CN115788214A - Vehicle door control method, electronic device, system and storage medium - Google Patents
Vehicle door control method, electronic device, system and storage medium Download PDFInfo
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- CN115788214A CN115788214A CN202211530829.3A CN202211530829A CN115788214A CN 115788214 A CN115788214 A CN 115788214A CN 202211530829 A CN202211530829 A CN 202211530829A CN 115788214 A CN115788214 A CN 115788214A
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Abstract
The invention discloses a vehicle door control method, electronic equipment, a system and a storage medium. The vehicle door control method includes: detecting the actuating state of a vehicle door driving motor and/or the door lock state of a vehicle door; and starting or forbidding a door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the door, wherein the door closing auxiliary function is to control the door through the door driving motor in the door closing process of the door. According to the invention, the auxiliary door closing function is started or forbidden by detecting the actuating state of the vehicle door driving motor and/or the vehicle door lock state, and the auxiliary door closing function is started only when the actuating state of the vehicle door driving motor and/or the vehicle door lock state meet the preset condition. Because the detection of the actuating state of the vehicle door driving motor and the state of the vehicle door lock is only one state detection, the energy consumption of the detection is far less than the real-time detection of the vehicle door speed, on one hand, the auxiliary door closing function is still kept, the comfort of passengers is ensured to close the door and the vehicle door is protected, and meanwhile, the energy consumption is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle correlation, in particular to a vehicle door control method, electronic equipment, a system and a storage medium.
Background
At present, all automobile doors are manual doors, opening and closing are manual operations of passengers, when the automobile doors are changed into electric doors, besides the fact that a trigger switch is used for electrically closing the doors, part of the passengers still keep the habit of manually closing the doors, and the passengers hope to slightly push the automobile doors to close the doors by inertia.
Meanwhile, when the door is thrown vigorously, the manual door can be quickly closed, so that the door and a vehicle body can be collided or shaken, parts are damaged, and meanwhile, the air pressure in the cabin can be quickly changed, so that discomfort is brought to a customer; after the car door becomes the electrically operated gate, fall the door vigorously and not only can bring with manual door the same problem, the quick door that closes still can damage door driving motor and transmission structure, passenger's use is experienced not well.
To solve the above problem, need provide the auxiliary function of closing the door, close the door in-process at the door and control the door through door driving motor to guarantee that passenger's travelling comfort is closed the door and the door is protected.
However, to achieve the door closing assisting function, the vehicle is required to monitor the operation speed of the door in real time, and the door speed is an accurate value, so that the real-time monitoring of the door speed is very power-consuming, and the vehicle use will be affected if the door is opened for a long time.
Disclosure of Invention
In view of the above, it is desirable to provide a vehicle door control method, an electronic apparatus, a system, and a storage medium.
The invention provides a vehicle door control method, which comprises the following steps:
detecting the actuating state of a vehicle door driving motor and/or the door lock state of a vehicle door;
and starting or forbidding a door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the door, wherein the door closing auxiliary function is to control the door through the door driving motor in the door closing process of the door.
Further, the starting or prohibiting of the door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the door specifically includes:
and forbidding the door closing auxiliary function when the door driving motor drives the door to run or the door lock is in a half-locking state or a full-locking state.
Further, the starting or prohibiting of the door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the vehicle door specifically includes:
and starting the door closing auxiliary function when the door driving motor is not actuated and the door lock is in an unlocked state.
Furthermore, the starting of the door closing auxiliary function when the door driving motor is not actuated and the door lock is in the unlocked state specifically includes:
and starting the door closing auxiliary function when the door driving motor is not actuated, the door lock is in an unlocked state, and the door is static for more than a preset time length.
Further, the method further comprises:
the door closing auxiliary function comprises a follow-up door closing function, and under the condition that the door closing auxiliary function is started, if the motion direction of the door is continuously detected to be the door closing direction within the preset first motion duration time, and the door speed is greater than or equal to the preset first door speed threshold value, the follow-up door closing detection is judged to be successful, and the door driving motor is controlled to drive the door to be electrically closed.
Furthermore, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant door closing speed from the door speed when the follow-up door closing detection is judged to be successful in a preset first initial door closing time, and the door closing speed is the first constant door closing speed in the remaining door closing time after the first initial door closing time; or
And controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant-speed door closing speed from the door speed when the follow-up door closing detection is judged to be successful within a preset first initial door closing distance, and the door closing speed is the first constant-speed door closing speed within the remaining door closing distance after the first initial door closing distance.
Further, the method further comprises:
the door closing auxiliary function comprises a door falling protection function, and under the door closing auxiliary function, if the motion direction of the detected door is the door closing direction within the preset second motion duration time, and the door speed is greater than or equal to the preset second door speed threshold value, the door falling protection detection is judged to be successful, and the door driving motor is controlled to drive the door to be electrically closed.
Furthermore, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced from the door speed when the door falling protection detection is judged to be successful to a second constant door closing speed within preset second initial door closing time, and the door closing speed is the second constant door closing speed within the remaining door closing time after the second initial door closing time; or
And controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced to a second constant-speed door closing speed from the door speed when the door falling protection detection is judged to be successful within a preset second initial door closing distance, and the door closing speed is the second constant-speed door closing speed within the remaining door closing distance after the second initial door closing distance.
The present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle door control method as previously described.
The present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle door control method as described above when the computer executes the computer instructions.
According to the invention, the auxiliary door-closing function is started or prohibited by detecting the actuating state of the vehicle door driving motor and/or the state of the vehicle door lock, and the auxiliary door-closing function is started only when the actuating state of the vehicle door driving motor and/or the state of the vehicle door lock meet the preset conditions. The detection of the actuating state of the vehicle door driving motor and the state of the vehicle door lock is only one state detection, and the energy consumption is far less than the real-time detection of the vehicle door speed, so that the auxiliary door closing function is still kept, the comfort of passengers is ensured to close the door, the vehicle door is protected, and the energy consumption is reduced.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling a vehicle door according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for controlling a vehicle door according to another embodiment of the present invention;
FIG. 3 is a logic diagram illustrating a method for controlling an electric door according to a preferred embodiment of the present invention;
FIG. 4 is a logic diagram illustrating a fall gate protection control method according to a preferred embodiment of the present invention;
FIG. 5 is a flowchart illustrating the operation of a manual door pushing operation to trigger a follow-up door closing operation according to the preferred embodiment of the present invention;
FIG. 6 is a flowchart illustrating the operation of a preferred embodiment of the present invention in which a large force is applied to trigger the door drop protection;
FIG. 7 is a flowchart illustrating the operation of the preferred embodiment of the present invention in the normal closing mode after the door is decelerated to a predetermined closing speed after the door is in the crash protection state;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Fig. 1 is a flowchart illustrating a method for controlling a vehicle door according to an embodiment of the present invention, including:
step S101, detecting the actuating state of a vehicle door driving motor and/or the door lock state of a vehicle door;
and S102, starting or forbidding a door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the door, wherein the door closing auxiliary function is to control the door through the door driving motor in the door closing process of the door.
Specifically, the present invention can be applied to an Electronic Control Unit (ECU) of a vehicle.
Step S101 is first executed to detect the door driving motor operating state and/or the door lock state. The actuating state of the vehicle door driving motor and the door lock state of the vehicle door can adopt the existing mode to obtain the corresponding states. For example, the actuating state of the door driving motor is obtained through relevant sensors and the door lock state is obtained through a door lock state switch.
Wherein, the door is a vehicle electric door which can be driven by a door driving motor.
Then, step S102 is executed to activate the door closing assist function according to the door driving motor operating state and/or the door lock state, or to disable the door closing assist function according to the door driving motor operating state and/or the door lock state. The door closing auxiliary function is to control the door through a door driving motor in the door closing process of the door.
Specifically, a detection system may be adopted, where the system includes a vehicle door driving motor and a sensor, a door lock state switch, a programmable control module, and the programmable control module performs step S101, acquires an actuation state of the vehicle door driving motor from the sensor, acquires a door lock state from the door lock state switch, and then performs step S102 to start or prohibit a door closing assist function.
In one embodiment, the door closing assist function includes a follow-up door closing function and a drop door protection function.
According to the invention, the auxiliary door closing function is started or forbidden by detecting the actuating state of the vehicle door driving motor and/or the vehicle door lock state, and the auxiliary door closing function is started only when the actuating state of the vehicle door driving motor and/or the vehicle door lock state meet the preset condition. Because the detection of the actuating state of the vehicle door driving motor and the state of the vehicle door lock is only one state detection, the energy consumption of the detection is far less than the real-time detection of the vehicle door speed, on one hand, the auxiliary door closing function is still kept, the comfort of passengers is ensured to close the door and the vehicle door is protected, and meanwhile, the energy consumption is reduced.
Fig. 2 is a flowchart illustrating a method for controlling a vehicle door according to another embodiment of the present invention, including:
step S201, detecting the actuating state of the vehicle door driving motor and/or the door lock state of the vehicle door.
And step S202, forbidding the door closing auxiliary function when the door driving motor drives the door to run or the door lock is in a half-locking state or a full-locking state.
Step S203, when the door driving motor is not operated and the door lock is not locked, the door closing assist function is activated.
In one embodiment, the starting of the door closing auxiliary function when the door driving motor is not actuated and the door lock is unlocked includes:
and starting the door closing auxiliary function when the door driving motor is not actuated, the door lock is in an unlocked state, and the door is static for more than a preset time length.
Step S204, the door closing auxiliary function comprises a follow-up door closing function, and when the door closing auxiliary function is started, if the movement direction of the vehicle door is continuously detected to be the door closing direction within the preset first movement duration time, and the vehicle door speed is greater than or equal to the preset first vehicle door speed threshold value, the follow-up door closing detection is judged to be successful, and the vehicle door is controlled to be electrically closed by driving the vehicle door by the vehicle door driving motor.
In one embodiment, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant door closing speed from the door speed when the follow-up door closing detection is judged to be successful in a preset first initial door closing time, and the door closing speed is the first constant door closing speed in the remaining door closing time after the first initial door closing time; or
And controlling the door driving motor to drive the door to electrically close by adopting the door closing speed, wherein the door closing speed is gradually accelerated to a first constant-speed door closing speed from the door speed when the follow-up door closing detection is judged to be successful within a preset first initial door closing distance, and the door closing speed is the first constant-speed door closing speed within the residual door closing distance after the first initial door closing distance.
And S205, the door closing auxiliary function comprises a door falling protection function, and under the condition that the door closing auxiliary function is started, if the motion direction of the vehicle door is detected to be the door closing direction within the preset second motion duration time, and the vehicle door speed is greater than or equal to the preset second vehicle door speed threshold value, the door falling protection detection is judged to be successful, and the vehicle door is controlled to be electrically closed by driving the vehicle door by the vehicle door driving motor.
In one embodiment, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced from the door speed when the door falling protection detection is judged to be successful to a second constant door closing speed within preset second initial door closing time, and the door closing speed is the second constant door closing speed within the remaining door closing time after the second initial door closing time; or
And controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced to a second constant-speed door closing speed from the door speed when the door falling protection detection is judged to be successful within a preset second initial door closing distance, and the door closing speed is the second constant-speed door closing speed within the remaining door closing distance after the second initial door closing distance.
Specifically, step S201 is first executed to detect the door driving motor operating state and/or the door lock state.
And then the door closing auxiliary function is started or forbidden according to the actuating state of the door driving motor and/or the door lock state of the door.
The prohibition judgment of the auxiliary door closing function includes: when the door driving motor drives the door to operate, or the door lock is in a half-locking state or a full-locking state (including the situation of manual locking in the state of opening the door), the door closing auxiliary function is forbidden;
the enable of the auxiliary function of closing the door is judged, include: when the door driving motor is not actuated and the door lock is unlocked, the door closing assist function is enabled.
Therefore, when it is detected that the door driving motor is actuated to drive the door in the running process, or the door lock is in the half-lock state or the full-lock state, step S202 is executed to prohibit the door closing auxiliary function. When it is detected that the door driving motor is not operated and the door lock is in the unlocked state, step S203 is executed to start the door closing assisting function.
For the enabling judgment of the auxiliary door closing function, whether the vehicle door is static for a period of time can be additionally judged.
In one embodiment, the starting of the door closing auxiliary function when the door driving motor is not actuated and the door lock is in the unlocked state specifically includes:
and starting the door closing auxiliary function when the door driving motor is not actuated, the door lock is in an unlocked state, and the door is static for more than a preset time length.
Specifically, the enabling judgment of the door closing assist function includes: when the door driving motor is not actuated, the door lock is in an unlocked state, and the sensor signal judges that the door is completely static for a period of time, the door closing auxiliary function is enabled.
Specifically, the threshold value of the door static duration enabling the follow-up door closing function may be set to a preset time length K _ FollowWaitTime, and when the door driving motor is not actuated and the suction lock is in an unlocked state and the door is static for more than the preset time length, the door closing assistance function will be enabled.
In one embodiment, the door closing aid function comprises a slaved door closing function and/or a door closing aid function.
The prohibition judgment of the follow-up door closing function comprises the following steps: when the door driving motor drives the door to operate, or the door lock is in a half-locking state or a full-locking state (including the situation of manual locking in the opening state of the door), the follow-up door closing function is forbidden, and the software model enters a follow-up detection forbidden state;
the follow-up door closing function enables the judgement, includes: when the vehicle door driving motor is not actuated, the door lock is in an unlocked state, and the vehicle door is judged to be completely static for a period of time through a sensor signal, the follow-up door closing function is enabled, and the software model enters a follow-up detection enabling state.
And for the follow-up door closing function, performing follow-up door closing detection, executing a step S204 when a condition is met, and under the condition that the door closing auxiliary function is started, if the motion direction of the door is continuously detected to be the door closing direction within the preset first motion duration time and the door speed is greater than or equal to the preset first door speed threshold value, judging that the follow-up door closing detection is successful, and controlling the door driving motor to drive the door to electrically close.
Fig. 3 is a schematic control logic diagram of an electric servo-actuated door-closing control method according to a preferred embodiment of the present invention, which includes:
step S301, receiving sensor signal input, and processing the sensor signal;
step S302, performing follow-up judgment based on the movement direction and the movement speed of the vehicle door, and generating a follow-up door closing instruction;
and step S303, controlling a vehicle door driving motor based on the follow-up door closing instruction, and generating motor driving output.
Specifically, the follow-up door closing condition is determined as follows: on the premise that the follow-up door closing function is enabled, the running direction of the vehicle door is detected to be the door closing direction through the sensor signal, the running speed is greater than or equal to the set threshold value, after a period of time, the follow-up door closing detection is determined to be successful, a follow-up door closing instruction is sent to a vehicle door driving motor, and the vehicle door is driven to be electrically closed by the motor.
The first door speed threshold value enabling the follow-up door closing detection to be successful is set as K _ FollowMinFreq, and the first movement duration threshold value is set as K _ FollowComfirmTime, so that the control module can accurately identify that the passenger intentionally pushes the door manually, but not other unexpected triggers.
In one embodiment, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant door closing speed from the door speed when the follow-up door closing detection is judged to be successful in a preset first initial door closing time, and the door closing speed is the first constant door closing speed in the remaining door closing time after the first initial door closing time; or
And controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant-speed door closing speed from the door speed when the follow-up door closing detection is judged to be successful within a preset first initial door closing distance, and the door closing speed is the first constant-speed door closing speed within the remaining door closing distance after the first initial door closing distance.
Specifically, for the follow-up door closing, the door speed when the follow-up door closing detection is successful is used as an initial target speed, and after a period of time or a distance, the target speed is gradually accelerated to be changed into a set door closing speed for the uniform-speed running of the door, so that the smooth connection between the push door follow-up and the actuation of a door driving motor is realized. In the follow-up door closing function, the door closing speed is set to be a first constant speed door closing speed.
In one embodiment, the gradually increasing the door closing speed from the door speed at the time of determining that the follow-up door closing detection is successful to the first constant door closing speed includes: after the first initial door closing time T _ Wait1 or the first initial door closing distance D _ Wait1, the door closing speed of the door drive motor is transitioned from the target speed at which the follow-up door closing detection is determined to be successful to the set first constant door closing speed V _ Normal.
The smooth connection between the push door follow-up and the actuation of the vehicle door driving motor is realized.
And for the door falling protection function, performing door falling protection detection, and when the condition is met, executing step S205, and under the condition that the door closing auxiliary function is started, if the motion direction of the vehicle door is continuously detected to be the door closing direction within the preset second motion duration time, and the vehicle door speed is greater than or equal to the preset second vehicle door speed threshold value, judging that the door falling protection detection is successful, and controlling the vehicle door driving motor to drive the vehicle door to electrically close.
Fig. 4 is a schematic control logic diagram of a fall gate protection control method according to a preferred embodiment of the present invention, including:
step S401, receiving sensor signal input, and processing the sensor signal;
step S402, performing door falling protection judgment based on the door movement direction and the door movement speed, and generating a deceleration command and a door closing command;
in step S403, the door drive motor is controlled based on the deceleration command and the door closing command, and a motor drive output is generated.
Specifically, the condition of the falling door protection is judged as follows: on the premise that the follow-up door closing function is enabled, the running direction of the vehicle door is detected to be the door closing direction through sensor signals, the running speed is larger than or equal to a set threshold value, after a period of time, the vehicle door is judged to be successfully subjected to the door falling protection detection, and a deceleration instruction is sent to a vehicle door driving motor to drive the vehicle door to be normally closed electrically.
Wherein the second door speed threshold for successful detection of fall protection is set to K _ FollowMinFreq2 and the second motion duration threshold is set to K _ FollowComfirmTime2, ensuring that the control module can accurately identify a rapid heavy fall of the door, but not other unintended triggers.
In one embodiment, the controlling the door driving motor to drive the door to be electrically closed specifically includes:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced from the door speed when the door falling protection detection is judged to be successful to a second constant door closing speed within preset second initial door closing time, and the door closing speed is the second constant door closing speed within the remaining door closing time after the second initial door closing time; or
And controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced to a second constant-speed door closing speed from the door speed when the door falling protection detection is judged to be successful within a preset second initial door closing distance, and the door closing speed is the second constant-speed door closing speed within the remaining door closing distance after the second initial door closing distance.
Particularly, for falling door protection, the vehicle door speed when falling door protection detection succeeds is used as an initial target speed, after a period of time or a distance, the target speed is gradually reduced to be a set door closing speed for the vehicle door to run at a constant speed, so that the door can not be damaged when being quickly closed under the condition of vigorously falling the door, and meanwhile, smooth connection of normal closing after reduction can be realized. In the falling door protection function, the door closing speed is set to be the second constant speed door closing speed.
In one embodiment, the gradually increasing the closing speed of the vehicle door from the vehicle door speed when the detection of the falling door protection is determined to be successful to the second constant closing speed specifically includes: after the second initial door closing time T _ Wait2 or the second initial door closing distance D _ Wait2, the speed of the door driving motor is transitioned from the target speed at which the door fall protection detection is determined to be successful to the set second constant door closing speed V _ Normal.
Wherein the first constant door closing speed may be equal to the second constant door closing speed.
In the embodiment, the sensor signal and the vehicle door speed of the vehicle door are detected, the movement direction of the vehicle door is combined, whether follow-up door closing and door falling protection are performed is judged, and the door closing movement and the speed control of the electric vehicle door are triggered through an electronic signal. When guaranteeing that the door is electronic to be opened and close the function, still can compromise the demand custom that the passenger was manual closed the door, protect the door not receive the damage when falling the door widely, satisfy the intelligence under the multi-scene and close the door and experience. In addition, the speed of control can be calibrated, so that different requirements of passengers on the door closing speed of the electric door can be met while the comfort of the passengers is ensured to close the door and the door is protected.
Fig. 5 is a flowchart illustrating a process of triggering the door-follow-up closing by manually pushing the door according to the preferred embodiment of the present invention, which includes:
step S501 includes: detecting a door lock state signal and a sensor trigger signal for detecting the movement of a vehicle door;
step S502, including: judging whether the door lock is in a half-lock state or a full-lock state and whether the vehicle door is in a running state, and if one condition is met, entering a follow-up detection forbidden state;
step S503, including: the door lock is in full opening, and the vehicle door enters a follow-up detection enabling state after being in rest for a period of time;
step S504, including: detecting whether the moving direction of the vehicle door is the door closing direction, if so, executing step S505, otherwise, finishing the follow-up detection;
step S505, including: the electric door control unit judges whether the triggering time of the sensor signal exceeds 500ms and the speed of the vehicle door exceeds a threshold value, if so, step S506 is executed, and if not, the electric door control unit returns to the follow-up detection enabling state;
step S506, including: the electric door control unit judges that the door enters a follow-up door closing state, sends a follow-up door closing instruction, accelerates the door to a set door closing speed, enters a normal door closing mode until reaching a full closing position, and then stops running.
Fig. 6 is a flowchart illustrating a method for triggering door crash protection by a large-force door crash according to a preferred embodiment of the present invention, which comprises:
step S601, including: detecting a door lock state signal and a sensor trigger signal for detecting the movement of a vehicle door;
step S602, including: judging whether the door lock is in a half-lock state or a full-lock state and whether the vehicle door is in a running state, and entering a door falling protection forbidden state if one condition is met;
step S603, including: the door lock is in a full-open state, and the vehicle door enters a door-falling protection enabling state after being static for a period of time;
step S604, including: detecting whether the moving direction of the vehicle door is the door closing direction, if so, executing a step S605, otherwise, keeping the vehicle door still;
step S604, including: the electric door control unit judges whether the triggering time of the sensor signal exceeds 500ms and the speed of the vehicle door exceeds a threshold value, if so, step S606 is executed, and if not, the electric door control unit returns to the door-falling protection enabling state;
step S606, including: the electric door control unit judges that the vehicle door enters a falling door protection state, sends a deceleration door closing instruction, and the vehicle door enters a normal door closing mode after being decelerated to a set door closing speed until reaching a full closing position, and then stops running.
Fig. 7 is a flowchart illustrating the operation of entering the normal closing mode after the door is decelerated to the set closing speed after the door enters the crash protection state according to the preferred embodiment of the present invention, which includes:
step S701, if the speed of the vehicle door is greater than a set threshold value and lasts for a period of time, step S702 is executed, otherwise, the operation is finished;
step S702, the door-falling protection detection is successful, and a deceleration instruction is sent;
step S703, if the door closing speed is less than or equal to the set door closing speed, executing step S704, otherwise, continuing to detect;
step S704, stopping deceleration;
step S705, if the moving direction of the vehicle door is the door closing direction, step S706 is executed, otherwise, the operation is ended;
and step S706, sending a door closing instruction, enabling the vehicle door to enter a normal door closing mode until the vehicle door is in a fully closed position, and then stopping running.
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 801; and the number of the first and second groups,
a memory 802 communicatively coupled to at least one of the processors 801; wherein,
the memory 802 stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle door control method as previously described.
Fig. 8 illustrates an example of a processor 801.
The electronic device may further include: an input device 803 and a display device 804.
The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 802 is a non-volatile computer-readable storage medium and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle door control method in the embodiment of the present application, for example, the method flows shown in fig. 1 and 2. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, that is, implements the vehicle door control method in the above-described embodiment.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle door control method, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include memory located remotely from the processor 801, which may be connected via a network to a device that performs the door control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 803 may receive an input of a user click and generate signal inputs related to user settings of the door control method and function control. The display device 804 may include a display screen or the like.
The door control method of any of the method embodiments described above is performed when the one or more modules are stored in the memory 802 and when executed by the one or more processors 801.
According to the invention, the auxiliary door closing function is started or forbidden by detecting the actuating state of the vehicle door driving motor and/or the vehicle door lock state, and the auxiliary door closing function is started only when the actuating state of the vehicle door driving motor and/or the vehicle door lock state meet the preset condition. Because the detection of the actuating state of the vehicle door driving motor and the state of the vehicle door lock is only one state detection, the energy consumption of the detection is far less than the real-time detection of the vehicle door speed, on one hand, the auxiliary door closing function is still kept, the comfort of passengers is ensured to close the door and the vehicle door is protected, and meanwhile, the energy consumption is reduced.
An embodiment of the present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle door control method as described above when executed by a computer.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A vehicle door control method characterized by comprising:
detecting the actuating state of a vehicle door driving motor and/or the door lock state of a vehicle door;
and starting or forbidding a door closing auxiliary function according to the actuating state of the door driving motor and/or the door lock state of the door, wherein the door closing auxiliary function is to control the door through the door driving motor in the door closing process of the door.
2. The vehicle door control method according to claim 1, wherein the enabling or disabling of the door closing assist function according to the door driving motor actuation state and/or the door lock state specifically comprises:
and forbidding the door closing auxiliary function when the door driving motor drives the door to run or the door lock is in a half-locking state or a full-locking state.
3. The vehicle door control method according to claim 1, wherein the enabling or disabling of the door closing assist function according to the door driving motor actuation state and/or the door lock state specifically comprises:
and starting the door closing auxiliary function when the door driving motor is not actuated and the door lock is in an unlocked state.
4. The method of claim 3, wherein the door closing assist function is activated when the door driving motor is not operated and the door lock is unlocked, and the method further comprises:
and starting the door closing auxiliary function when the door driving motor is not actuated, the door lock is in an unlocked state, and the door is static for more than a preset time length.
5. The vehicle door control method according to claim 1, characterized by further comprising:
the door closing auxiliary function comprises a follow-up door closing function, and under the condition that the door closing auxiliary function is started, if the motion direction of the door is continuously detected to be the door closing direction within the preset first motion duration time, and the door speed is greater than or equal to the preset first door speed threshold value, the follow-up door closing detection is judged to be successful, and the door driving motor is controlled to drive the door to be electrically closed.
6. The vehicle door control method according to claim 5, wherein the controlling the vehicle door driving motor to drive the vehicle door to be electrically closed specifically comprises:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually accelerated to a first constant door closing speed from the door speed when the follow-up door closing detection is judged to be successful in a preset first initial door closing time, and the door closing speed is the first constant door closing speed in the remaining door closing time after the first initial door closing time; or
And controlling the door driving motor to drive the door to electrically close by adopting the door closing speed, wherein the door closing speed is gradually accelerated to a first constant-speed door closing speed from the door speed when the follow-up door closing detection is judged to be successful within a preset first initial door closing distance, and the door closing speed is the first constant-speed door closing speed within the residual door closing distance after the first initial door closing distance.
7. The vehicle door control method according to claim 1, characterized by further comprising:
the door closing auxiliary function comprises a door falling protection function, and under the door closing auxiliary function, if the motion direction of the detected door is the door closing direction within the preset second motion duration time, and the door speed is greater than or equal to the preset second door speed threshold value, the door falling protection detection is judged to be successful, and the door driving motor is controlled to drive the door to be electrically closed.
8. The vehicle door control method according to claim 7, wherein the controlling the vehicle door driving motor to drive the vehicle door to be electrically closed specifically comprises:
controlling the door driving motor to drive the door to be electrically closed at a door closing speed, wherein the door closing speed is gradually reduced from the door speed when the door falling protection detection is judged to be successful to a second constant door closing speed within preset second initial door closing time, and the door closing speed is the second constant door closing speed within the remaining door closing time after the second initial door closing time; or
And controlling the door driving motor to drive the door to electrically close by adopting the door closing speed, wherein the door closing speed is gradually reduced from the door speed when the door falling protection detection is judged to be successful within a preset second initial door closing distance to a second constant door closing speed, and the door closing speed is the second constant door closing speed within the remaining door closing distance after the second initial door closing distance.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a vehicle door control method as claimed in any one of claims 1 to 8.
10. A storage medium storing computer instructions for performing all the steps of the vehicle door control method according to any one of claims 1 to 8 when the computer instructions are executed by a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211530829.3A CN115788214A (en) | 2022-12-01 | 2022-12-01 | Vehicle door control method, electronic device, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211530829.3A CN115788214A (en) | 2022-12-01 | 2022-12-01 | Vehicle door control method, electronic device, system and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115788214A true CN115788214A (en) | 2023-03-14 |
Family
ID=85444581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211530829.3A Pending CN115788214A (en) | 2022-12-01 | 2022-12-01 | Vehicle door control method, electronic device, system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115788214A (en) |
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2022
- 2022-12-01 CN CN202211530829.3A patent/CN115788214A/en active Pending
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