CN114922529B - New energy electric vehicle door closing control system and control method thereof - Google Patents
New energy electric vehicle door closing control system and control method thereof Download PDFInfo
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- CN114922529B CN114922529B CN202210572053.5A CN202210572053A CN114922529B CN 114922529 B CN114922529 B CN 114922529B CN 202210572053 A CN202210572053 A CN 202210572053A CN 114922529 B CN114922529 B CN 114922529B
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- automatic door
- obstacle
- relative position
- closing
- automatic
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 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
- 238000011160 research Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
- E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with optical sensors
Abstract
The invention discloses a new energy electric vehicle door closing control system and a control method thereof, wherein the system comprises the following steps: the vehicle-mounted terminal detects the running state of the automatic door and judges whether the automatic door is in an automatic closing state or not; the object detection device is used for detecting whether the automatic door has an obstacle in a closed space track of automatic closing when the automatic door is in an automatic closing state; a position detecting device for detecting a relative position between the obstacle and the automatic door; and the control terminal is used for automatically closing and controlling the automatic door according to the relative position between the obstacle and the automatic door. According to the invention, the object detection device and the position detection device are combined to detect whether the automatic door has an obstacle in the closed space track of automatic closing, the relative position between the obstacle and the automatic door is detected, and then the automatic door is automatically closed and controlled according to the relative position between the obstacle and the automatic door, so that the clamping and misoperation are prevented, the intelligent control degree is high, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control of automobiles, in particular to a new energy electric vehicle door closing control system and a control method thereof.
Background
The new energy automobile adopts unconventional automobile fuel as a power source, and is popular with people with the advantage of environmental protection and energy saving, wherein the electric automobile is used as a new energy automobile, becomes a hot spot for field research, and gradually enters into thousands of households along with the rapid development of social economy, so as to become the most common riding tool. The traditional automobile door is manually opened and closed, and along with the continuous rise of the quantity of the automobile, the requirement of users on the automobile intellectualization is also continuously improved, and some new technologies for improving the automobile intellectualization, such as unmanned driving, auxiliary driving, automatic route planning, navigation and the like, appear. The automatic opening and closing of the automobile door is also one research direction for intelligent improvement of automobiles, the existing automatic door anti-pinch function is usually detected by using a single sensor, the safety performance is low, and damage to people or cargoes, especially greater damage to children or animals, can be caused in the closing process.
Disclosure of Invention
The invention aims to provide a new energy electric vehicle door closing control system and a control method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a new energy electric vehicle door closing control system, the system comprising:
the vehicle-mounted terminal is used for detecting the running state of the automatic door and judging whether the automatic door is in an automatic closing state or not;
the object detection device is in signal connection with the vehicle-mounted terminal and is used for detecting whether the automatic door has an obstacle in a closed space track of automatic closing when the automatic door is in an automatic closing state;
the position detection device is in signal connection with the object detection device and is used for detecting the relative position between the obstacle and the automatic door when the obstacle exists;
and the control terminal is in signal connection with the position detection device and is used for automatically closing and controlling the automatic door according to the relative position between the obstacle and the automatic door.
Further, the object detection device comprises an infrared detection device, and the infrared detection device is arranged on the side edge of the automatic door.
Further, the position detection device comprises a proximity sensor and a distance sensor, wherein the proximity sensor is connected with the distance sensor, the proximity sensor is used for sensing whether an obstacle is in a closed space track of the automatic door when the automatic door is closed, and the distance sensor is used for sensing the distance between the obstacle and the automatic door.
Further, the control terminal comprises a judging module, a switching module and a speed control module, wherein the judging module is used for judging whether the relative position between the obstacle and the automatic door meets the closing condition, the switching module is used for controlling the automatic door to continue to close when the relative position between the obstacle and the automatic door is larger than or equal to a first threshold value, controlling the automatic door to stop closing when the relative position between the obstacle and the automatic door is smaller than or equal to a second threshold value, and the speed control module is used for controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door when the relative position between the obstacle and the automatic door is smaller than the first threshold value and larger than the second threshold value.
Further, the control terminal further includes:
the acquisition module is used for acquiring the relative position between the historical obstacle and the automatic door and the historical closing speed;
the calculation module is respectively connected with the position detection device and the acquisition module in a signal way and is used for acquiring the relative position between the current obstacle and the automatic door and calculating the closing speed corresponding to the relative position between the current obstacle and the automatic door according to the relative position between the historical obstacle and the automatic door and the historical closing speed.
A new energy electric vehicle automatic door closing control method, the method comprising:
detecting the running state of the automatic door, and judging whether the automatic door is in an automatic closing state or not;
if the automatic door is in an automatic closing state, detecting whether the automatic door has an obstacle in a closed space track of automatic closing;
if the automatic door has an obstacle in the closed space track of the automatic closing, detecting the relative position between the obstacle and the automatic door, and performing automatic closing control on the automatic door according to the relative position between the obstacle and the automatic door.
Further, the automatic closing control of the automatic door according to the relative position between the obstacle and the automatic door includes:
when the relative position between the obstacle and the automatic door is greater than or equal to a first threshold value, controlling the automatic door to be continuously closed;
when the relative position between the obstacle and the automatic door is smaller than the first threshold value and larger than the second threshold value, controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door;
and when the relative position between the obstacle and the automatic door is smaller than or equal to a second threshold value, controlling the automatic door to stop closing.
Further, controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door includes:
sensing a relative position between the current obstacle and the automatic door;
acquiring the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed;
and calculating the closing speed corresponding to the relative position between the current obstacle and the automatic door according to the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed.
Further, the automatic door is stopped at a designated position when stopping closing.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the object detection device and the position detection device are combined to detect whether the automatic door has an obstacle in the closed space track of automatic closing, the relative position between the obstacle and the automatic door is detected, and then the automatic door is automatically closed and controlled according to the relative position between the obstacle and the automatic door, so that the clamping and misoperation are prevented, the intelligent control degree is high, and the safety is improved.
Drawings
FIG. 1 is a block diagram of a door closing control system of a new energy electric vehicle according to the present invention;
FIG. 2 is a flow chart of a method for controlling the closing of an automatic door of the new energy electric vehicle;
in the figure: 100-automatic door, 1-vehicle terminal, 2-object detection device, 3-position detection device, 31-proximity sensor, 32-distance sensor, 4-control terminal, 41-judgement module, 42-switch module, 43-speed module, 44-acquisition module, 45-calculation module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the present embodiment provides a new energy electric vehicle door closing control system, the system including a vehicle-mounted terminal 1, an object detection device 2, a position detection device 3, and a control terminal 4, the vehicle-mounted terminal 1 detecting an operation state of an automatic door 100, determining whether the automatic door 100 is in an automatic closing state, the object detection device 2 being in signal connection with the vehicle-mounted terminal 1, detecting whether the automatic door 100 has an obstacle in an automatically-closed space trajectory when the automatic door 100 is in an automatic closing state, the position detection device 3 being in signal connection with the object detection device 2 for detecting a relative position between the obstacle and the automatic door 100 when the automatic door 100 has the obstacle in the automatically-closed space trajectory, the control terminal 4 being in signal connection with the position detection device 3, the automatic door 100 is controlled to be automatically closed according to the relative position between the obstacle and the automatic door 100, in this embodiment, the object detecting device 2 includes an infrared detecting device mounted on a side edge of the automatic door 100, for example, an infrared sensor may be used, the infrared sensor senses whether the automatic door 100 has an obstacle in an automatically closed space track, and when the automatic door 100 has an obstacle in the automatically closed space track, the position detecting device 3 sends a sensing signal to the position detecting device 3, the position detecting device 3 includes a proximity sensing sensor 31 and a distance sensing sensor 32, the proximity sensing sensor 31 and the distance sensing sensor 32 are mounted on the side edge of the automatic door 100, the proximity sensing sensor 31 and the distance sensing sensor 32 are connected, the proximity sensor 31 is configured to sense whether an obstacle is in a closed space track where the automatic door 100 is automatically closed, and when the obstacle is in the closed space track where the automatic door 100 is automatically closed, send a sensing signal to the distance sensor 32, where the distance sensor 32 senses a distance between the obstacle and the automatic door 100, the control terminal 4 includes a judging module 41, a switching module 42, and a speed control module 43, where the judging module 41 is configured to judge whether a relative position between the obstacle and the automatic door 100 satisfies a closing condition, for example, a first threshold and a second threshold of a relative position between the obstacle and the automatic door 100 may be set in advance to judge whether the closing condition is satisfied, where the first threshold is greater than the second threshold, where the switching module 42 is in signal connection with the judging module 41, and when the judging module 41 judges that the relative position between the obstacle and the automatic door 100 is greater than or equal to the first threshold, control the automatic door 100 is controlled to continue to be closed, and when the judging module 41 judges that the relative position between the obstacle and the automatic door 100 is less than or equal to the second threshold, the control terminal is controlled to stop the automatic door 100, and the speed control module is further configured to calculate a speed corresponding to the speed of the specific module 44 when the judging module is connected to the position between the obstacle and the automatic door 100 to the first threshold and the automatic door 100, and the speed of the specific speed of the obstacle is calculated to be greater than the threshold when the relative position between the first threshold and the first threshold is greater than or equal to the first threshold, the relative position between the historical obstacle and the automatic door 100 can be acquired through the distance sensing sensor 32, the corresponding historical closing speed is acquired through an auxiliary control system of the vehicle, the calculation module 45 is respectively connected with the position detection device 3 and the acquisition module 44 in a signal mode, the relative position between the current obstacle and the automatic door 100 is acquired, the relative position between the current obstacle and the automatic door 100 can be acquired through the distance sensing sensor 32, and the closing speed corresponding to the relative position between the current obstacle and the automatic door is calculated according to the relative position between the historical obstacle and the automatic door 100 and the corresponding historical closing speed.
As shown in fig. 2, the embodiment also provides a method for controlling closing of an automatic door of a new energy electric vehicle, which comprises the following steps:
s1: detecting the running state of the automatic door, and judging whether the automatic door is in an automatic closing state or not;
s2: if the automatic door is in an automatic closing state, detecting whether the automatic door has an obstacle in a closed space track of automatic closing;
s3: if the automatic door has an obstacle in the closed space track of the automatic closing, detecting the relative position between the obstacle and the automatic door, and performing automatic closing control on the automatic door according to the relative position between the obstacle and the automatic door.
Specifically, a signal connection relationship among the automatic door 100, the vehicle-mounted terminal 1, the object detection device 2, the position detection device 3 and the control terminal 4 is established, the vehicle-mounted terminal 1 detects the running state of the automatic door 100, judges whether the automatic door 100 is in an automatic closing state, when the automatic door 100 is in the automatic closing state, the object detection device 2 detects whether the automatic door 100 has an obstacle in an automatically-closed space track, if no obstacle exists, the automatic door 100 continues to be closed, when the automatic door 100 has an obstacle in the automatically-closed space track, an induction signal is sent to the proximity induction sensor 31, the proximity induction sensor 31 senses whether the obstacle is in the automatically-closed space track of the automatic door 100, when the obstacle is in the automatically-closed space track of the automatic door 100, transmitting a sensing signal to the distance sensing sensor 32, the distance sensing sensor 32 sensing the distance between the obstacle and the automatic door 100 is transmitted to the judging module 41, the judging module 41 judges whether the relative position between the obstacle and the automatic door 100 satisfies the closing condition, a first threshold value and a second threshold value of the relative position between the obstacle and the automatic door 100 may be set in advance to judge whether the closing condition is satisfied, wherein the first threshold value is greater than the second threshold value, when the judging module 41 judges that the relative position between the obstacle and the automatic door 100 is greater than or equal to the first threshold value, the switching module 42 controls the automatic door 100 to continue to close, when the judging module 41 judges that the relative position between the obstacle and the automatic door 100 is less than or equal to the second threshold value, the switching module 42 controls the automatic door 100 to stop closing such that the automatic door 100 stops at the designated position, when the judging module 41 judges that the relative position between the obstacle and the automatic door 100 is smaller than the first threshold value and larger than the second threshold value, the closing speed of the automatic door is controlled according to the relative position between the obstacle and the automatic door 100, specifically, the relative position between the history obstacle and the automatic door 100 and the corresponding history closing speed are acquired through the acquiring module 44, the relative position between the history obstacle and the automatic door 100 is acquired through the distance sensing sensor 32, the corresponding history closing speed is acquired through the auxiliary control system of the vehicle, the relative position between the current obstacle and the automatic door 100 is acquired through the calculating module 45, the relative position between the current obstacle and the automatic door 100 is sensed through the distance sensing sensor 32, the closing speed corresponding to the relative position between the current obstacle and the automatic door is calculated according to the relative position between the historical obstacle and the automatic door 100 and the corresponding historical closing speed, the closing speed can be trained through a neural network model, the network model is used for training according to the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed, the closing speed model is obtained after training, the trained closing speed model takes the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed as input, the closing speed conforming to the relative position is taken as output, for example, the relative position distance at a certain time is 10cm, the closing speed at the time is 5cm/s, and the closing speed at the time can be 5cm/s if the relative position distance at the time is 10.5 cm.
According to the invention, the object detection device and the position detection device are combined to detect whether the automatic door has an obstacle in the closed space track of automatic closing, the relative position between the obstacle and the automatic door is detected, and then the automatic door is automatically closed and controlled according to the relative position between the obstacle and the automatic door, so that the clamping and misoperation are prevented, the intelligent control degree is high, and the safety is improved.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (5)
1. A new energy electric vehicle door closing control system, the system comprising:
the vehicle-mounted terminal is used for detecting the running state of the automatic door and judging whether the automatic door is in an automatic closing state or not;
the object detection device is in signal connection with the vehicle-mounted terminal and is used for detecting whether the automatic door has an obstacle in a closed space track of automatic closing when the automatic door is in an automatic closing state;
the position detection device is in signal connection with the object detection device and is used for detecting the relative position between the obstacle and the automatic door when the automatic door has the obstacle in the closed space track of the automatic door;
the control terminal is in signal connection with the position detection device and is used for carrying out automatic closing control on the automatic door according to the relative position between the obstacle and the automatic door, the control terminal comprises a judging module, a switching module, a speed control module, an acquisition module and a calculation module, the judging module is used for judging whether the relative position between the obstacle and the automatic door meets the closing condition or not, the switching module is used for controlling the automatic door to continue to be closed when the relative position between the obstacle and the automatic door is larger than or equal to a first threshold value, the automatic door is controlled to stop closing when the relative position between the obstacle and the automatic door is smaller than or equal to a second threshold value, the speed control module is used for controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door when the relative position between the obstacle and the first threshold value is larger than the second threshold value, the acquisition module is used for acquiring the relative position between the historical obstacle and the automatic door and the historical closing speed, and the calculation module is respectively in signal connection with the position detection device and the acquisition module and is used for acquiring the relative position between the current obstacle and the automatic door and the historical closing speed according to the relative position between the obstacle and the current position between the automatic door and the historical closing speed.
2. The new energy electric vehicle door closing control system according to claim 1, wherein: the object detection device comprises an infrared detection device which is arranged on the side edge of the automatic door.
3. The new energy electric vehicle door closing control system according to claim 1 or 2, characterized in that: the position detection device comprises a proximity sensor and a distance sensor, wherein the proximity sensor is connected with the distance sensor, the proximity sensor is used for sensing whether an obstacle is in a closed space track of the automatic door when the automatic door is closed, and the distance sensor is used for sensing the distance between the obstacle and the automatic door.
4. The method for controlling the closing of the door of the new energy electric vehicle is characterized by comprising the following steps of:
detecting the running state of the automatic door, and judging whether the automatic door is in an automatic closing state or not;
if the automatic door is in an automatic closing state, detecting whether the automatic door has an obstacle in a closed space track of automatic closing;
if the automatic door has an obstacle in the closed space track of the automatic closing, detecting the relative position between the obstacle and the automatic door, and controlling the automatic door to be closed automatically according to the relative position between the obstacle and the automatic door, and controlling the automatic door to be closed continuously when the relative position between the obstacle and the automatic door is larger than or equal to a first threshold value; when the relative position between the obstacle and the automatic door is smaller than the first threshold value and larger than the second threshold value, controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door; when the relative position between the obstacle and the automatic door is less than or equal to a second threshold, controlling the automatic door to stop closing, wherein controlling the closing speed of the automatic door according to the relative position between the obstacle and the automatic door comprises: sensing a relative position between the current obstacle and the automatic door; acquiring the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed; and calculating the closing speed corresponding to the relative position between the current obstacle and the automatic door according to the relative position between the historical obstacle and the automatic door and the corresponding historical closing speed.
5. The new energy electric vehicle door closing control method according to claim 4, characterized in that: the automatic door stops at a designated position when it stops closing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210572053.5A CN114922529B (en) | 2022-05-24 | 2022-05-24 | New energy electric vehicle door closing control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210572053.5A CN114922529B (en) | 2022-05-24 | 2022-05-24 | New energy electric vehicle door closing control system and control method thereof |
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| Publication Number | Publication Date |
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| CN114922529A CN114922529A (en) | 2022-08-19 |
| CN114922529B true CN114922529B (en) | 2024-01-30 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107401344A (en) * | 2016-05-20 | 2017-11-28 | 宝沃汽车（中国）有限公司 | Car's door controlling device, vehicle and Car's door controlling method |
| CN111550145A (en) * | 2019-02-08 | 2020-08-18 | 通用汽车环球科技运作有限责任公司 | System and method for indicating a space available for opening a door of an automobile |
| CN113931551A (en) * | 2021-10-12 | 2022-01-14 | 广州小鹏自动驾驶科技有限公司 | Control method of scissor door and vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7140077B2 (en) * | 2019-09-02 | 2022-09-21 | トヨタ自動車株式会社 | Collision avoidance support device |
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- 2022-05-24 CN CN202210572053.5A patent/CN114922529B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107401344A (en) * | 2016-05-20 | 2017-11-28 | 宝沃汽车（中国）有限公司 | Car's door controlling device, vehicle and Car's door controlling method |
| CN111550145A (en) * | 2019-02-08 | 2020-08-18 | 通用汽车环球科技运作有限责任公司 | System and method for indicating a space available for opening a door of an automobile |
| CN113931551A (en) * | 2021-10-12 | 2022-01-14 | 广州小鹏自动驾驶科技有限公司 | Control method of scissor door and vehicle |
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| CN114922529A (en) | 2022-08-19 |
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