CN115263121B

CN115263121B - Control method and device for electric sliding door, vehicle and readable storage medium

Info

Publication number: CN115263121B
Application number: CN202211063278.4A
Authority: CN
Inventors: 王荣生; 孙成涛; 乔东
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: 2024-01-16
Anticipated expiration: 2042-08-31
Also published as: CN115263121A

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, the vehicle position state and the vehicle state; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. The invention can control the running state of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person exists in the vehicle, whether a key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and is locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems of overlarge power consumption, power shortage, difficult starting and the like of the whole vehicle caused by long-time hovering of the electric sliding door due to the blocking of an obstacle under the working condition of larger gradient are avoided, 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.

At present, an electric sliding door is stopped on a slope aiming at a vehicle, and a control strategy of the vehicle door under a half-open working condition is as follows: the clutch of the electric sliding door is disconnected after 3 minutes, the door enters a free falling state, namely, the door falls freely under the action of gravity, and in the falling process, the clutch is intermittently attracted to brake the door, so that people or articles are prevented from being injured by the too fast speed of the door. However, when an obstacle exists in the vehicle door travelling path, the vehicle door control strategy cannot avoid the vehicle door from colliding with the obstacle, and cannot realize a reliable anti-collision function, so that the vehicle door cannot reach a fully opened or fully closed state, a clutch, a vehicle door controller and the like cannot sleep, and the vehicle is always in a power consumption state, so that various problems of overlarge power consumption of the whole vehicle, feeding of the vehicle, difficult starting and the like occur in the vehicle, and the safety and the 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 and to be locked, according to a state of the electric sliding door, a vehicle position state and a vehicle state, such as whether the electric sliding door is in a hovering state, a vehicle gradient state, whether a person is in the vehicle, whether a key of the vehicle is detected, and the like, so as to realize a reliable anti-collision function of a vehicle door, and avoid the 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 due to barrier blocking under a working condition with a relatively large gradient, thereby saving vehicle electric energy 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 a state of the electric sliding door, a vehicle position state and a vehicle state, wherein the vehicle state comprises: whether someone is in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle, the state of the electric sliding door comprises whether the electric sliding door is in a target state, and the vehicle position state comprises: a vehicle body gradient of the vehicle; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state.

According to the control method of the electric sliding door, the state, the vehicle position state and the vehicle state of the electric sliding door are obtained; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. Therefore, the method can control the running state of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is in the vehicle, whether a key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking of the electric sliding door under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start due to long-time hovering, and the like are avoided, so that the vehicle electric energy 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, controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state, and the vehicle state includes: and if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in the target state, and the condition that no person exists in the vehicle and the key signal of the vehicle is not detected in the preset range around the vehicle is determined, the electric sliding door is controlled to move according to the preset control strategy.

In some examples, controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state, and the vehicle state includes: if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in the target state, and it is determined that a person in the vehicle or a key signal of the vehicle is detected in a preset range around the vehicle, prompt information requesting to control the electric sliding door to move according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal.

In some examples, further comprising: and if the positive response information which is fed back by the user and allows the electric sliding door to be controlled to move according to the preset control strategy is received within the preset time, controlling the electric sliding door to move according to the preset control strategy.

In some examples, the preset time is determined according to at least one of the vehicle body gradient and a crowd density around the vehicle.

In some examples, the controlling the electric sliding door to move according to a preset control strategy includes: judging whether an obstacle exists in the current moving direction of the electric sliding door; if so, controlling the electric sliding door to move in the direction opposite to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state, wherein the electric sliding door moves to execute locking action in the fully opened state or the fully closed state; and if not, controlling the electric sliding door to move according to the current moving direction until the electric sliding door is in the fully opened state or the fully closed state.

In some examples, the target state includes: the electrically powered sliding door is not in the fully open position and the fully closed position, and is in a hover state.

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 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, the vehicle position state and the vehicle state, and the vehicle state comprises: whether someone is in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle, the state of the electric sliding door comprises whether the electric sliding door is in a target state, and the vehicle position state comprises: a vehicle body gradient 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, the vehicle position state and the vehicle state.

According to the control device of the electric sliding door, the state, the vehicle position state and the vehicle state of the electric sliding door are obtained; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state 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, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is detected, whether the key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start and the like due to long-time hovering are avoided, so that the electric energy of the vehicle 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 of the electric sliding door, the vehicle position state and the vehicle state are obtained; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. Therefore, the vehicle can control the running state of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is detected, whether the key of the vehicle is detected or not, and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start due to long-time hovering are avoided, so that the electric energy of the vehicle 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.

The computer readable storage medium according to an embodiment of the present invention acquires a state of an electric sliding door, a vehicle position state, and a vehicle state when a control program of the electric sliding door stored thereon is executed by a processor; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. Therefore, the running state of the electric sliding door can be controlled according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person exists in the vehicle, whether a key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, insufficient in power, difficult to start and the like due to long-time hovering of the electric sliding door are avoided, thereby saving the electric energy of the vehicle and improving the safety and reliability of the vehicle.

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, the vehicle position state and the vehicle state are obtained.

Specifically, the state of the electric sliding door, the vehicle position state, and the vehicle state may be acquired 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, etc., of the electric sliding door is obtained through a visual sensor, such as a camera, etc., the position state of the vehicle, such as gradient information of the position where the vehicle is located or gradient information of the vehicle body, etc., is obtained through the camera, and the vehicle state, such as whether a person is in the vehicle, and whether the vehicle owner is in a preset range around the vehicle, is obtained through the camera; or, 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 mechanical sensor, a position sensor and the like, the position state of the vehicle, such as gradient information of the position where the vehicle is located or gradient information of the vehicle body and the like, is obtained through a gradient sensor, whether a person is in the vehicle is judged through an infrared sensor, whether the vehicle owner is in a preset range around the vehicle body is judged through a signal detection device, and the detection of the key signal of the vehicle is realized through the judgment of whether the key signal of the vehicle is detected in the preset range around the vehicle.

The states of the electric sliding door may include a fully opened state, a fully closed state, and a half-opened state, i.e., a state in which the vehicle door is opened or closed but not fully opened or fully closed, i.e., a hovering state. The fully opened state is that the electric sliding door is opened to the maximum position, the opening degree is maximum, at the moment, the electric sliding door is in a locking state, a clutch, a vehicle door controller and the like of the electric sliding door are 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 and the door controller, etc. are not energized, and the electric sliding door is stationary. The electric sliding door is not in a locking state, a clutch, a door controller and the like of the electric sliding door are electrified, and the vehicle supplies power for the clutch, the door controller and the like 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, the vehicle position state and the vehicle state.

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, the acquired vehicle position state, such as the gradient of a vehicle body, and the vehicle state, such as whether a person exists in the vehicle or not, and whether a key signal of the vehicle is detected in a preset range around the vehicle, the electric sliding door is controlled to move, such as to move in a fully opened direction or to move in a fully closed direction, so that the electric sliding door moves to the fully opened position or the fully closed position and is locked, thereby realizing the reliable anti-collision function of the vehicle door, and avoiding the problems of overlarge power consumption of the whole vehicle, insufficient power of the whole vehicle, difficult starting and the like caused by long-time hovering of the electric sliding door due to the blocking of an obstacle under the working condition of a large gradient.

Thus, the control method of the electric sliding door is realized by acquiring the state of the electric sliding door, the vehicle position state and the vehicle state; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. Therefore, the method can control the running state of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is in the vehicle, whether a key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking of the electric sliding door under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start due to long-time hovering, and the like are avoided, so that the vehicle electric energy 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: and obtaining that the electric sliding door is in a target state.

Specifically, the position state, the running state, and the like of the electric sliding door are acquired, and whether the electric sliding door is in the target state is determined. The target state is, for example, a hovering state, in which the electric sliding door is in a state of being opened or closed but not being fully opened or fully closed, and is also called a half-opened state. When the electric sliding door is in a hovering state, a clutch, a door controller and the like of the electric sliding door need to be electrified to maintain the static state of the electric sliding door, and the door is prevented from falling off, so that if the hovering time is too long, the problems of overlarge power consumption of the whole automobile, power shortage of the whole automobile, difficulty in starting and the like can be caused, the situation that the door falls off and the like can be caused due to the power shortage of the automobile, and the safety and reliability of the automobile are reduced.

In step S1, acquiring a vehicle position 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. In addition, the vehicle door controller also needs to consume the electric quantity of the whole vehicle to control the on-off of the clutch. 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 step S1, acquiring a vehicle state includes: and judging whether a person exists in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle.

Specifically, the information of personnel in the vehicle and the key signal in the preset range of the vehicle are acquired to judge whether the personnel are in the vehicle or not and whether the key signal of the vehicle is detected in the preset range around the vehicle, and when the key signal of the vehicle is detected in the preset range around the vehicle, the owner is considered to be in the vicinity of the vehicle, so that the condition of the vehicle can be known at any time. Specifically, the in-vehicle map information can be obtained through the camera to judge whether a person is in the vehicle, and whether the key signal of the vehicle is detected in a preset range around the vehicle can be judged through the key signal detection device.

Therefore, in the embodiment of the invention, the electric sliding door is controlled to move by acquiring whether the electric sliding door is in a target (such as a hovering state) and acquiring the gradient of the vehicle body, and whether a person in the vehicle or whether a key signal of the vehicle is detected in a preset range around the vehicle, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the power consumption of the whole vehicle is overlarge, the whole vehicle is deficient, the starting is difficult and the like due to long-time hovering are avoided, thereby saving the electric energy of the vehicle and improving the safety and the reliability of the vehicle.

In one embodiment of the present invention, in step S2, controlling the movement of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state 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 it is determined that no person exists in the vehicle and no key signal of the vehicle is detected in a preset range around the vehicle, the electric sliding door is controlled to move according to a preset control strategy.

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 larger, if the electric sliding door is in a target state, such as a hovering state, the electric sliding door hovers under the larger gradient at the moment, so that the clutch and the vehicle door controller are in a power-on state, and the power consumption of the whole vehicle is increased. Whether a person exists in the vehicle or whether a key signal of the vehicle is detected in a preset surrounding range of the vehicle is further judged, if no person exists in the vehicle and the key signal of the vehicle is not detected in the preset surrounding range of the vehicle, namely, the vehicle owner is not in the vehicle and is not around the vehicle at the moment, and the vehicle condition cannot be known in time, the electric sliding door is controlled to move according to a preset control strategy.

In one embodiment of the present invention, in step S2, controlling the movement of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state 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 it is determined that a person in the vehicle or a key signal of the vehicle is detected in a preset range around the vehicle, prompt information requesting to control the electric sliding door to move according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal.

Specifically, the preset gradient is an empirical value preset according to actual demands, such as, but not limited to, 30 degrees, that is, when the preset gradient is greater than or equal to 30 degrees, the gradient is considered to be large. Further, when the gradient is larger, if the electric sliding door is in a target state, such as a hovering state, the electric sliding door hovers under the larger gradient at the moment, so that the clutch and the vehicle door controller are in a power-on state, and the power consumption of the whole vehicle is increased. Whether a person exists in the vehicle or whether a key signal of the vehicle is detected in a preset surrounding range of the vehicle is further judged, if the fact that the key signal of the vehicle is detected in the preset surrounding range of the person or the vehicle is determined, namely, the vehicle owner is considered to be in the vehicle or around the vehicle at the moment, the vehicle condition can be known in time, and prompt information for requesting to control the electric sliding door to move according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal. That is, when the gradient is large and the vehicle door hovers, and a person in the vehicle or the key signal of the vehicle is detected, prompt information needs to be sent to the user first to request the user to allow the vehicle to control the electric sliding door to move according to a preset control strategy, and then whether to execute the preset control strategy or not is determined according to the instruction of the user, that is, whether to control the electric sliding door to move according to the preset control strategy. The user terminal is, for example, a mobile phone, a car key or other authorized mobile terminals held by the user, and the vehicle-mounted terminal is, for example, a car machine system.

In one embodiment of the present invention, after sending a prompt message to the vehicle-mounted terminal and/or the user terminal, the prompt message requesting to control the movement of the electric sliding door according to a preset control policy, the method further includes: and if the positive response information which is fed back by the user and allows the electric sliding door to be controlled to move according to the preset control strategy is received within the preset time, controlling the electric sliding door to move according to the preset control strategy.

Specifically, the preset time may be determined according to at least one of the vehicle body gradient and the crowd density around the vehicle. For example, when the vehicle body gradient is larger, the gravitational component of the vehicle door in the X direction is larger, the power consumption when the vehicle hovers is larger, and the vehicle door movement should be controlled as soon as possible at this time, so the corresponding preset time is smaller. When the crowd density around the vehicle is larger, the probability that the vehicle door collides or clamps to a person when hovering is larger, the vehicle door is controlled to move as soon as possible, and the vehicle door is prevented from colliding or clamping to other persons, so that the corresponding preset time is smaller. That is, after a prompt message requesting to control the movement of the electric sliding door according to the preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal, if a positive response message of the user is received within a set time, that is, the user is allowed to control the movement of the electric sliding door according to the preset control strategy, the vehicle is controlled to control the movement of the electric sliding door according to the preset control strategy in response to the request. On the other hand, if no positive acknowledgement information of the user is received within the set time, namely the user is not allowed to control the electric sliding door to move according to the preset control strategy, or the default user ignores the request, the request is not responded, namely the vehicle is not controlled to control the electric sliding door to move according to the preset control strategy, so that the electric sliding door keeps the current running state. On the other hand, if negative response information of the user is received, namely that the user does not allow the vehicle to control the electric sliding door to move according to the preset control strategy, the request is not responded, namely the vehicle is not controlled to control the electric sliding door to move according to the preset control strategy, and the electric sliding door is kept in the current running state.

In one embodiment of the present invention, controlling movement of an electric sliding door according to a preset control strategy includes: judging whether an obstacle exists in the current moving direction of the electric sliding door; if so, controlling the electric sliding door to move in the direction opposite to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state, wherein the electric sliding door moves to execute locking action in the fully opened state or the fully closed state; if not, the electric sliding door is controlled to move according to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state.

That is, when the gradient of the vehicle body is large and the electric sliding door is in a target state, and a person in the vehicle or a vehicle key signal is detected in a preset range around the vehicle, or no person in the vehicle and no vehicle key signal is detected in a preset range around the vehicle, and after a prompt message requesting to control the movement of the electric sliding door according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal, the movement of the electric sliding door is controlled according to the preset control strategy, the method specifically comprises the following steps: if the obstacle exists in the current direction of the electric sliding door, the electric sliding door is controlled to move in the direction opposite to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state, and at the moment, the electric sliding door is in a locking state, so that the obstacle is avoided, and a reliable anti-collision function is realized. For example, if the current moving direction of the electric sliding door is the direction towards the fully opened state and an obstacle exists in the current direction, controlling the electric sliding door to move reversely, namely to move towards the fully closed state until the electric sliding door reaches the fully closed state, and at the moment, locking the electric sliding door, thereby avoiding the obstacle and realizing a reliable anti-collision function; if the current moving direction of the electric sliding door is the direction facing the fully-closed state and an obstacle exists in the current direction, the electric sliding door is controlled to move reversely, namely, to move towards the fully-opened state until the electric sliding door reaches the fully-opened state, and at the moment, the electric sliding door is locked, so that the obstacle is avoided, and a reliable anti-collision function is realized. The fully opened state is a state when the sliding door moves to be fully opened, and the fully closed state is a state when the sliding door moves to be fully closed. Therefore, when the electric sliding door moves to a fully opened state or a fully closed state, the electric sliding door is in a locking state, at the moment, the clutch is not electrified, the electric sliding door is locked by the locking mechanism to be kept static, and the vehicle door controller does not need to control the starting end of the clutch and does not need to use electricity, so that the whole vehicle electric quantity is not consumed, and the problems that the electric sliding door cannot be fully opened or closed due to the blocking of an obstacle under the working condition of large gradient, the whole vehicle is excessively high in power consumption, and difficult to start due to long-time hovering, and the like are avoided, so that the electric energy of the vehicle is saved, and the safety and the reliability of the vehicle are improved.

If no obstacle exists in the current direction of the electric sliding door, the electric sliding door is controlled to move according to the current moving direction until the maximum moving position is reached, the electric sliding door is in a fully opened state or a fully closed state, the electric sliding door is in a locking state, the clutch is not electrified at the moment, the electric sliding door is locked through the locking mechanism to keep static, the vehicle door controller does not need to control the starting end of the clutch, and electricity is not needed, so that the whole vehicle electric quantity is not consumed, the problems that the electric sliding door cannot be fully opened or closed due to the blocking of the obstacle under the working condition of large gradient, the whole vehicle is excessively large in power consumption, difficult to start and the like due to long-time hovering are avoided, the vehicle electric energy is saved, and the safety and the reliability of the vehicle are improved.

In one embodiment of the invention, in the process of controlling the electric sliding door to move in the direction opposite to the current moving direction, corresponding prompt information is sent out to remind a user that an obstacle exists in the current moving direction of the electric sliding door, the electric sliding door moves reversely, so that the user can conveniently remove the obstacle in time, the subsequent smooth operation of the electric sliding door is ensured, and the user is reminded of timely learning of the change condition of the operation state of the electric sliding door. In the specific embodiment, the prompt information can be sent in an acousto-optic mode, so that diversified prompts are realized, users are ensured to learn the prompt information in time, and the reliability of the prompts is provided.

In one embodiment of the present invention, it is determined whether an obstacle exists in the current moving direction of the electric sliding door by a sensor assembly provided on the door or inside the vehicle.

In one embodiment of the invention, the sensor assembly includes a radar and/or a camera.

Specifically, can set up sensors such as radar and/or camera on the door of electronic sliding door or the inside vehicle, acquire whether there is the barrier on the travel path of electronic sliding door through these sensors, through setting up multiple sensor, can improve the accuracy that the barrier was judged on the travel path, and then do benefit to and carry out accurate control to electronic sliding door.

In one embodiment of the invention, the target states include: the electric sliding door is not in the fully-opened position and the fully-closed position and is in a hovering state, and the electric sliding door is in a half-opened working condition.

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 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, when no person in the vehicle is detected and the time that the key is not nearby the vehicle is longer than the preset duration, the vehicle door self-defined control strategy (namely the preset control strategy) is started to control the electric sliding door to move. If the person in the vehicle or the key in the vehicle is near the vehicle is detected, the user-defined control strategy (namely the preset control strategy) of the vehicle door is started after the agreement of the person in the vehicle or the vehicle owner is obtained through interaction. The vehicle door self-defining control strategy (namely a preset control strategy) comprises the following steps: radar and/or a camera is added on or in the vehicle door for detecting an obstacle in the moving path of the electric sliding door, if the obstacle is found, the electric sliding door is controlled to move in the opposite direction to a fully opened or fully closed position (full-closed priority), and the electric sliding door is controlled to be in a locking state. The preset duration is a preset vehicle door hovering duration.

In the specific embodiment, when the electric sliding door hovers with a large gradient, the electric sliding door is fully opened or fully closed, and after the electric sliding door is operated to the fully opened position or the fully closed position, the door enters a locking state, so that the door is still without continuously consuming the whole electric quantity, and the situation that the door falls and collides is avoided. The possible collision problem in the fully open or fully closed action of the vehicle door can be detected by a radar and/or a camera on or in the vehicle, and if an obstacle exists in the opening direction of the hovering position, the vehicle door moves in the opposite direction, namely, the vehicle door performs the fully closed action; if there is an obstacle in the fully closed direction of the hover position, the vehicle door is moved in the opposite direction, i.e., the vehicle door performs a fully open action. Therefore, the vehicle door can detect the obstacle on the moving path in advance when moving, so that the situation of collision or clamping injury is prevented, the reliable anti-collision function is realized, the safety of the vehicle is improved, meanwhile, the problems that the electric sliding door cannot be fully opened or closed due to obstacle blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, low in power consumption and difficult to start due to long-time hovering caused by the obstacle blocking are avoided, the electric energy of the vehicle is saved, and the safety and the 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 blocking object is detected to exist in the closed path, the electric sliding door is automatically fully opened, and if the blocking object is detected to exist in the open path, the electric sliding door is automatically fully closed. 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, a vehicle position state, and a vehicle state.

The control module 120 is configured to control the movement of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state.

Thus, the control device 100 of the electric sliding door acquires the state of the electric sliding door, the vehicle position state and the vehicle state; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state 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, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is detected, whether the key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start and the like due to long-time hovering are avoided, so that 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, the acquiring module 110 acquires a state of the electric sliding door, including: and obtaining that the electric sliding door is in a target state.

The acquiring module 110 acquires a vehicle position 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. In addition, the vehicle door controller also needs to consume the electric quantity of the whole vehicle to control the on-off of the clutch. 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.

The acquiring module 110 acquires a vehicle state, including: and judging whether a person exists in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle.

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, the vehicle position state and the vehicle state, 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 it is determined that no person exists in the vehicle and no key signal of the vehicle is detected in a preset range around the vehicle, the electric sliding door is controlled to move according to a preset control strategy.

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, the vehicle position state and the vehicle state, 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 it is determined that a person in the vehicle or a key signal of the vehicle is detected in a preset range around the vehicle, prompt information requesting to control the electric sliding door to move according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal.

In one embodiment of the present invention, after sending a prompt message to the vehicle terminal and/or the user terminal, the control module 120 is further configured to: and if the positive response information which is fed back by the user and allows the electric sliding door to be controlled to move according to the preset control strategy is received within the preset time, controlling the electric sliding door to move according to the preset control strategy.

In one embodiment of the present invention, the control module 120 controls the movement of the electric sliding door according to a preset control strategy, including: judging whether an obstacle exists in the current moving direction of the electric sliding door; if so, controlling the electric sliding door to move in the direction opposite to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state, wherein the electric sliding door moves to execute locking action in the fully opened state or the fully closed state; if not, the electric sliding door is controlled to move according to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state.

In one embodiment of the present invention, the control module 120 is further configured to send corresponding prompt information in a process of controlling the electric sliding door to move in a direction opposite to the current moving direction, so as to remind a user of the existence of an obstacle in the current moving direction of the electric sliding door, and the electric sliding door moves reversely, so that the user can conveniently remove the obstacle in time, thereby ensuring the subsequent smooth operation of the electric sliding door, and reminding the user of timely learning of the change condition of the operation state of the electric sliding door. In the specific embodiment, the prompt information can be sent in an acousto-optic mode, so that diversified prompts are realized, users are ensured to learn the prompt information in time, and the reliability of the prompts is provided.

In one embodiment of the present invention, the acquisition module 110 includes a sensor assembly disposed on the door or in the vehicle, and determines whether an obstacle exists in the current movement direction of the electric sliding door through the sensor assembly disposed on the door or in the vehicle.

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 of the electric sliding door of the embodiment of the invention, the state of the electric sliding door, the vehicle position state and the vehicle state are obtained; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state 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, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is detected, whether the key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start and the like due to long-time hovering are avoided, so that the electric energy of the vehicle 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.

According to the vehicle provided by the embodiment of the invention, the state of the electric sliding door, the vehicle position state and the vehicle state are obtained; and controlling the electric sliding door to move according to the state of the electric sliding door, the vehicle position state and the vehicle state. Therefore, the vehicle can control the running state of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, such as whether the electric sliding door is in a hovering state, the gradient state of the vehicle, whether a person in the vehicle is detected, whether the key of the vehicle is detected or not and the like, for example, the electric sliding door is controlled to move to a full-open position or a full-closed position and locked, so that the reliable anti-collision function of the vehicle door can be realized, and the problems that the electric sliding door cannot be fully opened or closed due to barrier blocking under the working condition of large gradient, the whole vehicle is excessively high in power consumption, difficult to start and the like due to long-time hovering are avoided, thereby saving the electric energy of the vehicle and improving the safety and reliability of the vehicle.

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.

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 a state of the electric sliding door, a vehicle position state and a vehicle state, wherein the vehicle state comprises: whether someone is in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle, the state of the electric sliding door comprises whether the electric sliding door is in a target state, and the vehicle position state comprises: a vehicle body gradient of the vehicle;

Controlling the movement of the electric sliding door according to the state of the electric sliding door, the vehicle position state and the vehicle state, comprising: and if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in the target state, and the condition that no person exists in the vehicle and the key signal of the vehicle is not detected in the preset range around the vehicle is determined, the electric sliding door is controlled to move according to the preset control strategy.

2. The control method of an electric sliding door according to claim 1, wherein controlling the electric sliding door to move according to a state of the electric sliding door, a vehicle position state, and a vehicle state, comprises:

if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in the target state, and it is determined that a person in the vehicle or a key signal of the vehicle is detected in a preset range around the vehicle, prompt information requesting to control the electric sliding door to move according to a preset control strategy is sent to the vehicle-mounted terminal and/or the user terminal.

3. The control method of an electric sliding door according to claim 2, further comprising:

and if the positive acknowledgement information which is fed back by the user and allows the electric sliding door to be controlled to move according to the preset control strategy is received within the preset time, controlling the electric sliding door to move according to the preset control strategy.

4. The control method of the electric sliding door according to claim 3, wherein the preset time is determined according to at least one of the vehicle body gradient and the crowd density around the vehicle.

5. The control method of an electric sliding door according to any one of claims 1 to 4, wherein the controlling the electric sliding door to move according to a preset control strategy includes:

judging whether an obstacle exists in the current moving direction of the electric sliding door;

if so, controlling the electric sliding door to move in the direction opposite to the current moving direction until the electric sliding door is in a fully opened state or a fully closed state, wherein the electric sliding door moves to execute locking action in the fully opened state or the fully closed state;

if not, the electric sliding door is controlled to move according to the current moving direction until the electric sliding door is in the fully opened state or the fully closed state.

6. The control method of an electric sliding door according to claim 1, wherein the target state includes: 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 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, the vehicle position state and the vehicle state, and the vehicle state comprises: whether someone is in the vehicle and whether a key signal of the vehicle is detected in a preset range around the vehicle, the state of the electric sliding door comprises whether the electric sliding door is in a target state, and the vehicle position state comprises: 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, the vehicle position state and the vehicle state, and comprises the following components: and if the gradient of the vehicle body is greater than or equal to the preset gradient, the electric sliding door is in the target state, and the condition that no person exists in the vehicle and the key signal of the vehicle is not detected in the preset range around the vehicle is determined, the electric sliding door is controlled to move according to the preset control strategy.

8. A vehicle, characterized by comprising:

an electric sliding door; and

the control device for an electric sliding door according to claim 7; 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 6.

9. 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 6.