CN110130771B - Motion assisting method and system for vehicle door - Google Patents
Motion assisting method and system for vehicle door Download PDFInfo
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- CN110130771B CN110130771B CN201910439600.0A CN201910439600A CN110130771B CN 110130771 B CN110130771 B CN 110130771B CN 201910439600 A CN201910439600 A CN 201910439600A CN 110130771 B CN110130771 B CN 110130771B
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- 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
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- 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
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
- E05Y2900/531—Doors
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Abstract
The invention discloses a motion power assisting method and a motion power assisting system for a vehicle door, wherein when the angular velocity is greater than a first preset angular velocity and/or the angular acceleration is greater than a second preset angle, the motion power assisting method considers that a user is opening or closing the door, at the moment, a driving current is calculated according to the opening angle of the vehicle door, the gradient of a road surface where a motor vehicle is located, design parameters of a motion mechanism and design parameters of the vehicle door, and the driving current is provided for the motion mechanism to provide motion power for the vehicle door, so that the aim of providing power assistance for the vehicle door of the motor vehicle is fulfilled when the motor vehicle stops on an uphill to open the door and stops on a downhill to close the door is fulfilled, the user can easily realize the action of opening or closing the door, and the user experience of the user is improved.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a method and a system for assisting the movement of a vehicle door.
Background
With the continuous development of motor vehicles, various auxiliary functions in the motor vehicles emerge in large numbers, and various functions of the motor vehicles are enriched.
However, most of these auxiliary functions are functions for assisting the driver in driving the motor vehicle during movement, such as lane departure warning and ACC adaptive cruise, and are applied to a few auxiliary functions of the motor vehicle in a static state. For example, in the use process of a motor vehicle, parking on a road surface with a slope is a common scenario, when the motor vehicle is parked on an uphill slope for opening a door or when the motor vehicle is parked on a downhill slope for closing the door, due to the existence of the road surface slope, a component force in the direction of the road surface slope may exist in the gravity of the door of the motor vehicle, and the component force may serve as a resistance when the user opens the door in the uphill state or closes the door in the downhill state, so that the user needs to apply a large force to complete the action of opening the door in the uphill state or closing the door in the downhill state, thereby bringing poor user experience to the user.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for assisting the movement of a vehicle door, so as to achieve the purpose of providing assistance for the vehicle door of a motor vehicle when the motor vehicle is parked on an uphill slope for opening the door and is parked on a downhill slope for closing the door, so that a user can easily realize the action of opening or closing the door, and the user experience of the user is improved.
In order to achieve the technical purpose, the embodiment of the invention provides the following technical scheme:
a method for assisting the movement of a door of a motor vehicle, the method being applied to the door movement process of the motor vehicle, the motor vehicle further comprising: the motion assisting method of the vehicle door comprises the following steps:
acquiring the gradient of a road surface on which the motor vehicle is positioned;
acquiring an opening angle of the vehicle door, and an angular velocity and an angular acceleration of the vehicle door in a motion process;
when the angular velocity is larger than a first preset value and/or the angular acceleration is larger than a second preset value, calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door;
providing the drive current to the motion mechanism to provide motion assistance to the vehicle door.
A vehicle door motion assist system for use in a vehicle door motion process of a motor vehicle, the motor vehicle further comprising: a motion mechanism for assisting in driving movement of the vehicle door, the motion assist system for the vehicle door comprising:
the first parameter acquisition module is used for acquiring the gradient of a road surface where the motor vehicle is located;
the second parameter acquisition module is used for acquiring the opening angle of the vehicle door, and the angular velocity and the angular acceleration of the vehicle door in the motion process;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door when the angular velocity is greater than a first preset value and/or the angular acceleration is greater than a second preset value;
and the motion assistance providing module is used for providing the driving current for the motion mechanism so as to provide motion assistance for the vehicle door.
It can be seen from the foregoing technical solutions that, in the motion assisting method, when the angular velocity is greater than the first preset angular velocity and/or the angular acceleration is greater than the second preset angle, it is considered that a user is opening or closing a door, and at this time, the driving current is calculated according to the opening angle of the door, the gradient of a road surface on which the motor vehicle is located, the design parameter of the moving mechanism, and the design parameter of the door, and is provided for the moving mechanism to provide the motion assisting for the door, so that the purpose of providing the assisting power for the door of the motor vehicle is achieved when the motor vehicle is parked on an upward slope to open the door and is parked on a downward slope to close the door, so that the user can easily implement the door opening or closing motion, and the user experience of the user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for assisting movement of a vehicle door according to an embodiment of the present invention;
FIGS. 2-3 are schematic views of a motor vehicle parking scenario provided by one embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for assisting movement of a vehicle door according to another embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for assisting movement of a vehicle door according to another embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a method for assisting movement of a vehicle door according to yet another embodiment of the present invention;
FIG. 7 is a schematic view of a top model view when the motion mechanism of the vehicle door is an electric strut system;
FIG. 8 is a schematic view of a top model view when the motion mechanism of the door is a hinge system;
FIG. 9 is a front view, door gravity exploded schematic view of a motor vehicle;
FIG. 10 is a top view of a door gravity exploded schematic view of a motor vehicle;
FIG. 11 is a mathematical model when the moving mechanism of the vehicle door is an electric stay system;
fig. 12 is a mathematical model when the moving mechanism of the vehicle door is a hinge system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for assisting the movement of a vehicle door, which is applied to the movement process of the vehicle door of a motor vehicle as shown in fig. 1, wherein the motor vehicle further comprises: the motion assisting method of the vehicle door comprises the following steps:
s101: acquiring the gradient of a road surface on which the motor vehicle is positioned;
s102: acquiring an opening angle of the vehicle door, and an angular velocity and an angular acceleration of the vehicle door in a motion process;
s103: when the angular velocity is larger than a first preset value and/or the angular acceleration is larger than a second preset value, calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door;
s104: providing the drive current to the motion mechanism to provide motion assistance to the vehicle door.
The value range of the gradient of the road surface on which the motor vehicle is located, which is obtained in step S101, is greater than or equal to 0 °, and when the road surface on which the motor vehicle is located is a horizontal road surface, the gradient of the road surface is zero; in other cases, the slope of the road surface on which the motor vehicle is located is the angle between the plane on which the road surface is located and the horizontal plane.
In step S102, the acquired door opening angle is an angle at which the door is rotated from a closed state to a position thereof during the opening process. The differential of the opening angle of the vehicle door to the time is the angular velocity of the vehicle door in the motion process, and the differential of the angular velocity to the time is the angular acceleration of the vehicle door in the motion process.
The various types of parameters acquired in steps S101 and S102 may be acquired by parameters acquired by various types of sensors and parameters such as the positions where the sensors are installed. In addition, after the gradient of the road surface where the motor vehicle is located is obtained, whether the motor vehicle is in an uphill state or a downhill state can be judged according to the current posture of the sensor of the motor vehicle.
Referring to fig. 2 and 3, fig. 2 shows a schematic view of a motor vehicle parked on an uphill slope, as can be seen from fig. 2, in which the motor vehicle is parked: the road surface on which the motor vehicle is parked has a slope with an angle not equal to zero, and the head of the motor vehicle faces the top of the slope;
fig. 3 shows a schematic representation of a motor vehicle parked on a downhill slope, which can be seen from fig. 3 in the sense that: the road surface on which the motor vehicle is parked has a slope with an angle different from zero, and the head of the motor vehicle faces the bottom of the slope.
In the scenario shown in fig. 2, when a user needs to open the door in the vehicle, since the weight of the vehicle door has a component parallel to the road surface and pointing to the bottom of the slope, this component will provide a certain resistance to the opening of the vehicle door, causing a certain inconvenience to users with less strength (e.g. children, ladies, etc.) when they want to open the vehicle door.
In the scenario shown in fig. 3, when the user needs to close the door after getting off the vehicle after opening the door, the gravity of the door also has a component parallel to the road surface and pointing to the bottom of the slope, and this component will provide resistance to the door closing movement of the door, which causes a certain inconvenience to the action that the user with less strength wants to close the door.
For the application scenarios shown in fig. 2 and 3, it is therefore necessary, where appropriate, to provide a movement assistance for the movement of the vehicle door.
It should be further noted that, in this embodiment, when the angular velocity is greater than the first preset value and/or the angular acceleration is greater than the second preset value, it is considered that the user is opening the vehicle door, and the satisfaction of this determination condition includes three cases: (1) the angular velocity is greater than a first preset value, and the angular acceleration is not greater than a second preset value; (2) the angular velocity is not greater than a first preset value, and the angular acceleration is greater than a second preset value; (3) the angular velocity is greater than a first preset value, and the angular acceleration is greater than a second preset value.
In addition, in order to avoid the false triggering of the above determination condition, that is, in order to avoid the situation that the angular velocity and/or the angular acceleration of the vehicle door satisfy one of the above three situations in some cases, but the user does not open the door, in some embodiments of the present invention, step S103 specifically includes:
s1031: and when the duration time that the angular speed is greater than the first preset value exceeds a first preset time and/or the angular acceleration is greater than a second preset value and exceeds a second preset time, calculating the driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door. In step S1031, the satisfaction of the determination condition for the user to open the door includes three cases: (1) the angular velocity is greater than a first preset value, the duration time exceeds a first preset time, and the angular acceleration is not greater than a second preset value; (2) the angular velocity is not greater than a first preset value, the angular acceleration is greater than a second preset value, and the duration time exceeds a second preset time; (3) the duration time that the angular velocity is greater than the first preset value exceeds a first preset time, and the duration time that the angular acceleration is greater than the second preset value exceeds a second preset time. Namely, a time threshold value is added in the condition of judging that the user opens the vehicle door, so as to avoid the condition of false triggering. The specific values of the first preset time and the second preset time are determined according to actual conditions, and the invention is not limited to this.
In this embodiment, when the angular velocity is greater than the first preset angular velocity and/or the angular acceleration is greater than the second preset angle, the motion-assisted method determines that the user is opening or closing the door, and at this time, calculates the driving current according to the opening angle of the door, the gradient of the road surface where the motor vehicle is located, the design parameters of the motion mechanism, and the design parameters of the door, and provides the driving current for the motion mechanism to provide the motion assistance for the door, so that the purpose of providing the assistance for the door of the motor vehicle is achieved when the motor vehicle is parked on an uphill side to open the door and is parked on a downhill side to close the door, so that the user can easily achieve the door opening or closing action, and the user experience of the user is improved.
On the basis of the above embodiment, in an embodiment of the present invention, as shown in fig. 4, the vehicle door movement assisting method includes:
s201: acquiring a gravity acceleration component which is perpendicular to a road surface where the motor vehicle is located and is measured by an acceleration sensor arranged on a body of the motor vehicle;
s202: calculating the gravity ratio of the gravity acceleration component perpendicular to the road surface where the motor vehicle is located, which is measured by the acceleration sensor, to a reference acceleration, wherein the reference acceleration is the gravity acceleration perpendicular to the horizontal plane when the motor vehicle is on the horizontal road surface, which is measured by the acceleration sensor in the current installation posture;
s203: calculating the gradient of the road surface on which the motor vehicle is positioned by utilizing an inverse trigonometric function and the gravity ratio obtained by calculation;
s204: taking an angular velocity component perpendicular to a door direction measured by an angular velocity sensor mounted on the motor vehicle door as an angular velocity of the door;
s205: obtaining the angular acceleration of the vehicle door by dividing the angular velocity by the distance between the geometric center of the angular velocity sensor and the vehicle door shaft;
s206: calculating to obtain the opening angle of the vehicle door according to the product of a Hall signal measured by a Hall sensor arranged on the vehicle door and the proportionality coefficient of the Hall sensor and the motion mechanism parameter of the vehicle door;
s207: when the angular velocity is larger than a first preset value and/or the angular acceleration is larger than a second preset value, calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door;
s208: providing the drive current to the motion mechanism to provide motion assistance to the vehicle door.
In the present embodiment, steps S201 to S203 provide a method of specifically acquiring the gradient of the road surface on which the motor vehicle is located; steps S204-206 provide a method of specifically acquiring the opening angle of the vehicle door, the angular velocity and the angular acceleration of the course of movement of the vehicle door.
When the gradient of the road surface on which the motor vehicle is located is obtained, the sum of the two acceleration components measured by the acceleration sensor is the gravitational acceleration in the case that the acceleration sensor is stationary, and when the motor vehicle is stationary and located on a horizontal road surface, the gravitational acceleration component of the treatment and the ground can be calculated according to the installation posture of the acceleration sensor and used as the reference acceleration.
When the motor vehicle is at rest and positioned on a road surface with a certain gradient, calculating the gravity ratio of the gravity acceleration component to the reference acceleration according to the calculated gravity acceleration component perpendicular to the road surface, and finally substituting the gravity ratio into an inverse cosine function to calculate the gradient of the road surface on which the motor vehicle is positioned.
In step S204-step S205, first, the angular velocity of the vehicle door is obtained according to the parameter measured by the angular velocity sensor; the angular acceleration of the door can then be calculated using the obtained angular velocity and the mounting position of the angular velocity sensor. In step S206, the product of the hall signal measured by the hall sensor and the proportionality coefficient of the hall sensor may represent the rotation angle of the moving mechanism of the vehicle door, and then the opening angle of the vehicle door may be calculated according to the rotation angle of the moving mechanism of the vehicle door and the parameter of the moving mechanism of the vehicle door.
The moving mechanism of the vehicle door can be an electric stay bar system and can also be a hinge system. When the movement mechanism of the vehicle door is an electric stay bar system, the rotation of the electric stay bar rotating structure can drive the electric stay bar to extend, and the opening angle of the vehicle door can be calculated according to the rotating angle of the electric stay bar rotating structure and the extending length of the electric stay bar; when the moving mechanism of the vehicle door is a hinge system, the rotation of the hinge system can drive the vehicle door to move, and the opening angle of the vehicle door can be calculated according to the rotating angle, the mechanical installation position and the characteristics of the hinge system. The invention does not limit the concrete type of the motion mechanism of the vehicle door, which is determined according to the actual situation.
On the basis of the above embodiment, in another embodiment of the present invention, when the moving mechanism is an electric stay system, one end of an electric stay in the electric stay system is connected to the vehicle door, and the other end is connected to the body of the motor vehicle; the design parameters of the motion mechanism comprise: the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle door, the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle body, the length of the electric stay bar and the current proportionality coefficient of the electric stay bar system; the design parameters of the vehicle door include: the mass of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the electric stay bar system and the equivalent damping coefficient of the vehicle door driven by the electric stay bar system; as shown in fig. 5, the motion protection method of the vehicle door includes:
s301: acquiring the gradient of a road surface on which the motor vehicle is positioned;
s302: acquiring an opening angle of the vehicle door, and an angular velocity and an angular acceleration of the vehicle door in a motion process;
s303: when the angular velocity is greater than a first preset value and/or the angular acceleration is greater than a second preset value, substituting the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door into a first preset formula to calculate and obtain the driving current for driving the electric stay bar;
the first preset formula is as follows: i.e. iS＝iSL+iSD(ii) a Wherein the content of the first and second substances,
α represents the gradient, VSRepresenting the current proportionality coefficient, i, of the electric brace bar systemSRepresents a driving current for driving the electric stay, theta represents the opening angle,
representing said angular velocityThe degree of the magnetic field is measured,
represents the angular acceleration, 0 ≦ nSL<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, ISDRepresenting the equivalent moment of inertia, 0, of the door driven by the electric strut system<ISD<ID，IDRepresenting the moment of inertia of the door, bSDRepresenting the equivalent damping coefficient of the door driven by the electric stay bar system, 0<bSD<bD，bDRepresenting a damping coefficient of the vehicle door;
s304: providing the drive current to the motion mechanism to provide motion assistance to the vehicle door.
On the basis of the above embodiment, in a further embodiment of the present invention, when the moving mechanism is a hinge system, the design parameters of the moving mechanism include: the current proportionality coefficient of the hinge system; the design parameters of the vehicle door include: the mass of the vehicle door, the distance from the vehicle door shaft to the gravity center of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the hinge system and the equivalent damping coefficient of the vehicle door driven by the hinge system; as shown in fig. 7, the motion protection method of the vehicle door includes:
s401: acquiring the gradient of a road surface on which the motor vehicle is positioned;
s402: acquiring an opening angle of the vehicle door, and an angular velocity and an angular acceleration of the vehicle door in a motion process;
s403: when the angular velocity is greater than a first preset value and/or the angular acceleration is greater than a second preset value, substituting the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door into a second preset formula to calculate and obtain the driving current for driving the hinge system;
the second preset formula is as follows: i.e. iM＝iML+iMD(ii) a Wherein the content of the first and second substances,
α represents the gradient, KMRepresenting the current proportionality coefficient, i, of the hinge systemMRepresents a drive current for driving the hinge system, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nML<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, IMDEquivalent moment of inertia, 0, for a door driven by a hinge system<IMD<ID，IDRepresenting the moment of inertia of the door, bMDEquivalent damping coefficient of door driven by hinge system, 0<bMD<ID，IDRepresenting a moment of inertia of the vehicle door;
s404: providing the drive current to the motion mechanism to provide motion assistance to the vehicle door.
The derivation process of the first preset formula and the second preset formula is simply analyzed below.
FIG. 7 and FIG. 8 are schematic top model views of the vehicle door when the motion mechanism is an electric strut system; fig. 8 is a schematic view of a top model when the moving mechanism of the door is a hinge system. In fig. 7, the door system includes a door, a body, and an electric stay system, the door and the door are connected by a hinge, wherein the hinge is not directly driven, one end of the electric stay in the electric stay system is connected to the body by a spherical hinge, the other end is connected to the door by a spherical hinge, and the extension and contraction of the electric stay drives the opening and closing of the door.
In fig. 8, the door system of the automobile comprises a door, a body and a hinge system, wherein the door and the body are connected by the hinge system, the hinge system is directly driven by an integrated motor, and the forward rotation and the reverse rotation of the motor can drive the door to open and close.
Door gravity decomposition when the motor vehicle is on a road surface with a certain slope referring to fig. 9 and 10, fig. 9 is a front view door gravity decomposition schematic diagram of the motor vehicle, and fig. 10 is a top view door gravity decomposition schematic diagram of the motor vehicle, namely, the view angle in fig. 10 is a direction vertical to the road surface from top to bottom.
In fig. 9, the motor vehicle is parked on an upward slope, the arrow indicates the direction in which the head of the motor vehicle points, the slope of the road surface on which the motor vehicle is parked is α, and the vehicle door mass is mDG is the acceleration of gravity, m is the gravity of the automobile doorDg, the component of the gravity of the vehicle door perpendicular to the road surface is mDg · cos α, component horizontal to the road surface being mDg·sinα。
In fig. 10, the motor vehicle is parked on an upward slope, the dashed boxes indicate the positions where the doors are in the closed state, the solid boxes indicate the positions where the doors are in the open state, and the door opening angle is θ; gravity component m for vehicle door horizontal to road surfaceDThe component of g sin α in the direction perpendicular to the door surface is defined as: fL＝mDg sin α cos θ, oriented perpendicular to and pointing into the door, has a component of 0 when the door is fully closed.
Accordingly, if the motor vehicle is parked on a downhill slope with a road gradient α, the magnitude of the component of the door weight in the direction perpendicular to the door is: fL＝mDg, sin α, cos θ, oriented perpendicular to the door and pointing out of the door.
Referring to fig. 11 and 12, fig. 11 is a mathematical model when the moving mechanism of the vehicle door is an electric stay system, and fig. 12 is a mathematical model when the moving mechanism of the vehicle door is a hinge system.
In fig. 11, the view angle is a direction perpendicular to the chassis of the motor vehicle from top to bottom, point O is a connection point of the door and the vehicle body, point S is a mounting point of an electric stay in the electric stay system on the vehicle body, point D is a mounting point of the electric stay on the door, point G is a center of gravity of the door, point C is an intersection point of point S along a line perpendicular to line OD or an extension line of line OD and an extension line of OD or OD, and the door opening angle is θ. The distance between point O and point S is lOSDistance between point O and point D is lOD(ii) a Line SD represents the electrical strut, length lSDThe controller of the motor vehicle collects Hall signals of Hall sensors in the electric stay bar to calculate a Hall position h, and when the vehicle door is completely closed, the length of the Hall signals is lSD0The Hall position h is 0, and the proportionality coefficient of the Hall position and the length of the electric stay bar is khAnd the relation between the length of the electric stay bar and the Hall position is as follows: lSD＝lSD0+khH; angle γ represents the angle between line OD and line SD,. i.e., < ODS.
In fig. 12, the view angle is a direction perpendicular to the chassis of the motor vehicle from top to bottom, point O is a connection point of the door and the vehicle body, point G is the center of gravity of the door, the door opening angle is θ, and the hinge motor is installed at point O to drive the door to open and close.
If the motor vehicle is parked on an uphill slope and the user is opening the door, or if the motor vehicle is parked on a downhill slope and the user is closing the door, the resistive torque generated by the weight of the door is TL＝FL·lOGThe moment of inertia of the door with the point O as the axis
And assuming that the damping coefficient of the door is bDWith user-applied motive torque TH。
If the movement mechanism is an electric stay system, the motor vehicle is parked on an uphill slope and the electric stay is pushing the door open, or the motor vehicle is parked on a downhill slope and the electric stay is pulling the door closed, the force with which the electric stay pushes or pulls the door is FSWhen the kinetic moment is TS＝FS·lODSin gamma and assuming the current i of the electric strut motorSThe relationship of (A) is linear, i.e. FS＝VS·iSWherein V isSIf the current proportionality coefficient of the electric stay bar system is a constant, the motion equation of the vehicle door is as follows:
wherein, THTo be appliedMoment of resistance, i.e. calculated protective moment of resistance, THThe two parts are separated, one part ensures that the influence of the gravity of the vehicle door can be counteracted, and the other part reduces the equivalent moment of inertia and damping coefficient of the vehicle door.
Referring to fig. 11, sin γ can be calculated by the following relationship:
lCS＝lOS·sinθ＝lSDsin gamma, i.e. obtaining
If the moving mechanism is a hinge system, the motor vehicle is parked on an uphill slope and the hinge system is pushing the door open, or the motor vehicle is parked on a downhill slope and the hinge system is pulling the door closed, the moment at which the hinge system drives the door open or closed is TMAnd assuming a moment TMAnd current i of the hinge systemMThe relationship of (A) is a linear relationship, i.e. TM＝KM·iMIn which K isMThe current proportionality coefficient of the hinge system is constant, and the resisting moment generated by the gravity of the vehicle door is TL＝FL·lOGThe moment of inertia of the door with the point O as the axis
Suppose the damping coefficient of the door is bDThen the equation of motion of the door is:
according to different motion mechanisms, the calculation of the driving current provided for the motion mechanism is divided into two cases of being suitable for an electric stay bar system and a hinge system.
If the motion structure is an electric support rod system, the power moment provided by the electric support rod consists of two parts;
TS＝TSL+TSD；
wherein T isSLTo partially counteract resistive torque due to gravity, and nSLGreater than or equal to 0 and less than 100%;
Wherein, TSDIn order to partially counteract the resistive torque caused by the inertia of the door and the friction of the controlled system, namely:
wherein, ISDGreater than or equal to 0 and less than ID，bSDGreater than or equal to 0 and less than bDThe aim is to reduce the equivalent moment of inertia and damping coefficient of the door, making it easier for the user to manually control the movement of the door. Current i supplied to the electric staySIt can be calculated from the following relationship:
obtaining the first preset formula: i.e. iS＝iSL+iSD(ii) a Wherein the content of the first and second substances,
α represents the gradient, VSRepresenting the current proportionality coefficient, i, of the electric brace bar systemSRepresents a driving current for driving the electric stay, theta represents the opening angle, and the opening angle is greater than 0 DEG and less than 180 DEG,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nSL<100% is a fixed value，mDRepresenting the mass of the door, g the acceleration of gravity, ISDRepresenting the equivalent moment of inertia of the door driven by the electric strut system, bSDRepresenting the equivalent damping coefficient of a vehicle door driven by the electric stay bar system.
If the kinematic structure is a hinge system, the kinetic moment provided by the hinge system consists of two parts:
TM＝TML+TMD；
wherein, TMLTo partially counteract resistive torque due to gravity, and nMLGreater than or equal to 0 and less than 100%.
Wherein, TMDIn order to partially counteract the resistive torque caused by the inertia of the door and the friction of the controlled system, namely:
wherein, IMDGreater than or equal to 0 and less than ID，bMDGreater than or equal to 0 and less than bDThe aim is to reduce the equivalent moment of inertia and damping coefficient of the door, making it easier for the user to manually control the movement of the door. The current of the hinge system can be calculated from the following relationship:
obtaining the second preset formula: i.e. iM＝iML+iMD(ii) a Wherein the content of the first and second substances,
α represents the gradient, KMShowing the hinge systemCurrent proportionality coefficient of (i)MRepresents a drive current for driving the hinge system, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nML<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, IMDRepresenting equivalent moment of inertia of the door driven by the hinge system, bMDRepresenting the hinge system driven door equivalent damping coefficient.
When the driving current is provided for the movement mechanism, the motor current of the electric strut system or the motor current of the hinge system can be controlled through a controller of the motor vehicle through closed-loop control, wherein the target quantity of the closed-loop control is the calculated driving current, and the feedback quantity is the motor current of the electric strut system or the motor current of the hinge system collected by the controller; if the electric brace rod system or the hinge system adopts PWM control, the output of the controller of the closed-loop control is PWM duty ratio, and the equivalent voltage at the two ends of the motor in the electric brace rod system or the hinge system is the product of the voltage of the controller and the PWM duty ratio; if the motor of the electric brace rod system or the hinge system is controlled by voltage, the output of the closed-loop control controller is the voltage at two ends of the motor in the electric brace rod system or the hinge system.
Under the condition that the controller does not provide driving current for the movement mechanism, when the angular velocity is larger than a first preset value and/or the angular acceleration is larger than a second preset value, it is detected that a user manually opens or closes the door, and the controller calculates the driving current according to the current opening angle of the door, the gradient, the design parameters of the movement mechanism and the design parameters of the door, so that the movement mechanism executes the action to drive the door to move, and the door opening or closing action of the user is assisted.
If the motor vehicle is in an uphill situation, the door is in an opening situation, or the motor vehicle is in a downhill situation,when the vehicle door is in a closed state, when a user controls the vehicle door, the larger the angular velocity and the angular acceleration of the vehicle door are, the larger the driving current calculated according to the first preset formula or the second preset formula is, and the larger the assistance given to the user by the motion mechanism is; on the contrary, when the user controls the vehicle door, the smaller the angular velocity and the angular acceleration of the vehicle door are, the smaller the driving current calculated according to the first preset formula or the second preset formula is, and the smaller the assisting force given to the user by the motion mechanism is. Equivalent moment of inertia I of vehicle doorD-ISDOr ID-IMDEquivalent damping coefficient b of vehicle door systemD-bSDOr bD-bMDIs reduced so that the user can more easily control the opening or closing of the door.
According to TSDAnd TMDBecause of the way I calculatesD>ISDAnd ID>IMDMoment of force counteracting self-inertia of vehicle door
And
moment less than the inertia of the door
Because b isD>bSDAnd b isD>bMDMoment of momentum counteracting system friction
And
also less than the torque of system friction
If the actuator is an electric strut system, the kinetic equation of the control system is as follows:
if the actuator is a hinge system, the kinematic equations for the control system are as follows:
equivalent moment of inertia ID-ISDOr ID-IMDAnd equivalent damping coefficient bD-bSDOr bD-bMDThe motion of the car door is not controlled by a user to automatically accelerate according to the stability criterion of the system, namely the stability of the system is ensured.
If the user manually pushes or pulls the side door to reduce the angular velocity and/or angular acceleration of the door below a threshold (first preset value or second preset value), the controller will not give the user assistance, i.e., stop driving the electric stay or hinge motor, and the side door will stop moving due to its own weight and friction of the side door system.
In the following, for the motion assisting system of the vehicle door provided in the embodiment of the present invention, the motion assisting system of the vehicle door described below may be referred to in correspondence with the motion assisting method of the vehicle door described above.
Correspondingly, the embodiment of the invention also provides a vehicle door movement assisting system, which is applied to the vehicle door movement process of a motor vehicle, and the motor vehicle further comprises: a motion mechanism for assisting in driving movement of the vehicle door, the motion assist system for the vehicle door comprising:
the first parameter acquisition module is used for acquiring the gradient of a road surface where the motor vehicle is located;
the second parameter acquisition module is used for acquiring the opening angle of the vehicle door, and the angular velocity and the angular acceleration of the vehicle door in the motion process;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door when the angular velocity is greater than a first preset value and/or the angular acceleration is greater than a second preset value;
and the motion assistance providing module is used for providing the driving current for the motion mechanism so as to provide motion assistance for the vehicle door.
Optionally, when the movement mechanism is an electric stay bar system, one end of an electric stay bar in the electric stay bar system is connected with the vehicle door, and the other end of the electric stay bar is connected with the vehicle body of the motor vehicle; the design parameters of the motion mechanism comprise: the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle door, the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle body, the length of the electric stay bar and the current proportionality coefficient of the electric stay bar system; the design parameters of the vehicle door include: the mass of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the electric stay bar system and the equivalent damping coefficient of the vehicle door driven by the electric stay bar system;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door, and substituting the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door into a first preset formula so as to calculate and obtain the driving current for driving the electric supporting rod;
the first preset formula is as follows: i.e. iS＝iSL+iSD(ii) a Wherein the content of the first and second substances,
α represents the gradient, VSRepresenting the current proportionality coefficient, i, of the electric brace bar systemSRepresents a driving current for driving the electric stay, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nSL<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, ISDRepresenting the equivalent moment of inertia of the door driven by the electric strut system, bSDRepresenting the equivalent damping coefficient of a vehicle door driven by the electric stay bar system.
Optionally, when the moving mechanism is a hinge system, the design parameters of the moving mechanism include: the current proportionality coefficient of the hinge system; the design parameters of the vehicle door include: the mass of the vehicle door, the distance from the vehicle door shaft to the gravity center of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the hinge system and the equivalent damping coefficient of the vehicle door driven by the hinge system;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door, and substituting the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door into a second preset formula so as to calculate and obtain the driving current for driving the hinge system;
the second preset formula is as follows: i.e. iM＝iML+iMD(ii) a Wherein the content of the first and second substances,
α represents the gradient, KMRepresenting the current proportionality coefficient, i, of the hinge systemMRepresents a drive current for driving the hinge system, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nML<100% is a fixed value, mDDenotes the door mass, g denotesAcceleration of gravity, IMDRepresenting equivalent moment of inertia of the door driven by the hinge system, bMDRepresenting the hinge system driven door equivalent damping coefficient.
Optionally, the first parameter obtaining module includes:
the parameter acquisition unit is used for acquiring a gravity acceleration component which is perpendicular to a road surface where the motor vehicle is located and is measured by an acceleration sensor installed on a vehicle body of the motor vehicle;
the ratio calculation unit is used for calculating the gravity ratio of the gravity acceleration component perpendicular to the road surface where the motor vehicle is located and the reference acceleration measured by the acceleration sensor, wherein the reference acceleration is the gravity acceleration perpendicular to the horizontal plane when the motor vehicle is on the horizontal road surface and measured by the acceleration sensor in the current installation posture;
and the gradient calculation unit is used for calculating the gradient of the road surface where the motor vehicle is located by utilizing the inverse trigonometric function and the gravity ratio obtained by calculation.
Optionally, the second parameter obtaining module includes:
a sensor parameter unit for determining an angular velocity component perpendicular to a door direction as an angular velocity of the door, based on an angular velocity sensor mounted to the door of the motor vehicle;
an angular acceleration calculation unit for obtaining an angular acceleration of the door by dividing the angular velocity by a distance between a geometric center of the angular velocity sensor and a door axis;
and the opening angle calculation unit is used for calculating and obtaining the opening angle of the vehicle door according to the product of the Hall signal measured by the Hall sensor arranged on the vehicle door and the proportionality coefficient of the Hall sensor and the motion mechanism parameter of the vehicle door.
In summary, embodiments of the present invention provide a method and a system for assisting in moving a vehicle door, where the method considers that a user is opening or closing the door when an angular velocity is greater than a first preset angular velocity and/or an angular acceleration is greater than a second preset angle, and calculates a driving current according to an opening angle of the vehicle door, a gradient of a road surface on which the vehicle is located, a design parameter of a moving mechanism, and a design parameter of the vehicle door, and provides the driving current for the moving mechanism to provide a moving assist for the vehicle door, so as to achieve an object of providing an assist for the vehicle door of the vehicle when the vehicle stops on an upward slope to open the door and stops on a downward slope to close the door, so that the user can easily implement an opening or closing motion, and user experience of the user is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for assisting the movement of a door of a motor vehicle, the method being applied to a door movement process of the motor vehicle, the motor vehicle further comprising: the motion assisting method of the vehicle door comprises the following steps:
acquiring the gradient of a road surface on which the motor vehicle is positioned;
acquiring an opening angle of the vehicle door, and an angular velocity and an angular acceleration of the vehicle door in a motion process;
when the angular velocity is larger than a first preset value and/or the angular acceleration is larger than a second preset value, calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door;
providing the drive current to the motion mechanism to provide motion assistance to the vehicle door;
when the movement mechanism is an electric stay bar system, one end of an electric stay bar in the electric stay bar system is connected with the vehicle door, and the other end of the electric stay bar is connected with the vehicle body of the motor vehicle; the design parameters of the motion mechanism comprise: the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle door, the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle body, the length of the electric stay bar and the current proportionality coefficient of the electric stay bar system; the design parameters of the vehicle door include: the mass of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the electric stay bar system and the equivalent damping coefficient of the vehicle door driven by the electric stay bar system;
the calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the moving mechanism, and the design parameter of the vehicle door includes:
substituting the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door into a first preset formula to calculate and obtain the driving current for driving the electric stay bar;
the first preset formula is as follows: i.e. iS＝iSL+iSD(ii) a Wherein the content of the first and second substances,
α represents the gradient, VSRepresenting the current proportionality coefficient, i, of the electric brace bar systemSRepresents a driving current for driving the electric stay, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nSL<100% is a fixed value, mDShows the door mass, g-tableShowing acceleration of gravity, ISDRepresenting the equivalent moment of inertia, 0, of the door driven by the electric strut system<ISD<ID，IDRepresenting the moment of inertia of the door, bSDRepresenting the equivalent damping coefficient of the door driven by the electric stay bar system, 0<bSD<ID，IDRepresenting the moment of inertia of the vehicle door.
2. The method of claim 1, wherein when the motion mechanism is a hinge system, design parameters of the motion mechanism include: the current proportionality coefficient of the hinge system; the design parameters of the vehicle door include: the mass of the vehicle door, the distance from the vehicle door shaft to the gravity center of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the hinge system and the equivalent damping coefficient of the vehicle door driven by the hinge system;
the calculating a driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the moving structure, and the design parameter of the vehicle door includes:
substituting the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door into a second preset formula to calculate and obtain the driving current for driving the hinge system;
the second preset formula is as follows: i.e. iM＝iML+iMD(ii) a Wherein the content of the first and second substances,
α represents the gradient, KMRepresenting the current proportionality coefficient, i, of the hinge systemMRepresents a drive current for driving the hinge system, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nML<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, IMDEquivalent moment of inertia, 0, for a door driven by a hinge system<IMD<ID，IDRepresenting the moment of inertia of the door, bMDEquivalent damping coefficient of door driven by hinge system, 0<bMD<ID，IDRepresenting the moment of inertia of the vehicle door.
3. The method of claim 1, wherein said obtaining the grade of the surface on which the motor vehicle is located comprises:
acquiring a gravity acceleration component which is perpendicular to a road surface where the motor vehicle is located and is measured by an acceleration sensor arranged on a body of the motor vehicle;
calculating the gravity ratio of the gravity acceleration component perpendicular to the road surface where the motor vehicle is located, which is measured by the acceleration sensor, to a reference acceleration, wherein the reference acceleration is the gravity acceleration perpendicular to the horizontal plane when the motor vehicle is on the horizontal road surface, which is measured by the acceleration sensor in the current installation posture;
and calculating the gradient of the road surface on which the motor vehicle is positioned by using the inverse trigonometric function and the gravity ratio obtained by calculation.
4. The method of claim 1, wherein the obtaining the opening angle of the vehicle door, the angular velocity and the angular acceleration of the course of movement of the vehicle door comprises:
taking an acceleration component perpendicular to the direction of the door, which is measured by an angular velocity sensor mounted on the motor vehicle door, as the angular velocity of the door;
obtaining the angular acceleration of the vehicle door by dividing the angular velocity by the distance between the geometric center of the acceleration sensor and the vehicle door shaft;
and calculating to obtain the opening angle of the vehicle door according to the product of the Hall signal measured by the Hall sensor arranged on the vehicle door and the proportionality coefficient of the Hall sensor and the motion mechanism parameter of the vehicle door.
5. A vehicle door motion assist system for use in a vehicle door motion process of a motor vehicle, the motor vehicle further comprising: a motion mechanism for assisting in driving movement of the vehicle door, the motion assist system for the vehicle door comprising:
the first parameter acquisition module is used for acquiring the gradient of a road surface where the motor vehicle is located;
the second parameter acquisition module is used for acquiring the opening angle of the vehicle door, and the angular velocity and the angular acceleration of the vehicle door in the motion process;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameters of the motion mechanism and the design parameters of the vehicle door when the angular velocity is greater than a first preset value and/or the angular acceleration is greater than a second preset value;
the motion assistance providing module is used for providing the driving current for the motion mechanism so as to provide motion assistance for the vehicle door;
when the movement mechanism is an electric stay bar system, one end of an electric stay bar in the electric stay bar system is connected with the vehicle door, and the other end of the electric stay bar is connected with the vehicle body of the motor vehicle; the design parameters of the motion mechanism comprise: the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle door, the distance from the shaft of the vehicle door to the connection point of the electric stay bar and the vehicle body, the length of the electric stay bar and the current proportionality coefficient of the electric stay bar system; the design parameters of the vehicle door include: the mass of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the electric stay bar system and the equivalent damping coefficient of the vehicle door driven by the electric stay bar system;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door, and substituting the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door into a first preset formula so as to calculate and obtain the driving current for driving the electric supporting rod;
the first preset formula is as follows: i.e. iS＝iSL+iSD(ii) a Wherein the content of the first and second substances,
α represents the gradient, VSRepresenting the current proportionality coefficient, i, of the electric brace bar systemSRepresents a driving current for driving the electric stay, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nSL<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, ISDRepresenting the equivalent moment of inertia, 0, of the door driven by the electric strut system<ISD<ID，IDRepresenting the moment of inertia of the door, bSDRepresenting the equivalent damping coefficient of the door driven by the electric stay bar system, 0<bSD<ID，IDRepresenting the moment of inertia of the vehicle door.
6. The system of claim 5, wherein when the motion mechanism is a hinge system, design parameters of the motion mechanism include: the current proportionality coefficient of the hinge system; the design parameters of the vehicle door include: the mass of the vehicle door, the distance from the vehicle door shaft to the gravity center of the vehicle door, the equivalent rotational inertia of the vehicle door driven by the hinge system and the equivalent damping coefficient of the vehicle door driven by the hinge system;
the driving current calculating module is used for calculating driving current according to the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door, and substituting the opening angle of the vehicle door, the gradient, the design parameter of the motion mechanism and the design parameter of the vehicle door into a second preset formula so as to calculate and obtain the driving current for driving the hinge system;
the second preset formula is as follows: i.e. iM＝iML+iMD(ii) a Wherein the content of the first and second substances,
α represents the gradient, KMRepresenting the current proportionality coefficient, i, of the hinge systemMRepresents a drive current for driving the hinge system, theta represents the opening angle,
is indicative of the angular velocity of the object,
represents the angular acceleration, 0 ≦ nML<100% is a fixed value, mDRepresenting the mass of the door, g the acceleration of gravity, IMDEquivalent moment of inertia, 0, for a door driven by a hinge system<IMD<ID，IDRepresenting the moment of inertia of the door, bMDEquivalent damping coefficient of door driven by hinge system, 0<bMD<ID，IDRepresenting the moment of inertia of the vehicle door.
7. The system of claim 5, wherein the first parameter obtaining module comprises:
the parameter acquisition unit is used for acquiring a gravity acceleration component which is perpendicular to a road surface where the motor vehicle is located and is measured by an acceleration sensor installed on a vehicle body of the motor vehicle;
the ratio calculation unit is used for calculating the gravity ratio of the gravity acceleration component perpendicular to the road surface where the motor vehicle is located and the reference acceleration measured by the acceleration sensor, wherein the reference acceleration is the gravity acceleration perpendicular to the horizontal plane when the motor vehicle is on the horizontal road surface and measured by the acceleration sensor in the current installation posture;
and the gradient calculation unit is used for calculating the gradient of the road surface where the motor vehicle is located by utilizing the inverse trigonometric function and the gravity ratio obtained by calculation.
8. The system of claim 5, wherein the second parameter obtaining module comprises:
a sensor parameter unit for determining an acceleration component perpendicular to a door direction measured by an angular velocity sensor mounted to the door of the motor vehicle as an angular velocity of the door;
an angular acceleration calculation unit for obtaining an angular acceleration of the door by dividing the angular velocity by a distance between a geometric center of the acceleration sensor and a door axis;
and the opening angle calculation unit is used for calculating and obtaining the opening angle of the vehicle door according to the product of the Hall signal measured by the Hall sensor arranged on the vehicle door and the proportionality coefficient of the Hall sensor and the motion mechanism parameter of the vehicle door.
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| CN113027285B (en) * | 2021-04-01 | 2023-01-17 | 东风汽车有限公司 | Motor power assisting method for electric side-opening door system, electronic equipment and storage medium |
| CN112989498B (en) * | 2021-04-22 | 2021-08-10 | 常州市凯迪电器股份有限公司 | Method for calculating output force of electric stay bar of four-bar tail gate |
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| US20180328097A1 (en) * | 2015-11-13 | 2018-11-15 | Multimatic, Inc. | Electrical power assisted manually operated door |
| US10718148B2 (en) * | 2017-06-14 | 2020-07-21 | Ford Global Technologies, Llc | Vehicle door assistance |
| US10443289B2 (en) * | 2017-06-27 | 2019-10-15 | GM Global Technology Operations LLC | Vehicle with power swinging door and position-based torque compensation method |
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