CN115405185A - Vehicle body posture self-adaptive vehicle door control method and system, vehicle and storage medium - Google Patents
Vehicle body posture self-adaptive vehicle door control method and system, vehicle and storage medium Download PDFInfo
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- CN115405185A CN115405185A CN202211138199.5A CN202211138199A CN115405185A CN 115405185 A CN115405185 A CN 115405185A CN 202211138199 A CN202211138199 A CN 202211138199A CN 115405185 A CN115405185 A CN 115405185A
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- 230000036544 posture Effects 0.000 claims abstract description 79
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- 230000003044 adaptive effect Effects 0.000 claims description 17
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/54—Electrical circuits
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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Abstract
The invention discloses a vehicle body posture self-adaptive vehicle door control method, a vehicle body posture self-adaptive vehicle door control system, a vehicle and a storage medium, wherein the vehicle door control method comprises the following steps: in response to receiving a door opening or closing command, the motor driving force N of the calibrated flat ground scene Sign board Driving the door drive motor for an operating time t 1 And obtaining the current travel L of the vehicle door 1 (ii) a By means of L 1 Divided by t 1 To obtain a stroke L 1 Speed V of opening and closing door 1 (ii) a Checking an opening and closing speed MAP diagram under each attitude of the standard driving force vehicle door according to the opening and closing speed V1 to obtain the current vehicle body attitude information; according to the current vehicle body posture information, the driving force MAP of the expected opening and closing speed of the vehicle door in various postures is checked to obtain the rear section L of the opening and closing stroke of the vehicle door 2 Motor driving force N of 2 By motor driving force N 2 Rear section L for driving vehicle door driving motor to complete vehicle door opening and closing stroke 2 Until the end of the stroke. The invention canProvides the optimal driving force for opening and closing the vehicle door and has low cost.
Description
Technical Field
The invention belongs to the technical field of automatic control of vehicle doors, and particularly relates to a vehicle body posture self-adaptive vehicle door control method, a vehicle body posture self-adaptive vehicle door control system, a vehicle and a storage medium.
Background
At present, Z generation users gradually become the main force of automobile consumption, the playing technology is the DNA of the Z generation, the Z generation users advocate intellectualization and individualization, and in order to cater to new generation users, automobiles will develop towards the trend of being more intelligent, safer and more individualized in the future. In order to meet the requirements of the new generation of consumers, a plurality of middle-high end vehicle types carrying automatic opening and closing vehicle doors, such as HiPhi X, ji Kr 001, xiaopeng P7 and the like, appear in the Chinese market in 2021.
Referring to fig. 1, the conventional electric vehicle door control system includes a door controller 3, a door driving motor 1, a hall sensor 2, a door opening request device 4, a door closing request device 5, an electric suction unlocking lock 6, and a door attitude acquisition unit 7 (using a 6-axis gyroscope) electrically connected to the door controller 3, respectively. The door driving motor 1 is responsible for performing door opening and closing operations. The Hall sensor 2 is responsible for collecting Hall signals generated after the vehicle door driving motor 1 rotates. The vehicle door posture acquisition unit 7 is responsible for acquiring posture information (such as lateral and longitudinal inclination angles and vehicle door displacement information) of each vehicle door. The door controller 3 is responsible for counting the number of hall signals, receiving the attitude information of the door attitude acquisition unit 7, adjusting the driving force (output voltage) of the door driving motor 1 according to the door attitude, receiving the door opening and closing request signals of the door opening request device 4 and the door closing request device 5, and outputting an unlocking and locking instruction to the electric power absorption unlocking 6. The door opening request device 4 is responsible for issuing a door opening request instruction to the door controller 3. The door closing request device 5 is responsible for issuing a door closing request command to the door controller 3. The electric suction electric unlocking lock 6 is responsible for executing an unlocking and locking command of the vehicle door controller 3. According to a traditional electric vehicle door control system, each vehicle door needs to acquire transverse, longitudinal and displacement information of the vehicle door by means of a 6-axis gyroscope sensor so that the electric vehicle door control system can provide calibrated optimal opening and closing door driving force according to the current vehicle door posture (transverse and longitudinal inclination angles), and the problem that products lose competitiveness due to the fact that the number of pieces of electric vehicle door control system hardware is large and the system cost is too high (the hardware cost of a single vehicle of the system is close to 5000 yuan) is caused. Due to the high hardware cost of the automatic vehicle door, the function is only mounted on the middle-high-end vehicle model at present, but with the further increase of the consumption demand, the user of the middle-low-end vehicle model also urgently wants to have the configuration. On the premise of providing the same experience, who has lower cost can grasp the user and take the market.
Therefore, it is necessary to develop a low-cost vehicle body posture adaptive door control method, system, vehicle and storage medium.
Disclosure of Invention
The invention aims to provide a vehicle door control method, a vehicle door control system, a vehicle and a storage medium with self-adaptive vehicle body posture, which can provide optimal driving force for opening and closing a vehicle door and have low cost.
In a first aspect, the invention provides a vehicle door control method with adaptive vehicle body posture, comprising the following steps:
in response to receiving a door opening or closing instruction, the motor driving force N of a ground leveling scene is calibrated Sign board Driving the door drive motor for an operating time t 1 And obtaining the current travel L of the vehicle door 1 ；
By means of L 1 Divided by t 1 To obtain a stroke L 1 Speed V of opening and closing door 1 ；
Checking an opening and closing speed MAP diagram under each attitude of the standard driving force vehicle door according to the opening and closing speed V1 to obtain the current vehicle body attitude information;
according to the current vehicle body posture information, the driving force MAP of the expected opening and closing speed of the vehicle door in various postures is checked to obtain the rear section L of the opening and closing stroke of the vehicle door 2 Motor driving force N of 2 By motor driving force N 2 Rear section L for driving vehicle door driving motor to complete vehicle door opening and closing stroke 2 Until the end of the stroke.
Optionally, the method further comprises:
recording the time t of each complete travel of the vehicle door General assembly Comparison of t General assembly And t Sign board And continuously adjusting the rear section L of the opening and closing stroke of the vehicle door through a self-learning algorithm 2 Door opening/closing driving force N 2 So as to be atRear section L of opening and closing stroke of vehicle door 2 Is infinitely close to V Sign board Wherein, t Sign board Opening and closing time of door, V, desired by user Sign board And calibrating the door running speed of the vehicle in the flat ground scene.
Alternatively, when t General assembly ＞t Sign board When the vehicle is in the vehicle body posture, the expected opening and closing speed of the vehicle door is adjusted to be higher in the MAP graph of the driving force corresponding to the vehicle body posture 2 When t is General assembly ＜t Sign board When the vehicle is in the vehicle body posture, the expected opening and closing speed of the vehicle door in various postures is adjusted to be smaller, and the opening and closing driving force N of the vehicle door in the vehicle body posture is adjusted to be smaller in the driving force MAP graph of the expected opening and closing speed of the vehicle door in various postures 2 The maximum limit of the driving force per adjustment is ± 3%.
Alternatively, if t General assembly And t Sign board If the difference is less than 3%, the door opening/closing driving force N in the vehicle body posture is not adjusted in the driving force MAP for the expected door opening/closing speed in each posture 2 。
Optionally, the current travel L of the vehicle door is obtained 1 The method comprises the following steps:
real-time acquisition of Hall number n of vehicle door driving motor through Hall sensor 1 And calculating the current travel L of the vehicle door 1 Hall number n 1 Number n of Hall sensors corresponding to the entire travel of the vehicle door General assembly Obtaining the current travel L of the vehicle door 1 。
Optionally, the MAP of driving force MAP of expected opening and closing speed of the vehicle door in each posture is a corresponding relation table of vehicle door posture and driving force of expected opening and closing speed, and the calibration method comprises the following steps:
step 11, setting the time t for opening and closing the vehicle door expected by the user Sign ；
Step 12, simulating or simulating by using a rack, and taking t as Sign As parameters, the standard driving force N of the vehicle door with a transverse inclination angle of 0 degree and a longitudinal inclination angle of 0 degree is calibrated Sign board ；
And 13, keeping the transverse inclination angle unchanged, and sequentially adjusting the longitudinal inclination angle between-A degrees and A degrees by taking a degrees as a unit, wherein t is the angle Sign board As parameters, calibrating expected driving force of the vehicle door at each longitudinal inclination angle;
and 14, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degrees as a unit, and repeating the step 13 to finish the calibration of the driving force MAP of the expected opening and closing speed of the lower door in various postures.
Optionally, the MAP of opening and closing speed MAP of each posture of the standard driving force vehicle door is a corresponding relation table of vehicle door posture and opening and closing speed, and the test method comprises the following steps:
step 21, utilizing bench simulation or emulation, keeping the transverse inclination angle unchanged, sequentially adjusting the longitudinal inclination angle between-A degrees and A degrees by taking a degrees as a unit, and calibrating the standard driving force N Sign Testing the driving speed of the vehicle door at each longitudinal inclination angle;
and step 22, the transverse inclination angle is sequentially adjusted between-B degrees and B degrees by taking a degrees as a unit, and the step 21 is repeated to finish the opening and closing speed MAP graph test of the standard driving force vehicle door in each posture.
Optionally, the t 1 Is any value between 50ms and 200ms so that it is not perceived by humans.
In a second aspect, the vehicle door control system with the self-adaptive vehicle body posture comprises a vehicle door controller, a vehicle door driving motor, a Hall sensor, a door opening request device, a door closing request device and an electric absorption electric unlocking lock, wherein the vehicle door driving motor, the Hall sensor, the door opening request device, the door closing request device and the electric absorption electric unlocking lock are respectively connected with the vehicle door controller;
the vehicle door driving motor is used for executing opening and closing actions of a vehicle door;
the Hall sensor is used for acquiring Hall signals generated after the vehicle door driving motor rotates;
the vehicle door controller is used for counting the number of Hall signals, adjusting the driving force of a vehicle door driving motor, receiving door opening and closing request signals of the door opening request device and the door closing request device, and outputting an unlocking and locking instruction to electrically absorb electricity for unlocking;
the door opening request device is used for sending a door opening request instruction to the vehicle door controller;
the door closing request device is used for sending a door closing request instruction to the vehicle door controller;
the electric absorption electric unlocking is used for executing an unlocking and locking instruction of the vehicle door controller;
the body attitude adaptive door control system is configured to be able to execute the steps of the body attitude adaptive door control method according to the present invention.
In a third aspect, the invention provides a vehicle, which adopts the vehicle body posture adaptive vehicle door control system.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, the computer readable program when invoked being capable of performing the steps of the vehicle body posture adaptive door control method according to the present invention.
The invention has the following advantages: the invention is based on the front section stroke L of opening and closing the vehicle door in any posture 1 Velocity V of 1， Obtaining the rear section travel L of the car door by looking up a table 2 The motor driving force of (2). Compared with the traditional scheme of adopting a 6-axis gyroscope to acquire the posture of the car door, the system has less hardware and lower cost, thereby reducing the cost of the whole car and improving the product competitiveness. Meanwhile, the invention continuously corrects the driving force N of each time after the driving force N is corrected by a self-learning algorithm 2 The size of the door system enables the door system to achieve infinite approaching to the expected opening and closing speed under any posture.
Drawings
FIG. 1 is a prior art electric vehicle door control system architecture diagram;
FIG. 2 is a system architecture diagram of the vehicle body attitude adaptive door control system in the present embodiment;
FIG. 3 is a flowchart of a user's door open request in the present embodiment;
FIG. 4 is a flowchart illustrating a user request to close the door in the present embodiment;
FIG. 5 is a flowchart of the present embodiment;
in the figure: 1. the system comprises a vehicle door driving motor, 2, a Hall sensor, 3, a vehicle door controller, 4, a door opening request device, 5, a door closing request device, 6, an electric absorption unlocking unit and 7, a vehicle door attitude acquisition unit.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In this embodiment, a vehicle door control method with adaptive body attitude includes the following steps:
in response to receiving a door opening or closing instruction, the motor driving force N of a ground leveling scene is calibrated Sign Driving the door drive motor for an operating time t 1 And obtaining the current travel L of the vehicle door 1 ；
By means of L 1 Divided by t 1 To obtain a stroke L 1 Speed V of opening and closing door 1 ；
Checking an opening and closing speed MAP diagram under each attitude of the standard driving force vehicle door according to the opening and closing speed V1 to obtain the current vehicle body attitude information;
according to the current vehicle body attitude information, checking a driving force MAP of expected opening and closing speeds of the vehicle door at various attitudes to obtain a rear section L of the opening and closing stroke of the vehicle door 2 Motor driving force N of 2 By motor driving force N 2 Rear section L for driving vehicle door driving motor to complete vehicle door opening and closing stroke 2 Until the end of the stroke.
Referring to fig. 5, in this embodiment, a vehicle door control method with adaptive vehicle body posture specifically includes the following steps:
step 1, calibrating the driving force of the vehicle door under each posture: using bench simulation or emulation to control the opening and closing time t of the door as desired by the user Sign board The driving force of the vehicle door matched with the driving force under each posture is calibrated as a parameter, and meanwhile, the standard driving force N of the vehicle door under a flat ground scene can be obtained Sign ；
Step 2, testing the running speed of the vehicle door in each posture in the opening and closing process by using the standard driving force, and meanwhile obtaining the standard running speed V of the vehicle door in the flat ground scene Sign board ；
Step 3, calculating the travel speed of the front section of the vehicle door driven by the current attitude standard driving force: when the user triggers the door opening request device 4 or the door closing request device 5, the door controller 3 uses the motor driving force N of the calibrated flat ground scene Sign board The door driving motor 1 is driven to perform opening and closing actions for a short time t 1 This time requirement is not significantly perceived by humans (e.g., t) 1 Is set to be any value of 50ms to 200msValue) while the hall sensor 2 collects the hall number n of the drive motor in real time 1 By counting the number n of Hall-effect of the current stroke 1 Number n of Hall sensors corresponding to the entire travel of the vehicle door General (1) Obtaining the current door travel L 1 With L 1 Divided by t 1 Get the stroke L 1 Opening and closing door speed V of stage 1 ；
Step 4, the door controller 3 calculates the travel L 1 Opening and closing door speed V of stage 1 V is found in Table 2 (i.e., opening/closing speed MAP diagram for each attitude of the door with standard driving force) 1 The closest operating speed value;
step 6, the vehicle door controller 3 obtains the current vehicle body posture information according to the table lookup, then the table lookup 1 (namely the driving force MAP of the expected opening and closing speed of the vehicle door under various postures) is obtained to obtain the driving force of the expected opening and closing speed under the current vehicle body posture, and the vehicle door controller 3 drives the vehicle door driving motor 1 to complete the rear stroke by the driving force until the stroke is finished;
step 7, the vehicle door controller 3 records and analyzes the time t of the whole travel of the vehicle door General (1) And time t Sign The difference in (a);
and 8, correcting the calibrated standard driving force by a self-learning algorithm for table lookup next time: the door controller 3 corrects the door driving force in each posture calibrated in table 1 by a self-learning algorithm. When the door is running for the entire travel time t General (1) ＞t Sign When the vehicle is in the vehicle body posture, the expected opening and closing speed of the vehicle door is adjusted to be higher in the MAP graph of the driving force corresponding to the vehicle body posture 2 When the door is running for the entire travel time t General (1) ＜t Sign board When the vehicle door is opened or closed, the door opening/closing driving force N corresponding to the vehicle body posture in the driving force MAP for adjusting the expected opening/closing speed of the vehicle door in various postures 2 The maximum limit of the driving force per adjustment is ± 3%. If the door is running for the entire travel time t General assembly And t Sign When the difference is less than 3%, the system judgment error is small, and the driving force corresponding to the vehicle body posture in the driving force MAP of the expected opening and closing speed of the vehicle door in various postures is kept.
In this embodiment, a MAP (see table 1) of driving forces at desired opening and closing speeds of the car door in various postures is a table of correspondence between the postures of the car door and the driving forces at the desired opening and closing speeds, and a calibration method thereof is described in this embodiment by taking as an example that a ° is 1 °, -a ° is-20 °, -a ° is 20 °, -B ° is-12 °, and B ° is 12 °, however, values of a °, -a °, -B °, and B ° may also be appropriately adjusted according to actual conditions, and specific implementation steps are as follows:
step 11, setting the door opening/closing time t desired by the user Sign board (t Sign board Generally between 3s and 6s, specifically determined by an evaluation experience team);
step 12, utilizing bench simulation or emulation to set the opening and closing time t of the vehicle door Sign As parameters, the standard driving force N with the transverse inclination angle of 0 degree and the longitudinal inclination angle of 0 degree (namely, flat ground scene) is calibrated Sign ；
Step 13, keeping the transverse inclination angle unchanged (wherein, the transverse inclination angle is 0 DEG for the first time), and sequentially adjusting the longitudinal inclination angle between minus 20 DEG and 20 DEG by taking 1 DEG as a unit so as to set the opening and closing time t of the vehicle door Sign board As parameters, calibrating expected driving force of the vehicle door at each longitudinal inclination angle;
and step 14, sequentially adjusting the transverse inclination angle between-12 degrees and 12 degrees by taking 1 degree as a unit, and repeating the step 13 to finish the calibration of the driving force MAP of the expected opening and closing speed of the lower door in various postures.
Table 1: driving force MAP of desired opening and closing speed of the lower door in various postures:
in this embodiment, an opening/closing speed MAP (see table 2) of a standard driving force vehicle door in each posture is a corresponding relation table of vehicle door postures and opening/closing speeds, and the test method comprises the following implementation steps:
step 21, utilizing the bench simulation or emulation, keeping the transverse inclination angle unchanged (0 degrees for the first time), and sequentially adjusting the longitudinal inclination angle between minus 20 degrees and 20 degrees by taking 1 degree as a unit to obtain a calibrated standard driving force N Sign Testing the driving speed of the vehicle door at each longitudinal inclination angle;
and step 22, the transverse inclination angle is sequentially adjusted between-12 degrees and 12 degrees by taking 1 degree as a unit, and the step 21 is repeated, so that the opening and closing speed MAP graph test of the standard driving force vehicle door in each posture can be completed.
Table 2: MAP of opening and closing speed at each attitude of standard driving force door:
the following describes the method in detail from the door opening operation and the door closing operation, respectively:
referring to fig. 3, the specific steps of door opening are as follows:
when a user operates a door opening request device 4 of a vehicle door, the door opening request device 4 sends a vehicle door opening instruction, after the vehicle door controller 3 receives the door opening request, the vehicle door controller 3 controls an electric power-on unlocking 6 to execute an unlocking instruction, and then the motor driving force N of a calibrated flat ground scene is used for driving the vehicle door to open the vehicle door Sign board Driving the door driving motor 1 to perform t 1 (200 ms is taken as an example here), the hall sensor 2 collects hall signals in real time, and the door controller 3 drives the hall number n of the running stroke of the motor 1 through the door 1 And the total travel Hall number n General (1) The current position of the vehicle door is judged according to the ratio to obtain the travel L of the current vehicle door 1 By means of L 1 Divided by t 1 To obtain a stroke L 1 Speed V of opening and closing door 1 And then the driving force N is obtained by looking up the tables 1 and 2 2 And driving the vehicle door driving motor 1 to run for the rest stroke until the vehicle door is completely opened.
Referring to fig. 4, in this embodiment, the specific steps of closing the door are as follows:
when the door closing request device 5 is operated by a user, the door closing request device 5 sends a door closing command, and after the door controller 3 receives the closing request, the door controller 3 uses the standard driving force N firstly Sign board Driving the door driving motor 1 to perform t 1 (200 ms is taken as an example here), the hall sensor 2 can collect hall signals in real time, and the door controller 3 drives the motor 1 to run through the hall number n of the travel 1 And the total travel Hall number n General (1) The current position of the vehicle door is judged according to the ratio to obtain the travel L of the current vehicle door 1 By means of L 1 Divided by t 1 Get the stroke L 1 Speed V of opening and closing door 1 And the driving force N is obtained by looking up tables 1 and 2 2 The door driving motor 1 is driven for the remaining stroke, and then the door controller 3 controls the electric absorption unlocking 6 to execute the locking instruction.
In this embodiment, t is 1 Is any value from 50ms to 200 ms.
Referring to fig. 2, in the present embodiment, a vehicle body posture adaptive vehicle door control system includes a vehicle door controller 3, a vehicle door driving motor 1, a hall sensor 2, a door opening request device 4, a door closing request device 5, and an electric absorption unlocking lock 6, which are respectively connected to the vehicle door controller 3. The door driving motor 1 is responsible for performing door opening and closing operations. The Hall sensor 2 is responsible for collecting Hall signals generated after the vehicle door driving motor 1 rotates. The door controller 3 is responsible for counting the number of hall signals, adjusting the driving force (output voltage) of the door driving motor 1, receiving the door opening and closing request signals of the door opening request device 4 and the door closing request device 5, and outputting an unlocking and locking instruction to the electric power absorption unlocking 6. The door opening request device 4 is responsible for issuing a door opening request instruction to the door controller 3. The door closing request device 5 is responsible for issuing a door closing request command to the door controller 3. The electric absorption electric unlocking lock 6 is responsible for executing the unlocking and locking instructions of the vehicle door controller 3. The vehicle body attitude adaptive door control system is configured to be able to execute the steps of the vehicle body attitude adaptive door control method as described in the present embodiment.
The invention is based on the front section stroke L of opening and closing the vehicle door in any posture 1 Of (2)Degree V 1， Obtaining the rear section travel L of the car door by looking up a table 2 The motor driving force of (2). Compared with the traditional electric vehicle door control system, the vehicle door attitude acquisition unit 7 (namely, the 6-axis gyroscope) required to be equipped for each vehicle door is reduced, so that the system has less hardware and lower cost, the cost of the whole vehicle is reduced, and the product competitiveness is improved. Meanwhile, the invention continuously corrects the driving force N of each time after the driving force N is corrected through a self-learning algorithm 2 The size of the door system enables the door system to achieve infinite approaching to the expected opening and closing speed under any posture.
In the present embodiment, a vehicle employs the vehicle body posture adaptive door control system as described in the present embodiment.
In the present embodiment, a storage medium has a computer-readable program stored therein, which when called, is capable of executing the steps of the vehicle body posture-adaptive door control method as described in the present embodiment.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.
Claims (11)
1. A vehicle door control method adaptive to a vehicle body posture is characterized by comprising the following steps:
in response to receiving a door opening or closing command, the motor driving force N of the calibrated flat ground scene Sign Driving the door drive motor for an operating time t 1 And obtaining the current travel L of the vehicle door 1 ；
By means of L 1 Divided by t 1 To obtain a stroke L 1 Speed V of opening and closing door 1 ；
According to the speed V of the opening and closing door 1 Checking an opening and closing speed MAP diagram under each attitude of the standard driving force vehicle door to obtain the current vehicle body attitude information;
according to the current vehicle body posture information, the driving force MAP of the expected opening and closing speed of the vehicle door in various postures is checked to obtain the rear section L of the opening and closing stroke of the vehicle door 2 Motor driving force N of 2 By motor driving force N 2 Rear section L for driving vehicle door driving motor to complete vehicle door opening and closing stroke 2 Until the end of the stroke.
2. The vehicle body posture-adaptive door control method according to claim 1, characterized by further comprising:
recording the time t of each complete travel of the vehicle door General (1) Comparison of t General assembly And t Sign board And continuously adjusting the rear section L of the opening and closing stroke of the vehicle door through a self-learning algorithm 2 Door opening/closing driving force N 2 So that the rear section L of the opening and closing stroke of the door 2 Is infinitely close to V Sign Wherein, t Sign board Opening and closing time of door, V, desired by user Sign And calibrating the door running speed for the vehicle in the flat ground scene.
3. The vehicle body posture-adaptive vehicle door control method according to claim 2, characterized in that: when t is General assembly ＞t Sign board When the vehicle is in the vehicle body posture, the expected opening and closing speed of the vehicle door is adjusted to be higher in the MAP graph of the driving force corresponding to the vehicle body posture 2 When t is General assembly ＜t Sign board When the vehicle is in the vehicle body posture, the expected opening and closing speed of the vehicle door in various postures is adjusted to be smaller, and the opening and closing driving force N of the vehicle door in the vehicle body posture is adjusted to be smaller in the driving force MAP graph of the expected opening and closing speed of the vehicle door in various postures 2 The maximum limit of the driving force is + -3% per adjustment.
4. Body attitude according to claim 3An adaptive vehicle door control method, characterized by: if t is General assembly And t Sign When the difference is less than 3%, the door opening/closing driving force N corresponding to the vehicle body posture in the driving force MAP indicating the expected opening/closing speed of the door in each posture is not adjusted 2 。
5. The vehicle body posture-adaptive door control method according to any one of claims 1 to 4, characterized in that: obtaining the current travel L of the vehicle door 1 The method comprises the following steps:
real-time acquisition of Hall number n of vehicle door driving motor through Hall sensor 1 And calculating the current travel L of the vehicle door 1 Hall number n 1 Number n of Hall sensors corresponding to the entire travel of the vehicle door General assembly Obtaining the current travel L of the vehicle door 1 。
6. The vehicle body posture-adaptive vehicle door control method according to claim 5, characterized in that: the driving force MAP graph of expected opening and closing speed of the car door in various postures is a corresponding relation table of the posture of the car door and the driving force of the expected opening and closing speed, and the calibration method comprises the following steps:
step 11, setting the door opening and closing time t expected by the user Sign board ；
Step 12, simulating or simulating by using a bench, and taking t Sign board As parameters, the standard driving force N of the vehicle door with a transverse inclination angle of 0 degree and a longitudinal inclination angle of 0 degree is calibrated Sign ；
And 13, keeping the transverse inclination angle unchanged, and sequentially adjusting the longitudinal inclination angle between-A degrees and A degrees by taking a degrees as a unit, wherein t is the angle Sign Calibrating the expected driving force of the vehicle door at each longitudinal inclination angle as a parameter;
and 14, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degrees as a unit, and repeating the step 13 to finish the calibration of the driving force MAP of the expected opening and closing speed of the lower door in various postures.
7. The vehicle body posture-adaptive vehicle door control method according to claim 6, characterized in that: the opening and closing speed MAP graph under each posture of the standard driving force vehicle door is a corresponding relation table of vehicle door postures and opening and closing speeds, and the test method comprises the following steps:
step 21, utilizing the bench simulation or emulation, keeping the transverse inclination angle unchanged, sequentially adjusting the longitudinal inclination angle between-A degrees and A degrees by taking a degrees as a unit, and calibrating the standard driving force N Sign Testing the driving speed of the vehicle door at each longitudinal inclination angle;
and step 22, the transverse inclination angle is sequentially adjusted between-B degrees and B degrees by taking a degrees as a unit, and the step 21 is repeated to finish the opening and closing speed MAP graph test of the standard driving force vehicle door in each posture.
8. The vehicle body attitude adaptive door control method according to claim 1, 2, 3, 4, 6, or 7, characterized in that: said t is 1 Is an arbitrary value of 50ms to 200 ms.
9. The utility model provides a door control system of automobile body gesture self-adaptation which characterized in that: the system comprises a vehicle door controller (3), a vehicle door driving motor (1), a Hall sensor (2), a door opening request device (4), a door closing request device (5) and an electric absorption electric unlocking lock (6), wherein the vehicle door driving motor, the Hall sensor, the door opening request device, the door closing request device and the electric absorption electric unlocking lock are respectively connected with the vehicle door controller (3);
the vehicle door driving motor (1) is used for executing vehicle door opening and closing actions;
the Hall sensor (2) is used for acquiring Hall signals generated after the vehicle door driving motor (1) rotates;
the vehicle door controller (3) is used for counting the number of Hall signals, adjusting the driving force of a vehicle door driving motor (1), receiving door opening and closing request signals of a door opening request device (4) and a door closing request device (5), and outputting an unlocking and locking instruction to the electric absorption unlocking lock (6);
the door opening request device (4) is used for sending a door opening request instruction to the vehicle door controller (3);
the door closing request device (5) is used for sending a door closing request instruction to the vehicle door controller (3);
the electric absorption electric unlocking lock (6) is used for executing an unlocking and locking instruction of the vehicle door controller (3);
the body-attitude-adaptive door control system is configured to be able to execute the steps of the body-attitude-adaptive door control method according to any one of claims 1 to 8.
10. A vehicle, characterized in that: a vehicle door control system employing body attitude adaptation according to claim 9.
11. A storage medium, characterized by: stored therein is a computer readable program which when invoked is capable of performing the steps of the body posture adaptive door control method of any one of claims 1 to 8.
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