop signal such that the tailgate stops descending. Optionally, the controller 120 may be further configured to issue a second warning signal when the real-time value is less than the second distance threshold to alert the user that the tailgate is at a risk of imminent false clipping.

Here, the second distance threshold is predetermined, which may be 10 mm. The present invention is not intended to limit the distance threshold to any value that can be predetermined to be 8mm, 12mm, 14mm, etc. that is indicative of imminent contact of the sensor with an object around the tailgate. Generally, the second distance threshold is less than the first distance threshold.

In addition, here, the second warning signal causes the vehicle 2000 to alert the user in the form of a high-frequency warning sound. It should be noted that the second warning signal may also enable the vehicle 2000 to remind the user of the imminent risk of mistaken clipping in any other suitable form, such as a light form, a text, a graphic, and the like displayed on a display screen in the vehicle, or a text, a graphic, and the like displayed on a mobile device connected to the vehicle. Alternatively, the warning level of the first and second warning signals may be increased stepwise. For example, the first warning signal is in the form of a flashing indicator light and the second warning signal is in the form of a high frequency sound. Such a hierarchical warning may give the user appropriate reminders based on the severity of the risk of a faulty grip at the tailgate.

The controller 120 may be further configured to further determine whether a duration of the real-time value being less than the calibrated value reaches a predetermined time threshold when the real-time value is not greater than the second distance threshold, and issue a rollover signal if the duration reaches the time threshold, such that the tailgate 210 is flipped up, otherwise issue a descent signal, such that the tailgate 210 continues to descend. Optionally, the controller is further configured to issue a third warning signal if the duration reaches a time threshold to alert the user that the tailgate is at risk of a very imminent false pinch.

Here, the time threshold is predetermined, which may be 3 s. The present invention is not intended to limit the time threshold to values that can be predetermined to any suitable time, such as 2.5s, 3.5s, 4s, etc.

In addition, here, the third warning signal may cause the vehicle 2000 to remind the user that the tail gate of the vehicle is exposed to a very urgent mistaken clamping risk in the form of light, sound, text, graphics, and the like displayed on a display screen in the vehicle, text, graphics, and the like displayed on a mobile device connected to the vehicle, or any other suitable form. Similarly to the foregoing, the warning levels of the first, second, and third warning signals may be gradually increased (e.g., the volume of the warning tone is gradually increased, the rhythm is gradually hurried, etc.), so as to provide the warning matched with the risk of the mistaken clipping for the user, avoid causing excessive interference to the user when the risk is small, and ensure that a strong enough reminder is provided for the user when the risk is large.

Through the anti-pinch system 1000 for the vehicle tail door, whether the vehicle tail door is in face of pre-judgment of the mistaken pinch risk or not can be achieved, and corresponding early warning signals are provided for a user when the mistaken pinch risk exists. When the pre-determined wrong clamping risk is relatively urgent or extremely urgent, the anti-clamping system 1000 can also realize the functions of stopping the descending of the tail door, turning the tail door upwards and the like, so that the possible wrong clamping accident is avoided.

As one example, controller 120 is configured to determine the calibration value corresponding to the real-time value by: firstly, determining the height of the tail gate corresponding to the real-time value, and then determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value.

The corresponding relation between the height of the tail gate and the calibration value can be predetermined when the vehicle leaves a factory, or can be re-determined according to user instructions.

An exemplary operation for re-determining the correspondence between the tailgate height and the calibration value according to the user's instruction is provided below. First, the user may set a desired maximum height for the tailgate 210. Specifically, the user may send the altitude learning signal when the tailgate 210 is at a certain appropriate altitude; the vehicle 2000 sets the current height of the tailgate 210 to the maximum height in response to the received height learning signal. Then, in response to receiving the calibration signal, the controller 120 signals the tailgate 210 to descend from the reset maximum height. During the descent of the tailgate 210, the sensor senses calibrated values of the minimum distance between the sensor 110 and the surrounding objects of the tailgate 210 at different heights of the tailgate 210, and transmits the calibrated values to the controller 120. The controller 120 establishes a correspondence between the height of the tailgate 210 and the calibrations received based on the calibrations. The controller 120 receives calibration values, often at discrete heights. Based on these discrete values, a discrete correspondence between the tailgate height and the calibrated value can be established. Then, the continuous correspondence may be established by means of, for example, fitting.

Optionally, a discrete correspondence between the tailgate height and the calibration is established based on a discrete calibration using motor ripple principles. Specifically, the motor drives the tailgate 210 down at a constant speed. The tailgate 210 drops by a fixed magnitude for every rotation of the motor, and a fixed amount of ripple (e.g., 8 ripples) is generated. Since the step size of the motor is fixed, 8 ripples correspond to a fixed period of time while corresponding to a fixed tail gate down amplitude. Therefore, the correspondence between the tailgate height and the time can be determined. Further, the sensor 110 senses the calibrated value of the distance between the sensor 110 and the surrounding objects of the tailgate 210 every one period (e.g., 10 ms) while the tailgate 210 descends at a constant speed. Thus, the correspondence between these discrete calibration values and time can be determined. Therefore, the corresponding relation between the vehicle tail door height and the calibration value is determined with the time, and the discrete corresponding relation between the vehicle tail door height and the calibration value can be determined.

The preset maximum tailgate height for a vehicle leaving a factory may not be suitable for some users, for example, too high for small-stature users. Additionally, the calibrated value for the distance between the sensor at a particular tailgate height and objects surrounding the tailgate may also differ from factory presets due to the placement of items within the trunk that are in close proximity to the sensor. Through the re-determination of the corresponding relationship, the anti-pinch system 1000 can flexibly update the corresponding relationship between the height of the trunk door and the calibration value according to the conditions of user requirements, article placement in the trunk and the like.

The anti-pinch system 1000 for a tailgate described above may be used with other anti-pinch systems (e.g., anti-pinch systems based on motor ripple signals, hall signals, etc.). The anti-pinch system 1000 for a tailgate described above may be configured to be disabled when other anti-pinch systems have been triggered (e.g., an early warning signal, a stop signal, or a rollover signal). The anti-pinch system 1000 for a tailgate described above may also be configured to be disabled upon detection of a human intervention tailgate closing.

FIG. 3 illustrates a flow diagram of an anti-pinch method 3000 for a tailgate, according to an embodiment of the present invention.

In step S300, a real-time value of a minimum distance between the sensor and an object around the tailgate is sensed while the tailgate descends. Wherein the peripheral object of the tailgate includes an object located on a movement locus of the tailgate. Optionally, the sensor is disposed on a tailgate, for example, tailgate 210 of vehicle 2000. Optionally, the sensor 110 is a millimeter radar sensor that is centrosymmetric along the longitudinal axis of the vehicle.

In step S310, the above-described real-time value of the minimum distance between the sensor and the peripheral object of the tailgate is compared with a first distance threshold. Similar to the anti-pinch system 1000, the first distance threshold may be predetermined to be 30mm, or any value that reflects that the distance between the sensor and the object around the tailgate is small enough to be of concern.

When the real-time value is not greater than the first distance threshold, in step S320, a calibration value corresponding to the real-time value is determined.

In step S330, the real-time value and the corresponding calibration value are compared.

When the real-time value is smaller than the corresponding calibration value, in step S340, a first warning signal is sent out, so as to remind the user that the tail door of the vehicle faces the risk of false clipping.

Optionally, the first warning signal causes the vehicle to alert the user in the form of a flashing light. Similar to the anti-pinch system 1000, the first warning signal may also cause the vehicle to alert the user of the possible risk of a false pinch in any other suitable manner, such as in the form of a sound, text, graphics, etc. displayed on a display screen in the vehicle, text, graphics, etc. displayed on a mobile device connected to the vehicle.

When the above real-time value is smaller than the corresponding calibration value, in addition to issuing the first warning signal, in step S350 (not shown in fig. 3), the real-time value is compared with the second distance threshold. Similar to the anti-pinch system 1000, the second distance threshold may be predetermined to be 10mm or any suitable value that reflects imminent contact of the sensor with an object surrounding the tailgate. Generally, the second distance threshold is less than the first distance threshold.

When the above real-time value is not greater than the second distance threshold value, a stop signal is issued in step S360 (not shown in fig. 3), so that the tailgate stops descending. Optionally, a second warning signal is sent in addition to the stop signal, so as to remind the user that the tail gate of the vehicle is in a urgent risk of mistaken clamping.

Optionally, the second warning signal causes the vehicle to alert the user in the form of a high frequency warning sound. Similar to the anti-pinch system 1000, the second warning signal may also enable the vehicle to alert the user of the imminent risk of a false pinch in any other suitable manner, such as in the form of lights, text, graphics, etc. displayed on a display screen in the vehicle, text, graphics, etc. displayed on a mobile device coupled to the vehicle.

When the real-time value is not greater than the second distance threshold, it may also be determined whether the duration of the real-time value being less than the calibrated value reaches a predetermined time threshold in step S370 (not shown in fig. 3). Similar to the anti-pinch system 1000, the time threshold may be predetermined to be 3s or any other suitable time threshold.

If the duration reaches a predetermined time threshold, a tip-over signal is issued to tip the tailgate upward at step S380 (not shown in FIG. 3), otherwise a drop signal is issued to continue dropping the tailgate at step S390 (not shown in FIG. 3).

Optionally, if the duration reaches a predetermined time threshold, a third warning signal is also sent out, so as to remind the user that the tail gate of the vehicle is in a very urgent risk of mistaken clamping. Similar to the anti-pinch system 1000, the third warning signal may be used to alert the user that the tailgate is exposed to a very urgent mis-pinch risk in the form of lights, sounds, text, graphics, etc. displayed on a display screen in the vehicle, text, graphics, etc. displayed on a mobile device connected to the vehicle, etc. in any suitable manner.

In step S320, the calibration value corresponding to the real-time value may be determined by: firstly, determining the height of the tail gate corresponding to the real-time value, and then determining the calibration value corresponding to the real-time value according to the corresponding relation between the height of the tail gate and the calibration value. The corresponding relation between the height of the tail gate and the calibration value can be predetermined when the vehicle leaves a factory, or can be re-determined according to user instructions.

As an example, an example operation of re-determining the correspondence of the tailgate height to the calibration value in response to the user instruction may be performed by the following operations. First, in response to receiving a height learning signal from a user, a current height of a tailgate is set to a maximum height. Then, in response to receiving a user-initiated calibration signal, the tailgate is lowered from the reset maximum height. In the process of descending the tail gate, the calibration value of the minimum distance between the sensor and the object around the tail gate under different heights of the tail gate is received from the sensor, and the corresponding relation between the height of the tail gate and the calibration value is established. The relationship between tailgate height and calibration may be established in a similar manner as in the anti-pinch system 1000.

The preset maximum tailgate height for a vehicle leaving a factory may not be suitable for some users, for example, too high for small-stature users. Additionally, the calibration at a particular tailgate height may also differ from factory preset calibration due to the placement of items within the trunk in close proximity to the sensor. By re-determining the corresponding relationship, the anti-pinch method 3000 can flexibly update the corresponding relationship between the height of the trunk door and the calibration value according to the user requirements, the placement of the articles in the trunk and other conditions.

Some of the block diagrams shown in fig. 3 are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

It should be appreciated that the anti-pinch method for a tailgate according to the foregoing embodiments of the invention can be implemented as a computer program product. Thus, for example, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

It should also be appreciated that the anti-pinch system for a tailgate according to the foregoing embodiments of the invention may be incorporated into a vehicle.

In conclusion, the anti-pinch scheme for the tail gate provided by the invention can realize the prejudgment on whether the tail gate faces the risk of false pinch or not and correspondingly send out an early warning signal to a user. When the predicted wrong clamping risk is relatively urgent or extremely urgent, the anti-clamping scheme provided by the invention can also control the functions of stopping the descending, turning upwards and the like of the tail door, so that the possible wrong clamping accidents are avoided.

Although only a few embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.