CN115263119B

CN115263119B - Control method and device for electric sliding door, vehicle and readable storage medium

Info

Publication number: CN115263119B
Application number: CN202211054248.7A
Authority: CN
Inventors: 孙成涛
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2024-01-23
Anticipated expiration: 2042-08-31
Also published as: CN115263119A

Abstract

The invention discloses a control method and device of an electric sliding door, a vehicle and a readable storage medium, wherein the method comprises the following steps: acquiring the state of an electric sliding door and the state of a vehicle; and controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle. According to the invention, the running state of the electric sliding door can be controlled according to the state of the electric sliding door and the vehicle state, such as whether the vehicle door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the electric quantity of the whole vehicle or consuming less electric quantity, the condition that the vehicle door falls due to the power shortage of the vehicle is prevented, and the like, thereby saving the electric energy of the vehicle and improving the safety and the reliability of the vehicle.

Description

Control method and device for electric sliding door, vehicle and readable storage medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a method and apparatus for controlling an electric sliding door, a vehicle, and a readable storage medium.

Background

The sliding door is a common configuration in commercial vehicle types, the commercial application is wider and wider along with the change of the function positioning of the vehicle, and meanwhile, the pursuit of private vehicles on the space in the vehicle is also more and more. In higher end vehicle models, the sliding door is typically an electric sliding door. The electric sliding door generally comprises a sliding door metal plate and accessories thereof, a driving motor, a clutch, a sliding door stay rope, a door lock, a lock actuator, a buzzer, an anti-clamping strip and an automobile related controller, and has the functions of automatic opening and closing, auxiliary automatic adsorption for closing, maximum opening position memory, stroke calculation, intelligent anti-clamping and the like.

At present, the electric sliding door is allowed to be broken in the movement process, when the movement of the electric sliding door is broken, the electric sliding door is in a hovering state, and a clutch of the electric sliding door is in an electrified state in the hovering state, so that the situation that the automobile door cannot fall and crush a user is ensured, and the current required by the clutch depends on the gravity component of the automobile door in the horizontal direction when the electric sliding door hovers.

If the hovering working condition of the electric sliding door is too harsh, if the slope of the position is larger, the hovering time is too long, the electricity consumption of the clutch is too large, and the electricity required by the clutch is supplied by the vehicle storage battery, so that various problems of overlarge power consumption of the whole vehicle, feeding of the vehicle, difficult starting and the like are caused, and the safety and reliability of the vehicle are affected.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art.

Therefore, an object of the present invention is to provide a control method for an electric sliding door, which can control an operation state of the electric sliding door, such as controlling the electric sliding door to move to a fully open position or a fully closed position or a position with lower gravitational potential energy and locking according to a state of the electric sliding door and a vehicle state, such as whether the electric sliding door is in a hovering state or not, a gradient state of a vehicle, and the like, so as to avoid problems of excessive power consumption of the whole vehicle, power shortage of the whole vehicle, difficult starting and the like caused by long-time hovering of the electric sliding door under a working condition with a larger gradient, enable the electric sliding door to remain stationary even without consuming the whole vehicle power or consuming less power, prevent occurrence of vehicle door dropping and the like due to the vehicle power consumption, thereby saving vehicle power and improving safety and reliability of the vehicle.

To this end, a second object of the present invention is to propose a control device for an electric sliding door.

To this end, a third object of the invention is to propose a vehicle.

To this end, a fourth object of the present invention is to propose a computer readable storage medium.

To achieve the above object, an embodiment of a first aspect of the present invention discloses a control method of an electric sliding door, including the steps of: acquiring the state of the electric sliding door and the state of a vehicle; and controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle.

According to the control method of the electric sliding door, the state and the vehicle state of the electric sliding door are obtained, and the movement of the electric sliding door is controlled according to the state and the vehicle state of the electric sliding door. Therefore, the method can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of vehicle door dropping and the like caused by the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

In addition, the control method of the electric sliding door according to the above embodiment of the present invention may further have the following additional technical features:

in some examples, acquiring the state of the motorized sliding door includes: acquiring whether the electric sliding door is in a target state or not and the duration time of the target state; acquiring the vehicle state, including: a vehicle body gradient of the vehicle is obtained.

In some examples, controlling the electric sliding door to move according to the state of the electric sliding door and the vehicle state includes: if the gradient of the vehicle body is greater than or equal to a preset gradient, the electric sliding door is in the target state, and the duration time of the electric sliding door in the target state reaches a preset time, the electric sliding door is controlled to move to a full-open position corresponding to the full-open position, a full-closed position corresponding to the full-closed position or the target position, wherein the electric sliding door is in a locking state when moving to the full-open position or the full-closed position, and the target state comprises: the electrically powered sliding door is not in the fully open position and the fully closed position, and is in a hover state.

In some examples, the controlling the electrically powered sliding door to move to a corresponding fully open position when fully open, a corresponding fully closed position when fully closed, or a target position includes: and if no obstacle exists on the path of the electric sliding door moving to the fully opened position and no obstacle exists on the path of the electric sliding door moving to the fully closed position, controlling the electric sliding door to move to the fully opened position.

In some examples, the controlling the electrically powered sliding door to move to a corresponding fully open position when fully open, a corresponding fully closed position when fully closed, or a target position includes: and if no obstacle exists on the path of the electric sliding door moving to the fully closed position and no obstacle exists on the path of the electric sliding door moving to the fully opened position, controlling the electric sliding door to move to the fully closed position.

In some examples, the controlling the electrically powered sliding door to move to a corresponding fully open position when fully open, a corresponding fully closed position when fully closed, or a target position includes: and if the electric sliding door moves to a completely opened path without any obstacle, and the electric sliding door moves to a completely closed path without any obstacle, controlling the electric sliding door to move to the fully closed position.

In some examples, the controlling the electrically powered sliding door to move to a corresponding fully open position when fully open, a corresponding fully closed position when fully closed, or a target position includes: if an obstacle exists on the path of the electric sliding door moving to the fully opened position and an obstacle exists on the path of the electric sliding door moving to the fully closed position, the electric sliding door is controlled to move to the target position, wherein the target position is used for indicating the electric sliding door to move to the corresponding position when the electric sliding door cannot move along the direction of the lowest point of gravitational potential energy according to a preset speed.

To achieve the above object, an embodiment of a second aspect of the present invention discloses a control device for an electric sliding door, including: the acquisition module is used for acquiring the state of the electric sliding door and the state of the vehicle; and the control module is used for controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle.

According to the control device of the electric sliding door, the state and the vehicle state of the electric sliding door are obtained, and the movement of the electric sliding door is controlled according to the state and the vehicle state of the electric sliding door. Therefore, the device can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of the condition that the vehicle door falls due to the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

To achieve the above object, an embodiment of a third aspect of the present invention discloses a vehicle including: an electric sliding door; and a control device for an electric sliding door according to the second aspect of the present invention; alternatively, the vehicle includes: an electric sliding door; and a processor, a memory, and a control program of the electric sliding door stored in the memory and capable of running on the processor, wherein the control program of the electric sliding door realizes the control method of the electric sliding door according to the embodiment of the first aspect of the invention when being executed by the processor.

According to the vehicle provided by the embodiment of the invention, the state and the vehicle state of the electric sliding door are obtained, and the movement of the electric sliding door is controlled according to the state and the vehicle state of the electric sliding door. Therefore, the vehicle can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of the condition that the vehicle door falls due to the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

To achieve the above object, a fourth aspect of the present invention discloses a computer readable storage medium having stored thereon a control program of an electric sliding door, which when executed by a processor, implements the control method of an electric sliding door according to the first aspect of the present invention.

According to the computer readable storage medium of the embodiment of the invention, when a control program of the electric sliding door stored on the computer readable storage medium is executed by a processor, the movement of the electric sliding door is controlled according to the state of the electric sliding door and the state of the vehicle by acquiring the state of the electric sliding door and the state of the vehicle. Therefore, the running state of the electric sliding door can be controlled according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems that the electric sliding door is excessively high in power consumption of the whole vehicle, is insufficient in power of the whole vehicle, is difficult to start and the like due to long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still keep even without consuming the electric quantity of the whole vehicle or consuming less electric quantity of the whole vehicle, the situation that the vehicle falls due to the electric quantity of the vehicle is prevented, and the like can be avoided, and the safety and the reliability of the vehicle can be improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a flow chart of a method of controlling an electric sliding door according to one embodiment of the invention;

fig. 2 is a block diagram of a control apparatus of an electric sliding door according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.

A control method, apparatus, vehicle, and computer-readable storage medium of an electric sliding door according to an embodiment of the present invention are described below with reference to fig. 1 to 2.

Fig. 1 is a flowchart of a control method of an electric sliding door according to an embodiment of the present invention. As shown in fig. 1, the control method of the electric sliding door comprises the following steps:

step S1: the state of the electric sliding door and the state of the vehicle are obtained.

Specifically, the status of the motorized sliding door and the vehicle status may be obtained by some sensor assemblies. For example, the state of the electric sliding door, such as the opening and closing state, the position state, the movement state and the like of the electric sliding door, is obtained through a visual sensor, such as a camera and the like, and the vehicle state, such as gradient information of the position of the vehicle or gradient information of the vehicle body and the like, is obtained through the camera; alternatively, the state of the electric sliding door, such as the open/close state, the position state, the movement state, etc., of the electric sliding door is obtained by a mechanical sensor, a position sensor, etc., and the vehicle state, such as gradient information of the position of the vehicle or gradient information of the vehicle body, etc., is obtained by a gradient sensor.

The states of the electrically powered sliding door may include a fully open state, a fully closed state, and a state in which the electrically powered sliding door is open or closed but not fully open or fully closed, i.e., a hover state. The electric sliding door is in a locking state when the electric sliding door is in a full-open state, namely the electric sliding door is opened to a maximum position, the opening degree of the electric sliding door is maximum, a clutch of the electric sliding door is not electrified, and the electric sliding door is static. The fully closed state is that the electric sliding door has been closed to a minimum position, its opening is minimum, at which time the electric sliding door is in a locked state, the clutch of the electric sliding door is not energized, and the electric sliding door is stationary. The electric sliding door is in a suspended state, namely the electric sliding door is opened or closed, but not fully opened or fully closed, at the moment, the electric sliding door is not in a locking state, a clutch of the electric sliding door is electrified, and the vehicle supplies power for the clutch so as to keep the electric sliding door stationary and prevent the electric sliding door from falling.

Step S2: and controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle.

Specifically, according to the acquired state of the electric sliding door, such as the state that the electric sliding door is in a fully opened state or a fully closed state or a hovering state, and the acquired vehicle state, such as the gradient of a vehicle body, the electric sliding door is controlled to move, such as to move in a fully opened direction or a fully closed direction or in a direction with lowest gravitational potential energy, so that the electric sliding door moves to a fully opened position or a fully closed position or a position with lower gravitational potential energy and is locked, and thus the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition of larger gradient can be avoided, the electric sliding door can still even without consuming the power consumption of the whole vehicle or consuming less power, and the occurrence of vehicle door dropping and the like caused by vehicle power shortage can be prevented, and the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

Thus, the control method of the electric sliding door can control the movement of the electric sliding door according to the state of the electric sliding door and the state of the vehicle by acquiring the state of the electric sliding door and the state of the vehicle. Therefore, the method can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of vehicle door dropping and the like caused by the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

In one embodiment of the present invention, in step S1, acquiring a state of an electric sliding door includes: the method includes the steps of acquiring a duration that the electric sliding door is in a target state and in the target state.

Specifically, the state of the electric sliding door is acquired, whether the electric sliding door is in the target state is judged, and if the electric sliding door is in the target state, the duration of the electric sliding door in the target state is further acquired. Wherein the target state is, for example, a hover state, i.e., when the electrically powered sliding door is in the hover state, the duration of time it is in the hover state is obtained. When the electric sliding door is in a hovering state, the clutch of the electric sliding door needs to be electrified to maintain the static state of the electric sliding door and prevent the vehicle door from falling, so that if the hovering time is too long, the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficult starting and the like can be caused, the conditions of falling of the vehicle door and the like can be caused by the power shortage of the vehicle, and the safety and reliability of the vehicle are reduced.

In step S1, acquiring a vehicle state includes: a vehicle body gradient of the vehicle is obtained. Specifically, the gradient of the vehicle body coincides with the gradient of the position where the vehicle is located, and thus, in a specific example, the gradient of the position where the vehicle is located may be obtained by a visual sensor, a gradient sensor, or the like, to thereby obtain the gradient of the vehicle body. The clutch of the electric sliding door is in an electrified state when the electric sliding door is in a hovering state so as to ensure that the door cannot fall and crush a user, the current of the clutch depends on the gravity component of the door in the horizontal direction (namely, the X direction) when the electric sliding door hovers, and the gravity component of the door in the X direction mainly depends on the gradient of the position of the vehicle, namely, the gradient of the vehicle body. When the gradient of the vehicle body is larger, the gravity component of the vehicle door in the X direction is larger, the current required by the clutch for keeping the vehicle door stationary is larger, and thus the electric quantity loss of the whole vehicle is faster and higher; the smaller the vehicle body gradient, the smaller the weight component of the vehicle door in the X direction, the smaller the current required by the clutch to hold the vehicle door stationary, and the slower the loss of power to the whole vehicle. If the hovering working condition of the electric sliding door is too harsh, if the gradient of the vehicle body is larger during hovering, and the hovering time is too long, various problems such as overlarge power consumption of the whole vehicle, insufficient power of the vehicle, difficult starting and the like can be caused, and the safety and reliability of the vehicle are affected.

Therefore, in the embodiment of the invention, the duration of the electric sliding door in the target (such as a hovering state) is obtained, and the vehicle body gradient of the vehicle is obtained, so that the electric sliding door is controlled to move according to the duration of the electric sliding door in the target state and the vehicle body gradient, such as the electric sliding door is controlled to move towards the fully opened direction or towards the fully closed direction or towards the direction with the lowest gravitational potential energy, so that the electric sliding door is moved to the fully opened position or the fully closed position or the position with the lower gravitational potential energy and locked, thereby avoiding the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficult starting and the like caused by long-time hovering of the electric sliding door under the working condition of larger gradient.

In one embodiment of the present invention, controlling movement of an electric sliding door according to a state of the electric sliding door and a state of a vehicle includes: if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in a target state, and the duration time of the electric sliding door in the target state reaches the preset time, the electric sliding door is controlled to move to a corresponding full-open position when the electric sliding door is fully opened, a corresponding full-closed position when the electric sliding door is fully closed or a target position, wherein the electric sliding door is in a locking state when the electric sliding door is moved to the full-open position or the full-closed position.

Specifically, the preset gradient is an empirical value preset according to actual demands. When the gradient of the vehicle body is greater than or equal to the preset gradient, the gradient of the vehicle body is considered to be greater, and the gravity component of the electric sliding door in the X direction is greater, so that the working current of the clutch of the electric sliding door in the hovering state is greater. In a specific embodiment, the predetermined gradient is, for example, but not limited to, 30 degrees, i.e., when the predetermined gradient is greater than or equal to 30 degrees, the gradient is considered to be greater. Further, when the gradient is large, if the electric sliding door is in a target state, such as a hovering state, and the duration time of the electric sliding door in the target state reaches the preset time, the time of the electric sliding door in the target state is considered to be too long at the moment, so that the power-on time of the clutch is too long, and the power consumption of the whole vehicle is increased. In a specific embodiment, the preset time is determined according to comprehensive consideration of factors such as the weight of a vehicle door of the electric sliding door, the electric quantity of a vehicle storage battery, the model number of a motor, a hovering strategy and the like, and is for example but not limited to 3 minutes.

That is, when the vehicle body gradient is large and the duration of the electric sliding door in the target state is excessively long, the electric sliding door is controlled to move to the full open position corresponding to the full open position, the full close position corresponding to the full close position, or the target position, wherein the electric sliding door is in the lock state when moving to the full open position or the full close position. Therefore, when the electric sliding door moves to the full open position or the full closed position, the electric sliding door is in a locking state, and at the moment, the clutch is not electrified, and the electric sliding door is locked through the locking mechanism to keep static, so that the whole electric quantity is not consumed, the problems that under the working condition of large gradient, the electric sliding door is excessively high in whole electric quantity, low in whole electric quantity and difficult to start and the like due to long-time hovering of the electric sliding door can be avoided, the electric sliding door can keep static even if the whole electric quantity is not consumed or the electric quantity is low, the situation that the vehicle door falls due to the fact that the electric quantity of the vehicle is low is prevented, the electric energy of the vehicle is saved, and the safety and the reliability of the vehicle are improved. On the other hand, the target position is, for example, a position of the electric sliding door with lower electric potential energy in the X direction, so when the electric sliding door moves to the target position, the electric potential energy is lower, and therefore, the current required by the clutch to keep the vehicle door stationary and not drop is smaller, and accordingly, the electricity consumption of the whole vehicle is smaller, so that the electricity consumption of the whole vehicle is effectively reduced, the problems of overlarge electricity consumption of the whole vehicle, power shortage of the whole vehicle, difficult starting and the like caused by long-time hovering of the electric sliding door under the working condition of larger gradient can be advantageously avoided, the electric sliding door can be kept stationary under the condition of consuming less electricity of the whole vehicle, the occurrence of the condition that the vehicle door drops due to the power shortage of the vehicle is prevented, the vehicle electric energy is saved, and the safety and the reliability of the vehicle are improved.

The preset gradient is 30 degrees and the preset time is 3 minutes for illustration. When the gradient of the vehicle body is larger than or equal to 30 degrees and the duration time of the electric sliding door in a hovering state reaches 3 minutes, the electric sliding door is considered to hover for too long under a larger gradient, so that various problems such as overlarge power consumption of the whole vehicle, vehicle feeding, difficult starting and the like can be caused. Therefore, the electric sliding door is controlled to move to the corresponding full-open position when being fully opened and the corresponding full-closed position or the target position with lower gravitational potential energy when being fully closed, so that the problems that the electric sliding door is excessively high in power consumption of the whole vehicle, insufficient in power of the whole vehicle, difficult to start and the like caused by long-time hovering under the working condition of large gradient can be avoided, the electric sliding door can still even if the electric sliding door does not consume the electric quantity of the whole vehicle or consumes less electric quantity, the situation that the vehicle door falls due to insufficient power of the vehicle is prevented, and the like is avoided, the electric energy of the vehicle is saved, and the safety and the reliability of the vehicle are improved.

In one embodiment of the invention, the target states include: the electrically powered sliding door is not in the fully open position and the fully closed position, and is in a hover state.

Specifically, when the electric sliding door is opened or closed but not all opened or all closed and is in a stationary state, the electric sliding door is considered to be in a target state, at which time the electric sliding door is not in a fully opened position or a fully closed position and is in a hovering state, i.e., is kept stationary by energization of the clutch.

In one embodiment of the present invention, controlling the electric sliding door to move to a full open position corresponding to full open, a full close position corresponding to full close, or a target position includes: and if no obstacle exists on the path of the electric sliding door moving to the fully opened position and no obstacle exists on the path of the electric sliding door moving to the fully closed position, controlling the electric sliding door to move to the fully opened position.

Specifically, when the gradient of the vehicle body is large, and the electric sliding door is in a target state and the duration is overlong, the electric sliding door is controlled to move, if the electric sliding door moves to a fully opened path, that is, the electric sliding door has no obstacle in the direction of the fully opened position, and the electric sliding door moves to a fully closed path, that is, the electric sliding door has an obstacle in the direction of the fully closed position, at the moment, the electric sliding door is controlled to move to the fully opened position because the obstacle exists, that is, the electric sliding door moves according to the fully opened path until the electric sliding door is in the fully opened state, at the moment, the electric sliding door is stopped, and at the moment, the electric sliding door is locked by a locking mechanism to keep static, so that the electric quantity is not consumed, thereby avoiding the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficult starting and the like caused by long-time hovering of the electric sliding door under the working condition of large gradient, the situation that the electric sliding door can still even if the electric quantity is not consumed or the electric quantity is consumed, the situation that the whole vehicle door falls down is prevented from happening due to the situation that the vehicle power shortage is caused, and the safety and reliability of the vehicle is improved.

In particular embodiments, the presence of an obstacle may be detected by a camera disposed on or within the vehicle door.

In one embodiment of the present invention, controlling the electric sliding door to move to a full open position corresponding to full open, a full close position corresponding to full close, or a target position includes: and if no obstacle exists on the path of the electric sliding door moving to the fully closed position and no obstacle exists on the path of the electric sliding door moving to the fully opened position, controlling the electric sliding door to move to the fully closed position.

Specifically, when the gradient of the vehicle body is large, and the electric sliding door is in a target state and the duration is overlong, the electric sliding door is controlled to move, if the electric sliding door moves to a fully closed path, that is, the electric sliding door has no obstacle in the direction of the fully closed position, and the electric sliding door moves to a fully opened path, that is, the electric sliding door has an obstacle in the direction of the fully opened position, at the moment, the electric sliding door is controlled to move to the fully closed position because the obstacle exists, that is, the electric sliding door moves according to the fully closed path until the electric sliding door is in the fully closed state, at the moment, the electric sliding door is stopped, and at the moment, the clutch is not electrified, and the electric sliding door is locked through a locking mechanism to keep static, so that electric quantity is not consumed, thereby avoiding the problems of overlarge power consumption of the whole vehicle, insufficient power of the whole vehicle, difficult to start and the like caused by long-time hovering of the electric sliding door under the working condition of large gradient, the electric sliding door can still even if the electric quantity is not consumed or the electric quantity is consumed, the situation that the whole vehicle door is prevented from falling due to the situation that the vehicle is caused by the power shortage, and the vehicle door is not consumed, so that the safety and reliability of the vehicle is improved.

In one embodiment of the present invention, controlling the electric sliding door to move to a full open position corresponding to full open, a full close position corresponding to full close, or a target position includes: and if the electric sliding door moves to the completely opened path without any obstacle and the electric sliding door moves to the completely closed path without any obstacle, controlling the electric sliding door to move to the completely closed position.

Specifically, when the electric sliding door is controlled to move, that is, when the vehicle body gradient is large and the electric sliding door is in the target state and the duration is too long, if the electric sliding door moves to the fully closed path, that is, there is no obstacle in the direction of the electric sliding door toward the fully closed position, and the electric sliding door moves to the fully opened path, that is, there is no obstacle in the direction of the electric sliding door toward the fully opened position, the electric sliding door is controlled to move to the fully closed position. That is, when there is no obstacle on the path moving to the fully open position and on the path moving to the fully closed position, that is, both directions can be smoothly moved, the electric sliding door is preferentially moved to the fully closed position, that is, the electric sliding door is preferentially controlled to be moved to the fully closed position, that is, to be moved according to the fully closed path until the electric sliding door is in the fully closed state, and the electric sliding door is preferentially moved to the fully closed position with respect to the movement to the fully open position, so that the safety of the vehicle can be further improved. And when the electric sliding door is in the full-closed position, the clutch is not electrified, and the electric sliding door is locked through the locking mechanism to keep static, so that the whole electric quantity is not consumed, the problems that the whole electric quantity is overlarge, the whole electric quantity is insufficient and the electric quantity is difficult to start and the like caused by long-time hovering of the electric sliding door under the working condition of large gradient can be avoided, the electric sliding door can keep static even if the whole electric quantity is not consumed or the electric quantity is less consumed, the situation that the vehicle door falls due to the insufficient electric quantity of the vehicle is prevented, and the like can be avoided, the electric energy of the vehicle is saved, and the safety and the reliability of the vehicle are improved.

In one embodiment of the present invention, controlling the electric sliding door to move to a full open position corresponding to full open, a full close position corresponding to full close, or a target position includes: if an obstacle exists on the path of the electric sliding door moving to be completely opened and an obstacle exists on the path of the electric sliding door moving to be completely closed, the electric sliding door is controlled to move to a target position, wherein the target position is used for indicating the electric sliding door to move to a position corresponding to the position when the electric sliding door cannot move along the direction of the lowest point of gravitational potential energy according to a preset speed.

In one embodiment of the invention, the direction of the nadir of the gravitational potential energy is determined from the direction of the slope of the location where the vehicle is located.

Specifically, the gradient direction of the position where the vehicle is located includes an ascending or descending direction, and the gradient direction is different, and the direction of the lowest point of gravitational potential energy is also different. For example, when the vehicle is in an uphill direction, i.e., the head is higher than the tail, the gravitational potential energy is higher and higher in the direction from the head to the tail and lower in the direction from the tail to the head, and therefore, when the vehicle is in an uphill direction, the direction of the lowest point of the gravitational potential energy is determined to be the direction from the tail to the head, i.e., the direction from low to high. When the vehicle is in a downhill direction, namely when the tail of the vehicle is higher than the head of the vehicle, the gravitational potential energy is higher and higher in the direction from the tail of the vehicle to the head of the vehicle, and the gravitational potential energy is lower and lower in the direction from the head of the vehicle to the tail of the vehicle, so that the direction of the lowest point of the gravitational potential energy is determined to be the direction from the head of the vehicle to the tail of the vehicle, namely the direction from low to high when the vehicle is in the downhill.

The preset speed is a preset experience value, and when the electric sliding door moves according to the preset speed, the electric sliding door is considered to move slowly at a slower speed, so that the lowest point of gravitational potential energy can be accurately found, the electricity consumption of the clutch is reduced as much as possible, and the electricity consumption of the whole vehicle is reduced. In a specific embodiment, the slow movement of the motorized sliding door at a preset rate may be achieved by intermittent energization of the clutch.

The target position is a position corresponding to the time when the electric sliding door slowly moves to the position incapable of moving along the direction of the lowest point of the gravitational potential energy, at this time, the gravitational potential energy corresponding to the electric sliding door is lowest, and the gravitational component in the X direction is also smallest, so that the electricity consumption of the clutch on the whole vehicle can be reduced to the greatest extent.

Specifically, when the gradient of the vehicle body is large, and the electric sliding door is in a target state and the duration is overlong, when the electric sliding door is controlled to move, if the electric sliding door moves to a completely closed path, that is, the electric sliding door has an obstacle in the direction of the electric sliding door towards the completely closed position, and the electric sliding door moves to a completely opened path, that is, the electric sliding door also has an obstacle in the direction of the electric sliding door towards the completely opened position, that is, the electric sliding door moves to the completely opened position and the electric sliding door also has an obstacle in the direction of the completely closed position, that is, when both directions cannot move smoothly, the lowest point direction of the gravitational potential energy is determined according to the gradient direction of the position where the vehicle is located, and then the electric sliding door is controlled to slowly move to the non-movable position according to a preset speed, the position at the moment is the target position, and the gravity potential energy corresponding to the electric sliding door is the lowest in the direction when the target position, so that the gravity component in the X direction is also the smallest, and the electric quantity consumption of the whole vehicle can be reduced, therefore the electric sliding door can be prevented from being excessively suspended for a long time under the working condition that the whole vehicle is large gradient, the electric power consumption of the whole vehicle is difficult to be prevented from falling down, the electric power consumption of the vehicle is prevented from being caused, the situation that the whole vehicle is low, and the electric vehicle is difficult to be started, and the vehicle is safe and the vehicle is low, and the electric power consumption is low.

In one embodiment of the present invention, corresponding prompt messages are sent out in the process of controlling the electric sliding door to move to the fully open position, the fully closed position or the target position. Specifically, corresponding prompt information can be sent out through the acousto-optic prompt signal, a user is timely reminded of learning information such as the current running state and running position of the electric sliding door, and accordingly the consumption condition of the electric sliding door clutch on the whole vehicle electric quantity is judged, and the degree of understanding of the user on the vehicle state is facilitated to be enhanced.

In summary, in the embodiment of the invention, when the gradient of the vehicle body is larger than the preset gradient and the vehicle door hovers for a preset time (which can be comprehensively considered and determined according to factors such as the weight of the vehicle door, the electric quantity of a storage battery, the type of a motor, a hovering strategy and the like), namely, when the gradient of the vehicle body is larger and the hovering time of the vehicle door is overlong, the vehicle door is operated to a fully opened position or a fully closed position to enter a locking state, and the vehicle door is still without continuously consuming the electric quantity of the whole vehicle and can not be collided when the vehicle door falls. The possible collision problem in the fully open or fully closed motion of the door can be detected by a camera on the door or inside the vehicle, and if there is an obstacle in the opening direction of the hover position, the door performs the fully closed motion; if an obstacle exists in the full closing direction of the hovering position, the vehicle door executes a full opening action; if the full opening and the full closing directions have no obstacle, the full closing action is preferentially executed, and if the full opening and the full closing directions have the obstacle, the electric sliding door is controlled to slowly move towards the lowest point direction of gravitational potential energy (realized by intermittent energization of the clutch) until the electric sliding door cannot move, and at the moment, the electric sliding door is at a target position, and the power consumption of the clutch is minimum. Therefore, even if the electric sliding door is opened for a long time, the electric sliding door can not be continuously consumed by forgetting to close, the vehicle door can also detect obstacles in advance during movement, the situation of collision or clamping injury is prevented, the safety of the vehicle is improved, meanwhile, the problems that the electric sliding door is excessively large in power consumption of the whole vehicle, insufficient in power of the whole vehicle and difficult to start and the like caused by long-time hovering of the electric sliding door under the working condition of large gradient can be avoided, the electric sliding door can still keep even if the electric sliding door does not consume the electric quantity of the whole vehicle or consumes less electric quantity, the condition that the vehicle door falls due to insufficient power of the vehicle is prevented, and the like, so that the electric energy of the vehicle is saved, and the safety and reliability of the vehicle are improved.

In other words, in the embodiment of the invention, when the vehicle door is hovered half-open, if the clutch is continuously stressed, the electric sliding door is automatically fully opened or fully closed. On the basis, occlusion recognition is added, such as: if the closed path is detected to have a shielding object, the electric sliding door is automatically fully opened, if the open path is detected to have a shielding object, the electric sliding door is automatically fully closed, if the open path and the closed path are detected to have an obstacle, the electric sliding door slowly moves to a position with lower gravitational potential energy, and if the open path and the closed path are detected to have no obstacle, the electric sliding door preferentially moves to a fully closed position. Wherein, the full-open or full-close moving process sends out corresponding prompt information.

It should be noted that, in the embodiment of the present invention, the specific structure of the electric sliding door, the driving structure and the driving manner thereof are all known in the art, for example, the driving mechanism (such as a driving motor) of the electric sliding door is controlled to operate by the door controller of the electric sliding door, and then the electric sliding door is driven to move by the driving mechanism, so that redundancy is reduced, and the known technologies such as the specific structure of the electric sliding door, the driving structure and the driving manner thereof are not described in detail.

The further embodiment of the invention also provides a control device of the electric sliding door.

Fig. 2 is a schematic structural view of a control device of an electric sliding door according to an embodiment of the present invention. As shown in fig. 2, the control device 100 of the electric sliding door includes: an acquisition module 110 and a control module 120.

Specifically, the acquiring module 110 is configured to acquire a state of the electric sliding door and a state of the vehicle.

The control module 120 is used for controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle.

Thus, the control device 100 for an electric sliding door described above obtains the state of the electric sliding door and the vehicle state, and controls the movement of the electric sliding door according to the state of the electric sliding door and the vehicle state. Therefore, the device can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of the condition that the vehicle door falls due to the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

In one embodiment of the present invention, the acquiring module 110 acquires a state of the electric sliding door, including: the method includes the steps of acquiring a duration that the electric sliding door is in a target state and in the target state.

The acquiring module 110 acquires a vehicle state, including: a vehicle body gradient of the vehicle is obtained. Specifically, the gradient of the vehicle body coincides with the gradient of the position where the vehicle is located, and thus, in a specific example, the gradient of the position where the vehicle is located may be obtained by a visual sensor, a gradient sensor, or the like, to thereby obtain the gradient of the vehicle body. The clutch of the electric sliding door is in an electrified state when the electric sliding door is in a hovering state so as to ensure that the door cannot fall and crush a user, the current of the clutch depends on the gravity component of the door in the horizontal direction (namely, the X direction) when the electric sliding door hovers, and the gravity component of the door in the X direction mainly depends on the gradient of the position of the vehicle, namely, the gradient of the vehicle body. When the gradient of the vehicle body is larger, the gravity component of the vehicle door in the X direction is larger, the current required by the clutch for keeping the vehicle door stationary is larger, and thus the electric quantity loss of the whole vehicle is faster and higher; the smaller the vehicle body gradient, the smaller the weight component of the vehicle door in the X direction, the smaller the current required by the clutch to hold the vehicle door stationary, and the slower the loss of power to the whole vehicle. If the hovering working condition of the electric sliding door is too harsh, if the gradient of the vehicle body is larger during hovering, and the hovering time is too long, various problems such as overlarge power consumption of the whole vehicle, insufficient power of the vehicle, difficult starting and the like can be caused, and the safety and reliability of the vehicle are affected.

In one embodiment of the present invention, the control module 120 controls the movement of the electric sliding door according to the state of the electric sliding door and the state of the vehicle, including: if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in a target state, and the duration time of the electric sliding door in the target state reaches the preset time, the electric sliding door is controlled to move to a corresponding full-open position when the electric sliding door is fully opened, a corresponding full-closed position when the electric sliding door is fully closed or a target position, wherein the electric sliding door is in a locking state when the electric sliding door is moved to the full-open position or the full-closed position.

In one embodiment of the present invention, the control module 120 controls the electric sliding door to move to a corresponding full open position when fully opened, a corresponding full closed position when fully closed, or a target position, including: and if no obstacle exists on the path of the electric sliding door moving to the fully opened position and no obstacle exists on the path of the electric sliding door moving to the fully closed position, controlling the electric sliding door to move to the fully opened position.

In one embodiment of the present invention, the control module 120 controls the electric sliding door to move to a corresponding full open position when fully opened, a corresponding full closed position when fully closed, or a target position, including: and if no obstacle exists on the path of the electric sliding door moving to the fully closed position and no obstacle exists on the path of the electric sliding door moving to the fully opened position, controlling the electric sliding door to move to the fully closed position.

In one embodiment of the present invention, the control module 120 controls the electric sliding door to move to a corresponding full open position when fully opened, a corresponding full closed position when fully closed, or a target position, including: and if the electric sliding door moves to the completely opened path without any obstacle and the electric sliding door moves to the completely closed path without any obstacle, controlling the electric sliding door to move to the completely closed position.

In one embodiment of the present invention, the control module 120 controls the electric sliding door to move to a corresponding full open position when fully opened, a corresponding full closed position when fully closed, or a target position, including: if an obstacle exists on the path of the electric sliding door moving to be completely opened and an obstacle exists on the path of the electric sliding door moving to be completely closed, the electric sliding door is controlled to move to a target position, wherein the target position is used for indicating the electric sliding door to move to a position corresponding to the position when the electric sliding door cannot move along the direction of the lowest point of gravitational potential energy according to a preset speed.

In one embodiment of the invention, the control module 120 is further configured to: and in the process of controlling the electric sliding door to move to the full-open position, the full-closed position or the target position, corresponding prompt information is sent out. Specifically, corresponding prompt information can be sent out through the acousto-optic prompt signal, a user is timely reminded of learning information such as the current running state and running position of the electric sliding door, and accordingly the consumption condition of the electric sliding door clutch on the whole vehicle electric quantity is judged, and the degree of understanding of the user on the vehicle state is facilitated to be enhanced.

It will be appreciated that, in performing the control of the electric sliding door, the specific implementation manner of the control device 100 of the electric sliding door is similar to that of the control method of the electric sliding door according to any of the above embodiments of the present invention, so the detailed exemplary description of the control device 100 of the electric sliding door can be found in the relevant description section of the control method of the electric sliding door, and the redundant description is not repeated here.

According to the control device 100 for the electric sliding door, the state and the vehicle state of the electric sliding door are obtained, and the movement of the electric sliding door is controlled according to the state and the vehicle state of the electric sliding door. Therefore, the device can control the running state of the electric sliding door according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems of overlarge power consumption of the whole vehicle, power shortage of the whole vehicle, difficulty in starting and the like caused by long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still even without consuming the whole vehicle power or consuming less power, the occurrence of the condition that the vehicle door falls due to the power shortage of the vehicle is prevented, the vehicle power is saved, and the safety and the reliability of the vehicle are improved.

A further embodiment of the present invention proposes a vehicle.

In some embodiments, the vehicle comprises: an electric sliding door; and a control device 100 for an electric sliding door according to any one of the above embodiments of the present invention.

In other embodiments, the vehicle includes: the control method of the electric sliding door according to any one of the embodiments of the invention is realized when the control program of the electric sliding door is executed by the processor.

It should be noted that, when the vehicle performs the electric sliding door control, the specific implementation manner of the electric sliding door control method is similar to that of any one of the above embodiments of the present invention, so for the detailed exemplary description of the electric sliding door control process of the vehicle, reference may be made to the foregoing related description of the electric sliding door control method, and for redundancy reduction, the detailed description will not be repeated here.

Further embodiments of the present invention also disclose a computer readable storage medium having stored thereon a control program for an electric sliding door, which when executed by a processor implements a control method for an electric sliding door as described in any of the above embodiments of the present invention.

According to the computer readable storage medium, when a control program of the electric sliding door stored on the computer readable storage medium is executed by a processor, the state and the vehicle state of the electric sliding door are obtained, and the movement of the electric sliding door is controlled according to the state and the vehicle state of the electric sliding door. Therefore, the running state of the electric sliding door can be controlled according to the state of the electric sliding door and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle and the like, for example, the electric sliding door is controlled to move to a fully-opened position or a fully-closed position or a position with lower gravitational potential energy and is locked, so that the problems that the electric sliding door is excessively high in power consumption of the whole vehicle, is insufficient in power of the whole vehicle, is difficult to start and the like due to long-time hovering of the electric sliding door under the working condition with larger gradient can be avoided, the electric sliding door can still keep even without consuming the electric quantity of the whole vehicle or consuming less electric quantity of the whole vehicle, the situation that the vehicle falls due to the electric quantity of the vehicle is prevented, and the like can be avoided, and the safety and the reliability of the vehicle can be improved.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The control method of the electric sliding door is characterized by comprising the following steps of:

acquiring the state of the electric sliding door and the state of the vehicle, wherein acquiring the state of the electric sliding door comprises: acquiring the duration time that the electric sliding door is in a target state and in the target state; acquiring the vehicle state, including: acquiring a vehicle body gradient of the vehicle;

Controlling the movement of the electric sliding door according to the state of the electric sliding door and the state of the vehicle, comprising: if the gradient of the vehicle body is greater than or equal to a preset gradient, the electric sliding door is in the target state, and the duration time of the electric sliding door in the target state reaches a preset time, the electric sliding door is controlled to move to a full-open position corresponding to the full-open position, a full-closed position corresponding to the full-closed position or the target position, wherein the electric sliding door is in a locking state when moving to the full-open position or the full-closed position, and the target state comprises: the electrically powered sliding door is not in the fully open position and the fully closed position, and is in a hover state.

2. The control method of an electric sliding door according to claim 1, wherein the controlling the electric sliding door to move to a full open position corresponding to a full open position, a full close position corresponding to a full close position, or a target position, comprises:

and if no obstacle exists on the path of the electric sliding door moving to the fully opened position and no obstacle exists on the path of the electric sliding door moving to the fully closed position, controlling the electric sliding door to move to the fully opened position.

3. The control method of an electric sliding door according to claim 1, wherein the controlling the electric sliding door to move to a full open position corresponding to a full open position, a full close position corresponding to a full close position, or a target position, comprises:

and if no obstacle exists on the path of the electric sliding door moving to the fully closed position and no obstacle exists on the path of the electric sliding door moving to the fully opened position, controlling the electric sliding door to move to the fully closed position.

4. The control method of an electric sliding door according to claim 1, wherein the controlling the electric sliding door to move to a full open position corresponding to a full open position, a full close position corresponding to a full close position, or a target position, comprises:

and if the electric sliding door moves to a completely opened path without any obstacle, and the electric sliding door moves to a completely closed path without any obstacle, controlling the electric sliding door to move to the fully closed position.

5. The control method of an electric sliding door according to claim 1, wherein the controlling the electric sliding door to move to a full open position corresponding to a full open position, a full close position corresponding to a full close position, or a target position, comprises:

If an obstacle exists on the path of the electric sliding door moving to the fully opened position and an obstacle exists on the path of the electric sliding door moving to the fully closed position, the electric sliding door is controlled to move to the target position, wherein the target position is used for indicating the electric sliding door to move to the corresponding position when the electric sliding door cannot move along the direction of the lowest point of gravitational potential energy according to a preset speed.

6. A control device for an electric sliding door, comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the state of the electric sliding door and the state of a vehicle, and the acquisition of the state of the electric sliding door comprises: acquiring the duration time that the electric sliding door is in a target state and in the target state; acquiring the vehicle state, including: acquiring a vehicle body gradient of the vehicle;

the control module is used for controlling the electric sliding door to move according to the state of the electric sliding door and the state of the vehicle, and comprises the following components: if the gradient of the vehicle body is greater than or equal to a preset gradient, the electric sliding door is in the target state, and the duration time of the electric sliding door in the target state reaches a preset time, the electric sliding door is controlled to move to a full-open position corresponding to the full-open position, a full-closed position corresponding to the full-closed position or the target position, wherein the electric sliding door is in a locking state when moving to the full-open position or the full-closed position, and the target state comprises: the electrically powered sliding door is not in the fully open position and the fully closed position, and is in a hover state.

7. A vehicle, characterized by comprising:

an electric sliding door; and

the control device for an electric sliding door according to claim 6; or,

a processor, a memory, and a control program for an electric sliding door stored on the memory and operable on the processor, which when executed by the processor, implements the control method for an electric sliding door as claimed in any one of claims 1 to 5.

8. A computer-readable storage medium, wherein a control program of an electric sliding door is stored on the computer-readable storage medium, and when executed by a processor, the control program of the electric sliding door implements the control method of the electric sliding door according to any one of claims 1 to 5.