CN108979440A - A kind of control method and system of arrangements for automotive doors - Google Patents
A kind of control method and system of arrangements for automotive doors Download PDFInfo
- Publication number
- CN108979440A CN108979440A CN201810786015.3A CN201810786015A CN108979440A CN 108979440 A CN108979440 A CN 108979440A CN 201810786015 A CN201810786015 A CN 201810786015A CN 108979440 A CN108979440 A CN 108979440A
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- car door
- controller
- instruction
- strut
- obstacle information
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 138
- 230000004888 barrier function Effects 0.000 claims abstract description 58
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 28
- 238000004904 shortening Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 238000004540 process dynamic Methods 0.000 claims 1
- 230000006378 damage Effects 0.000 description 20
- 230000001133 acceleration Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 238000001914 filtration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B77/00—Vehicle locks characterised by special functions or purposes
- E05B77/54—Automatic securing or unlocking of bolts triggered by certain vehicle parameters, e.g. exceeding a speed threshold
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
- Lock And Its Accessories (AREA)
Abstract
The invention discloses a kind of control method of arrangements for automotive doors and systems, the angular movement speed data of the car door acquired in car door opening and/or closing process is sent to controller by velocity sensor, radar equipment is when detecting has barrier in vehicle body preset range, obstacle information is sent to controller, electric strut sends hall signal to controller, controller generates unlock instruction according to the status information and obstacle information of car door lock or locking instructs, and car door lock is sent by the instruction of generation, car door lock carries out corresponding operation according to instruction, and the angular movement speed data according to car door, obstacle information, the electric current and hall signal of electric strut, generate real-time control instruction, and the collapsing length of electric strut is controlled according to control instruction, make car door opening or closing.The present invention can not only assist user's close door, prevent car door from damaging because movement velocity is too fast, additionally it is possible to protect the personal safety of user by increasing the devices such as electric strut.
Description
Technical field
The present invention relates to Mechanical course field, the control method and system of specially a kind of arrangements for automotive doors.
Background technique
Car door is one of most common component during automobile routine use, and effect is provided for driver and passenger
Enter the channel of vehicle, and completely cut off outside vehicle and interfere, and mitigate side impact to a certain extent, protects occupant.
General arrangements for automotive doors can allow car door to be arrived between car door maximum opening angle in off position certainly currently on the market
By activity.But during use, due to the improper damage that will lead to car door or vehicle body of car door opening.Such as work as vehicle
The opening speed of door is too fast, when so that car door crossing maximum opening angle, can damage the connector of car door and vehicle body.When car door
Closing velocity is too fast, so that car door and vehicle body strikes, can damage car door or vehicle body.When automobile is parked in relatively narrow parking stall, use
Person fails to control dynamics when opening car door, then is easy that car door is made to strike the barrier outside car door, to cause car door
Damage.
It can be seen from the above, the existing unlatching control that user is relied primarily in opening car door to car door, once user
The dynamics of opening car door is excessive or control is improper, then will lead to car door damage.
Summary of the invention
The present invention provides a kind of control method of arrangements for automotive doors and system, user couple when solving existing opening car door
The problem of unlatching control of car door is improper, and car door is caused to be easy to damage.
In order to achieve the above objectives, the present invention provides the following technical scheme that
A kind of control system of arrangements for automotive doors, comprising:
The velocity sensor being set on the inside of car door, for acquiring the car door in the car door opening and/or closing process
Angular movement speed data, and the angular movement speed data of the car door is sent to controller；
It is set to the radar equipment of car door or vehicle body side, for detecting in the vehicle body preset range whether have obstacle
Object sends obstacle information to the controller if detecting the barrier；
The car door lock being set on car door, unlock instruction and locking instruction execution phase for being sent according to the controller
The operation answered；
One end is connected to the car door, and the other end is connected to the electric strut of the vehicle body, is provided with suddenly in the electricity strut
That sensor, for sending hall signal to the controller；The electricity strut, the control for being sent according to the controller
Instruction execution opens or closes the operation of car door；
The controller, for generating according to the status information of the car door lock and the obstacle information got
Unlock instruction or locking instruction, and according to the angular movement speed data of car door, the obstacle information, electric strut electric current and
The hall signal generates real-time control instruction, and the collapsing length of electric strut is controlled according to the control instruction, makes described
Car door opening or closing.
Preferably, the controller, for being according to obstacle information determination when receiving car door opening instruction
The no current maximum unlatching range opened the car door and calculate car door, however, it is determined that opening car door then generates unlock instruction hair
The car door lock is given, unlocks the car door lock, according to the angular movement speed data of the car door got in real time, the electricity
The electric current of strut and the hall signal determine the motion state of car door, and according to the angular movement speed data of the car door, described
The motion state of car door, current maximum unlatching range and the obstacle information generate the first control instruction in real time, according to described
The collapsing length that first control instruction controls the electric strut makes the car door opening；
When receiving closing of the door instruction, determine that generating locking instructs and be sent to the car door lock, according to the barrier
Object information is hindered to determine whether to close the car door, however, it is determined that closed door, according to the movement velocity number of the car door got
The motion state of the car door is determined according to, the electric current of the electric strut and the hall signal, and according to the movement of the car door
Speed, the motion state of the car door, the current maximum unlatching range and the obstacle information generate the second control in real time
Instruction makes the closing of the door according to the collapsing length that second control instruction controls the electric strut, when the car door is transported
When moving to closed state, the car door lock is set to lock based on locking instruction.
Preferably, the radar equipment includes ultrasonic radar and millimetre-wave radar；
The ultrasonic radar is installed on the car door or the vehicle body side, opens model for detecting the car door maximum
Interior barrier is enclosed, if detecting, sending instruction has the obstacle information of barrier to send instruction if being not detected and do not have
There is the obstacle information of barrier；
The millimetre-wave radar is installed on the corner of front and back four of the vehicle body, is opened for detecting the car door maximum
Whether there is barrier entrance in range, if detecting, sends the obstacle information that instruction has barrier, if being not detected,
Send the obstacle information for indicating not barrier.
Preferably, the radar equipment is also used to during opening or closing the car door, detects the car door
There is moving obstacle entrance on the path opened or closed, sends car door stop signal to the controller；
The controller is also used to when receiving the car door stop signal, control the electric strut stop opening or
Close the car door.
Preferably, the control system further include:
The sound and light alarm device being set on the car door, for being alerted when receiving alarm signal；
The controller is also used to when receiving the car door stop signal, sends institute to the sound and light alarm device
State alarm signal.
Preferably, the velocity sensor is also used to detect the vehicle during opening or closing the car door
The movement velocity of door is higher than the first preset threshold and the duration is more than the first preset time, then to the controller transmission speed
Adjustment signal；
Correspondingly, the controller, is also used to adjust the movement velocity of the car door according to the speed adjustment signal, and
The electric current of movement velocity and collected electric strut based on car door adjusted generates third control instruction, controls the electricity support
Bar opens or closes car door；And/or
The velocity sensor is also used to during opening or closing the car door, detects the fortune of the car door
Dynamic speed is lower than the second preset threshold and the duration is more than the second preset time, then changes to the controller sending direction and believe
Number；
Correspondingly, the controller, it is also used to change according to the direction signal and generates the 4th control instruction, described in control
Electric strut executes the inverse operation with previous moment, keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
A kind of control method of arrangements for automotive doors, applied to the control system of arrangements for automotive doors disclosed in above content, the side
Method includes:
Velocity sensor acquires the angular movement speed data of the car door in the car door opening and/or closing process, and by institute
The angular movement speed data for stating car door is sent to controller；
Radar equipment detects in the vehicle body preset range whether have barrier, if detecting the barrier, to institute
It states controller and sends obstacle information；
Hall sensor in electric strut sends hall signal to the controller；
Status information and the obstacle information of the controller according to the car door lock got generate unlock and refer to
Enable or locking instruction be sent to car door lock, and according to the angular movement speed data of car door, the obstacle information, electric strut electricity
Stream and the hall signal generate real-time control instruction, and the collapsing length of electric strut is controlled according to the control instruction；
The car door lock is according to the unlock instruction and locking instruction execution corresponding operation received；
The electricity strut executes elongation according to the control instruction and shortening acts, and makes car door opening or closing.
Preferably, status information and the obstacle information of the controller according to the car door lock got, it is raw
It is sent to car door lock at unlock instruction or locking instruction, and is believed according to the angular movement speed data of the car door, the barrier
The electric current and the hall signal of breath, the electric strut generate real-time control instruction, and are controlled according to the control instruction
The collapsing length of the electricity strut, comprising:
The controller determines whether to open the vehicle according to the obstacle information when receiving car door opening instruction
Door and the current maximum unlatching range for calculating the car door；
If it is determined that opening car door, the controller generates unlock instruction and is sent to the car door lock, makes the car door lock solution
Lock；
The controller is according to the angular movement speed data of the car door got in real time, the electric current of the electric strut and institute
State the motion state that hall signal determines car door, and according to the angular movement speed data of the car door, the motion state of the car door,
Current maximum unlatching range and the obstacle information generate the first control instruction in real time, are controlled according to first control instruction
The electricity strut extended length；
The controller determines whether to close the vehicle according to the obstacle information when receiving closing of the door instruction
Door；
If it is determined that closed door, the controller determines that generating locking instructs and be sent to the car door lock；
The controller according to the angular movement speed data of the car door got, the electric strut electric current and it is described suddenly
Your signal determines the motion state of the car door, and according to the movement velocity of the car door, motion state of the car door, described
Current maximum unlatching range and the obstacle information generate the second control instruction in real time, are controlled according to second control instruction
The electricity strut shortens length；
When the car door is in close state, the car door lock is set to lock based on locking instruction.
Preferably, the method also includes:
The radar equipment detects the road of the car door opened or closed during opening or closing the car door
There is moving obstacle entrance on diameter, sends car door stop signal to the controller；
When receiving the car door stop signal, the control electric strut stopping opens or closes described the controller
Car door.
Preferably, during opening or closing the car door, further includes:
If the velocity sensor detects that the movement velocity of the car door is higher than the first preset threshold and the duration is super
The first preset time is crossed, then to the controller transmission speed adjustment signal；
The controller adjusts the movement velocity of the car door according to the speed adjustment signal, and is based on vehicle adjusted
The electric current of the movement velocity of door and collected electric strut generates third control instruction, controls the electric strut and opens or closes vehicle
Door；And/or
If the velocity sensor detects the movement velocity of the car door lower than the second preset threshold and the duration surpasses
The second preset time is crossed, then changes signal to the controller sending direction；
The controller changes signal according to the direction and generates the 4th control instruction, controls the electric strut and executes with before
The inverse operation at one moment keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
As can be seen from the above technical solutions, the invention discloses a kind of control method of arrangements for automotive doors and system, including speed
It spends sensor and the angular movement speed data of the car door acquired in the car door opening and/or closing process is sent to controller, thunder
Up to equipment when detecting has barrier in the vehicle body preset range, obstacle information, electric strut are sent to the controller
Hall signal is sent to the controller, controller is believed according to the status information of the car door lock got and the barrier
Breath generates unlock instruction or locking instruction, and sends car door lock for the unlock instruction of generation or locking instruction, car door lock according to
Instruction carries out corresponding operation, and according to the angular movement speed data of the car door, the obstacle information, the electric strut
Electric current and the hall signal generate real-time control instruction, and control stretching for the electric strut according to the control instruction
Contracting length makes the car door opening or closing.The present invention can not only assist user to switch by increasing the devices such as electric strut
Car door prevents car door from damaging because movement velocity is too fast, additionally it is possible to protect the personal safety of user.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of schematic diagram of the control system of arrangements for automotive doors disclosed by the embodiments of the present invention；
Fig. 2 is the detection of obstacles and Car's door controlling schematic diagram of ultrasonic radar in the embodiment of the present invention；
Fig. 3 is the detection of obstacles and Car's door controlling schematic diagram of millimetre-wave radar in the embodiment of the present invention；
Fig. 4 is the schematic diagram of electric strut installation site in the embodiment of the present invention；
Fig. 5 is a kind of flow chart of the control method of arrangements for automotive doors disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It can be seen from background technology that general arrangements for automotive doors can allow car door to arrive car door maximum in off position currently on the market
It is move freely between opening angle.But during use, due to will lead to car door or vehicle body to car door opening is improper
Damage.Such as when the opening speed of car door is too fast, when so that car door crossing maximum opening angle, the company of car door and vehicle body can be damaged
Fitting.When the closing velocity of car door is too fast, so that car door and vehicle body strikes, can damage car door or vehicle body.When automobile be parked in it is relatively narrow
Parking stall, user fails to control dynamics, is then easy that car door is made to strike the barrier outside car door when opening car door,
To be damaged to car door.
The unlatching of car door is controlled as it can be seen that relying primarily on user in opening car door at present, once user opens vehicle
The dynamics of door is excessive or control is improper, then will lead to car door damage.
The present invention provides a kind of control method of arrangements for automotive doors and system, user couple when solving existing opening car door
The problem of unlatching control of car door is improper, and car door is caused to be easy to damage.
As shown in Figure 1, for the embodiment of the invention discloses a kind of schematic diagram of the control system of arrangements for automotive doors, the system packets
It includes:
The velocity sensor 110 being set on the inside of car door, for acquiring the vehicle in the car door opening and/or closing process
The angular movement speed data of door, and the angular movement speed data of the car door is sent to controller 150.
It is set to the radar equipment 120 of car door or vehicle body side, for whether having in the vehicle body preset range to be detected
Barrier sends obstacle information to the controller 150 if detecting the barrier.
The car door lock 130 being set on car door, unlock instruction and locking instruction for being sent according to the controller 150
Execute corresponding operation.
One end is connected to the car door, and the other end is connected to the electric strut 140 of the vehicle body, sets in the electricity strut 140
It is equipped with Hall sensor, for sending hall signal to the controller 150；The electricity strut 140, for according to the control
The control instruction that device 150 is sent executes the operation for opening or closing car door.
The controller 150, for according to the status information of the car door lock 130 got and barrier letter
Breath generates unlock instruction or locking instruction, and according to the angular movement speed data of car door, the obstacle information, electric strut 140
Electric current and the hall signal, generate real-time control instruction, and stretching for electric strut 140 is controlled according to the control instruction
Contracting length makes the car door opening or closing.
The embodiment of the invention discloses a kind of control systems of arrangements for automotive doors, including velocity sensor will acquire the car door
It opens and/or the angular movement speed data of the car door in closing process is sent to controller, radar equipment is detecting the vehicle body
When having barrier in preset range, obstacle information is sent to the controller, electric strut sends Hall letter to the controller
Number, status information and the obstacle information of the controller according to the car door lock got generate unlock instruction or locking
Instruction, and car door lock is sent by the unlock instruction of generation or locking instruction, car door institute carries out corresponding operation according to instruction, with
And according to the angular movement speed data of the car door, the obstacle information, the electric strut electric current and the hall signal,
Real-time control instruction is generated, and controls the collapsing length of the electric strut according to the control instruction, makes the car door opening
Or it closes.The present invention can not only assist user's close door, prevent car door because of movement speed by increasing the devices such as electric strut
It spends and damages fastly, additionally it is possible to protect the personal safety of user.
Optionally, the velocity sensor 110 includes that the acceleration transducer for being installed on the inside of the car door and angle add
Velocity sensor.
The acceleration transducer, for acquiring the tilt angle of automobile.
The angular acceleration transducer, for acquiring the movement velocity of car door.
It should be noted that angular-rate sensor is mounted on inside car door, in car door opening and/or closing, acquisition
Angular velocity signal centered on car door axis.
Acceleration transducer is mounted on inside car door, can be obtained in car door opening and/or closing perpendicular to car door side
To acceleration signal.
In the concrete realization, controller 150 calculates car door based on the angular velocity signal and the acceleration signal
Angular speed and acceleration, and according to the tilt angle and movement velocity of the angular speed and acceleration acquisition car door, i.e. movement speed
Degree evidence.
Angular-rate sensor and acceleration transducer, which can be, independently to be installed, and also can integrate together, for example,
It is integrated on controller 150 simultaneously；The present invention can only with one of them, can also two kinds all use.
Angular acceleration transducer and acceleration transducer can be directly integrated on controller 150, be sent to controller 150
Signal, can also be independently installed in car door, sends signal to controller 150 by other communication modes.
Optionally, the velocity sensor 110 is also used to detect during opening or closing the car door described
The movement velocity of car door is higher than the first preset threshold and the duration is more than the first preset time, then sends out to the controller 150
Send speed adjustment signal.
The controller 150 is also used to adjust the movement velocity of the car door according to the speed adjustment signal, and is based on
The electric current of the movement velocity of car door adjusted and collected electric strut 140 generates third control instruction, controls the electricity support
Bar 140 opens or closes car door.
It should be noted that the electric current of the electricity strut 140 is actively acquired when needed by the controller 150.
To prevent user improper using dynamics in unlatching and/or closed door, turning off or on car door most
It is damaged when wide-angle, control system disclosed by the embodiments of the present invention joined above-mentioned speed controlling function, can detect
Movement velocity to car door has been more than when can cause the threshold speed of damage to car door, to adjust in time to the movement velocity of car door
It is whole, to avoid car door damage, unnecessary loss is caused to user.
Optionally, the velocity sensor 110, is also used to during opening or closing the car door, detects institute
The movement velocity of car door is stated lower than the second preset threshold and the duration is more than the second preset time, then to the controller 150
Sending direction changes signal.
The controller 150 is also used to change according to the direction signal and generates the 4th control instruction, the control electricity support
Bar 140 executes the inverse operation with previous moment, keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
Control system disclosed by the embodiments of the present invention additionally provides the function of auxiliary car door opening and/or closing, for example,
Such phenomenon is often had in daily life, and user may remember having thing to be lost in vehicle after issuing door close commands
It is interior, and the car door closed is blocked with hand, at this point, car door movement velocity when being blocked declines, control system is detected
When the movement velocity of car door is lower than preset threshold, determines that user wants the closing motion for stopping working as front door, cancel closing immediately
Movement is closed, control car door returns to opening state.Such design can allow user that lesser dynamics is spent to can be completed and block
The movement of car door, additionally it is possible to the case where protecting user, user is avoided to be crushed because of misoperation by car door.
Optionally, the radar equipment 120, is also used to during opening or closing the car door, detects the vehicle
There is moving obstacle entrance on the path of door opened or closed, sends car door stop signal to the controller 150.
The controller 150 is also used to when receiving the car door stop signal, is controlled the electric strut 140 and is stopped
Open or close the car door.
In daily life, user only it will be noted that whether having barrier outside car door, and holds in opening car door
Easily ignore front and back i.e. and will go into other traffic participants in car door maximum unlatching range, such as other vehicles, bicycle
Deng opening car door will be such that car door and traffic participant bumps against at this time, cause car door to damage, even personal injury accident.This
Control system disclosed in inventive embodiments also has the function of detecting moving obstacle, when discovery has moving obstacle that can enter
When in the maximum unlatching range of car door, stopping opens or closes car door, to prevent car door from damaging and the generation of personal injury accident.
Optionally, the radar equipment 120 includes ultrasonic radar and millimetre-wave radar.
The ultrasonic radar is installed on the car door or the vehicle body side, opens model for detecting the car door maximum
Interior barrier is enclosed, if detecting, sending instruction has the obstacle information of barrier to send instruction if being not detected and do not have
There is the obstacle information of barrier.
It is opened in range in car door maximum there are when the obstacle information of barrier when controller 150 is received, calculates vehicle
The current maximum unlatching range of door, guarantees that the unlatching of car door will not be such that car door strikes on barrier.
Specifically, as shown in Fig. 2, detection of obstacles and Car's door controlling for ultrasonic radar in the embodiment of the present invention are illustrated
Scheme, in figure, angle 210 is the maximum opening angle of car door, when ultrasonic radar detects the maximum opening angle 210 of car door
There are being sent when barrier 230 to controller 150, there are the obstacle information of barrier 230,150 bases of controller in range
Obstacle information calculates car door currently maximum opening angle 220, and controls electric strut 140 for car door opening to the angle
220。
When barrier is not detected in the range of maximum opening angle 210 of the ultrasonic radar in car door, to controller
150 send the obstacle information of not barrier, and controller 150 controls electric strut 140 and opens to maximum opening angle 210.
Control system disclosed by the embodiments of the present invention also has detection of obstacles function, the position meter that can be broken the barriers
Calculate the maximum opening angle of car door, and can voluntarily open the maximum opening angle, do not need user's operation, prevent because
User's misoperation makes car door strike barrier and car door is caused to damage.
The millimetre-wave radar is installed on the corner of front and back four of the vehicle body, is opened for detecting the car door maximum
Whether there is barrier entrance in range, if detecting, sends the obstacle information that instruction has barrier, if being not detected,
Send the obstacle information for indicating not barrier.
When controller 150 receives the obstacle information for having barrier to enter in car door maximum unlatching range, forbid
Car door opening controls electric strut 140 and stops the car door if car door is in opening process.
Specifically, as shown in figure 3, detection of obstacles and Car's door controlling for millimetre-wave radar in the embodiment of the present invention are illustrated
Scheme, investigative range 310 is the investigative range of the millimetre-wave radar of four corners before and after being installed on vehicle body in figure, works as millimetre-wave radar
When detecting that have moving obstacle 320 enters in the maximum unlatching range of car door from the right front of automobile, to controller 150
There are the obstacle informations of barrier 320 for transmission, and controller 150 is according to there are the obstacle informations of barrier 320 to control electricity support
Bar 140 stops car door and forbids car door opening if car door is in close state.
When millimetre-wave radar (automobile left side in figure) and it moving obstacle is not detected can enter the maximum of car door and hold
It opens in range, the obstacle information of not barrier is sent to controller 150, it is normally-open that controller 150 controls electric strut 140
Car door.
Control system disclosed by the embodiments of the present invention also has moving obstacle detection function, is capable of detecting whether to have barrier
Hinder object to enter the maximum of car door to open in range, and when detecting moving obstacle, stops car door movement or forbid car door
It opens, to prevent car door from striking moving obstacle and car door is caused to damage.
As shown in figure 4, the both ends of electric strut 140 are adopted for the schematic diagram of 140 installation site of electric strut in the embodiment of the present invention
It is connect with spherical linkage with car door and vehicle body.
Electric strut 140 can be preferably mounted to car door bottom section, and the bottom section of car door does not include functional component generally,
With certain installation space, while the components such as vehicle window and door lock can be avoided.
It should be noted that enough spaces are reserved in car door to guarantee electric strut when installing electric strut 140
140 completely close to car door from car door and fully open and will not bump against inside car door, and do Seal Design, to guarantee watertightness.
It should be noted that electric strut 140 is controlled by controller 150, elongation, shortening or stopping movement being executed to beat
It opens and/or closed door.Wherein, the stopping movement of electric strut 140 can be realized by both of which, first is that in electric strut 140
Portion integrates electromagnetic clutch, electromagnetic clutch when cold with certain frictional force, can block the electric elongation of strut 140 and
When shortening, and being powered frictional force can be increased or reduced by changing voltage direction；Second is that internal machine of electric strut 140 itself
Tool frictional force is larger, and when no longer the electric strut 140 of control elongates or shortens, car door can stop motion due to mechanical friction.
There is the motor comprising Hall sensor, the rotation of 150 driving motor of controller, motor drives inside electric strut 140
Electric strut 140 completes elongation and shortening movement.When 150 not driving motor of controller, electric strut 140 also can be with user
Operation elongation and shortening, when user opens car door, electric strut 140 extends, when user's closed door, electric strut 140
Shorten.
Hall sensor is able to detect the rotation of motor and exports two groups of hall signals, and two groups of hall signals are in hall sensing
Device self-filtering is periodic square wave, and there are phase differences for two groups of hall signals；The hall signal in each period represents electricity
Machine rotates a certain angle, and motor, which rotates a certain angle, will drive electric strut 140 and elongate or shorten a certain distance, specifically
Angle and distance can change according to the motor of use.
In the concrete realization, the controller 150, for receive car door opening instruction when, according to the barrier
Information determines whether to open the car door and calculates the current maximum unlatching range of car door.
If it is determined that opening car door, then the controller 150 generates unlock instruction and is sent to the car door lock 130, makes described
Car door lock unlock.
The controller 150 is according to the angular movement speed data of the car door got in real time, the electricity of the electric strut 140
Stream and the hall signal determine the motion state of car door, and according to the angular movement speed data of the car door, the fortune of the car door
Dynamic state, current maximum unlatching range and the obstacle information generate the first control instruction in real time, according to first control
The extended length of the instruction control electric strut 140.
The controller 150 determines whether to close institute according to the obstacle information when receiving closing of the door instruction
State car door.
If it is determined that closed door, the controller 150 determines that generating locking instructs and be sent to the car door lock.
The controller is according to the angular movement speed data of the car door got, the electric current of the electric strut 140 and institute
State the motion state that hall signal determines the car door, and according to the movement velocity of the car door, the motion state of the car door,
The current maximum unlatching range and the obstacle information generate the second control instruction in real time, according to second control instruction
Control the shortening length of the electric strut 140.
When the car door is in close state, the car door lock 130 is set to lock based on locking instruction.
It should be noted that controller 150 can be according to the length of electric strut 140 and the installation site meter of electric strut 140
The open angle for calculating car door can calculate the angular speed and electric strut of motor rotation according to the period of hall signal
140 speed elongated or shortened；Can according to the phase difference of two groups of hall signals it is positive and negative may determine that motor rotation direction,
The movement of electric strut 140 is with the direction of motion of car door.
Optionally, if angular-rate sensor 110 and acceleration transducer 110 are integrated on controller 150, the control
Device 150 is installed on inside car door；If angular-rate sensor 110 and acceleration transducer 110 be not integrated on controller 150 but
Signal will be sent to controller 150 by other communication modes, then the installation site of controller 150 does not limit requirement.
Optionally, the controller 150 is also used to receive switch command, and controller 150 is receiving the switch command
Afterwards, start to carry out the relevant operation of unlatching and/or closed door described above.
Optionally, it is opened described in being generated by Operation switch, mobile phone application, remote-control key and/or speech recognition system
Close order.
Optionally, the control system further include:
The sound and light alarm device being set on the car door, for being alerted when receiving alarm signal.
The controller 150 is also used to when receiving the car door stop signal, is sent to the sound and light alarm device
The alarm signal.
The embodiment of the invention discloses a kind of control systems of arrangements for automotive doors, the movement velocity control function including car door and
Auxiliary is opened and/or the function of closed door, can adjust the movement velocity of car door opening and/or closing, prevent car door from damaging,
The case where user can also be protected, user is avoided to be crushed because of misoperation by car door.Control system of the invention is also
Car door maximum is able to detect to open the barrier in range and the moving obstacle in car door maximum unlatching range can be entered,
And car door is controlled according to obstacle information, to avoid the generation of car door damage and personal injury accident.
Based on the control system of arrangements for automotive doors disclosed in the embodiments of the present invention, Fig. 5 is specifically disclosed applied to the vapour
The control method of the arrangements for automotive doors of the control system of vehicle car door.
As shown in figure 5, the embodiment of the invention discloses a kind of flow chart of the control method of arrangements for automotive doors, this method packet
It includes:
Step S510: velocity sensor acquires the movement velocity number of the car door in the car door opening and/or closing process
According to, and the angular movement speed data of the car door is sent to controller.
Step S520: radar equipment detects in the vehicle body preset range whether have barrier, if detecting the barrier
Hinder object, sends obstacle information to the controller.
Step S530: the Hall sensor in electric strut sends hall signal to the controller.
It should be noted that there is no sequencing restriction between step S510, S520 and S530, may be performed simultaneously,
It can be performed separately, specific execution sequence changes according to the actual situation.
Step S540: status information and the obstacle information of the controller according to the car door lock got,
Generate unlock instruction or locking instruction be sent to car door lock, and according to the angular movement speed data of car door, the obstacle information,
The electric current of electric strut and the hall signal generate real-time control instruction, and control electric strut according to the control instruction
Collapsing length.
Step S550: the car door lock is according to the unlock instruction and locking instruction execution corresponding operation received.
Step S560: the electricity strut executes elongation according to the control instruction and shortening acts, and makes car door opening or pass
It closes.
It should be noted that first carrying out car door lock described in step S550 according to reception when executing car door opening movement
To unlock execute and unlock car door, it is rear execute electricity strut described in step S560 mind elongation executed according to the control instruction move
Make, makes car door opening.
When executing closing of the door movement, electricity strut described in step S560 is first carried out according to the control instruction and executes contracting
Short movement, makes closing of the door, and car door lock described in rear execution step S550 is executed according to the locking received locks car door.
Optionally, status information and the obstacle information of the controller according to the car door lock got, it is raw
It is sent to car door lock at unlock instruction or locking instruction, and is believed according to the angular movement speed data of the car door, the barrier
The electric current and the hall signal of breath, the electric strut generate real-time control instruction, and are controlled according to the control instruction
The collapsing length of the electricity strut, comprising:
The controller determines whether to open the vehicle according to the obstacle information when receiving car door opening instruction
Door and the current maximum unlatching range for calculating the car door.
If it is determined that opening car door, the controller generates unlock instruction and is sent to the car door lock, makes the car door lock solution
Lock.
The controller is according to the angular movement speed data of the car door got in real time, the electric current of the electric strut and institute
State the motion state that hall signal determines car door, and according to the angular movement speed data of the car door, the motion state of the car door,
Current maximum unlatching range and the obstacle information generate the first control instruction in real time, are controlled according to first control instruction
The electricity strut extended length.
The controller determines whether to close the vehicle according to the obstacle information when receiving closing of the door instruction
Door.
If it is determined that closed door, the controller determines that generating locking instructs and be sent to the car door lock.
The controller according to the angular movement speed data of the car door got, the electric strut electric current and it is described suddenly
Your signal determines the motion state of the car door, and according to the movement velocity of the car door, motion state of the car door, described
Current maximum unlatching range and the obstacle information generate the second control instruction in real time, are controlled according to second control instruction
The electricity strut shortens length.
When the car door is in close state, the car door lock is set to lock based on locking instruction.
Optionally, the control method further include:
The radar equipment detects the road of the car door opened or closed during opening or closing the car door
There is moving obstacle entrance on diameter, sends car door stop signal to the controller.
When receiving the car door stop signal, the control electric strut stopping opens or closes described the controller
Car door.
Optionally, during opening or closing the car door, further includes:
If the velocity sensor detects that the movement velocity of the car door is higher than the first preset threshold and the duration is super
The first preset time is crossed, then to the controller transmission speed adjustment signal.
The controller adjusts the movement velocity of the car door according to the speed adjustment signal, and is based on vehicle adjusted
The electric current of the movement velocity of door and collected electric strut generates third control instruction, controls the electric strut and opens or closes vehicle
Door.
Optionally, during opening or closing the car door, further includes:
If the velocity sensor detects the movement velocity of the car door lower than the second preset threshold and the duration surpasses
The second preset time is crossed, then changes signal to the controller sending direction.
The controller changes signal according to the direction and generates the 4th control instruction, controls the electric strut and executes with before
The inverse operation at one moment keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
Velocity sensor, radar equipment in a kind of above control method of arrangements for automotive doors disclosed by the embodiments of the present invention,
The concrete composition structure and implementation principle of car door lock, electric strut and controller can be found in vapour disclosed in the above embodiment of the present invention
Velocity sensor 110 described in the control system of vehicle car door, radar equipment 120, car door lock 130, electric strut 140 and controller
150 parts being related to, are not discussed here.
In conclusion the embodiment of the invention discloses a kind of control methods of arrangements for automotive doors, comprising: velocity sensor acquisition
The angular movement speed data of car door in the car door opening and/or closing process, and the angular movement speed data of the car door is sent out
It send to controller；Radar equipment detects in the vehicle body preset range whether have barrier, if detecting the barrier, to institute
It states controller and sends obstacle information；Electric strut sends hall signal to the controller；The controller is according to getting
The status information of the car door lock and the obstacle information, generate unlock instruction or locking instruction is sent to car door lock, and
According to the angular movement speed data of the car door, the obstacle information, the electric strut electric current and the hall signal, it is raw
At real-time control instruction, and control according to the control instruction collapsing length of the electric strut；The car door lock is according to connecing
The unlock instruction and locking instruction execution corresponding operation received；The electricity strut executes elongation and contracting according to the control instruction
Short movement makes car door opening or closing.The present invention can not only assist user to switch vehicle by increasing the devices such as electric strut
Door, prevents car door from damaging because movement velocity is too fast, additionally it is possible to protect the personal safety of user.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of control system of arrangements for automotive doors characterized by comprising
The velocity sensor being set on the inside of car door, for acquiring the fortune of the car door in the car door opening and/or closing process
Dynamic speed data, and the angular movement speed data of the car door is sent to controller；
It is set to the radar equipment of car door or vehicle body side, for detecting in the vehicle body preset range whether have barrier, if
It detects the barrier, sends obstacle information to the controller；
The car door lock being set on car door, the unlock instruction and locking instruction execution for being sent according to the controller are corresponding
Operation；
One end is connected to the car door, and the other end is connected to the electric strut of the vehicle body, is provided with Hall biography in the electricity strut
Sensor, for sending hall signal to the controller；The electricity strut, the control instruction for being sent according to the controller
Execute the operation for opening or closing car door；
The controller, for generating unlock according to the status information of the car door lock and the obstacle information got
Instruction or locking instruction, and according to the angular movement speed data of car door, the obstacle information, the electric current of electric strut and described
Hall signal generates real-time control instruction, and the collapsing length of electric strut is controlled according to the control instruction, makes the car door
It opens or closes.
2. control system according to claim 1, which is characterized in that the controller, for receiving car door opening
When instruction, determines whether to open the car door according to the obstacle information and calculates the current maximum unlatching range of car door,
If it is determined that opening car door, then generate unlock instruction and be sent to the car door lock, unlock the car door lock, according to getting in real time
The angular movement speed data of the car door, the electric current of the electric strut and the hall signal determine the motion state of car door, and
According to the angular movement speed data of the car door, the motion state of the car door, current maximum unlatching range and barrier letter
Breath generates the first control instruction in real time, makes the car door according to the collapsing length that first control instruction controls the electric strut
It opens；
When receiving closing of the door instruction, determine that generating locking instructs and be sent to the car door lock, according to the barrier
Information determines whether to close the car door, however, it is determined that closed door, according to the angular movement speed data of the car door got, institute
The electric current and the hall signal of stating electric strut determine the motion state of the car door, and according to the movement velocity of the car door,
The motion state of the car door, the current maximum unlatching range and the obstacle information generate the second control instruction in real time,
Make the closing of the door according to the collapsing length that second control instruction controls the electric strut, when the car door moves to pass
When closed state, the car door lock is set to lock based on locking instruction.
3. control system according to claim 1 or 2, which is characterized in that the radar equipment include ultrasonic radar and
Millimetre-wave radar；
The ultrasonic radar is installed on the car door or the vehicle body side, opens in range for detecting the car door maximum
Barrier, if detecting, sending instruction has the obstacle information of barrier, if being not detected, sends instruction and does not hinder
Hinder the obstacle information of object；
The millimetre-wave radar is installed on the corner of front and back four of the vehicle body, opens range for detecting the car door maximum
Inside whether there is barrier entrance, if detecting, sending instruction has the obstacle information of barrier to send if being not detected
Indicate the obstacle information of not barrier.
4. control system according to claim 1 or 2, which is characterized in that the radar equipment is also used to opening or closing
During closing the car door, detecting on the path of the car door opened or closed has moving obstacle entrance, to the control
Device processed sends car door stop signal；
The controller is also used to when receiving the car door stop signal, is controlled the electric strut stopping and is opened or closed
The car door.
5. control system according to claim 4, which is characterized in that the control system further include:
The sound and light alarm device being set on the car door, for being alerted when receiving alarm signal；
The controller is also used to when receiving the car door stop signal, sends the announcement to the sound and light alarm device
Alert signal.
6. control system according to claim 1, which is characterized in that the velocity sensor is also used to opening or closing
Detect that the movement velocity of the car door is higher than the first preset threshold and the duration is more than first during closing the car door
Preset time, then to the controller transmission speed adjustment signal；
Correspondingly, the controller, is also used to adjust the movement velocity of the car door according to the speed adjustment signal, and be based on
The electric current of the movement velocity of car door adjusted and collected electric strut generates third control instruction, controls the electric strut and opens
It opens or closed door；And/or
The velocity sensor is also used to during opening or closing the car door, detects the movement speed of the car door
Degree is lower than the second preset threshold and the duration is more than the second preset time, then changes signal to the controller sending direction；
Correspondingly, the controller, is also used to change according to the direction signal and generates the 4th control instruction, the control electricity support
Bar executes the inverse operation with previous moment, keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
7. a kind of control method of arrangements for automotive doors, which is characterized in that be applied to Automobile of any of claims 1-6
The control system of door, which comprises
Velocity sensor acquires the angular movement speed data of the car door in the car door opening and/or closing process, and by the vehicle
The angular movement speed data of door is sent to controller；
Radar equipment detects in the vehicle body preset range whether have barrier, if detecting the barrier, to the control
Device processed sends obstacle information；
Hall sensor in electric strut sends hall signal to the controller；
Status information and the obstacle information of the controller according to the car door lock got, generate unlock instruction or
Locking instruction is sent to car door lock, and according to the electric current of the angular movement speed data of car door, the obstacle information, electric strut with
And the hall signal, real-time control instruction is generated, and the collapsing length of electric strut is controlled according to the control instruction；
The car door lock is according to the unlock instruction and locking instruction execution corresponding operation received；
The electricity strut executes elongation according to the control instruction and shortening acts, and makes car door opening or closing.
8. control method according to claim 7, which is characterized in that the controller is according to the car door lock got
Status information and the obstacle information, generate unlock instruction or locking instruction be sent to car door lock, and according to the vehicle
The angular movement speed data of door, the obstacle information, the electric strut electric current and the hall signal, generate control in real time
System instructs, and the collapsing length of the electric strut is controlled according to the control instruction, comprising:
The controller when receiving car door opening instruction, according to the obstacle information determine whether to open the car door with
And calculate the current maximum unlatching range of the car door；
If it is determined that opening car door, the controller generates unlock instruction and is sent to the car door lock, unlocks the car door lock；
The controller according to the angular movement speed data of the car door got in real time, the electric strut electric current and it is described suddenly
Your signal determines the motion state of car door, and according to the angular movement speed data of the car door, motion state of the car door, current
Maximum opens range and the obstacle information generates the first control instruction in real time, according to first control instruction control
Electric strut extended length；
The controller determines whether to close the car door according to the obstacle information when receiving closing of the door instruction；
If it is determined that closed door, the controller determines that generating locking instructs and be sent to the car door lock；
The controller is believed according to the angular movement speed data of the car door got, the electric current of the electric strut and the Hall
Number determine the motion state of the car door, and according to the movement velocity of the car door, motion state of the car door, described current
Maximum opens range and the obstacle information generates the second control instruction in real time, according to second control instruction control
Electric strut shortens length；
When the car door is in close state, the car door lock is set to lock based on locking instruction.
9. control method according to claim 7 or 8, which is characterized in that further include:
The radar equipment detects on the path of the car door opened or closed during opening or closing the car door
There is moving obstacle entrance, sends car door stop signal to the controller；
The controller controls the electric strut stopping and opens or closes the vehicle when receiving the car door stop signal
Door.
10. control method according to claim 1, which is characterized in that during opening or closing the car door, also
Include:
If it is more than that the velocity sensor, which detects that the movement velocity of the car door is higher than the first preset threshold and duration,
One preset time, then to the controller transmission speed adjustment signal；
The controller adjusts the movement velocity of the car door according to the speed adjustment signal, and based on car door adjusted
The electric current of movement velocity and collected electric strut generates third control instruction, controls the electric strut and opens or closes car door；
And/or
If the velocity sensor detects the movement velocity of the car door lower than the second preset threshold and the duration is more than the
Two preset times then change signal to the controller sending direction；
The controller generates the 4th control instruction according to direction change signal, when the control electric strut executes and is previous
The inverse operation at quarter keeps the direction of motion of the car door opposite with the direction of motion of previous moment.
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| CN201810786015.3A CN108979440B (en) | 2018-07-17 | 2018-07-17 | Control method and system for automobile door |
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|---|---|---|---|
| CN201810786015.3A CN108979440B (en) | 2018-07-17 | 2018-07-17 | Control method and system for automobile door |
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| CN108979440B CN108979440B (en) | 2020-05-05 |
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| CN113374372B (en) * | 2021-06-25 | 2022-05-20 | 东风汽车集团股份有限公司 | Vehicle door control method, device, equipment and readable storage medium |
| CN113374372A (en) * | 2021-06-25 | 2021-09-10 | 东风汽车集团股份有限公司 | Vehicle door control method, device, equipment and readable storage medium |
| WO2023273145A1 (en) * | 2021-07-02 | 2023-01-05 | 一汽奔腾轿车有限公司 | Electric vehicle door control system and method |
| CN114150967A (en) * | 2021-12-02 | 2022-03-08 | 深圳市兴嘉林电子科技有限公司 | Vehicle door control method and device and electronic equipment |
| CN114150967B (en) * | 2021-12-02 | 2022-11-25 | 深圳市兴嘉林电子科技有限公司 | Vehicle door control method and device and electronic equipment |
| WO2023125554A1 (en) * | 2021-12-30 | 2023-07-06 | 比亚迪股份有限公司 | Vehicle door system and vehicle |
| CN114508281A (en) * | 2022-03-25 | 2022-05-17 | 浙江吉利控股集团有限公司 | Vehicle door control method, device, equipment and storage medium |
| CN114508281B (en) * | 2022-03-25 | 2024-06-07 | 浙江吉利控股集团有限公司 | Vehicle door control method, device, equipment and storage medium |
| WO2024022132A1 (en) * | 2022-07-29 | 2024-02-01 | 武汉路特斯汽车有限公司 | Control method, apparatus and system for electric vehicle door, and vehicle |
| CN116104385A (en) * | 2023-02-10 | 2023-05-12 | 重庆长安汽车股份有限公司 | Door control system, electric door and door control method |
| CN116220483A (en) * | 2023-05-08 | 2023-06-06 | 北京木牛领航科技有限公司 | Door opening early warning method, device, vehicle, medium, equipment and program product |
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Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |