WO2023142377A1 - Procédé et système de commande de porte arrière d'automobile, et véhicule - Google Patents

Procédé et système de commande de porte arrière d'automobile, et véhicule Download PDF

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Publication number
WO2023142377A1
WO2023142377A1 PCT/CN2022/103013 CN2022103013W WO2023142377A1 WO 2023142377 A1 WO2023142377 A1 WO 2023142377A1 CN 2022103013 W CN2022103013 W CN 2022103013W WO 2023142377 A1 WO2023142377 A1 WO 2023142377A1
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WO
WIPO (PCT)
Prior art keywords
tailgate
control unit
signal
sensor
body control
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Application number
PCT/CN2022/103013
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English (en)
Chinese (zh)
Inventor
袁浩
关忠旭
王鹏鹏
杨慧凯
苏雯
Original Assignee
中国第一汽车股份有限公司
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Application filed by 中国第一汽车股份有限公司 filed Critical 中国第一汽车股份有限公司
Publication of WO2023142377A1 publication Critical patent/WO2023142377A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/2018—Central base unlocks or authorises unlocking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/2054—Means to switch the anti-theft system on or off by foot gestures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2325/00—Indexing scheme relating to vehicle anti-theft devices
    • B60R2325/10—Communication protocols, communication systems of vehicle anti-theft devices
    • B60R2325/101—Bluetooth

Definitions

  • the application relates to the technical field of automobile tailgate control, in particular to an automobile tailgate control method, an automobile tailgate control system, a method for controlling an automobile tailgate through a body control unit, and a vehicle.
  • the recognition range of the kick sensor is small, and the user cannot accurately find the position of the kick sensor, resulting in a low success rate of opening and closing the tailgate, poor user experience, and the short distance between the user and the tailgate, which may cause tailgates. Problem with doors accidentally hitting users.
  • AR projection kicking technology has been relatively common.
  • the opening control strategy of AR projection is mainly to periodically search for Bluetooth keys or smart keys, and control the sensor to perform projection after finding the key.
  • the Bluetooth key is found, the Bluetooth receiving module will wake up the whole vehicle and periodically search for the smart key in the unlocked state. If the key is nearby, the battery of the key will be seriously depleted.
  • the object of the present invention is to provide a method for controlling the tailgate of an automobile to at least solve one of the above technical problems.
  • One aspect of the present invention provides a method for controlling a tailgate of an automobile, the method for controlling a tailgate of an automobile comprises:
  • the body control unit obtains a wake-up signal
  • the body control unit generates the first working signal of the AR sensor according to the wake-up signal and transmits it to the AR kick sensor through the LIN line;
  • the AR kick sensor generates a first projection image according to the first working signal of the AR sensor and generates a first feedback signal after the user interacts with the first projection image;
  • the AR kick sensor transmits a first feedback signal to the vehicle body control unit
  • the body control unit generates a tailgate opening control signal according to the first feedback signal and transmits it to the tailgate control unit;
  • the tailgate control unit is used to control the tailgate according to the tailgate opening control signal.
  • said acquiring the key signal includes:
  • the body control unit obtains the wake-up signal transmitted by the hard-wired Bluetooth receiver module.
  • the first working signal of the AR sensor includes a tailgate opening signal and a tailgate closing signal
  • the body control unit generates the first working signal of the AR sensor according to the wake-up signal and transmits it to the AR kick sensor through the LIN line, including:
  • a first working signal of the AR sensor is generated according to the current vehicle state.
  • the current vehicle state includes a non-sleep state and a sleep state
  • the generating the AR sensor working signal according to the current vehicle state includes:
  • the generating the AR sensor working signal according to the current vehicle state further includes:
  • the vehicle tailgate control method further includes:
  • the tailgate control unit After the tailgate control unit performs tailgate control according to the tailgate control signal, the tailgate control unit sends a tailgate opening state signal to the body control unit;
  • the body control unit generates a second working signal of the AR sensor according to the tailgate opening state signal and transmits it to the AR kick sensor;
  • the AR kick sensor generates a second projection image according to the second working signal of the AR sensor and generates a second feedback signal after the user interacts with the second projection image;
  • the AR kick sensor transmits a second feedback signal to the vehicle body control unit
  • the body control unit generates a tailgate closing control signal according to the second feedback signal and transmits it to the tailgate control unit;
  • the tailgate control unit is used to control the tailgate according to the tailgate closing control signal.
  • the present application also provides an automobile tailgate control system
  • the automobile tailgate control system includes a body control unit, an AR kick sensor and a tailgate control unit, and the body control unit communicates with the AR kick sensor through a LIN line connection; among them,
  • the vehicle body control unit is used to obtain a wake-up signal
  • the body control unit is used to generate the first working signal of the AR sensor according to the wake-up signal and transmit it to the AR kick sensor through the LIN line;
  • the AR kick sensor is used to generate a first projection image according to the first working signal of the AR sensor and generate a first feedback signal after the user interacts with the first projection image;
  • the AR kick sensor is used to transmit the first feedback signal to the vehicle body control unit;
  • the body control unit is used to generate a tailgate opening control signal according to the first feedback signal and transmit it to the tailgate control unit;
  • the tailgate control unit is used to control the tailgate according to the tailgate opening control signal.
  • the vehicle tailgate control system further includes a Bluetooth receiving module, and the vehicle body control unit is directly connected to the Bluetooth receiving module through a hard wire and a CAN line, wherein the wake-up signal is transmitted to the Bluetooth receiving module through a hard wire.
  • the body control unit is directly connected to the Bluetooth receiving module through a hard wire and a CAN line, wherein the wake-up signal is transmitted to the Bluetooth receiving module through a hard wire.
  • the present application also provides a method for controlling the tailgate of a car through a body control unit, the body control unit is connected to the Bluetooth receiving module through a hard wire and a CAN line, and the body control unit and the AR kick sensor are connected through a LIN
  • the vehicle body control unit is connected to the tailgate control unit through a CAN line, and the method for controlling the tailgate of the vehicle through the body control unit includes:
  • a tailgate opening control signal is generated according to the first feedback signal and transmitted to a tailgate control unit.
  • the present application also provides a vehicle, which includes the tailgate control system of the vehicle as described above.
  • the AR kick sensor is a single LIN node on the vehicle body control unit.
  • the AR kick sensor sends the first working signal of the AR sensor to turn on the projection without waking up the entire vehicle. Only when the user steps on the projector with a legal key, the body control unit will wake up the vehicle and send a tailgate opening command to the tailgate control unit.
  • the problem of frequently waking up the vehicle when the user brings the key close to the vehicle can be solved, effectively prolonging the service life of the vehicle.
  • FIG. 1 is a schematic flowchart of a method for controlling a tailgate of an automobile according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of electronic equipment used to implement the tailgate control method shown in FIG. 1 .
  • FIG. 3 is a system schematic diagram of an automobile tailgate control system according to an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a method for controlling a tailgate of an automobile according to an embodiment of the present application.
  • the automobile tailgate control method as shown in Figure 1 comprises:
  • Step 1 The body control unit obtains the wake-up signal
  • Step 2 The body control unit generates the first working signal of the AR sensor according to the wake-up signal and transmits it to the AR kick sensor through the LIN line;
  • Step 3 The AR kick sensor generates a first projection image according to the first working signal of the AR sensor and generates a first feedback signal after the user interacts with the first projection image;
  • Step 4 The AR kick sensor transmits the first feedback signal to the body control unit
  • Step 5 The body control unit generates a tailgate opening control signal according to the first feedback signal and transmits it to the tailgate control unit;
  • Step 6 The tailgate control unit is used to control the tailgate according to the tailgate opening control signal.
  • the AR kick sensor is a single LIN node on the body control unit (automobile BCM).
  • the body control unit only wakes up the single LIN node of the AR kick sensor. Send the first working signal of the AR sensor to the AR kick sensor through the LIN line to turn on the projection without waking up the whole vehicle. Only when the user steps on the projector with a legal key, the body control unit will wake up the vehicle and send a tailgate opening command to the tailgate control unit.
  • the problem of frequently waking up the vehicle when the user brings the key close to the vehicle can be solved, effectively prolonging the service life of the vehicle.
  • obtaining the key signal includes: the vehicle body control unit obtaining the wake-up signal transmitted by the Bluetooth receiving module connected by hard wire.
  • the wake-up signal transmitted by the Bluetooth receiving module is transmitted to the body control unit through the hard line, while other signals are transmitted through the gateway through the CAN line.
  • the Bluetooth receiving module transmits the wake-up signal to the body control unit through a hard wire.
  • the AR sensor working signal includes a tailgate opening signal and a tailgate closing signal
  • the body control unit generates the AR sensor working signal according to the wake-up signal and transmits it to the AR kick sensor through the LIN line, including:
  • the current vehicle state includes a non-sleep state and a sleep state
  • Generating the AR sensor working signal according to the current vehicle state includes:
  • judging whether to generate an AR sensor working signal according to the current vehicle gear position information specifically includes: when the vehicle speed is 0 and the gear position is P, generating an AR sensor working signal.
  • the key After unlocking, the key is generally around the car. At this time, looking for the key periodically will cause a lot of damage to the key. And after unlocking, there are usually actions such as power on and off, starting, etc., and there will be conflicts if you look for the key periodically.
  • judging whether to generate an AR sensor working signal according to the current vehicle state further includes:
  • obtaining the key signal in the present application may further include: obtaining a wake-up signal transmitted by the smart key.
  • the Bluetooth antenna and the outdoor antenna periodically detect whether there is a key near the trunk, and the key includes a Bluetooth key and a smart key.
  • the Bluetooth receiving module wakes up the body control unit through a hard line, and the body control unit wakes up the LIN of the AR sensor; after detecting the smart key, the body control unit only wakes up the LIN of the AR sensor and sends a projection to the AR sensor Open command, the projection pattern S1 is projected in the state of opening the tailgate.
  • the vehicle body control unit sends a projection start command to the AR sensor.
  • the tailgate control method of the automobile further includes:
  • the tailgate control unit After the tailgate control unit performs tailgate control according to the tailgate control signal, the tailgate control unit sends a tailgate opening state signal to the body control unit;
  • the body control unit generates a second working signal of the AR sensor according to the tailgate opening state signal and transmits it to the AR kick sensor;
  • the AR kick sensor generates a second projection image according to the second working signal of the AR sensor and generates a second feedback signal after the user interacts with the second projection image;
  • the AR kick sensor transmits the second feedback signal to the body control unit
  • the body control unit generates a tailgate closing control signal according to the second feedback signal and transmits it to the tailgate control unit;
  • the tailgate control unit is used for tailgate control according to the tailgate closing control signal.
  • the Bluetooth receiving module actively searches for the Bluetooth key.
  • the first feedback signal is input to the body control unit through the LIN line.
  • the door is opened with a control signal, and at the same time, a second working signal of the AR sensor is sent to the AR kick sensor, so that the AR kick sensor generates a second projection image according to the second working signal of the AR sensor.
  • the AR kick sensor When the AR kick sensor detects that the user steps on the second projected image, it also inputs the second feedback signal to the body control unit through the LIN line.
  • the door control unit sends the tailgate close control signal.
  • the automobile tailgate control method of the present application further includes:
  • the AR kick sensor After the AR kick sensor generates a first projected image according to the first working signal of the AR sensor, acquire vehicle conditions;
  • the projection closure database including a plurality of projection closure conditions
  • the body control unit generates a projection off signal and passes it to the AR kick sensor.
  • the projection closing condition includes at least one of the following conditions:
  • the body control unit sends a command to turn off the projection to the AR sensor, and the projection is turned off.
  • the body control unit sends a command to turn off the projection to the AR sensor, and the projection is turned off.
  • the AR kick sensor is used as the LIN node of the body control unit, and is connected to one LIN alone; the connection between the Bluetooth receiving module and the body control module A hard line is connected between them to wake up the body control module locally.
  • the whole vehicle will be woken up, so as to solve the problem of frequently waking up the whole vehicle.
  • the automobile tailgate control method proposed in this application when the vehicle is unlocked and the whole vehicle is not in sleep state, instead of periodically looking for the key, the AR projection sensor is controlled to be in the projection state until the projection off condition is met, which can solve the key battery problem. serious loss problem. Projecting in the unlocked state can also enhance the user experience.
  • the projection pattern considers two pattern forms of tailgate opening and tailgate closing, so that users can distinguish the functions that can be realized after stepping on the projection.
  • the present application also provides a tailgate control system for a car
  • the tailgate control system includes a body control unit 101, an AR kick sensor 102 and a tailgate control unit 103
  • the body control unit 101 communicates with the The AR kick sensor 102 is connected
  • the body control unit 101 and the tailgate control unit 103 are connected through a CAN line;
  • the body control unit is used to obtain the wake-up signal
  • the body control unit is used to generate the first working signal of the AR sensor according to the wake-up signal and transmit it to the AR kick sensor through the LIN line;
  • the AR kick sensor is used to generate a first projection image according to the first working signal of the AR sensor and generate a first feedback signal after the user interacts with the first projection image;
  • the AR kick sensor is used to transmit the first feedback signal to the vehicle body control unit;
  • the body control unit is used to generate a tailgate opening control signal according to the first feedback signal and transmit it to the tailgate control unit;
  • the tailgate control unit is used for tailgate control according to the tailgate opening control signal.
  • the automobile tailgate control system further includes a bluetooth receiving module, and the body control unit is directly connected to the bluetooth receiving module through a hard wire and a CAN line respectively, wherein the wake-up signal is passed to the bluetooth receiving module through a hard wire Body control unit.
  • the present application also provides a method for controlling the tailgate of an automobile through a body control unit,
  • the body control unit is connected to the bluetooth receiving module through a hard wire and a CAN line, the body control unit is connected to the AR kick sensor through a LIN line, and the body control unit is connected to the tailgate control unit through a CAN line connection, the method for controlling the tailgate of the vehicle through the body control unit includes:
  • a tailgate opening control signal is generated according to the first feedback signal and transmitted to a tailgate control unit.
  • the AR kick sensor is a single LIN node on the body control unit.
  • the body control unit only wakes up the single LIN node of the AR kick sensor. , Send the first working signal of the AR sensor to the AR kick sensor through the LIN line to turn on the projection without waking up the whole vehicle. Only when the user steps on the projector with a legal key, the body control unit will wake up the vehicle and send a tailgate opening command to the tailgate control unit.
  • the problem of frequently waking up the vehicle when the user brings the key close to the vehicle can be solved, effectively prolonging the service life of the vehicle.
  • the present application also provides a vehicle, which includes the tailgate control system of the vehicle as described above.
  • the present application also provides an electronic device (such as a vehicle body control unit), including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • a vehicle body control unit including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the computer program, the above vehicle body control unit is realized.
  • the present application also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle body control unit as above can be realized.
  • Fig. 2 is an exemplary structural diagram of an electronic device capable of implementing a method for controlling a tailgate of an automobile according to an embodiment of the present application.
  • the electronic device includes an input device 501 , an input interface 502 , a central processing unit 503 , a memory 504 , an output interface 505 and an output device 506 .
  • the input interface 502, the central processing unit 503, the memory 504 and the output interface 505 are connected to each other through the bus 507, and the input device 501 and the output device 506 are respectively connected to the bus 507 through the input interface 502 and the output interface 505, and then connected to other components of the electronic device. Component connections.
  • the input device 504 receives input information from the outside, and transmits the input information to the central processing unit 503 through the input interface 502; the central processing unit 503 processes the input information based on computer-executable instructions stored in the memory 504 to generate output information, temporarily or permanently store the output information in the memory 504, and then transmit the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the electronic device for use by the user.
  • the electronic device shown in FIG. 2 can also be implemented as including: a memory storing computer-executable instructions; and one or more processors, which can Realize the automobile tailgate control method described in conjunction with FIG. 1 .
  • the electronic device shown in FIG. 2 may be implemented to include: a memory 504 configured to store executable program code; one or more processors 503 configured to run the executable code stored in the memory 504.
  • the program code is used to execute the method for controlling the tailgate of the vehicle in the above-mentioned embodiments.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • Computer-readable media include both permanent and non-permanent, removable and non-removable media, which may be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), data versatile disc (DVD) or other optical storage, A magnetic tape cartridge, tape disk storage or other magnetic storage device, or any other non-transmission medium, that may be used to store information that can be accessed by a computing device.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM electrically erasable programmable read-only
  • the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks identified in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or overall flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • the processor referred to in this embodiment may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory can be used to store computer programs and/or modules, and the processor realizes various functions of the device/terminal device by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The data created by the use (such as audio data, phone book, etc.) and so on.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the integrated module/unit of the device/terminal device is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps in the foregoing method embodiments can be realized.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electrical carrier signal telecommunication signal and software distribution medium, etc.
  • the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Lock And Its Accessories (AREA)

Abstract

La présente invention concerne un procédé et un système de commande de porte arrière d'automobile, ainsi qu'un véhicule. Le procédé de commande de porte arrière d'automobile comprend les étapes suivantes : une unité de commande de carrosserie de véhicule (101) obtient un signal d'activation ; l'unité de commande de carrosserie de véhicule (101) génère un premier signal de travail de capteur AR selon le signal d'activation et transmet le premier signal de travail à un capteur de mouvement de pied AR (102) au moyen d'une ligne LIN ; le capteur de mouvement de pied AR (102) génère une première image de projection selon le premier signal de travail de capteur AR et génère un premier signal de rétroaction après qu'un utilisateur interagit avec la première image de projection ; le capteur de mouvement de pied AR (102) transmet le premier signal de rétroaction à l'unité de commande de carrosserie de véhicule (101) ; l'unité de commande de carrosserie de véhicule (101) génère un signal de commande d'ouverture de hayon arrière selon le premier signal de rétroaction et transmet le signal de commande d'ouverture de hayon arrière à une unité de commande de hayon arrière (103) ; et l'unité de commande de hayon arrière (103) effectue une commande de hayon arrière selon le signal de commande d'ouverture de hayon arrière.
PCT/CN2022/103013 2022-01-28 2022-06-30 Procédé et système de commande de porte arrière d'automobile, et véhicule WO2023142377A1 (fr)

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CN202210103981.7A CN114506292B (zh) 2022-01-28 2022-01-28 一种汽车尾门控制方法、***及车辆

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CN114506292B (zh) * 2022-01-28 2023-01-17 中国第一汽车股份有限公司 一种汽车尾门控制方法、***及车辆
CN115831015B (zh) * 2022-11-04 2024-06-18 中国第一汽车股份有限公司 一种可调节投影位置的行李箱控制***、装置、存储介质和车辆

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