CN115405185B - Vehicle body posture self-adaptive vehicle door control method, system, vehicle and storage medium - Google Patents
Vehicle body posture self-adaptive vehicle door control method, system, vehicle and storage medium Download PDFInfo
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- CN115405185B CN115405185B CN202211138199.5A CN202211138199A CN115405185B CN 115405185 B CN115405185 B CN 115405185B CN 202211138199 A CN202211138199 A CN 202211138199A CN 115405185 B CN115405185 B CN 115405185B
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- 230000001105 regulatory effect Effects 0.000 claims description 9
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
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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 system, a vehicle and a storage medium, comprising the following steps: in response to receiving a command of opening or closing the vehicle door, driving the vehicle door driving motor with a motor driving force N Label (C) of a calibrated level ground scene for operating time t 1, and acquiring the stroke L 1 of the current vehicle door; dividing L 1 by t 1 to obtain the opening and closing door speed V 1 of the stroke L 1; according to the opening and closing door speed V1, checking an opening and closing speed MAP diagram under each gesture of a standard driving force vehicle door, and obtaining current vehicle body gesture information; and according to the current vehicle body posture information, searching a driving force MAP diagram of the expected opening and closing speed of the vehicle door under various postures, obtaining a motor driving force N 2 of a rear stage L 2 of the opening and closing stroke of the vehicle door, and driving the vehicle door driving motor to complete the rear stage L 2 of the opening and closing stroke of the vehicle door by using the motor driving force N 2 until the stroke is finished. The invention can provide 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 door control method and system with self-adaptive vehicle body posture, a vehicle and a storage medium.
Background
Currently, users of the 'Z generation' gradually become the main force of automobile consumption, the playing technology is DNA of the 'Z generation', the users are still intelligent and personalized, and in order to cater to the users of the new generation, automobiles in the future tend to be more intelligent, safer and more personalized. In order to meet the demands of new-generation consumers, various middle-high-end vehicle types with automatic opening and closing doors, such as Gaoji HiPhi X, extremely krypton 001, and Xiao peng P7, are appeared in the China market for 2021.
Referring to fig. 1, the conventional electric door control system includes a door controller 3, a door driving motor 1, a hall sensor 2, a door opening requesting device 4, a door closing requesting device 5, an electric power sucking unlocking 6, and a door posture collecting 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 car door driving motor 1 rotates. The door posture collection unit 7 is responsible for collecting posture information (such as inclination angle of the transverse direction and the longitudinal direction and door displacement information) of each door. The door controller 3 is responsible for counting the number of hall signals, receiving the posture information of the door posture acquisition unit 7, adjusting the driving force (output voltage) of the door driving motor 1 according to the door posture, receiving the door opening and closing request signals of the door opening requesting device 4 and the door closing requesting device 5, and outputting an unlocking and locking instruction to the electric power sucking 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 means 5 is responsible for issuing a door closing request command to the door controller 3. The electric power sucking unlocking 6 is responsible for executing the unlocking and locking instruction of the vehicle door controller 3. In the 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 as to supply the calibrated optimal opening and closing door driving force to the electric vehicle door control system 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 electric vehicle door control system is high in hardware quantity and high in system cost (the hardware cost of a set of system single vehicle is close to 5000 yuan) is caused. The high hardware cost of the automatic door is forced, and the function is only carried on the middle-high-end vehicle type at present, but with the further increase of the consumption demand, the users of the middle-low-end vehicle type also want to have the configuration. On the premise of providing the same experience, who has lower cost can grasp the user and occupy the market.
There is therefore a need for a low cost vehicle body attitude adaptive door control method, system, vehicle and storage medium.
Disclosure of Invention
The invention aims to provide a vehicle door control method and system with self-adaptive vehicle body posture, a vehicle and a storage medium, 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 body posture self-adaptive vehicle door control method, which comprises the following steps:
In response to receiving a command of opening or closing the vehicle door, driving the vehicle door driving motor with a motor driving force N Label (C) of a calibrated level ground scene for operating time t 1, and acquiring the stroke L 1 of the current vehicle door;
dividing L 1 by t 1 to obtain the opening and closing door speed V 1 of the stroke L 1;
According to the opening and closing door speed V1, checking an opening and closing speed MAP diagram under each gesture of a standard driving force vehicle door, and obtaining current vehicle body gesture information;
And according to the current vehicle body posture information, searching a driving force MAP diagram of the expected opening and closing speed of the vehicle door under various postures, obtaining a motor driving force N 2 of a rear stage L 2 of the opening and closing stroke of the vehicle door, and driving the vehicle door driving motor to complete the rear stage L 2 of the opening and closing stroke of the vehicle door by using the motor driving force N 2 until the stroke is finished.
Optionally, the method further comprises:
And recording time t Total (S) of each time the vehicle door runs a complete stroke, comparing the difference between t Total (S) and t Label (C) , and continuously adjusting the vehicle door opening and closing driving force N 2 of the rear section L 2 of the vehicle door opening and closing stroke through a self-learning algorithm so as to enable the running speed of the rear section L 2 of the vehicle door opening and closing stroke to be infinitely close to V Label (C) , wherein t Label (C) is the vehicle door opening and closing time expected by a user, and V Label (C) is the vehicle door running speed calibrated in a flat ground scene.
Optionally, when t Total (S) ＞t Label (C) , the door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP of the door desired opening and closing speed in various postures is regulated, and when t Total (S) ＜t Label (C) , the door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP of the door desired opening and closing speed in various postures is regulated, and the maximum limit value of each regulating driving force is +/-3%.
Alternatively, if the difference between t Total (S) and t Label (C) is smaller than 3%, the door opening/closing driving force N 2 in the corresponding vehicle body posture in the driving force MAP of the desired opening/closing speed of the door in the various postures is not adjusted.
Optionally, the method for acquiring the travel L 1 of the current vehicle door is as follows:
The Hall number n 1 of the door driving motor is acquired in real time through a Hall sensor, and the ratio of the Hall number n 1 of the current door stroke L 1 to the Hall number n Total (S) of the whole door stroke is calculated to obtain the current door stroke L 1.
Optionally, the MAP of driving force of the expected opening and closing speed of the vehicle door in various postures is a table of correspondence between the posture of the vehicle door and the driving force of the expected opening and closing speed, and the calibration method thereof comprises the following steps:
step 11, setting the door opening and closing time t Label (C) expected by a user;
Step 12, using a bench to simulate or simulate, and using t Label (C) as a parameter to calibrate a standard driving force N Label (C) with the vehicle door having a transverse inclination angle of 0 DEG and a longitudinal inclination angle of 0 DEG;
Step 13, the transverse inclination angle is kept unchanged, the longitudinal inclination angle is sequentially adjusted between-A degrees and A degrees by taking a degree as a unit, and the expected driving force of the vehicle door at each longitudinal inclination angle is calibrated by taking t Label (C) as a parameter;
And 14, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degree as a unit, repeating the step 13, and completing calibration of a driving force MAP of the expected opening and closing speed of the vehicle door under various postures.
Optionally, the MAP of opening and closing speed of the standard driving force vehicle door in each posture is a corresponding relation table of vehicle door posture and opening and closing speed, and the testing method comprises the following steps:
Step 21, using bench simulation or emulation, wherein the transverse inclination angle is kept unchanged, the longitudinal inclination angle is sequentially adjusted between-A degrees and A degrees by taking a degree as a unit, and the driving speed of the vehicle door at each longitudinal inclination angle is tested by using a calibrated standard driving force N Label (C) ;
and 22, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degree as a unit, repeating the step 21, and completing the test of the opening and closing speed MAP under each posture of the standard driving force vehicle door.
Optionally, t 1 is any value from 50ms to 200ms so that it is not perceived by humans.
In a second aspect, the vehicle body posture self-adaptive vehicle door control system 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 power-on unlocking device, wherein the vehicle door driving motor, the Hall sensor, the door opening request device, the door closing request device and the electric power-on unlocking device are respectively connected with the vehicle door controller;
The door driving motor is used for executing door opening and closing actions;
the Hall sensor is used for collecting Hall signals generated after the vehicle door driving motor rotates;
The door controller is used for counting the number of Hall signals, adjusting the driving force of a door driving motor, receiving opening and closing door request signals of the door opening request device and the door closing request device, and outputting an unlocking and locking instruction to electric power-on 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 suction unlocking device is used for executing an opening and locking instruction of the vehicle door controller;
The vehicle body posture-adaptive door control system is configured to be able to perform the steps of the vehicle body posture-adaptive door control method according to the present invention.
In a third aspect, the invention provides a vehicle, which adopts the vehicle body posture self-adaptive vehicle door control system.
In a fourth aspect, the present invention provides a storage medium having stored therein a computer readable program capable of executing the steps of the vehicle door control method for vehicle body posture adaptation according to the present invention when the computer readable program is called.
The invention has the following advantages: according to the invention, the motor driving force of the vehicle door back section stroke L 2 is obtained through table lookup according to the speed V 1, of the opening and closing front section stroke L 1 of the vehicle door under any posture. Compared with the traditional scheme of adopting a 6-axis gyroscope to collect the vehicle door posture, the system has fewer hardware and lower cost, thereby reducing the cost of the whole vehicle and improving the competitiveness of the product. Meanwhile, the invention continuously corrects the magnitude of the driving force N 2 for each time through a self-learning algorithm, so that the door system can realize infinite approaching to the expected door opening and closing speed under any gesture.
Drawings
FIG. 1 is a schematic diagram of a prior art electric vehicle door control system;
fig. 2 is a system configuration diagram of a vehicle door control system of the vehicle body posture adaptation in the present embodiment;
Fig. 3 is a flowchart of a user door opening request in the present embodiment;
FIG. 4 is a flow chart of a user door closing request in the present embodiment;
FIG. 5 is a flow chart of the present embodiment;
in the figure: 1. the automobile door driving motor, 2, a Hall sensor, 3, an automobile door controller, 4, a door opening request device, 5, a door closing request device, 6, an electric suction unlocking, 7, and an automobile door gesture acquisition unit.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In this embodiment, a vehicle body posture adaptive vehicle door control method includes the following steps:
In response to receiving a command of opening or closing the vehicle door, driving the vehicle door driving motor with a motor driving force N Label (C) of a calibrated level ground scene for operating time t 1, and acquiring the stroke L 1 of the current vehicle door;
dividing L 1 by t 1 to obtain the opening and closing door speed V 1 of the stroke L 1;
According to the opening and closing door speed V1, checking an opening and closing speed MAP diagram under each gesture of a standard driving force vehicle door, and obtaining current vehicle body gesture information;
And according to the current vehicle body posture information, searching a driving force MAP diagram of the expected opening and closing speed of the vehicle door under various postures, obtaining a motor driving force N 2 of a rear stage L 2 of the opening and closing stroke of the vehicle door, and driving the vehicle door driving motor to complete the rear stage L 2 of the opening and closing stroke of the vehicle door by using the motor driving force N 2 until the stroke is finished.
Referring to fig. 5, in this embodiment, a vehicle door control method with adaptive vehicle body posture is implemented as follows:
Step 1, calibrating the driving force of a vehicle door under each gesture: the bench simulation or emulation is utilized, the door opening and closing time t Label (C) expected by a user is taken as a parameter, the door driving force matched with the user in each gesture is calibrated, and meanwhile, the door standard driving force N Label (C) in a level ground scene can be obtained;
Step 2, testing the running speed of the vehicle door opening and closing process under each gesture by using a standard driving force, and simultaneously obtaining the standard running speed V Label (C) of the vehicle door opening and closing under a level ground scene;
Step 3, calculating the running speed of the front section stroke of the door of the driving force vehicle driven by the current posture standard: when a user triggers the door opening requesting device 4 or the door closing requesting device 5, the door controller 3 drives the door driving motor 1 to execute opening and closing actions for a short period of time t 1 by using the motor driving force N Label (C) of a calibrated flat ground scene, the period of time is not required to be obviously perceived by people (such as the value of t 1 is any value of 50 ms-200 ms), the Hall sensor 2 simultaneously acquires the Hall number N 1 of the driving motor in real time, and the current door stroke L 1 is obtained by calculating the ratio of the Hall number N 1 of the current stroke to the Hall number N Total (S) of the whole door stroke, and the opening and closing door speed V 1 of the stroke L 1 stage is obtained by dividing L 1 by t 1;
step 4, the door controller 3 uses the calculated opening and closing door speed V 1 in the stage of the stroke L 1 to find the operation speed value closest to V 1 in table 2 (i.e. the opening and closing speed MAP in each posture of the standard driving force door);
Step 5, the vehicle door controller 3 reversely looks up the table 2 according to the coordinates corresponding to the running speed value closest to the V 1 to obtain the current vehicle body posture, wherein the current vehicle body posture comprises information such as a transverse inclination angle, a longitudinal inclination angle and the like;
Step 6, the vehicle door controller 3 obtains the current vehicle body posture information according to the table lookup, and then the table lookup 1 (i.e. the driving force MAP diagram of the expected opening and closing speed of the vehicle door under various postures) obtains 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 back-end stroke by the driving force until the stroke is finished;
Step 7, the door controller 3 records and analyzes the difference between the time t Total (S) and the time t Label (C) of the whole running travel of the door;
step 8, correcting the calibrated standard driving force by the self-learning algorithm for the next table look-up: the door controller 3 corrects the door driving force in each of the attitudes calibrated in table 1 by a self-learning algorithm. When the vehicle door runs for the time t Total (S) ＞t Label (C) of the whole travel, the vehicle door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP graph of the vehicle door expected opening and closing speed under various postures is regulated, when the vehicle door runs for the time t Total (S) ＜t Label (C) of the whole travel, the vehicle door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP graph of the vehicle door expected opening and closing speed under various postures is regulated, and the maximum limit value of each regulating driving force is +/-3%. If the difference between the time t Total (S) and the time t Label (C) of the whole running travel of the vehicle door is less than 3%, the system judgment error is smaller, and the driving force of the vehicle door under various postures in the driving force MAP diagram with the expected opening and closing speed is kept.
In this embodiment, a MAP of driving force MAP of expected opening and closing speed of a vehicle door in various postures (see table 1) is a table of correspondence between vehicle door postures and driving force of expected opening and closing speed, and in this embodiment, a calibration method is described by taking a1 ° a, -20 ° B, -12 ° B and-12 ° as an example, and of course, values of a, -B and-B may be appropriately adjusted according to actual situations, and the specific implementation steps are as follows:
step 11, setting the door opening and closing time t Label (C) (t Label (C) expected by a user to be generally 3s-6s, and specifically determining by an evaluation experience team);
Step 12, using a bench to simulate or simulate, and calibrating a standard driving force N Label (C) with the transverse inclination angle of the vehicle door of 0 degrees and the longitudinal inclination angle of 0 degrees (namely a land leveling scene) by taking the set opening and closing time t Label (C) of the vehicle door as a parameter;
Step 13, the transverse inclination angle is kept unchanged (wherein, the first time is 0 degree), the longitudinal inclination angle is sequentially adjusted between-20 degrees and 20 degrees by taking 1 degree as a unit, and the expected driving force of the vehicle door at each longitudinal inclination angle is calibrated by taking the set opening and closing time t Label (C) of the vehicle door as a parameter;
And 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 vehicle door under various postures.
Table 1: driving force MAP for expected opening and closing speed of vehicle door in various postures:
In this embodiment, the MAP of opening and closing speed of the standard driving force door in each posture (see table 2) is a table of correspondence between door postures and opening and closing speeds, and the test method thereof is implemented as follows:
Step 21, using bench simulation or emulation, wherein the transverse inclination angle is kept unchanged (0 degree for the first time), the longitudinal inclination angle is sequentially adjusted between-20 degrees and 20 degrees by taking 1 degree as a unit, and the driving speed of the vehicle door at each longitudinal inclination angle is tested by using a calibrated standard driving force N Label (C) ;
and 22, sequentially adjusting the transverse inclination angle between-12 degrees and 12 degrees by taking 1 degree as a unit, and repeating the step 21 to finish the test of the opening and closing speed MAP under each posture of the standard driving force vehicle door.
Table 2: opening and closing speed MAP for each posture of standard driving force vehicle door:
The method is described in detail below from a door opening operation and a door closing operation, respectively:
Referring to fig. 3, the specific steps for opening the door are as follows:
When a user operates the door opening request device 4 of the vehicle door, the door opening request device 4 sends a door opening instruction, after receiving the door opening request, the vehicle door controller 3 firstly controls the electric suction unlocking 6 to execute the unlocking instruction, then drives the vehicle door driving motor 1 to execute the door opening action of t 1 (200 ms is taken as an example here) by using the motor driving force N Label (C) of the calibrated flat ground scene, the Hall sensor 2 acquires Hall signals in real time, the vehicle door controller 3 judges the current position of the vehicle door according to the ratio of the Hall number N 1 of the running strokes of the vehicle door driving motor 1 to the total stroke Hall number N Total (S) , the current vehicle door stroke L 1 is obtained, the opening and closing door speed V 1 of the stroke L 1 is obtained by dividing the L 1 by t 1, and then drives the vehicle door driving motor 1 to run the residual stroke by the driving force N 2 obtained by looking up the table 1 and the table 2 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 user operates the door closing request device 5, the door closing request device 5 sends a door closing instruction, after the door controller 3 receives the door closing request, the door controller 3 drives the door driving motor 1 to perform a door closing action of t 1 (here, 200ms is taken as an example) by using a standard driving force N Label (C) , the Hall sensor 2 acquires Hall signals in real time, the door controller 3 judges the current position of the door according to the ratio of the Hall number N 1 of the running strokes of the door driving motor 1 to the total stroke Hall number N Total (S) , the current stroke L 1 of the door is obtained, the opening and closing door speed V 1 of the stroke L 1 is obtained by dividing L 1 by t 1, the door driving motor 1 is driven to run the residual stroke by using the driving force N 2 obtained by looking up the table 1 and the table 2, and then the door controller 3 controls the electric suction unlocking 6 to perform a locking instruction.
In this embodiment, t 1 is any value from 50ms to 200 ms.
Referring to fig. 2, in the present embodiment, a vehicle door control system with self-adapting vehicle body posture includes a door controller 3, a door driving motor 1, a hall sensor 2, a door opening requesting device 4, a door closing requesting device 5, and an electric power sucking unlocking device 6, which are respectively connected to the 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 car 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 requesting device 4 and the door closing requesting device 5, and outputting an unlocking and locking instruction to the electric power sucking and 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 means 5 is responsible for issuing a door closing request command to the door controller 3. The electric power sucking unlocking 6 is responsible for executing the unlocking and locking instruction of the vehicle door controller 3. The vehicle body posture-adaptive door control system is configured to be able to perform the steps of the vehicle body posture-adaptive door control method as described in the present embodiment.
According to the invention, the motor driving force of the vehicle door back section stroke L 2 is obtained through table lookup according to the speed V 1, of the opening and closing front section stroke L 1 of the vehicle door under any posture. Compared with the traditional electric vehicle door control system, the system reduces the vehicle door posture acquisition units 7 (namely 6-axis gyroscopes) which are needed to be equipped for each vehicle door, so that the system has fewer hardware and lower cost, thereby reducing the cost of the whole vehicle and improving the competitiveness of products. Meanwhile, the invention continuously corrects the magnitude of the driving force N 2 for each time through a self-learning algorithm, so that the door system can realize infinite approaching to the expected door opening and closing speed under any gesture.
In this embodiment, a vehicle employs the vehicle door control system of the vehicle body posture adaptation as described in this embodiment.
In the present embodiment, a storage medium has stored therein a computer readable program that, when called, is capable of executing the steps of the vehicle door control method of vehicle body posture adaptation 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, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed 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 examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (8)
1. The vehicle door control method with the self-adaptive vehicle body posture is characterized by comprising the following steps of:
In response to receiving a command of opening or closing the vehicle door, driving the vehicle door driving motor with a motor driving force N Label (C) of a calibrated level ground scene for operating time t 1, and acquiring the stroke L 1 of the current vehicle door;
dividing L 1 by t 1 to obtain the opening and closing door speed V 1 of the stroke L 1;
According to the opening and closing door speed V 1, checking an opening and closing speed MAP diagram under each gesture of the standard driving force vehicle door, and obtaining current vehicle body gesture information;
According to the current vehicle body posture information, searching a driving force MAP graph of expected opening and closing speeds of the vehicle door under various postures, obtaining a motor driving force N 2 of a rear section L 2 of the opening and closing stroke of the vehicle door, and driving the vehicle door driving motor to complete the rear section L 2 of the opening and closing stroke of the vehicle door by using the motor driving force N 2 until the stroke is finished;
Further comprises:
Recording time t Total (S) of each time the vehicle door runs a complete stroke, comparing the difference between t Total (S) and t Label (C) , and continuously adjusting the vehicle door opening and closing driving force N 2 of a vehicle door opening and closing stroke rear section L 2 through a self-learning algorithm to enable the running speed of the vehicle door opening and closing stroke rear section L 2 to be infinitely close to V Label (C) , wherein t Label (C) is the vehicle door opening and closing time expected by a user, and V Label (C) is the vehicle door running speed calibrated in a flat ground scene;
When t Total (S) ＞t Label (C) , the door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP graph of the door expected to be opened and closed at various postures is regulated, when t Total (S) ＜t Label (C) , the door opening and closing driving force N 2 corresponding to the vehicle body posture in the driving force MAP graph of the door expected to be opened and closed at various postures is regulated, and the maximum limit value of each regulating driving force is +/-3%;
If the difference between t Total (S) and t Label (C) is smaller than 3%, the door opening/closing driving force N 2 in the vehicle body posture is not adjusted in the driving force MAP for the desired opening/closing speed of the door in the various postures.
2. The vehicle body posture-adaptive door control method according to claim 1, characterized in that: the method for acquiring the travel L 1 of the current vehicle door comprises the following steps:
The Hall number n 1 of the door driving motor is acquired in real time through a Hall sensor, and the ratio of the Hall number n 1 of the current door stroke L 1 to the Hall number n Total (S) of the whole door stroke is calculated to obtain the current door stroke L 1.
3. The vehicle body posture-adaptive door control method according to claim 2, characterized in that: the driving force MAP graph of the expected opening and closing speed of the vehicle door under various postures is a corresponding relation table of the vehicle door posture 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 Label (C) expected by a user;
Step 12, using a bench to simulate or simulate, and using t Label (C) as a parameter to calibrate a standard driving force N Label (C) with the vehicle door having a transverse inclination angle of 0 DEG and a longitudinal inclination angle of 0 DEG;
Step 13, the transverse inclination angle is kept unchanged, the longitudinal inclination angle is sequentially adjusted between-A degrees and A degrees by taking a degree as a unit, and the expected driving force of the vehicle door at each longitudinal inclination angle is calibrated by taking t Label (C) as a parameter;
And 14, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degree as a unit, repeating the step 13, and completing calibration of a driving force MAP of the expected opening and closing speed of the vehicle door under various postures.
4. The vehicle body posture-adaptive door control method according to claim 2, characterized in that: the MAP (MAP) of the opening and closing speed of the standard driving force vehicle door under each gesture is a corresponding relation table of the vehicle door gesture and the opening and closing speed, and the testing method comprises the following steps:
Step 21, using bench simulation or emulation, wherein the transverse inclination angle is kept unchanged, the longitudinal inclination angle is sequentially adjusted between-A degrees and A degrees by taking a degree as a unit, and the driving speed of the vehicle door at each longitudinal inclination angle is tested by using a calibrated standard driving force N Label (C) ;
and 22, sequentially adjusting the transverse inclination angle between-B degrees and B degrees by taking a degree as a unit, repeating the step 21, and completing the test of the opening and closing speed MAP under each posture of the standard driving force vehicle door.
5. The vehicle door control method for vehicle body posture adaptation according to claim 1 or 2 or 3 or 4, characterized in that: the t 1 is any value of 50 ms to 200 ms.
6. A vehicle door control system with self-adapting vehicle body posture, characterized in that: the door opening and closing device comprises 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) and an electric suction unlocking device (6), wherein the door driving motor (1), the Hall sensor (2), the door opening request device (4), the door closing request device (5) and the electric suction unlocking device are respectively connected with the door controller (3);
the door driving motor (1) is used for executing door opening and closing actions;
The Hall sensor (2) is used for collecting 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 the vehicle door driving motor (1), receiving opening and closing door request signals of the door opening request device (4) and the door closing request device (5), and outputting unlocking and locking instructions to the electric power-on unlocking device (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 suction unlocking (6) is used for executing an unlocking and locking instruction of the vehicle door controller (3);
The vehicle body posture-adaptive door control system is configured to be able to perform the steps of the vehicle body posture-adaptive door control method according to any one of claims 1 to 5.
7. A vehicle, characterized in that: a vehicle door control system employing the vehicle body posture adaptation of claim 6.
8. A storage medium, characterized by: a computer readable program stored therein, which when called, is capable of executing the steps of the vehicle door control method of vehicle body posture adaptation according to any one of claims 1 to 5.
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| CN202211138199.5A CN115405185B (en) | 2022-09-19 | 2022-09-19 | Vehicle body posture self-adaptive vehicle door control method, system, vehicle and storage medium |
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