WO2021103840A1 - 车辆及其控制方法与装置 - Google Patents

车辆及其控制方法与装置 Download PDF

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Publication number
WO2021103840A1
WO2021103840A1 PCT/CN2020/121576 CN2020121576W WO2021103840A1 WO 2021103840 A1 WO2021103840 A1 WO 2021103840A1 CN 2020121576 W CN2020121576 W CN 2020121576W WO 2021103840 A1 WO2021103840 A1 WO 2021103840A1
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WO
WIPO (PCT)
Prior art keywords
door
door body
control
target
mode
Prior art date
Application number
PCT/CN2020/121576
Other languages
English (en)
French (fr)
Inventor
周孟喜
Original Assignee
广东小鹏汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东小鹏汽车科技有限公司 filed Critical 广东小鹏汽车科技有限公司
Priority to EP20893127.9A priority Critical patent/EP3885520B1/en
Publication of WO2021103840A1 publication Critical patent/WO2021103840A1/zh

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Classifications

    • 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
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B81/00—Power-actuated vehicle locks
    • E05B81/54—Electrical circuits
    • E05B81/56—Control of actuators
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • 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
    • E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/763—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using acoustical sensors
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • 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
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/3013—Electronic control of motors during manual wing operation
    • E05Y2400/3015—Power assistance
    • 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
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • 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
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • 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
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • 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

Definitions

  • the present invention relates to the field of vehicle technology, in particular to a vehicle and a control method and device thereof.
  • the present invention aims to solve one of the technical problems in the related art at least to a certain extent.
  • the first object of the present invention is to provide a vehicle control method that enables the door body to safely perform switching actions, increases the variety of controlling the door body to perform switching actions, and improves the comfort of the vehicle.
  • the second object of the present invention is to provide a vehicle control device.
  • the third object of the present invention is to provide a vehicle.
  • the fourth object of the present invention is to provide an electronic device.
  • the fifth object of the present invention is to provide a computer-readable storage medium.
  • an embodiment of the first aspect of the present invention provides a vehicle control method, the method including:
  • control mode of the door body includes: a fully automatic mode, a semi-automatic mode, and an assist mode;
  • the door is controlled.
  • the method before determining the target control mode of the door according to the first target distance interval to which the first distance belongs, the method further includes:
  • the target control mode is a fully automatic mode
  • the controlling the door body according to the target control mode includes:
  • the first control signal is a door opening signal, and controlling the door body to continuously perform a door opening action and open to a maximum door opening angle;
  • the first control signal is a door closing signal, and controlling the door body to continuously perform a door closing action and close to a minimum door opening angle.
  • the target control mode is a semi-automatic mode
  • the controlling the door body according to the target control mode includes:
  • the door is controlled to stop performing the switching action.
  • the target control mode is an assist mode
  • the controlling the door body according to the target control mode includes:
  • the method before controlling the door body to continuously perform the switching action, the method further includes:
  • the first control signal is a door opening signal, and controlling the door to be opened to a preset angle in advance.
  • the method before controlling the door body, the method further includes:
  • it further includes:
  • the door when the door is controlled, the door is divided into different control modes according to the distance between the door and the obstacle, and the door is controlled according to the corresponding control mode, so that the door is It can safely execute the switch action, and increase the diversity of the control door body to execute the switch action, and improve the comfort.
  • An embodiment of the second aspect of the present invention provides a vehicle control device, the device including:
  • An obtaining module which is used to obtain the first distance between the door on the vehicle and the obstacle in the environment where the vehicle is located;
  • the determining module is configured to determine the target control mode of the door body according to the first target distance interval to which the first distance belongs, wherein the control mode of the door body includes: a fully automatic mode, a semi-automatic mode, and an assist mode;
  • the control module is used to control the door body according to the target control mode.
  • control module is further configured to:
  • the target control mode is a fully automatic mode
  • the control module is also used for:
  • the first control signal is a door opening signal, and controlling the door body to continuously perform a door opening action and open to a maximum door opening angle;
  • the first control signal is a door closing signal, and controlling the door body to continuously perform a door closing action and close to a minimum door opening angle.
  • the target control mode is a semi-automatic mode
  • the control module is also used for:
  • the door is controlled to stop performing the switching action.
  • the target control mode is an assist mode
  • the control module is also used for:
  • control module is further configured to:
  • the first control signal is a door opening signal, and controlling the door to be opened to a preset angle in advance.
  • control module is further configured to:
  • control module is further configured to:
  • the vehicle control device provided by the embodiment of the present invention is divided into different control modes when controlling the door, and the door is controlled according to the corresponding control mode, so that the door is It can safely execute the switch action, and increase the diversity of the control door body to execute the switch action, and improve the comfort.
  • An embodiment of the third aspect of the present invention provides a vehicle, including: a vehicle control device as in the second aspect.
  • An embodiment of the fourth aspect of the present invention provides an electronic device, including a memory and a processor
  • the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the vehicle control method in the first aspect.
  • An embodiment of the fifth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the vehicle control method in the first aspect is implemented.
  • FIG. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the steps of controlling the door body when the target control mode is the fully automatic mode in the vehicle control method according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of steps of controlling the door body when the target control mode is the semi-automatic mode in the vehicle control method according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of steps of controlling the door body when the target control mode is the assist mode in the vehicle control method according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the steps of detecting the distance between the door and the obstacle in the process of the door body performing the opening and closing action in the vehicle control method according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a front view structure of a vehicle door in a vehicle control method according to an embodiment of the present invention
  • Figure 7 is a schematic side view of the structure of the door of the vehicle in Figure 6;
  • FIG. 8 is a structural diagram of the control system of the vehicle door of the vehicle in FIGS. 6 and 7;
  • FIG. 9 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
  • Fig. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present invention. As shown in Figure 1, the vehicle control method provided in this embodiment includes the following steps:
  • the distance detection device is a radar, an ultrasonic sensor, a capacitance sensor, a camera or a roof camera, etc.
  • the distance detecting device may continuously detect the first distance between the door and the obstacle; or when the driving speed of the vehicle is lower than the preset speed, then detect the first distance between the door and the obstacle, That is to say, when the driving speed of the vehicle is lower than the preset speed, the distance detection device is triggered to start working, which can be specifically determined according to the actual situation, which is not limited here.
  • S102 Determine the target control mode of the door according to the first target distance interval to which the first distance belongs, where the control mode of the door includes: a fully automatic mode, a semi-automatic mode, and an assist mode.
  • the first distance can be used to query the preset distance range to determine the first target distance range to which it belongs; further, the first target distance range can be determined by using the first target The distance interval query the mapping relationship chart between the preset distance interval and the control mode to determine the target control mode of the door body.
  • the control mode of the door body in this embodiment includes fully automatic mode, semi-automatic mode, and assist mode. mode.
  • the preset distance intervals are [50cm, + ⁇ ), [30cm, 50cm), (0cm, 30cm), and the corresponding control mode when the distance interval is [50cm, + ⁇ ) is fully automatic Mode, when the distance interval is [30cm, 50cm), the corresponding control mode is semi-automatic mode, and when the distance interval is (0cm, 30cm), the corresponding control mode is assist mode; then when the first distance detected is 40cm, then It can be determined that the first target distance interval is [30cm, 50cm). Further, by querying the mapping relationship between the distance interval and the control mode, it can be determined that the target control mode of the door body is the semi-automatic mode.
  • this step it can be detected whether the first control signal for controlling the door body to perform the switching action is received, and only when the first control signal is detected and determined that the first control signal is received, the step S102 is executed, so as to avoid Unnecessary processing improves the efficiency of the control system.
  • the door after determining the target control mode of the exit door, the door can be controlled according to the target control mode.
  • controlling the door at this time includes the following steps:
  • the first control signal is identified.
  • the door is controlled to continue to perform the door opening action and open to the maximum door opening angle, that is, to control the door
  • the body automatically executes the door opening action, and no personnel is required to operate during this period.
  • the recognition may be performed according to the current state of the door.
  • the first control signal if the current state of the door is in the closed state, the first control signal can be determined to be the door open signal; if the current state of the door is in the open state, the first control signal can be determined to be the door close signal, which can be determined according to actual conditions. There is no limit here.
  • the door is controlled to continue to perform the door-closing action and closed to the minimum door opening angle, that is, the door is controlled to automatically perform the door-closing action, during which no human operation is required.
  • controlling the door at this time includes the following steps:
  • the second control signal for controlling the door switch is continuously detected. That is to say, after receiving the first control signal, it does not control the door to automatically perform the opening and closing action, but needs to further continuously detect the second control signal that controls the door opening and closing, and control the door according to the second control signal. Body control.
  • the second control signal when the second control signal is detected and the second control signal is not interrupted, it indicates that the current operator has the intention of the door body to continue to perform the opening and closing action. At this time, the door body can be controlled to continue to perform the same as the second control signal. The corresponding switch action.
  • the second control signal when the second control signal is not detected or the detected second control signal is interrupted, it indicates that the current operator does not want the door to continue to perform the opening and closing action. At this time, the door can be controlled to stop the execution of the switch. action.
  • the controller in the vehicle controls The strut motor that drives the door to open continues to provide motor driving force in the upward movement direction, thereby driving the door to open; when the operator stops pressing the door opening key (that is, the second control signal is interrupted), the controller controls the strut motor Stop providing driving force, so that the door body stops moving.
  • controlling the door at this time includes the following steps:
  • S401 After receiving the first control signal, identify the movement of the door body, and obtain the movement direction of the door body.
  • the door body moves.
  • the door body moves under the action of external force. That is to say, after receiving the first control signal, the door body is not controlled to automatically or semi-automatically perform the switching action, but the door body must act under the action of external force. Further, when the movement of the door body is recognized, the movement direction of the door body is recognized.
  • an angle sensor can be used to detect the opening angle of the door body.
  • the opening angle of the door body changes, it indicates that the door body has moved.
  • the detected opening angle gradually increases, it indicates that the door is in the opened state, and when the detected opening angle gradually decreases, it indicates that the door is in the closed state.
  • the direction of movement of the door body can be determined according to the pre-calibrated direction of movement of the door body when it is opened and its movement direction when the door body is closed.
  • the door body moves above the vehicle body, and when it is detected that the door body is in the opened state, it can be determined that the direction of movement of the door body is toward the upper side of the vehicle body.
  • S402 Control the door body to perform a switch action in the same direction as the movement direction.
  • the controller in the vehicle can control and drive the door after recognizing the direction of movement of the door.
  • the opened strut motor provides motor driving force toward the upward movement direction, thereby assisting the operator to open the door.
  • the controller in the vehicle can control the strut motor that drives the door to move downwards after recognizing the direction of movement of the door. The driving force of the motor helps the operator to close the door.
  • the target control mode is the semi-automatic mode or the assist mode
  • the first control signal when it is recognized that the door is in the closed state and the first control signal is the door open signal, in order to enable the operator to obtain Knowing that the door body can be opened or it is convenient for the door body to perform subsequent opening actions, and the door body can also be controlled to open to a preset angle in advance.
  • the door when the door is in the closed state and the first control signal is the door open signal, the door can be controlled to drive the pull-in lock to unlock, so that under the elastic force of the pull-in lock, the door is bounced for a certain distance, that is, the door is controlled Open to a preset angle.
  • the door when the door is controlled, the door is divided into different control modes according to the distance between the door and the obstacle, and the door is controlled according to the corresponding control mode. Control, so that the door can safely perform the switching action, and increase the diversity of the control door to perform the switching action, and improve the comfort.
  • the door body in order to improve the safety of the vehicle and avoid a safety accident, it is also necessary to detect the driving speed of the vehicle before controlling the door. Specifically, when the speed of the vehicle detected by the speed sensor in the vehicle is lower than the preset speed threshold, the door body is allowed to perform the opening and closing action.
  • the distance between the door and the obstacle can also be detected during the opening and closing action of the door, so as to avoid contact between the door and the obstacle and improve the safety of the door control.
  • it includes the following steps:
  • the vehicle body and/or the distance detection device on the door body can be used to detect the second distance between the door body and the obstacle to obtain the second distance.
  • S502 Determine the target warning level of the vehicle according to the second target distance interval to which the second distance belongs, and/or determine the target movement speed of the door.
  • the second distance is used to query the preset distance interval to determine the second target distance interval to which it belongs; further, the second distance Second, the target distance interval query the mapping relationship chart between the preset distance interval and the warning level, you can determine the target warning level of the exit body, so as to give an early warning according to the determined target warning level to remind the operator to avoid The door body touches the obstacle; and/or the second target distance interval is used to query the mapping relationship chart between the preset distance interval and the movement speed of the door body to determine the target movement speed of the door body, thereby Control the movement of the door body according to the target movement speed to avoid contact between the door body and obstacles.
  • the preset distance intervals are [50cm, + ⁇ ), [30cm, 50cm), (0cm, 30cm), and the corresponding warning level when the distance interval is [50cm, + ⁇ ) is level 1.
  • the movement speed is 3; when the distance interval is [30cm, 50cm), the corresponding warning level is 2, and the movement speed is 1; when the distance interval is (0cm, 30cm), the corresponding warning level is 3, and the movement speed is 0; then when the second distance detected is 20cm, it can be determined that the second target distance interval is (0cm, 30cm).
  • the target early warning level is level 3, and the target movement speed of the door body is 0; further, it is controlled to issue a target warning level of level 3 alarm, and the door body is controlled to stop moving.
  • the structure of the door in this embodiment will be explained below by taking the door of the vehicle as a scissor door as an example.
  • the scissor door includes: a door body 11, a gas spring 12, a strut motor 13, a door handle 14, an inner switch 15, a suction lock 16 and a controller (not shown in the figure).
  • the controller when the scissor door is in the closed state, when the controller receives the control signal that the internal switch 15 or the door handle 14 is triggered, the controller controls the pull-in lock 16 to unlock, and controls the strut motor 13 in the gas spring 12 Under the support, the door 11 is opened according to the fixed path, so as to realize the opening of the scissor door; when the scissor door is in the open state, when the controller receives the control signal that the internal switch 15 or the door handle 14 is triggered, the controller controls the support The lever motor 13 is supported by the gas spring 12 to support the door 11 to close according to a fixed path, and controls the suction lock 16 to lock when the door 11 reaches a preset position, so as to realize the closing of the scissors door.
  • Fig. 8 is a structural diagram of the door control system of the vehicle in Figs. 6 and 7.
  • the door control system includes: a controller 21, a large screen control system 22, a body controller 23, a panoramic module 24, an intelligent driving controller 25, an anti-pinch module 26, a door handle switch 27, and a tail lift motor 28 , The tail flip motor 29 and the power module 30.
  • the large-screen control system 22, the body controller 23, the panoramic module 24, the intelligent driving controller 25, the anti-pinch module 26 and the door handle switch 27 are all connected to the controller 21 through the CAN bus.
  • the tail lift motor 28 and the tail flip motor 29 are all connected to the controller 21.
  • a mode switch is set on the large-screen control system 22, which can be used to select whether the doors on the left and right sides are opened at the same time or separately.
  • a soft switch (such as a virtual switch) can also be used on the large-screen control system 23. Keys, etc.) trigger the opening, closing, pause, etc. of the scissor door; the body controller 23 is mainly used to receive unlocking signals such as keys or triggering door control signals generated by other physical keys; the panoramic module 24 mainly uses the camera on the vehicle, etc.
  • the intelligent driving controller 25 mainly uses parking radar to sense the distance information between the obstacle and the door; the anti-pinch module 26 is mainly used to perceive the object between the door and the vehicle. Information in order to avoid the phenomenon of objects being caught between the door body and the car body; the door handle switch 27 is mainly used to generate the door control signal when triggered; the tail lift motor 28 is mainly used to receive the controller 21 After the raising or lowering control signal is issued, the tail wing of the door body is raised or lowered; the tail turning motor 29 is mainly used to control the tail wing of the door body after receiving the turning control signal issued by the controller 21; in addition, The controller 21 is also used to receive the position signals of the motors respectively sent by the tail lift motor 28 and the tail flip motor 29.
  • Fig. 9 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention. As shown in Fig. 6, the control device 300 of the vehicle includes:
  • the obtaining module 31 is used to obtain the first distance between the door on the vehicle and the obstacle in the environment where the vehicle is located;
  • the determining module 32 is configured to determine the target control mode of the door according to the first target distance interval to which the first distance belongs, where the control mode of the door includes: a fully automatic mode, a semi-automatic mode, and a power assist mode;
  • the control module 33 is used to control the door according to the target control mode.
  • control module 33 is also used for:
  • the target control mode is a fully automatic mode
  • the control module 33 is also used for:
  • the first control signal is a door opening signal, and control the door body to continuously perform the door opening action and open to the maximum door opening angle;
  • the first control signal is a door-closing signal, and control the door body to continuously perform the door-closing action and close to the minimum door opening angle.
  • the target control mode is a semi-automatic mode
  • the control module 33 is also used for:
  • the door body is controlled to stop performing the switching action.
  • the target control mode is the assist mode
  • the control module 33 is also used for:
  • control module 33 is also used for:
  • the door is in a closed state, and the first control signal is a door opening signal, and the door is controlled to open to a preset angle in advance.
  • control module 33 is also used for:
  • control module 33 is also used for:
  • the target warning level of the vehicle is determined, and/or the target movement speed of the door body is determined.
  • the foregoing device is used to execute the method in the foregoing embodiment, and the corresponding program module in the device has implementation principles and technical effects similar to the description in the foregoing method.
  • the working process of the device please refer to the corresponding method in the foregoing method. The process will not be repeated here.
  • the vehicle control device when controlling the door, is divided into different control modes according to the distance between the door and the obstacle, and the door is controlled according to the corresponding control mode.
  • the control enables the door body to safely perform the switching action, and increases the diversity of the control door body to perform the switching action, and improves the comfort.
  • the present invention also provides a vehicle.
  • the vehicle includes the vehicle control device 300 in the foregoing embodiment.
  • the present invention also provides an electronic device.
  • the electronic device 400 includes a memory 41 and a processor 42; wherein the processor 42 reads an executable program stored in the memory 41 The code runs the program corresponding to the executable program code to implement each step of the above method.
  • the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, each step of the above method is realized.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present invention, “plurality” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
  • the “above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Abstract

一种车辆及其控制方法与装置，控制方法包括：获取车辆上的门体（11）与门体所处环境中障碍物之间的第一距离；根据第一距离所属的第一目标距离区间，确定门体的目标控制模式，其中，门体的控制模式包括：全自动模式、半自动模式和助力模式；根据目标控制模式，对门体进行控制。该方法在对门体进行控制时，根据门体与障碍物之间的距离，划分为不同的控制模式，并根据相应的控制模式对门体进行控制，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了舒适性。

Description

车辆及其控制方法与装置 技术领域
本发明涉及车辆技术领域，特别是涉及一种车辆及其控制方法与装置。
背景技术
随着生活水平的逐渐提升，人们对车辆的舒适性要求越来越高。但目前的车辆，在车门的控制方面往往采用的是手动对车门进行控制的方式，如手动开启或关闭等，舒适性较差。
相关技术中，在对车门控制方面，增加了自动控制，由车辆自主控制车门打开或关闭，无需人为干预。但在车门自动执行开关动作的过程中，如果车门与障碍物之间的距离较近，则容易导致车门与障碍物之间发生触碰，进而导致车门受损。
发明内容
本发明旨在至少一定程度上解决相关技术中的技术问题之一。
为此，本发明的第一个目的在于提供一种车辆的控制方法，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了车辆的舒适性。
本发明的第二个目的在于提出一种车辆的控制装置。
本发明的第三个目的在于提出一种车辆。
本发明的第四个目的在于提出一种电子设备。
本发明的第五个目的在于提出一种计算机可读存储介质。
为达到上述目的，本发明第一方面实施例提供了一种车辆的控制方法，所述方法包括：
获取车辆上的门体与所述门体所处环境中障碍物之间的第一距离；
根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式，其中，所述门体的控制模式包括：全自动模式、半自动模式和助力模式；
根据所述目标控制模式，对所述门体进行控制。
根据本发明的一个实施例，所述根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式之前，还包括：
检测并确定接收到控制所述门体执行开关动作的第一控制信号。
根据本发明的一个实施例，所述目标控制模式为全自动模式；
所述根据所述目标控制模式，对所述门体进行控制，包括：
识别所述第一控制信号为开门信号，控制所述门体持续执行开门动作，并打开至最大开门角度；
识别所述第一控制信号为关门信号，控制所述门体持续执行关门动作，并闭合至最小开门角度。
根据本发明的一个实施例，还所述目标控制模式为半自动模式；
所述根据所述目标控制模式，对所述门体进行控制，包括：
在接收到所述第一控制信号之后，对控制所述门体开关的第二控制信号进行持续检测；
如果检测到所述第二控制信号且所述第二控制信号未中断，控制所述门体持续执行与所述第二控制信号相对应的开关动作；
如果未检测到所述第二控制信号或者检测到所述第二控制信号的出现中断，控制所述门体停止执行开关动作。
根据本发明的一个实施例，所述目标控制模式为助力模式；
所述根据所述目标控制模式，对所述门体进行控制，包括：
在接收到所述第一控制信号之后，识别所述门体运动，并获取所述门体的运动方向，控制所述门体在与所述运动方向相同的方向上执行开关动作，其中，所述门体在外力作用下运动。
根据本发明的一个实施例，在控制所述门体持续执行开关动作之前，还包括：
识别所述门体处于关闭状态，且所述第一控制信号为开门信号，控制所述门体预先打开至预设角度。
根据本发明的一个实施例，所述对所述门体进行控制之前，还包括：
检测并确定所述车辆的行驶速度低于预设速度阈值。
根据本发明的一个实施例，还包括：
获取在所述门体执行开关动作时所述门体与所述障碍物之间的第二距离；
根据所述第二距离所属的第二目标距离区间，确定所述车辆的目标预警等级，和/或，确定所述门体的目标运动速度。
本发明实施例提供的车辆的控制方法，在对门体进行控制时，根据门体与障碍物之间的距离，划分为不同的控制模式，并根据相应的控制模式对门体进行控制，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了舒适性。
本发明第二方面实施例提供了一种车辆的控制装置，所述装置包括：
获取模块，用于获取车辆上的门体与所述车辆所处环境中障碍物之间的第一距离；
确定模块，用于根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式，其中，所述门体的控制模式包括：全自动模式、半自动模式和助力模式；
控制模块，用于根据所述目标控制模式，对所述门体进行控制。
根据本发明的一个实施例，所述控制模块，还用于：
检测并确定接收到控制所述门体执行开关动作的第一控制信号。
根据本发明的一个实施例，所述目标控制模式为全自动模式；
所述控制模块，还用于：
识别所述第一控制信号为开门信号，控制所述门体持续执行开门动作，并打开至最大开门角度；
识别所述第一控制信号为关门信号，控制所述门体持续执行关门动作，并闭合至最小开门角度。
根据本发明的一个实施例，还所述目标控制模式为半自动模式；
所述控制模块，还用于：
在接收到所述第一控制信号之后，对控制所述门体开关的第二控制信号进行持续检测；
如果检测到所述第二控制信号且所述第二控制信号未中断，控制所述门体持续执行与所述第二控制信号相对应的开关动作；
如果未检测到所述第二控制信号或者检测到所述第二控制信号的出现中断，控制所述门体停止执行开关动作。
根据本发明的一个实施例，所述目标控制模式为助力模式；
所述控制模块，还用于：
在接收到所述第一控制信号之后，识别所述门体运动，并获取所述门体的运动方向，控制所述门体在与所述运动方向相同的方向上执行开关动作，其中，所述门体在外力作用下运动。
根据本发明的一个实施例，所述控制模块，还用于：
识别所述门体处于关闭状态，且所述第一控制信号为开门信号，控制所述门体预先打开至预设角度。
根据本发明的一个实施例，所述控制模块，还用于：
检测并确定所述车辆的行驶速度低于预设速度阈值。
根据本发明的一个实施例，所述控制模块，还用于：
获取在所述门体执行开关动作时所述门体与所述障碍物之间的第二距离；
根据所述第二距离所属的第二目标距离区间，确定所述车辆的目标预警等级，和/或，确定所述门体的目标运动速度。
本发明实施例提供的车辆的控制装置，在对门体进行控制时，根据门体与障碍物之间的距离，划分为不同的控制模式，并根据相应的控制模式对门体进行控制，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了舒适性。
本发明第三方面实施例提供了一种车辆，包括：如第二方面中的车辆的控制装置。
本发明第四方面实施例提供了一种电子设备，包括存储器、处理器；
其中，处理器通过读取存储器中存储的可执行程序代码来运行与可执行程序代码对应的程序，以用于实现第一方面中的车辆的控制方法。
本发明第五方面实施例提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现第一方面中的车辆的控制方法。
附图说明
图1是本发明公开的一个实施例的车辆的控制方法的流程示意图；
图2是本发明公开的一个实施例的车辆的控制方法中目标控制模式为全自动模式时对门体进行控制的步骤示意图；
图3是本发明公开的一个实施例的车辆的控制方法中目标控制模式为半自动模式时对门体进行控制的步骤示意图；
图4是本发明公开的一个实施例的车辆的控制方法中目标控制模式为助力模式时对门体进行控制的步骤示意图；
图5是本发明公开的一个实施例的车辆的控制方法中在门体执行开关动作的过程中对门体与障碍物之间的距离进行检测的步骤示意图；
图6是本发明公开的一个实施例的车辆的控制方法中车辆的车门的正视结构示意图；
图7是图6中车辆的车门的侧视结构示意图；
图8是图6和7中车辆的车门的控制系统的架构图；
图9是本发明公开的一个实施例的车辆的控制装置的结构示意图；
图10是本发明公开的一个实施例的车辆的结构示意图；
图11是本发明公开的一个实施例的电子设备的结构示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
下面参考附图描述本发明实施例的车辆及其控制方法与装置。
图1是本发明公开的一个实施例的车辆的控制方法的流程示意图。如图1所示，本实施例提供的车辆的控制方法，包括以下步骤：
S101、获取车辆上的门体与门体所处环境中障碍物之间的第一距离。
具体地，在本实施例中的车辆的车体和/或门体上设置有至少一个距离检测装置，通过距离检测装置可以检测到门体与门体所处环境中障碍物之间的第一距离。可选地，距离检测装置为雷达、超声波传感器、电容传感器、摄像机或车顶摄像头等。
可选地，距离检测装置可以持续检测门体与障碍物之间的第一距离；也可以在车辆的行驶速度低于预设速度时，再检测门体与障碍物之间的第一距离，也就是说，当车辆的行驶速度低于预设速度时，则触发距离检测装置开始工作，具体可根据实际情况而定，在此不做限定。
S102、根据第一距离所属的第一目标距离区间，确定门体的目标控制模式，其中，门 体的控制模式包括：全自动模式、半自动模式和助力模式。
具体地，确定出门体与障碍物之间的第一距离后，可以利用第一距离查询预先设定的距离区间，即可以确定出其所属的第一目标距离区间；进一步地，利用第一目标距离区间查询预先设定的距离区间和控制模式之间的映射关系图表，即可以确定出门体的目标控制模式，其中，在本实施例中门体的控制模式包括全自动模式、半自动模式和助力模式。
举例来说，预先设定的距离区间有[50cm，+∞)、[30cm，50cm)、(0cm，30cm),其中，距离区间为[50cm，+∞)时所对应的控制模式为全自动模式，距离区间为[30cm，50cm)时所对应的控制模式为半自动模式，距离区间为(0cm，30cm)时所对应的控制模式为助力模式；则当检测出的第一距离为40cm，就可以确定出第一目标距离区间为[30cm，50cm)，进一步地，查询距离区间与控制模式之间的映射关系，就可以确定出门体的目标控制模式为半自动模式。
可选地，在本步骤实施之前，可以检测是否接收到控制门体执行开关动作的第一控制信号，只有在检测并确定接收到了第一控制信号时，才执行本步骤S102，这样即可以避免不必要的处理，提升控制系统的高效性。
S103、根据目标控制模式，对门体进行控制。
具体地，确定出门体的目标控制模式后，就可以根据目标控制模式对门体进行控制。
其中，当目标控制模式为全自动模式时，则表明当前门体与障碍物之间的距离较远，障碍物不会影响到门体的开关动作，此时门体可以全自动的开关。如图2所示，此时对门体进行控制，包括以下步骤：
S201、识别第一控制信号为开门信号，控制门体持续执行开门动作，并打开至最大开门角度。
具体地，在接收到第一控制信号后，则对第一控制信号进行识别，当第一控制信号为开门信号时，则控制门体持续执行开门动作，并打开至最大开门角度，即控制门体全自动 执行开门动作，这期间无需人员进行操作。
可选地，在对第一控制信号进行识别时，可以根据门体当前的状态进行识别。其中，如果门体当前的状态为闭合状态，则可以确定第一控制信号为开门信号；如果门体当前的状态为开启状态，则可以确定第一控制信号为关门信号，具体可根据实际情况而定，在此不做限定。
S202、识别第一控制信号为关门信号，控制门体持续执行关门动作，并闭合至最小开门角度。
具体地，当第一控制信号为关门信号时，则控制门体持续执行关门动作，并闭合至最小开门角度，即控制门体全自动执行关门动作，这期间无需人员进行操作。
当目标控制模式为半自动模式时，则表明当前门体与障碍物之间的距离较近，在门体自动开启的过程中存在碰触到障碍物的可能性，因此，为了彻底避免门体与障碍物之间碰触的情况，则通过半自动模式对门体进行控制。如图3所示，此时对门体进行控制，包括以下步骤：
S301、在接收到第一控制信号之后，对控制门体开关的第二控制信号进行持续检测。
具体地，在接收到第一控制信号后，则对控制门体开关的第二控制信号进行持续检测。也就是说，在接收到第一控制信号后，并不控制门体全自动执行开关动作，而是需要进一步地对控制门体开关的第二控制信号进行持续检测，并根据第二控制信号对门体进行控制。
S302、如果检测到第二控制信号且第二控制信号未中断，控制门体持续执行与第二控制信号相对应的开关动作。
具体地，当检测到第二控制信号且第二控制信号未中断，则表明当前操作人员存在希望门体持续执行开关动作的意图，此时，则可以控制门体持续执行与第二控制信号相对应的开关动作。
S303、如果未检测到第二控制信号或者检测到第二控制信号的出现中断，控制门体停 止执行开关动作。
具体地，当未检测到第二控制信号或者检测到的第二控制信号出现中断，则表明当前操作人员存在不希望门体持续执行开关动作的意图，此时，则可以控制门体停止执行开关动作。
举例来说，当门体为剪刀门时且门体处于关闭状态时，在操作人员持续按住门体开关键时(即检测到第二控制信号且未中断)，车辆中的控制器则控制驱动门体打开的撑杆电机持续朝向上运动方向提供电机驱动力，从而驱动门体打开；当操作人员停止按压门体开关键时(即第二控制信号中断)，则控制器控制撑杆电机停止提供驱动力，从而使门体停止运动。
当目标控制模式为助力模式时，则表明当前门体与障碍物之间的距离非常近，在门体自动或者半自动开启的过程中存在碰触到障碍物的可能性，因此，为了彻底避免门体与障碍物之间碰触的情况，则通过助力模式对门体进行控制。如图4所示，此时对门体进行控制，包括以下步骤：
S401、在接收到第一控制信号之后，识别门体运动，并获取门体的运动方向。
具体地，在接收到第一控制信号后，则识别门体是否产生运动，其中，在本实施例中门体的运动是在外力作用下产生的。也就是说，在接收到第一控制信号后，并不控制门体全自动或半自动执行开关动作，而是必须在外力作用下门体才会产生动作。进一步地，在识别到门体产生运动时，则对门体的运动方向进行识别。
可选地，在识别门体是否产生运动时，可以利用角度传感器检测门体的开启角度，当其开启角度发生变化时，则表明门体产生了运动。其中，当检测到的开启角度逐渐增大时，则表明门体处于被开启状态，而当检测到的开启角度逐渐减小时，则表明门体处于被关闭状态。进一步地，则根据预先标定的门体被开启时其运动方向和门体被关闭时其运动方向，即可以确定出门体的运动方向。
例如，预先标定的门体被开启时，门体是车体的上方运动，则在检测出门体处于被开启状态时，即可以确定出门体的运动方向是朝向车体的上方。
S402、控制门体在与运动方向相同的方向上执行开关动作。
具体地，在识别到门体处于运动状态时，则表明操作人员存在希望门体执行开关动作的意图，此时，为了降低操作人员操作时的负担，则可以辅助操作人员控制门体在于运动方向相同的方向上执行开关动作。
举例来说，当门体为剪刀门时且门体处于关闭状态时，在操作人员向上掰动门体时，车辆中的控制器在识别到门体的运动方向后，则可以控制驱动门体打开的撑杆电机朝向上运动方向提供电机驱动力，从而助力操作人员打开门体。当门体处于打开状态时，在操作人员向下掰动门体时，车辆中的控制器在识别到门体的运动方向后，则可以控制驱动门体打开的撑杆电机朝向下运动方向提供电机驱动力，从而助力操作人员关闭门体。
进一步地，在目标控制模式为半自动模式或助力模式时，在接收到第一控制信号后，在识别到门体处于关闭状态，且第一控制信号为开门信号时，为了能够使操作人员能够得知门体可以被打开或者便于门体执行后续的开启动作，还可以控制门体预先打开至预设角度。例如，在门体处于关闭状态，且第一控制信号为开门信号时，可以控制门体驱动吸合锁解锁，从而在吸合锁的弹力作用下，将门体弹开一段距离，即控制门体打开至预设角度。
综上所述，本发明实施例提供的车辆的控制方法，在对门体进行控制时，根据门体与障碍物之间的距离，划分为不同的控制模式，并根据相应的控制模式对门体进行控制，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了舒适性。
在一些实施例中，为了提升车辆的安全性，避免出现安全事故，在对门体进行控制之前，还需要对车辆的行驶速度进行检测。具体地，当车辆中速度传感器检测到的车辆的行驶速度低于预设速度阈值时，才允许门体执行开关动作。
在一些实施例中，在门体执行开关动作的过程中，还可以对门体与障碍物之间的距离 进行检测，以避免门体与障碍物之间发生触碰，提升门体控制的安全性。如图5所示，包括以下步骤：
S501、获取在门体执行开关动作时门体与障碍物之间的第二距离。
具体地，在门体执行开关动作的过程中，可以利用车辆的车体和/或门体上的距离检测装置对门体与障碍物之间的第二距离进行检测，以获取到第二距离。
S502、根据第二距离所属的第二目标距离区间，确定车辆的目标预警等级，和/或，确定门体的目标运动速度。
具体地，在获取到门体与障碍物之间的第二距离后，则利用第二距离查询预先设定的距离区间，即可以确定出其所属的第二目标距离区间；进一步地，利用第二目标距离区间查询预先设定的距离区间和预警等级之间的映射关系图表，即可以确定出门体的目标预警等级，从而根据确定出的目标预警等级进行预警，以对操作人员进行提醒，避免门体与障碍物发生触碰；和/或，利用第二目标距离区间查询预先设定的距离区间和门体的运动速度之间的映射关系图表，即可以确定出门体的目标运动速度，从而根据目标运动速度控制门体运动，以避免门体与障碍物发生触碰。
举例来说，预先设定的距离区间有[50cm，+∞)、[30cm，50cm)、(0cm，30cm),其中，距离区间为[50cm，+∞)时所对应的预警等级为1级，运动速度为3；距离区间为[30cm，50cm)时所对应的预警等级为2级，运动速度为1；距离区间为(0cm，30cm)时所对应的预警等级为3级，运动速度为0；则当检测出的第二距离为20cm，就可以确定出第二目标距离区间为(0cm，30cm)，进一步地，查询距离区间与预警等级以及运动速度之间的映射关系，就可以确定出目标预警等级为3级，门体的目标运动速度为0；进一步地，则控制发出目标预警等级为3级的警报，同时控制门体停止运动。
为了便于理解，下面以车辆的车门为剪刀门为例对本实施例中车门的结构进行解释说明。如图6和7所示，剪刀门包括：门体11、气弹簧12、撑杆电机13、门把手14、内开 关15、吸合锁16和控制器(图中未示出)。其中，当剪刀门处于关闭状态时，当控制器接收到内开关15或者门把手14被触发的控制信号后，控制器即控制吸合锁16解锁，并控制撑杆电机13在气弹簧12的支撑下按固定路径支撑门体11开启，从而实现剪刀门的开启；当剪刀门处于开启状态时，当控制器接收到内开关15或者门把手14被触发的控制信号后，控制器即控制撑杆电机13在气弹簧12的支撑下按固定路径支撑门体11关闭，并在门体11到达预设位置时控制吸合锁16闭锁，从而实现剪刀门的关闭。
图8为图6和7中车辆的车门控制系统的架构图。如图8所示，车门控制系统包括：控制器21、大屏控制系统22、车身控制器23、全景模块24、智能驾驶控制器25、防夹模块26、门把手开关27、尾翼升降电机28、尾翼翻转电机29和电源模块30。大屏控制系统22、车身控制器23、全景模块24、智能驾驶控制器25、防夹模块26和门把手开关27均通过CAN总线与控制器21相连，尾翼升降电机28和尾翼翻转电机29均与控制器21通过硬线等信号线相连；电源模块30与控制器21通过电源线相连。其中，在大屏控制系统22上设定有模式开关，可以通过该模式开关选择左右两侧的门体同时开启还是单独开启，此外在大屏控制系统23上也可以通过软开关(如虚拟开关键等)触发剪刀门开启、关闭、暂停等；车身控制器23主要用于接收钥匙等解闭锁信号或者触发其他实体按键所产生的门体控制信号；全景模块24主要是利用车辆上的摄像头等感知车辆周围的障碍物信息；智能驾驶控制器25主要是利用泊车雷达等感知障碍物与门体之间的距离信息；防夹模块26主要是用于感知门体与车体之间的物体信息，以避免出现门体与车体之间的物体被夹住的现象；门把手开关27主要是用于被触发时产生车门控制信号；尾翼升降电机28主要是用于在接收到控制器21下发的升起或下降控制信号后控制门体的尾翼升起或下降；尾翼翻转电机29主要是用于在接收到控制器21下发的翻转控制信号后控制门体的尾翼翻转；此外，控制器21还用于接收尾翼升降电机28和尾翼翻转电机29分别发送的电机的位置信号。
图9是本发明公开的一个实施例的车辆的控制装置的结构示意图。如图6示，该车辆的控制装置300包括：
获取模块31，用于获取车辆上的门体与车辆所处环境中障碍物之间的第一距离；
确定模块32，用于根据第一距离所属的第一目标距离区间，确定门体的目标控制模式，其中，门体的控制模式包括：全自动模式、半自动模式和助力模式；
控制模块33，用于根据目标控制模式，对门体进行控制。
进一步地，控制模块33，还用于：
检测并确定接收到控制门体执行开关动作的第一控制信号。
进一步地，目标控制模式为全自动模式；
控制模块33，还用于：
识别第一控制信号为开门信号，控制门体持续执行开门动作，并打开至最大开门角度；
识别第一控制信号为关门信号，控制门体持续执行关门动作，并闭合至最小开门角度。
进一步地，还目标控制模式为半自动模式；
控制模块33，还用于：
在接收到第一控制信号之后，对控制门体开关的第二控制信号进行持续检测；
如果检测到第二控制信号且第二控制信号未中断，控制门体持续执行与第二控制信号相对应的开关动作；
如果未检测到第二控制信号或者检测到第二控制信号的出现中断，控制门体停止执行开关动作。
进一步地，目标控制模式为助力模式；
控制模块33，还用于：
在接收到第一控制信号之后，识别门体运动，并获取门体的运动方向，控制门体在与运动方向相同的方向上执行开关动作，其中，门体在外力作用下运动。
进一步地，控制模块33，还用于：
识别门体处于关闭状态，且第一控制信号为开门信号，控制门体预先打开至预设角度。
进一步地，控制模块33，还用于：
检测并确定车辆的行驶速度低于预设速度阈值。
进一步地，控制模块33，还用于：
获取在门体执行开关动作时门体与障碍物之间的第二距离；
根据第二距离所属的第二目标距离区间，确定车辆的目标预警等级，和/或，确定门体的目标运动速度。
应当理解的是，上述装置用于执行上述实施例中的方法，装置中相应的程序模块，其实现原理和技术效果与上述方法中的描述类似，该装置的工作过程可参考上述方法中的对应过程，此处不再赘述。
综上所述，本发明实施例提供的车辆的控制装置，在对门体进行控制时，根据门体与障碍物之间的距离，划分为不同的控制模式，并根据相应的控制模式对门体进行控制，使得门体能够安全执行开关动作，并增加了控制门体执行开关动作的多样性，提升了舒适性。
为了实现上述实施例，本发明还提供了一种车辆，如图10所示，该车辆包括上述实施例中的车辆的控制装置300。
为了实现上述实施例，本发明还提供了一种电子设备，如图11所示，该电子设备400包括存储器41、处理器42；其中，处理器42通过读取存储器41中存储的可执行程序代码来运行与可执行程序代码对应的程序，以用于实现上文方法的各个步骤。
为了实现上述实施例，本发明还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上文方法的各个步骤。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、 “厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述 不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种车辆的控制方法，其特征在于，所述方法包括：
    获取车辆上的门体与所述门体所处环境中障碍物之间的第一距离；
    根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式，其中，所述门体的控制模式包括：全自动模式、半自动模式和助力模式；
    根据所述目标控制模式，对所述门体进行控制。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式之前，还包括：
    检测并确定接收到控制所述门体执行开关动作的第一控制信号。
  3. 根据权利要求2所述的方法，其特征在于，所述目标控制模式为全自动模式；
    所述根据所述目标控制模式，对所述门体进行控制，包括：
    识别所述第一控制信号为开门信号，控制所述门体持续执行开门动作，并打开至最大开门角度；
    识别所述第一控制信号为关门信号，控制所述门体持续执行关门动作，并闭合至最小开门角度。
  4. 根据权利要求2所述的方法，其特征在于，所述目标控制模式为半自动模式；
    所述根据所述目标控制模式，对所述门体进行控制，包括：
    在接收到所述第一控制信号之后，对控制所述门体开关的第二控制信号进行持续检测；
    如果检测到所述第二控制信号且所述第二控制信号未中断，控制所述门体持续执行与所述第二控制信号相对应的开关动作；
    如果未检测到所述第二控制信号或者检测到所述第二控制信号的出现中断，控制所述门体停止执行开关动作。
  5. 根据权利要求2所述的方法，其特征在于，所述目标控制模式为助力模式；
    所述根据所述目标控制模式，对所述门体进行控制，包括：
    在接收到所述第一控制信号之后，识别所述门体运动，并获取所述门体的运动方向，控制所述门体在与所述运动方向相同的方向上执行开关动作，其中，所述门体在外力作用下运动。
  6. 根据权利要求4或5所述的方法，其特征在于，在控制所述门体持续执行开关动作之前，还包括：
    识别所述门体处于关闭状态，且所述第一控制信号为开门信号，控制所述门体预先打开至预设角度。
  7. 根据权利要求1-5中任一项所述的方法，其特征在于，所述对所述门体进行控制之前，还包括：
    检测并确定所述车辆的行驶速度低于预设速度阈值。
  8. 根据权利要求1-5中任一项所述的方法，其特征在于，还包括：
    获取在所述门体执行开关动作时所述门体与所述障碍物之间的第二距离；
    根据所述第二距离所属的第二目标距离区间，确定所述车辆的目标预警等级，和/或，确定所述门体的目标运动速度。
  9. 一种车辆的控制装置，其特征在于，所述装置包括：
    获取模块，用于获取车辆上的门体与所述车辆所处环境中障碍物之间的第一距离；
    确定模块，用于根据所述第一距离所属的第一目标距离区间，确定所述门体的目标控制模式，其中，所述门体的控制模式包括：全自动模式、半自动模式和助力模式；
    控制模块，用于根据所述目标控制模式，对所述门体进行控制。
  10. 一种车辆，其特征在于，包括如权利要求9中所述的车辆的控制装置。
PCT/CN2020/121576 2019-11-25 2020-10-16 车辆及其控制方法与装置 WO2021103840A1 (zh)

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