CN117988676A

CN117988676A - Control method and device of electric vehicle door, controller, storage medium and vehicle

Info

Publication number: CN117988676A
Application number: CN202211351876.1A
Authority: CN
Inventors: 孙成涛; 乔东; 范君军
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2024-05-07

Abstract

The application provides a control method and device of an electric vehicle door, a controller, a storage medium and a vehicle. The method comprises the following steps: acquiring a power assisting mode of an electric door of a vehicle, and determining a target resistance corresponding to the electric door based on the power assisting mode; when the electric vehicle door is monitored to be subjected to external thrust, determining a target output torque of a driving motor of the electric vehicle door according to the target resistance; and controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance. According to the scheme, the electric vehicle door can be pushed by a user only by using the force with the same size as the target resistance based on the power assisting mode selected by the user, so that the vehicle door using experience of the user is optimized.

Description

Control method and device of electric vehicle door, controller, storage medium and vehicle

Technical Field

The present application relates to the field of door control technologies, and in particular, to a method and apparatus for controlling an electric vehicle door, a controller, a storage medium, and a vehicle.

Background

The automobile is taken as a convenient transportation means, and brings great convenience to the life of people. A door is one of the most closely related automobile parts to an automobile user, and the opening and closing operation force and operation feel thereof directly affect the impression of the quality of the automobile to the automobile user. At present, in order to improve the use experience of users, the doors of partial vehicle types can be opened electrically. When the electric vehicle door is in the electric mode, the electric vehicle door drives the transmission connecting part to drive the vehicle door to operate through the driving motor.

However, when the electric vehicle door is not in the electric mode and a user wants to push the vehicle door, the electric vehicle door drives the transmission connecting component and the driving motor to rotate, so that the electric vehicle door generates resistance opposite to the hand thrust of the user, and the resistance has different hand feeling for different people, so that the use experience of the user for pushing the vehicle door is affected.

Disclosure of Invention

The application provides a control method and device of an electric vehicle door, a controller, a storage medium and a vehicle, and aims to solve the problem that in the prior art, the use experience of a user is poor due to the fact that the resistance of the vehicle door is uncomfortable.

In a first aspect, the present application provides a method for controlling an electric vehicle door, including:

acquiring a power assisting mode of an electric door of a vehicle, and determining a target resistance corresponding to the electric door based on the power assisting mode;

when the electric vehicle door is monitored to be subjected to external thrust, determining a target output torque of a driving motor of the electric vehicle door according to the target resistance;

and controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance.

In one possible implementation manner, when the electric vehicle door is monitored to be subjected to external thrust, determining the target output torque of the driving motor of the electric vehicle door according to the target resistance includes:

acquiring a slope angle of the ground where the vehicle is located, and calculating a component of the gravity of the electric vehicle door in the horizontal direction of the electric vehicle door based on the slope angle to obtain a gravity component;

and when the electric vehicle door is monitored to be subjected to external thrust, determining the target output torque of the driving motor according to the target resistance and the gravity component.

In one possible implementation, the target resistance includes a first resistance and a second resistance;

When the electric vehicle door is monitored to be subjected to external thrust, determining the target output torque of the driving motor of the electric vehicle door according to the target resistance, wherein the method comprises the following steps:

If the electric vehicle door is monitored to be subjected to external thrust when the electric vehicle door is in a hovering state, judging whether the external thrust is larger than the first resistance, and if the external thrust is larger than the first resistance, releasing the limit of the stepless limiting force of the electric vehicle door, wherein the stepless limiting force is used for enabling the electric vehicle door to be kept in the hovering state;

And if the electric vehicle door is monitored to be subjected to external thrust when the electric vehicle door is in a moving state, determining the target output torque of the driving motor according to the second resistance.

In one possible embodiment, before said determining whether said ambient thrust force is greater than said first resistance force, said method further comprises:

acquiring the angle change rate of the electric vehicle door when the electric vehicle door receives the external thrust;

and determining the magnitude of the external thrust based on the angular change speed.

In one possible implementation manner, the determining, based on the assistance mode, the target resistance corresponding to the electric vehicle door includes:

if the working mode of the electric vehicle door is an electric mode, determining a first resistance corresponding to the electric vehicle door based on the power-assisted mode;

and if the working mode of the electric vehicle door is a manual mode, determining a first resistance and a second resistance corresponding to the electric vehicle door based on the power assisting mode.

In one possible implementation, the boost modes include a light mode, a standard mode, and a heavy mode; the determining the target resistance corresponding to the electric vehicle door based on the assistance mode comprises the following steps:

If the power assisting mode is a light mode, the target resistance corresponding to the electric vehicle door is first-level resistance;

if the power-assisted mode is a standard mode, the target resistance corresponding to the electric vehicle door is a secondary resistance;

if the power-assisted mode is a heavy mode, the target resistance corresponding to the electric vehicle door is three-level resistance;

the primary resistance is less than the secondary resistance, and the secondary resistance is less than the tertiary resistance.

In a second aspect, the present application provides a control device for an electric vehicle door, comprising:

The resistance acquisition module is used for acquiring a power assisting mode of the electric vehicle door and determining target resistance corresponding to the electric vehicle door based on the power assisting mode;

The torque calculation module is used for determining target output torque of a driving motor of the electric vehicle door according to the target resistance when the electric vehicle door is monitored to be subjected to external thrust;

and the torque output module is used for controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is larger than the target resistance.

In one possible implementation, the torque calculation module includes:

In one possible implementation, the target resistance includes a first resistance and a second resistance; the torque calculation module includes:

In one possible implementation manner, the control device of the electric vehicle door further includes an external thrust calculating module, configured to:

In one possible implementation, the resistance acquisition module includes:

In a third aspect, the present application provides a controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described in the possible implementation manner of the first aspect when the processor executes the computer program.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as described in any one of the possible implementations of the first aspect above.

In a fifth aspect, embodiments of the present application provide a vehicle comprising a controller as described in the third aspect above.

The embodiment of the application provides a control method, a device, a controller, a storage medium and a vehicle of an electric vehicle door, wherein the method comprises the steps of firstly obtaining a power assisting mode of the electric vehicle door of the vehicle, and determining target resistance corresponding to the electric vehicle door based on the power assisting mode; when the electric vehicle door is monitored to be subjected to external thrust, determining a target output torque of a driving motor of the electric vehicle door according to the target resistance; and finally, controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance. According to the scheme, the electric vehicle door can be pushed by a user only by using the force with the same size as the target resistance based on the power assisting mode selected by the user, so that the vehicle door using experience of the user is optimized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of an implementation of a control method of an electric vehicle door according to an embodiment of the present application;

FIG. 2 is a schematic force diagram of an electric vehicle door according to an embodiment of the present application;

Fig. 3 is a schematic structural view of a control device for an electric vehicle door according to an embodiment of the present application;

fig. 4 is a schematic diagram of a controller according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.

Referring to fig. 1, a flowchart of an implementation of a control method of an electric vehicle door according to an embodiment of the present application is shown, and details are as follows:

s101: and acquiring a power assisting mode of an electric door of the vehicle, and determining a target resistance corresponding to the electric door based on the power assisting mode.

The execution main body of the embodiment is a controller, and may specifically include a whole vehicle controller, a vehicle body controller or a vehicle door controller. The electric vehicle door comprises an electric side door and a middle door of the vehicle, and the scheme provided by the application is explained by taking the electric side door and a vehicle door controller of the electric side door as an example.

Specifically, the power-assisted mode is manually selected by a user, the user can select the power-assisted mode through virtual buttons of different power-assisted modes on the central control screen, and the central control screen sends the power-assisted mode to the vehicle door controller after acquiring the power-assisted mode selected by the user. In addition, the user can also input a voice command through a voice assistant, the voice command can be used for switching a power assisting mode for controlling the vehicle door into XXX, the voice assistant identifies keywords in the voice command, determines a power assisting mode selected by the user based on the keywords, and sends the power assisting mode to the vehicle door controller after determining the power assisting mode.

Specifically, in order to improve accuracy of voice recognition and avoid the vehicle door controller from executing an error command, after recognizing the power-assisted mode, the vehicle door controller of the embodiment may also play a confirmation voice through a voice assistant, where the confirmation voice may be "master", i.e. switch the power-assisted mode of opening the electric side door to XXX, please confirm whether to agree "and the voice assistant sends the power-assisted mode to the vehicle door controller after recognizing the voice command of" agreeing "of the user. If the user inputs a voice command with the keyword of 'disagreement', the voice assistant does not act.

In this embodiment, the forces used when different users push the door are different, if the hand pushing force of the user is smaller and the resistance of the electric side door is larger, the user cannot push the electric side door; if the hand force of the user is large and the resistance of the electric side door is small, the electric side door may rapidly move due to the large unidirectional force, resulting in damage to the vehicle door. Therefore, the control method for the electric side door can enable the electric side door to generate proper resistance based on the selection of a user, and is convenient for the user to operate.

Specifically, the corresponding relation between the power assisting mode and the target resistance is pre-stored in the vehicle door controller. After receiving the power assisting mode selected by the user, the vehicle door controller searches the target resistance corresponding to the power assisting mode selected by the user based on the corresponding relation between the pre-stored power assisting mode and the target resistance.

In one possible implementation, the boost modes include a light mode, a standard mode, and a heavy mode; the specific implementation flow of S101 includes:

In the present embodiment, the assist modes include a light mode, a standard mode, a heavy mode, a first reservation mode, and a second reservation mode; the target resistance corresponding to the first reserved mode is four-level resistance, and the target resistance corresponding to the second reserved mode is five-level resistance; and the four-level resistance is larger than the three-level resistance, and the five-level resistance is larger than the four-level resistance.

S102: and when the electric vehicle door is monitored to be subjected to external thrust, determining the target output torque of the driving motor of the electric vehicle door according to the target resistance.

Specifically, when a user pushes the electric door, the door moves a small angle. The embodiment can monitor whether the electric vehicle door receives external thrust by detecting the change of the angle of the vehicle door.

In the embodiment, when the electric side door is in a hovering state, the door controller limits the electric side door by adopting an electrodeless limiting force, so that the electric side door is kept in the hovering state. Under the limit of stepless limiting force, the vehicle door controller outputs a certain torque to resist the natural force or thrust applied by the electric vehicle door so as to keep the electric vehicle door in a hovering state. The maximum threshold value of the torque for maintaining the hovering state is a target resistance, namely if the external thrust is not greater than the target resistance, the electric side-opening door is maintained in the hovering state, and if the external thrust is greater than the target resistance, the electric side-opening door is moved. If the electric side door is detected to be subjected to external thrust, the vehicle door controller determines the target output torque of the driving motor based on the target resistance corresponding to the power assisting mode selected by the user, so that the user pushes the vehicle door by using the force equal to the target resistance when pushing the electric side door.

For example, if the user selects the assist mode to be the light mode, the corresponding target resistance is 30N, and the resistance generated when the electric side door is pushed by the external pushing force is 50N, the force required to be output by the driving motor is 20N, that is, the user only needs to push the vehicle door by a force of 30N again, which is equivalent to sensing the resistance of 30N.

In one possible implementation manner, the specific implementation procedure of S102 includes:

In this embodiment, as shown in fig. 2, 10 is an electric side door, 20 is a ground, and a slope angle of the ground is a, wherein a horizontal direction of the electric side door is an X direction, a vertical direction of the electric side door is a Y direction, and a component g' =g· sina of a gravity g of the electric side door in the horizontal direction moves the electric side door, so that a force opposite to the gravity component needs to be applied to the electric side door to offset the gravity component. Therefore, when the electric side door is monitored to receive external thrust, calculation is needed to be performed based on the resistance and the gravity component wanted by the user, and the target output torque of the driving motor of the electric side door is obtained.

For example, the positive direction of the X direction is taken as the pushing direction of external pushing force, if the gravity component is-10N, the driving motor needs to output 10N force to counteract the gravity component; the user selects the power-assisted mode to be a light mode, the corresponding target resistance is-30N, and the resistance generated when the electric side door is pushed by external thrust is-50N on the premise of removing the influence of the gravity component, so that the resistance and the force required for counteracting the gravity component are combined at the moment, the force required to be output by the driving motor is +30N, that is, the user can push the electric side door only by outputting the force of +30N, which is equivalent to the resistance of-30N.

In one possible implementation, the target resistance includes a first resistance and a second resistance; the specific implementation flow of S102 includes:

In this embodiment, if it is monitored that the electric side door is subject to external thrust when the electric side door is in a hovering state, it is determined whether the external thrust is greater than the first resistance, if the external thrust is not greater than the first resistance, the door controller still limits the door to maintain the hovering state by adopting an electrodeless limiting force, and if the external thrust is greater than the first resistance, the door controller releases the electrodeless limiting force limit of the electric side door to enable the electric side door to start moving, and after the electric side door starts moving, determines a target output torque of the driving motor based on the second resistance, so that a user can maintain the electric side door in a moving state by adopting a force equal to the second resistance.

Illustratively, the first resistance of the light mode may be 25 to 30N and the second resistance may be 20N; the first resistance of the standard mode may be 45N and the second resistance may be 20N; the first resistance of the massive mode may be 65N and the second resistance may be 20N; the first resistance of the first reservation mode may be 45N and the second resistance may be 30N; the first resistance of the second reservation mode may be 65N and the second resistance may be 40N.

Preferably, the first resistance may be equal to the second resistance so that the resistance felt by the user during pushing the door is the same.

In one possible embodiment, the specific process of determining the magnitude of the external resistance includes:

In this embodiment, the correspondence between the angular transformation rate and the external thrust is stored in the vehicle door controller, and when the vehicle door controller monitors that the door opening angle of the electric side door is changed, the vehicle door controller obtains the door opening angle change value and the change time, so as to calculate the angular change rate, and determine the magnitude of the external thrust corresponding to the angular change rate based on the correspondence between the angular transformation rate and the external thrust.

S103: and controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance.

In the embodiment, if the vehicle door controller monitors that the external thrust is smaller than the target resistance, the stepless limiting force limitation on the electric side door is restored, so that the electric side door is controlled to hover again, and the stepless limiting of the electric side door is realized.

As can be seen from the foregoing embodiments, the control method for an electric vehicle door according to the embodiments of the present application first obtains a power assisting mode of an electric vehicle door of a vehicle, and determines a target resistance corresponding to the electric vehicle door based on the power assisting mode; when the electric vehicle door is monitored to be subjected to external thrust, determining a target output torque of a driving motor of the electric vehicle door according to the target resistance; and finally, controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance. According to the scheme, the electric vehicle door can generate the resistance with the corresponding size based on the power assisting mode selected by the user, so that the vehicle door using experience of the user is optimized.

In one possible implementation manner, the specific implementation procedure of S101 includes:

In this embodiment, if the working mode of the electric side door is a manual mode, the electric side door needs to be moved by a hand-push door when the electric side door is hovered, and after the electric side door is moved, the electric side door still needs to be kept in a moving state by a hand-push door by a user until reaching a target position, so that the target resistance corresponding to the power-assisted mode includes the resistance that the user wants to push the electric side door when the electric side door is hovered, namely the first resistance; also included is the resistance the user wants to receive when pushing the powered side-opening door in motion, i.e., the second resistance.

When the electric side door is in the electric mode, when the electric side door senses external thrust, the driving motor can be controlled to automatically drive the electric side door to move to the target position, so that the target resistance corresponding to the power assisting mode only comprises the resistance which the user wants to receive by pushing the electric side door when the electric side door is in the hovering mode, namely the first resistance.

Specifically, when the electric side door is in a motion state, when the external thrust is smaller than the second resistance, the stepless limiting force limitation on the electric side door is restored.

In a specific embodiment, the method for obtaining the power assist mode of the electric door of the vehicle further comprises:

if the external thrust of the electric vehicle door is monitored, determining the magnitude of the external thrust, and determining a corresponding power assisting mode based on the magnitude of the external thrust.

Specifically, the vehicle door controller stores a corresponding relation between an external thrust range and a power assisting mode, after determining the magnitude of the external thrust, determines the external thrust range in which the external thrust is located, searches the power assisting mode corresponding to the external thrust range, switches the power assisting mode to the power assisting mode corresponding to the external thrust if the searched power assisting mode is different from the current power assisting mode, and does not act if the searched power assisting mode is the same as the current power assisting mode.

According to the method, the power-assisted mode can be automatically adjusted based on the magnitude of the manual thrust, so that the target resistance of the electric vehicle door is automatically adapted to the magnitude of the manual thrust, and the use experience of the electric vehicle door is further optimized.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

The following are device embodiments of the application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.

Fig. 3 is a schematic structural diagram of a control device for an electric vehicle door according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown, which is described in detail below:

As shown in fig. 3, the control device 100 for a motor vehicle door includes:

A resistance obtaining module 110, configured to obtain a power assisting mode of an electric vehicle door, and determine a target resistance corresponding to the electric vehicle door based on the power assisting mode;

a torque calculation module 120, configured to determine a target output torque of a driving motor of the electric vehicle door according to the target resistance when it is monitored that the electric vehicle door is subject to external thrust;

And a torque output module 130 for controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance.

In one possible implementation, the torque calculation module 120 includes:

In one possible implementation, the target resistance includes a first resistance and a second resistance; the torque calculation module 120 includes:

In one possible implementation, the resistance acquisition module 110 includes:

As can be seen from the above embodiments, the control device for an electric vehicle door provided by the embodiment of the present application firstly obtains a power assisting mode of an electric vehicle door of a vehicle, and determines a target resistance corresponding to the electric vehicle door based on the power assisting mode; when the electric vehicle door is monitored to be subjected to external thrust, determining a target output torque of a driving motor of the electric vehicle door according to the target resistance; and finally, controlling the driving motor to output the target output torque so as to push the electric vehicle door when the external thrust is greater than the target resistance. According to the scheme, the electric vehicle door can be pushed by a user only by using the force with the same size as the target resistance based on the power assisting mode selected by the user, so that the vehicle door using experience of the user is optimized.

Embodiments of the present application also provide a computer program product having a program code which, when run in a corresponding processor, controller, computing device or controller, performs steps in any of the above-described embodiments of a method of controlling a motorized vehicle door, such as steps S101-S103 shown in fig. 1. Those skilled in the art will appreciate that the methods and apparatus presented in the embodiments of the present application may be implemented in various forms of hardware, software, firmware, special purpose processors, or a combination thereof. The special purpose processor may include an Application Specific Integrated Circuit (ASIC), a Reduced Instruction Set Computer (RISC), and/or a Field Programmable Gate Array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. Which is typically a machine based on a computer platform having hardware, such as one or more Central Processing Units (CPUs), random Access Memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein may either be part of the application program or part of the application program which is executed by the operating system.

Fig. 4 is a schematic diagram of a controller according to an embodiment of the present application. As shown in fig. 4, the controller 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40. The processor 40, when executing the computer program 42, implements the steps of the above-described embodiments of the control method of each electric vehicle door, such as steps S101 to S103 shown in fig. 1. Or the processor 40, when executing the computer program 42, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 110-130 shown in fig. 3.

Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to complete/implement the scheme provided by the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 42 in the controller 4.

The controller 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the controller 4 and is not meant to be limiting of the controller 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the controller may further include input and output devices, network access devices, buses, etc.

The Processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 41 may be an internal storage unit of the controller 4, such as a hard disk or a memory of the controller 4. The memory 41 may also be an external storage device of the controller 4, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the controller 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the controller 4. The memory 41 is used for storing the computer program and other programs and data required by the controller. The memory 41 may also be used for temporarily storing data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

In one embodiment of the application, the application provides a vehicle comprising a controller 4 as described above.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/controller and method may be implemented in other manners. For example, the apparatus/controller embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiment of controlling each electric vehicle door when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.

Furthermore, the features of the embodiments shown in the drawings of the application or of the various embodiments mentioned in the description are not necessarily to be understood as separate embodiments from each other. Rather, each feature described in one example of one embodiment may be combined with one or more other desired features from other embodiments, resulting in other embodiments not described in text or with reference to the drawings.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A control method of an electric vehicle door, comprising:

2. The method for controlling a motor vehicle door according to claim 1, wherein determining a target output torque of a drive motor of the motor vehicle door based on the target resistance when it is detected that the motor vehicle door is subjected to an external thrust force, comprises:

3. The control method of an electric vehicle door according to claim 1, characterized in that the target resistance includes a first resistance and a second resistance;

4. The control method of the electric vehicle door according to claim 3, characterized in that, before the determination as to whether the external thrust force is greater than the first resistance force, the method further comprises:

5. The method for controlling a motor vehicle door according to claim 3, wherein the determining the target resistance corresponding to the motor vehicle door based on the assist mode includes:

6. The control method of an electric vehicle door according to claim 1, wherein the assist mode includes a light mode, a standard mode, and a heavy mode; the determining the target resistance corresponding to the electric vehicle door based on the assistance mode comprises the following steps:

7. A control device for an electric vehicle door, comprising:

8. A controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for controlling a motor vehicle door according to any one of the preceding claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the control method of the electric vehicle door as claimed in any one of the preceding claims 1 to 6.

10. A vehicle comprising the controller of claim 8.