CN112412236A - Electric side door controller and control method thereof - Google Patents
Electric side door controller and control method thereof Download PDFInfo
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- CN112412236A CN112412236A CN202011170293.XA CN202011170293A CN112412236A CN 112412236 A CN112412236 A CN 112412236A CN 202011170293 A CN202011170293 A CN 202011170293A CN 112412236 A CN112412236 A CN 112412236A
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- side door
- electric side
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- hovering
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000013528 artificial neural network Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims 2
- 230000005484 gravity Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
Classifications
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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
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
- E05F15/659—Control circuits therefor
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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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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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
Abstract
The invention discloses a vehicle electric side door controller, which comprises a processing controller storing an electric side door instruction set, wherein the processing controller is connected with an electric side door actuator for controlling the opening and closing and hovering of an electric side door; detect the slope sensor of the real-time slope of side door. By adopting the controller structure and the control method thereof, when the electric side door is opened and closed and suspended, the current required hovering force can be accurately judged, the motor can not apply too large or too small force due to the gradient problem, and on the basis of the known current required hovering force, the electric side door can not cause various problems due to gradient information when tasks such as clamping, door opening and door closing are executed.
Description
Technical Field
The invention relates to the field of vehicle automatic control, in particular to an electric side door controller and a control method thereof.
Background
The invention's side door lock transmission mechanism capable of realizing electric unlocking function' with application number 201911220917.1 discloses an actuator capable of electrically opening and closing a side door of an automobile, however, in practical use, because of complex automobile conditions, when the automobile is positioned at different slopes, the force required by the actuator to open and close the automobile door is completely different, the gravity center of the side door is vertically downward in a flat slope state, and the output force of the actuator motor is gentle and small when the side door moves at a constant speed. However, if the vehicle is not in a flat slope state, the gravity center of the side door can shift, and due to the limitation of the installation position, the force arm of the actuator mechanism is short, and the shift of the gravity center can cause the actuator motor to output a large force if the hovering of the side door is ensured. If do not detect the slope information of side door, this can lead to the side door can not guarantee to hover, the power grow of opening the door, prevent pressing from both sides power grow, mistake and prevent various problems such as pressing from both sides under the operating mode that has the slope.
Disclosure of Invention
The invention aims to solve the technical problem of providing a power-driven side door capable of outputting proper hovering force according to the gradient so that the power-driven side door can be accurately opened and closed under any gradient.
The invention adopts the technical scheme that the vehicle electric side door controller comprises a processing controller which stores an electric side door instruction set, and the processing controller is connected with: an electric side door actuator for controlling the opening and closing and hovering of the electric side door; detect the slope sensor of the real-time slope of side door.
A control method of a vehicle electric side door controller, comprising:
s1, in the flat slope state, setting the gradient sensor to zero;
s2, extracting gradient information of the vehicle under different gradients, and measuring a hovering force applied by an actuator of the electric side door when the electric side door is in a hovering state;
s3, performing function fitting on the corresponding relation between the measured gradient information and the hovering force to obtain a fitting function with generalization capability;
and S4, monitoring the state of the electric side door by the processing controller, acquiring current gradient information, calculating the hovering force by the fitting function, and sending a control instruction to the electric side door actuator by the processing controller according to the hovering force under the current gradient and the state of the electric side door.
The invention has the beneficial effects that: by adopting the controller structure and the control method thereof, when the electric side door is opened and closed and suspended, the current required hovering force can be accurately judged, the motor can not apply too large or too small force due to the gradient problem, and on the basis of the known current required hovering force, the electric side door can not cause various problems due to gradient information when tasks such as clamping, door opening and door closing are executed.
Preferably, the electric side door actuator includes:
the Hall sensor is in signal connection with the processing controller;
the motor provides the motion power of the electric side door;
a transmission mechanism connecting the electric side door with the motor;
the slope sensor is an inertia six-axis sensor, and the inertia six-axis sensor comprises a triaxial gyroscope for measuring and calculating the slope information of the current side door and a triaxial accelerometer for solving the data drift of the gyroscope and providing the slope measurement accuracy.
The Hall sensor is used for sending position signals, speed signals and Hall voltage signals of the electric side door to the processing controller, and the three-axis gyroscope and the three-axis accelerometer are adopted, so that the current gradient information can be measured more comprehensively and accurately.
As a priority, the gradient information includes:
x-axis angle information in the x-axis direction of the vehicle forward traveling direction,
y-axis angle information of a y-axis direction perpendicular to the horizontal plane of the vehicle,
z-axis angle information in a z-axis direction perpendicular to a plane formed by intersecting the x-axis and the y-axis.
Slope information is represented through the three-dimensional direction, so that the current slope condition of the electric side door can be accurately judged during subsequent calculation.
Preferably, the function fitting is to fit the relation between the gradient information and the hovering force by using a BP neural network, the input of the BP neural network includes normalized x-axis angle information, normalized y-axis angle information and normalized z-axis angle information, and the output of the BP neural network is a component of the hovering force in the x-axis direction, a component of the hovering force in the y-axis direction and a component of the hovering force in the z-axis direction.
The BP neural network has strong generalization capability, and on the basis of obtaining a certain relation between the hovering force and the slope information through sampling, the BP neural network is used for fitting to obtain a fitting function with strong fitting capability, so that the processing controller can well calculate the hovering force corresponding to the current slope under any slope.
Preferably, the S4 includes:
s41, the processing controller collects Hall pulse and voltage current information of the electric side door in real time, the current working state of the electric side door is judged, if the working state triggers an instruction in an instruction set of the processing controller, the operation is switched to S42, and if the working state does not trigger, the current state is maintained;
s42, the processing controller reads the gradient information of the current electric side door, and the trained BP neural network in S3 is adopted to calculate and output the hovering force component of the current electric side door on the x axis, the y axis and the z axis;
and S43, converting the hovering force components in three directions into forward and reverse output power of the motor by the processing controller according to the actuator working instruction sent by the current processing controller, sending the forward and reverse output power to the actuator, and controlling the electric side door to execute a working task by the actuator.
Through the scheme, when the processing controller sends a control instruction to the actuator, the processing controller can send a proper control instruction according to the current gradient condition and the executing work task, and no matter whether the door is opened, the door is closed or the clamping is prevented, the proper motor output power can be given to control the electric side door.
Drawings
FIG. 1 is a schematic view of the structural connection of the present invention;
FIG. 2 is a schematic flow chart of the present invention;
Detailed Description
The invention is further described below with reference to the accompanying drawings in combination with specific embodiments so that those skilled in the art can practice the invention with reference to the description, and the scope of the invention is not limited to the specific embodiments.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.
The invention relates to a vehicle electric side door controller, which comprises a processing controller storing an electric side door instruction set, wherein the processing controller is connected with: an electric side door actuator for controlling the opening and closing and hovering of the electric side door; the inertial six-axis sensor is used for detecting the real-time gradient of the side door, and comprises a triaxial gyroscope for measuring and calculating gradient information of the current side door in x, y and z directions and a triaxial accelerometer for solving data drift of the gyroscope and providing gradient measurement accuracy.
Wherein electronic side door executor includes: the Hall sensor is in signal connection with the processing controller; the motor provides the motion power of the electric side door; a transmission mechanism connecting the electric side door with the motor;
the invention also relates to a control method of the vehicle electric side door controller, which comprises the following steps:
s1, in the flat slope state, setting the gradient sensor to zero;
s2, extracting gradient information of the vehicle under different gradients, and measuring a hovering force applied by an actuator of the electric side door when the electric side door is in a hovering state;
s3, performing function fitting on the corresponding relation between the measured gradient information and the hovering force to obtain a fitting function with generalization capability;
and S4, monitoring the state of the electric side door by the processing controller, acquiring current gradient information, calculating the hovering force by the fitting function, and sending a control instruction to the electric side door actuator by the processing controller according to the hovering force under the current gradient and the state of the electric side door.
Wherein S4 includes:
s41, the processing controller collects Hall pulse and voltage current information of the electric side door in real time, the current working state of the electric side door is judged, if the working state triggers an instruction in an instruction set of the processing controller, the operation is switched to S42, and if the working state does not trigger, the current state is maintained;
s42, the processing controller reads the gradient information of the current electric side door, and the trained BP neural network in S3 is adopted to calculate and output the hovering force component of the current electric side door on the x axis, the y axis and the z axis;
and S43, converting the hovering force components in three directions into forward and reverse output power of the motor by the processing controller according to the actuator working instruction sent by the current processing controller, sending the forward and reverse output power to the actuator, and controlling the electric side door to execute a working task by the actuator.
Wherein, the gradient information in the three directions of the x, y and z axes refers to,
x-axis angle information in the x-axis direction of the vehicle forward traveling direction,
y-axis angle information of a y-axis direction perpendicular to the horizontal plane of the vehicle,
z-axis angle information in a z-axis direction perpendicular to a plane formed by intersecting the x-axis and the y-axis.
Slope information is represented through the three-dimensional direction, so that the current slope condition of the electric side door can be accurately judged during subsequent calculation.
By adopting the controller structure and the control method thereof, when the electric side door is opened and closed and suspended, the current required hovering force can be accurately judged, the motor can not apply too large or too small force due to the gradient problem, and on the basis of the known current required hovering force, the electric side door can not cause various problems due to gradient information when tasks such as clamping, door opening and door closing are executed. When sending a control instruction to the actuator, the processing controller can send a proper control instruction according to the current gradient condition and the executing work task, and can give proper motor output power to control the electric side door no matter whether the door is opened, closed or prevented from being clamped.
The Hall sensor is used for sending position signals, speed signals and Hall voltage signals of the electric side door to the processing controller, and the three-axis gyroscope and the three-axis accelerometer are adopted, so that the current gradient information can be measured more comprehensively and accurately.
The function fitting is to use a BP neural network to fit the relation between the gradient information and the hovering force, the inputs of the BP neural network comprise normalized x-axis angle information, normalized y-axis angle information and normalized z-axis angle information, and the outputs of the BP neural network are component force of the hovering force in the x-axis direction, component force of the hovering force in the y-axis direction and component force of the hovering force in the z-axis direction.
The BP neural network has strong generalization capability, and on the basis of obtaining a certain relation between the hovering force and the slope information through sampling, the BP neural network is used for fitting to obtain a fitting function with strong fitting capability, so that the processing controller can well calculate the hovering force corresponding to the current slope under any slope.
The anti-pinch function is as follows: in the electric opening and closing process of the vehicle door, if the anti-pinch action occurs, the electric vehicle door stops running and executes anti-pinch reverse operation according to the region where the motor is located. In the process of executing the anti-pinch reverse operation, if the anti-pinch action occurs again (called as secondary anti-pinch), the processing controller sends out a hovering instruction and hovering force under the current gradient, and the electric vehicle door can hover.
The following function: in the state that the vehicle door is suspended and opened, if the vehicle door is manually pushed to be opened or closed, and the pushing speed is between the follow-up minimum speed and the follow-up maximum speed within the follow-up confirmation time, the processing controller judges that the vehicle door is opened or closed in the follow-up mode by detecting the change of the Hall signal, and the actuator exerts a force greater than the hovering component force in the opening direction or the closing direction when executing.
Claims (6)
1. The utility model provides an electronic side door controller of vehicle, is including the process control ware that has deposited electronic side door instruction set, its characterized in that, process control ware is connected with:
an electric side door actuator for controlling the opening and closing and hovering of the electric side door;
detect the slope sensor of the real-time slope of side door.
2. The electric side door controller for vehicle according to claim 1,
the electric side door actuator includes:
the Hall sensor is in signal connection with the processing controller;
the motor provides the motion power of the electric side door;
a transmission mechanism connecting the electric side door with the motor;
the gradient sensor is an inertia six-axis sensor which comprises a three-axis gyroscope for measuring and calculating the gradient information of the current side door,
and a triaxial accelerometer for solving the data drift of the gyroscope and providing the gradient measurement accuracy.
3. A control method of a vehicle electric side door controller, comprising:
s1, in the flat slope state, setting the gradient sensor to zero;
s2, extracting gradient information of the vehicle under different gradients, and measuring a hovering force applied by an actuator of the electric side door when the electric side door is in a hovering state;
s3, performing function fitting on the corresponding relation between the measured gradient information and the hovering force to obtain a fitting function with generalization capability;
and S4, monitoring the state of the electric side door by the processing controller, acquiring current gradient information, calculating the hovering force by the fitting function, and sending a control instruction to the electric side door actuator by the processing controller according to the hovering force under the current gradient and the state of the electric side door.
4. The control method of a vehicular electric side door controller according to claim 3, wherein the gradient information includes:
x-axis angle information in the x-axis direction of the vehicle forward traveling direction,
y-axis angle information of a y-axis direction perpendicular to the horizontal plane of the vehicle,
z-axis angle information in a z-axis direction perpendicular to a plane formed by intersecting the x-axis and the y-axis.
5. The control method of the vehicle electric side door controller according to claim 4, wherein the function fitting is to fit a relation between gradient information and a hovering force by using a BP neural network, inputs of the BP neural network include normalized x-axis angle information, normalized y-axis angle information and normalized z-axis angle information, and outputs of the BP neural network are a component of the hovering force in an x-axis direction, a component of the hovering force in a y-axis direction and a component of the hovering force in a z-axis direction.
6. The control method of a vehicular electric side door controller according to claim 5, wherein said S4 includes:
s41, the processing controller collects Hall pulse and voltage current information of the electric side door in real time, the current working state of the electric side door is judged, if the working state triggers an instruction in an instruction set of the processing controller, the operation is switched to S42, and if the working state does not trigger, the current state is maintained;
s42, the processing controller reads the gradient information of the current electric side door, and the trained BP neural network in S3 is adopted to calculate and output the hovering force component of the current electric side door on the x axis, the y axis and the z axis;
and S43, converting the hovering force components in three directions into forward and reverse output power of the motor by the processing controller according to the actuator working instruction sent by the current processing controller, sending the forward and reverse output power to the actuator, and controlling the electric side door to execute a working task by the actuator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011170293.XA CN112412236A (en) | 2020-10-28 | 2020-10-28 | Electric side door controller and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011170293.XA CN112412236A (en) | 2020-10-28 | 2020-10-28 | Electric side door controller and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113982411A (en) * | 2021-09-29 | 2022-01-28 | 浙江零跑科技股份有限公司 | Vehicle door system capable of stepless limiting and arbitrary hovering |
| CN114407629A (en) * | 2022-01-28 | 2022-04-29 | 麦格纳汽车系统（苏州）有限公司 | Vehicle door control method and system |
| CN115263121A (en) * | 2022-08-31 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device of electric sliding door, vehicle and readable storage medium |
| CN115263119A (en) * | 2022-08-31 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device of electric sliding door, vehicle and readable storage medium |
| CN115450525A (en) * | 2022-09-19 | 2022-12-09 | 重庆长安汽车股份有限公司 | Intelligent follow-up system and method based on electric vehicle door, vehicle and storage medium |
| CN115450525B (en) * | 2022-09-19 | 2024-05-07 | 重庆长安汽车股份有限公司 | Intelligent follow-up system and method based on electric vehicle door, vehicle and storage medium |
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| CN115263121A (en) * | 2022-08-31 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device of electric sliding door, vehicle and readable storage medium |
| CN115263119A (en) * | 2022-08-31 | 2022-11-01 | 长城汽车股份有限公司 | Control method and device of electric sliding door, vehicle and readable storage medium |
| CN115263121B (en) * | 2022-08-31 | 2024-01-16 | 长城汽车股份有限公司 | Control method and device for electric sliding door, vehicle and readable storage medium |
| CN115263119B (en) * | 2022-08-31 | 2024-01-23 | 长城汽车股份有限公司 | Control method and device for electric sliding door, vehicle and readable storage medium |
| CN115450525A (en) * | 2022-09-19 | 2022-12-09 | 重庆长安汽车股份有限公司 | Intelligent follow-up system and method based on electric vehicle door, vehicle and storage medium |
| CN115450525B (en) * | 2022-09-19 | 2024-05-07 | 重庆长安汽车股份有限公司 | Intelligent follow-up system and method based on electric vehicle door, vehicle and storage medium |
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