CN116357191A - Control method and device for automobile door, vehicle and storage medium - Google Patents

Control method and device for automobile door, vehicle and storage medium Download PDF

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Publication number
CN116357191A
CN116357191A CN202310439346.0A CN202310439346A CN116357191A CN 116357191 A CN116357191 A CN 116357191A CN 202310439346 A CN202310439346 A CN 202310439346A CN 116357191 A CN116357191 A CN 116357191A
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CN
China
Prior art keywords
door
automobile door
intention
action
actual control
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Pending
Application number
CN202310439346.0A
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Chinese (zh)
Inventor
董晓强
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Application filed by Chongqing Changan Automobile Co Ltd filed Critical Chongqing Changan Automobile Co Ltd
Priority to CN202310439346.0A priority Critical patent/CN116357191A/en
Publication of CN116357191A publication Critical patent/CN116357191A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The application relates to a control method and device of an automobile door, a vehicle and a storage medium, wherein the method comprises the following steps: comparing phases of at least two Hall signals of the vehicle door driving motor within a preset duration, shielding the at least two Hall signals when a comparison result meets a preset filtering condition, and otherwise, calculating a signal change rate between the at least two Hall signals; and judging the actual control intention of the user according to the signal change rate and the current state of the automobile door, and matching the corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action. According to the embodiment of the application, the false touch Hall signal can be shielded, and the actual control intention of the user is determined based on the Hall signal and the current state of the door, so that the door is assisted to execute the closing or opening action according to the actual control intention of the user, the automation and intellectualization level is higher, the user does not need to additionally issue a control instruction, and the use experience of the user is improved.

Description

Control method and device for automobile door, vehicle and storage medium
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and apparatus for controlling an automobile door, a vehicle, and a storage medium.
Background
The automobile door driving motor is used for automatically opening or closing the automobile door, the intelligent level of the automobile can be effectively improved, the use experience of a user is increased, in the related art, the movement direction of the automobile door can be judged based on the gyroscope sensor, and corresponding assistance is provided when the user opens or closes the door.
However, in the related art, the use of the gyro sensor increases hardware cost, and it is difficult to determine whether the movement of the door is caused by the user, thereby causing the opening or closing of the door to be inconsistent with the user's intention, affecting the user's use experience, and there is a need for improvement.
Disclosure of Invention
The application provides a control method, a control device, a vehicle and a storage medium for an automobile door, which are used for solving the technical problems that in the related art, the hardware cost is increased by using a gyroscope sensor, and whether the movement of the door is caused by a user is difficult to judge, so that the automatic action of the door does not accord with the intention of the user.
An embodiment of a first aspect of the present application provides a control method of an automobile door, the automobile being provided with a door driving motor that drives the automobile door to open or close, wherein the method includes the steps of: collecting at least two Hall signals of the vehicle door driving motor in a preset time period; comparing the phases of the at least two Hall signals, shielding the at least two Hall signals when the comparison result meets the preset filtering condition, otherwise, calculating the signal change rate between the at least two Hall signals; and judging the actual control intention of the user according to the signal change rate and the current state of the automobile door, and matching corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action.
According to the technical means, the embodiment of the application can shield the false touch Hall signal, and determine the actual control intention of the user based on the Hall signal and the current state of the vehicle door, so that the vehicle door is assisted to execute the closing or opening action according to the actual control intention of the user, the automation and intelligence level is higher, the user does not need to additionally give a control instruction, and the use experience of the user is improved.
Optionally, in one embodiment of the present application, the determining the actual control intention of the user according to the signal change rate and the current state of the vehicle door includes: calculating the initial running speed of the automobile door according to the signal change rate; the actual control intention is a manual operation intention when the initial running speed is in a first speed interval; when the initial running speed is in a second speed interval, the actual control intention is a manual trigger automatic operation intention; when the initial running speed is in a third speed interval, the actual control intention is a violent falling door operation intention.
According to the technical means, the embodiment of the application can judge the actual control intention of the user based on the initial running speed so as to assist the door action according to the actual control intention of the user.
Optionally, in an embodiment of the present application, when the actual control intention is the manual operation intention, the matching the corresponding braking action or the assisting action according to the actual control intention includes: acquiring the current body posture of the vehicle; and obtaining a first target power assisting action of the automobile door according to the current automobile body posture and the actual movement direction of the automobile door obtained by the comparison result so as to generate a manual power assisting action.
According to the technical means, the power assisting device can provide power assistance when the actual control intention of the user is the manual operation intention, so that the user can save more effort when opening or closing the vehicle door.
Optionally, in one embodiment of the present application, when the actual control intention is the manual trigger automatic operation intention, the matching the corresponding braking action or the assisting action according to the actual control intention includes: obtaining the actual movement direction of the automobile door according to the comparison result; generating a second target assistance of the automobile door based on the actual movement direction to generate an automatic assistance action.
According to the technical means, when the actual control intention of the user is the manual trigger automatic operation intention, the vehicle door can be controlled to be automatically opened or closed based on the initial movement speed and the actual movement direction.
Optionally, in an embodiment of the present application, when the actual control intention is the violent drop door operation intention, the matching the corresponding braking action or the assisting action according to the actual control intention includes: obtaining the actual movement direction of the automobile door according to the comparison result, and judging whether the initial running speed is greater than a preset braking threshold value or not; if the initial running speed is greater than the preset braking threshold value, generating a first target resistance of the automobile door based on the actual movement direction so as to generate braking action; and if the initial running speed is smaller than or equal to the preset braking threshold value, generating a second target resistance of the automobile door based on the actual movement direction and the parameter information of the automobile door so as to generate a deceleration action.
According to the technical means, when the actual control intention of the user is the violent falling door intention, the vehicle door is controlled to reversely decelerate based on the initial running speed, so that the vehicle door is prevented from being damaged due to violent falling, and the service life of the vehicle door is prevented from being influenced.
An embodiment of a second aspect of the present application provides a control device for an automobile door, the vehicle being provided with a door driving motor that drives the automobile door to open or close, wherein the device includes: the acquisition module is used for acquiring at least two Hall signals of the vehicle door driving motor within a preset duration; the comparison module is used for comparing the phases between the at least two Hall signals, shielding the at least two Hall signals when the comparison result meets the preset filtering condition, and calculating the signal change rate between the at least two Hall signals otherwise; and the control module is used for judging the actual control intention of a user according to the signal change rate and the current state of the automobile door and matching corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action.
Optionally, in one embodiment of the present application, the control module includes: a calculating unit for calculating an initial running speed of the automobile door according to the signal change rate; a first judging unit configured to judge that the actual control intention is a manual operation intention when the initial running speed is in a first speed section; the second judging unit is used for judging that the actual control intention is manually triggered automatic operation intention when the initial running speed is in a second speed interval; and the third judging unit is used for judging that the actual control intention is the violent falling door operation intention when the initial running speed is in a third speed interval.
Optionally, in one embodiment of the present application, the control module further includes: a first acquisition unit configured to acquire a current vehicle body posture of the vehicle; the first generation unit is used for obtaining first target power assistance of the automobile door according to the current automobile body gesture and the actual movement direction of the automobile door obtained through the comparison result so as to generate manual power assistance action.
Optionally, in one embodiment of the present application, the control module further includes: the second acquisition unit is used for obtaining the actual movement direction of the automobile door according to the comparison result; and the second generating unit is used for generating a second target power assisting action of the automobile door based on the actual movement direction so as to generate an automatic power assisting action.
Optionally, in one embodiment of the present application, the control module further includes: the judging unit is used for obtaining the actual movement direction of the automobile door according to the comparison result and judging whether the initial running speed is greater than a preset braking threshold value or not; the third generation unit is used for generating a first target resistance of the automobile door based on the actual movement direction when the initial running speed is greater than the preset braking threshold value so as to generate braking action; and the fourth generation unit is used for generating a second target resistance of the automobile door based on the actual movement direction and the parameter information of the automobile door when the initial running speed is smaller than or equal to the preset braking threshold value so as to generate a deceleration action.
An embodiment of a third aspect of the present application provides a vehicle, including: the control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the automobile door according to the embodiment.
The fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of controlling an automobile door as above.
The beneficial effects of the embodiment of the application are that:
(1) According to the embodiment of the application, the false touch Hall signal can be shielded based on the preset filtering condition, so that the error judgment of the actual control intention of the user caused by the false touch or the rebound of the vehicle door is prevented, and the normal use of the vehicle door by the user is influenced;
(2) According to the method and the device for controlling the vehicle door, the actual control intention of the user can be determined based on the Hall signal and the current state of the vehicle door, so that the vehicle door is assisted to execute closing or opening actions according to the actual control intention of the user, the automation and the intellectualization level are higher, the user does not need to additionally give a control instruction, and the use experience of the user is improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a control method of an automobile door according to an embodiment of the present application;
FIG. 2 is a schematic illustration of Hall signals in the case of a vehicle door jolt in place according to one embodiment of the present application;
FIG. 3 is a flow chart of a method of controlling an automotive door according to one embodiment of the present application;
FIG. 4 is a schematic diagram of Hall signals under normal triggering according to one embodiment of the present application;
FIG. 5 is a schematic diagram of Hall signals in the case of a violent drop door according to one embodiment of the present application;
fig. 6 is a schematic structural view of a control device for an automobile door according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Wherein, 10-the controlling means of the car door; 100-acquisition module, 200-comparison module, 300-control module.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
Control methods, devices, vehicles and storage media of the automobile door according to the embodiments of the present application are described below with reference to the accompanying drawings. In the method, phases of at least two Hall signals of a door driving motor within a preset duration are compared to shield false touch Hall signals, accuracy of judgment of user intention is improved, actual control intention of a user is judged according to the signal change rate and the current state of the automobile door, corresponding braking action or assistance action is matched according to the actual control intention, the automobile door is assisted to be closed or opened based on the braking action or assistance action, the automation intelligent level is higher, and the user does not need to additionally give a control instruction, so that use experience of the user is improved. Therefore, the technical problems that in the related art, the hardware cost is increased by using the gyroscope sensor, and whether the motion of the vehicle door is caused by a user or not is difficult to judge, so that the automatic action of the vehicle door does not accord with the intention of the user are solved.
Specifically, fig. 1 is a schematic flow chart of a control method of an automobile door according to an embodiment of the present application.
As shown in fig. 1, the control method of the automobile door, the automobile is provided with a door driving motor for driving the automobile door to open or close, wherein the method comprises the following steps:
in step S101, at least two hall signals of the door drive motor are acquired within a preset time period.
It should be noted that the vehicle of the embodiment of the present application is provided with a door driving motor that drives the opening or closing of the door of the vehicle, so as to power the opening or closing of the door by the driving motor.
According to the method and the device, when the automobile door is in a non-closed static state and an opening/closing instruction is not received, whether the automobile door driving motor generates Hall signals or not is detected, so that whether the automobile door is under control of the user's hand-operated action or not is determined, and at least two signals generated by the automobile door driving motor due to the action of the automobile door in a preset duration are collected.
The preset time period may be set by a person skilled in the art according to actual situations, and is not particularly limited herein.
In step S102, the phases between the at least two hall signals are compared, when the comparison result meets the preset filtering condition, the at least two hall signals are shielded, otherwise, the signal change rate between the at least two hall signals is calculated.
In an actual execution process, the embodiment of the application can compare phases between at least two hall signals when the vehicle door is under control of a user's hand-held action, so as to judge whether a comparison result meets a preset filtering condition, wherein the preset filtering condition can be that whether the vehicle door movement direction is continuously changed or not is judged based on at least two hall signals as shown in fig. 2, namely, whether the vehicle door shakes in situ or not at the moment; after the door driving motor stops driving, the door continues to move due to inertia in a period from movement to complete stop.
The embodiment of the application can shield the Hall signals meeting the preset filtering conditions, and calculate the signal change rate between at least two Hall signals based on the Hall signals not meeting the preset filtering conditions.
In step S103, the actual control intention of the user is determined according to the signal change rate and the current state of the vehicle door, and the corresponding braking action or assistance action is matched according to the actual control intention, so as to assist the vehicle door to close or open based on the braking action or assistance action.
As a possible implementation manner, the embodiment of the application can determine the movement speed of the vehicle door according to the signal change rate, determine the actual control intention of the user by combining with the current state of the vehicle door, and match the corresponding braking action or assisting action according to the actual control intention so as to assist the vehicle door to be closed or opened based on the braking action or assisting action, wherein the assisting action is to enlarge the opening angle of the vehicle door when the vehicle door is opened.
Optionally, in one embodiment of the present application, determining the actual control intention of the user according to the signal change rate and the current state of the vehicle door includes: calculating the initial running speed of the automobile door according to the signal change rate; when the initial running speed is in a first speed interval, the actual control intention is a manual operation intention; when the initial running speed is in the second speed interval, the actual control intention is to manually trigger the automatic operation intention; when the initial running speed is in the third speed interval, the actual control intention is the violent falling door operation intention.
In some embodiments, the initial running speed of the automobile door may be calculated according to the signal change rate, so that an actual control intention of a user is determined based on the initial running speed, and when the initial running speed is in a first speed interval, the actual control intention is a manual operation intention, when the initial running speed is in a second speed interval, the actual control intention is a manual triggering automatic operation intention, when the initial running speed is in a third speed interval, the actual control intention is a violent falling door operation intention, wherein the initial running speed does not distinguish the movement directions, and on the premise that the values of the initial running speeds are all absolute values, the upper limit of the first speed interval is smaller than the lower limit of the second speed interval, and the upper limit of the second speed interval is smaller than the lower limit of the third speed interval.
Optionally, in one embodiment of the present application, when the actual control intention is a manual operation intention, matching the corresponding braking action or the assisting action according to the actual control intention includes: acquiring the current body posture of the vehicle; and obtaining a first target power assisting action of the automobile door according to the current automobile body posture and the actual movement direction of the automobile door obtained by the comparison result so as to generate a manual power assisting action.
For example, when the actual control intention of the user is determined to be the manual operation intention, the embodiment of the application can acquire the current body posture of the vehicle, including forward tilting, backward tilting, leftward tilting, rightward tilting and the like, acquire the movement direction of the vehicle door, namely the movement intention of the vehicle door is to enlarge the opening angle or close, and provide compensation with different forces by using the vehicle door driving motor based on the current body posture and the actual movement direction of the vehicle door, so as to ensure that the hand feeling of the user is uniform in the process of opening or closing the door, namely the final compensation force is uniform.
Optionally, in one embodiment of the present application, when the actual control intention is to manually trigger the automatic operation intention, matching the corresponding braking action or the assisting action according to the actual control intention includes: obtaining the actual movement direction of the automobile door according to the comparison result; a second target assist of the vehicle door is generated based on the actual direction of movement to generate an automatic assist motion.
That is, when it is determined that the actual control intention of the user is to manually trigger the automatic operation intention, the embodiment of the application may acquire the movement direction of the vehicle door, that is, the movement intention of the vehicle door is to enlarge the opening angle or close, so as to generate the second target power assistance of the vehicle door based on the actual movement direction, so as to generate the automatic power assistance action, and switch the vehicle door from the manual operation mode to the automatic operation mode, so that the automatic opening or closing of the vehicle door is realized based on the second target power assistance.
Optionally, in one embodiment of the present application, when the actual control intention is a violent drop door operation intention, matching the corresponding braking action or the assisting action according to the actual control intention includes: obtaining the actual movement direction of the automobile door according to the comparison result, and judging whether the initial running speed is greater than a preset braking threshold value or not; if the initial running speed is greater than a preset braking threshold value, generating a first target resistance of the automobile door based on the actual movement direction so as to generate braking action; and if the initial running speed is less than or equal to a preset braking threshold value, generating a second target resistance of the automobile door based on the actual movement direction and the parameter information of the automobile door so as to generate a deceleration action.
In some embodiments, when it is determined that the actual control intention of the user is the violent drop door operation intention, the movement direction of the vehicle door may be obtained, that is, the movement intention of the vehicle door is to enlarge the opening angle or close, and it is determined whether the initial running speed is greater than the preset braking threshold.
If the initial running speed is greater than a preset braking threshold value, the fact that the vehicle door is easy to damage when the vehicle door is opened or closed based on the current initial running speed is indicated, so that the service life of the vehicle door is influenced;
if the initial running speed is smaller than or equal to a preset braking threshold value, the embodiment of the application can generate second target resistance of the automobile door based on the actual movement direction and parameter information of the automobile door so as to generate a deceleration action, and the automobile door is decelerated based on the door driving motor when approaching to the maximum opening angle or the full closing position of the automobile door, but cannot be braked. The working principle of the control method of the automobile door according to the embodiment of the present application will be described in detail with reference to fig. 2 to 4.
As shown in fig. 3, an embodiment of the present application may include the following steps:
step one: and (5) Hall signal acquisition and pretreatment. When the electric door is in a non-closed static state and a door opening/closing instruction is not received, the Hall signal generated by the door driver motor is detected, and the embodiment of the application can judge that the current door movement is a random movement.
Further, the embodiment of the application can collect at least two Hall signals of the vehicle door driving motor in a preset duration.
Step two: and (5) Hall signal filtering judgment. According to the embodiment of the application, the phase between at least two Hall signals can be compared, and when the comparison result meets the preset filtering condition, the at least two Hall signals are shielded.
Specifically, as shown in fig. 2, when the motion of the vehicle door meets the requirement of a manual motion and the hall signal is continuously generated for a period of time, the embodiment of the application can avoid the condition that the electric door is swayed in situ to generate sways, the hall signal is continuously output at the moment, but the direction is continuously changed, and the hall signal is shielded at the moment to avoid false touch; during the period from the movement to the complete stop of the electric door, a small section of continuous movement is generated due to inertia, and the driving command is cancelled, so that the Hall signal is shielded to avoid false touch.
Step three: and (5) judging the movement speed. According to the embodiment of the application, the movement speed of the vehicle door can be determined according to the signal change rate, and the current state of the vehicle door, namely the movement direction of the vehicle door, is determined according to the Hall signals, and as shown in fig. 4, when the Hall signals are normally triggered, the movement direction of the vehicle door is judged based on the fixed phase difference between different Hall signals.
Step four: and judging the actual control intention of the user according to the signal change rate and the current state of the automobile door, and matching the corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action.
In some embodiments, the initial running speed of the automobile door may be calculated according to the signal change rate, so that an actual control intention of a user is determined based on the initial running speed, and when the initial running speed is in a first speed interval, the actual control intention is a manual operation intention, when the initial running speed is in a second speed interval, the actual control intention is a manual triggering automatic operation intention, when the initial running speed is in a third speed interval, the actual control intention is a violent falling door operation intention, wherein the initial running speed does not distinguish the movement directions, and on the premise that the values of the initial running speeds are all absolute values, the upper limit of the first speed interval is smaller than the lower limit of the second speed interval, and the upper limit of the second speed interval is smaller than the lower limit of the third speed interval.
Wherein S1: according to the method and the device for controlling the vehicle door, when the actual control intention of the user is judged to be the manual operation intention, the current vehicle body posture of the vehicle is obtained, including forward tilting, backward tilting, leftward tilting, rightward tilting and the like, the movement direction of the vehicle door is obtained, namely, the movement intention of the vehicle door is to enlarge the opening angle or close, compensation with different forces is provided by using the vehicle door driving motor based on the current vehicle body posture and the actual movement direction of the vehicle door, and the fact that the hand feeling of the user is unified in the process of opening or closing the door, namely, the final compensation force is consistent is guaranteed.
S2: according to the method and the device for automatically opening or closing the automobile door, when the actual control intention of the user is judged to be the manual trigger automatic operation intention, the movement direction of the automobile door can be obtained, namely the movement intention of the automobile door is the opening angle or closing angle expansion, so that the second target assistance of the automobile door is generated based on the actual movement direction, the automatic assistance action is generated, the automobile door is switched from the manual operation mode to the automatic operation mode, and therefore the automatic opening or closing of the automobile door is achieved based on the second target assistance.
S3: according to the method and the device for controlling the vehicle door, when the actual control intention of the user is the violent falling door operation intention, the movement direction of the vehicle door can be obtained, namely, the movement intention of the vehicle door is the opening angle expansion or closing, and whether the initial running speed is larger than the preset braking threshold value is judged. When the violent falling door operation is intended, the hall signal obtained in the embodiment of the present application may be as shown in fig. 5.
If the initial running speed is greater than a preset braking threshold value, the fact that the vehicle door is easy to damage when the vehicle door is opened or closed based on the current initial running speed is indicated, so that the service life of the vehicle door is influenced;
if the initial running speed is smaller than or equal to a preset braking threshold value, the embodiment of the application can generate second target resistance of the automobile door based on the actual movement direction and parameter information of the automobile door so as to generate a deceleration action, and the automobile door is decelerated based on the door driving motor when approaching to the maximum opening angle or the full closing position of the automobile door, but cannot be braked.
According to the control method for the automobile door, provided by the embodiment of the application, the phase position of the door driving motor between at least two Hall signals within the preset duration is compared, so that the false touch Hall signals are shielded, the accuracy of judgment of the intention of a user is improved, the actual control intention of the user is judged according to the signal change rate and the current state of the automobile door, and corresponding braking action or boosting action is matched according to the actual control intention, so that the automobile door is assisted to be closed or opened based on the braking action or boosting action, the automation and intelligence level is higher, the additional control instruction is not required to be given by the user, and the use experience of the user is improved. Therefore, the technical problems that in the related art, the hardware cost is increased by using the gyroscope sensor, and whether the motion of the vehicle door is caused by a user or not is difficult to judge, so that the automatic action of the vehicle door does not accord with the intention of the user are solved.
Next, a control device for an automobile door according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 6 is a block schematic diagram of a control device for an automobile door according to an embodiment of the present application.
As shown in fig. 6, the control device 10 for an automobile door is provided with a door driving motor for driving the automobile door to open or close, wherein the device 10 includes: an acquisition module 100, a comparison module 200 and a control module 300.
Specifically, the acquisition module 100 is configured to acquire at least two hall signals of the door driving motor within a preset duration.
The comparison module 200 is configured to compare phases between the at least two hall signals, shield the at least two hall signals when the comparison result meets a preset filtering condition, and otherwise calculate a signal change rate between the at least two hall signals.
The control module 300 is configured to determine an actual control intention of a user according to the signal change rate and a current state of the vehicle door, and match a corresponding braking action or a power-assisted action according to the actual control intention, so as to assist the vehicle door to be closed or opened based on the braking action or the power-assisted action.
Optionally, in one embodiment of the present application, the control module 300 includes: the device comprises a computing unit, a first judging unit, a second judging unit and a third judging unit.
The calculating unit is used for calculating the initial running speed of the automobile door according to the signal change rate.
And the first judging unit is used for judging that the actual control intention is the manual operation intention when the initial running speed is in the first speed interval.
And the second judging unit is used for judging that the actual control intention is the manual triggering automatic operation intention when the initial running speed is in the second speed interval.
And the third judging unit is used for judging that the actual control intention is the violent falling door operation intention when the initial running speed is in a third speed interval.
Optionally, in one embodiment of the present application, the control module 300 further includes: a first acquisition unit and a first generation unit.
The first acquisition unit is used for acquiring the current body posture of the vehicle.
The first generation unit is used for obtaining a first target power assisting action of the automobile door according to the current automobile body posture and the actual movement direction of the automobile door obtained through comparison results so as to generate a manual power assisting action.
Optionally, in one embodiment of the present application, the control module 300 further includes: a second acquisition unit and a second generation unit.
The second acquisition unit is used for obtaining the actual movement direction of the automobile door according to the comparison result.
And the second generating unit is used for generating a second target power assisting action of the automobile door based on the actual movement direction so as to generate an automatic power assisting action.
Optionally, in one embodiment of the present application, the control module 300 further includes: a judging unit, a third generating unit and a fourth generating unit.
The judging unit is used for obtaining the actual movement direction of the automobile door according to the comparison result and judging whether the initial running speed is greater than a preset braking threshold value.
And the third generation unit is used for generating a first target resistance of the automobile door based on the actual movement direction when the initial running speed is greater than a preset braking threshold value so as to generate a braking action.
And the fourth generation unit is used for generating a second target resistance of the automobile door based on the actual movement direction and the parameter information of the automobile door when the initial running speed is smaller than or equal to a preset braking threshold value so as to generate a deceleration action.
It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle door is also applicable to the control device for the vehicle door of this embodiment, and will not be repeated here.
According to the control device for the automobile door, provided by the embodiment of the application, the phase position of the door driving motor between at least two Hall signals within the preset duration is compared, so that the false touch of the Hall signals is shielded, the accuracy of judgment of the intention of a user is improved, the actual control intention of the user is judged according to the signal change rate and the current state of the automobile door, and corresponding braking action or power-assisted action is matched according to the actual control intention, so that the automobile door is assisted to be closed or opened based on the braking action or the power-assisted action, the automation and intelligence level is higher, the additional control instruction is not required to be given by the user, and the use experience of the user is improved. Therefore, the technical problems that in the related art, the hardware cost is increased by using the gyroscope sensor, and whether the motion of the vehicle door is caused by a user or not is difficult to judge, so that the automatic action of the vehicle door does not accord with the intention of the user are solved.
Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.
The processor 702 implements the control method for the automobile door provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 703 for communication between the memory 701 and the processor 702.
Memory 701 for storing a computer program executable on processor 702.
The memory 701 may include a high-speed RAM memory or may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.
The processor 702 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of an automobile door as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A control method of an automobile door, characterized in that the automobile is provided with a door drive motor that drives the automobile door to open or close, wherein the method comprises the steps of:
collecting at least two Hall signals of the vehicle door driving motor in a preset time period;
comparing the phases of the at least two Hall signals, shielding the at least two Hall signals when the comparison result meets the preset filtering condition, otherwise, calculating the signal change rate between the at least two Hall signals; and
and judging the actual control intention of a user according to the signal change rate and the current state of the automobile door, and matching corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action.
2. The method of claim 1, wherein said determining the actual control intent of the user based on the rate of change of the signal and the current state of the door comprises:
calculating the initial running speed of the automobile door according to the signal change rate;
the actual control intention is a manual operation intention when the initial running speed is in a first speed interval;
when the initial running speed is in a second speed interval, the actual control intention is a manual trigger automatic operation intention;
when the initial running speed is in a third speed interval, the actual control intention is a violent falling door operation intention.
3. The method according to claim 2, wherein when the actual control intention is the manual operation intention, the matching the corresponding braking action or assisting action according to the actual control intention includes:
acquiring the current body posture of the vehicle;
and obtaining a first target power assisting action of the automobile door according to the current automobile body posture and the actual movement direction of the automobile door obtained by the comparison result so as to generate a manual power assisting action.
4. The method according to claim 2, wherein when the actual control intention is the manual trigger automatic operation intention, the matching of the corresponding braking action or assisting action according to the actual control intention includes:
obtaining the actual movement direction of the automobile door according to the comparison result;
generating a second target assistance of the automobile door based on the actual movement direction to generate an automatic assistance action.
5. The method according to claim 2, wherein when the actual control intention is the violent drop door operation intention, the matching of the corresponding braking action or assisting action according to the actual control intention includes:
obtaining the actual movement direction of the automobile door according to the comparison result, and judging whether the initial running speed is greater than a preset braking threshold value or not;
if the initial running speed is greater than the preset braking threshold value, generating a first target resistance of the automobile door based on the actual movement direction so as to generate braking action;
and if the initial running speed is smaller than or equal to the preset braking threshold value, generating a second target resistance of the automobile door based on the actual movement direction and the parameter information of the automobile door so as to generate a deceleration action.
6. A control device for an automobile door, characterized in that the vehicle is provided with a door drive motor that drives the automobile door open or closed, wherein the device comprises:
the acquisition module is used for acquiring at least two Hall signals of the vehicle door driving motor within a preset duration;
the comparison module is used for comparing the phases between the at least two Hall signals, shielding the at least two Hall signals when the comparison result meets the preset filtering condition, and calculating the signal change rate between the at least two Hall signals otherwise; and
the control module is used for judging the actual control intention of a user according to the signal change rate and the current state of the automobile door, and matching corresponding braking action or assisting action according to the actual control intention so as to assist the automobile door to be closed or opened based on the braking action or assisting action.
7. The apparatus of claim 6, wherein the control module comprises:
a calculating unit for calculating an initial running speed of the automobile door according to the signal change rate;
a first judging unit configured to judge that the actual control intention is a manual operation intention when the initial running speed is in a first speed section;
the second judging unit is used for judging that the actual control intention is manually triggered automatic operation intention when the initial running speed is in a second speed interval;
and the third judging unit is used for judging that the actual control intention is the violent falling door operation intention when the initial running speed is in a third speed interval.
8. The apparatus of claim 7, wherein the control module further comprises:
a first acquisition unit configured to acquire a current vehicle body posture of the vehicle;
the first generation unit is used for obtaining first target power assistance of the automobile door according to the current automobile body gesture and the actual movement direction of the automobile door obtained through the comparison result so as to generate manual power assistance action.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling an automotive door as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the control method of an automobile door as claimed in any one of claims 1-5.
CN202310439346.0A 2023-04-21 2023-04-21 Control method and device for automobile door, vehicle and storage medium Pending CN116357191A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310439346.0A CN116357191A (en) 2023-04-21 2023-04-21 Control method and device for automobile door, vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310439346.0A CN116357191A (en) 2023-04-21 2023-04-21 Control method and device for automobile door, vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN116357191A true CN116357191A (en) 2023-06-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310439346.0A Pending CN116357191A (en) 2023-04-21 2023-04-21 Control method and device for automobile door, vehicle and storage medium

Country Status (1)

Country Link
CN (1) CN116357191A (en)

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