WO2023273145A1

WO2023273145A1 - Electric vehicle door control system and method

Info

Publication number: WO2023273145A1
Application number: PCT/CN2021/134448
Authority: WO
Inventors: 娄凌宇; 李彦奇; 周凯; 高士龙; 田鋆; 王星皓; 张楠; 张云轩; 龚晓琴
Original assignee: 一汽奔腾轿车有限公司
Priority date: 2021-07-02
Filing date: 2021-11-30
Publication date: 2023-01-05
Also published as: CN113482487A

Abstract

An electric vehicle door control system and method. The system is composed of an electric vehicle door controller, a vehicle door opening/closing execution mechanism, a door lock, a switch, and a safety early-warning device; the electric vehicle door controller is used for collecting external information, receiving an external command, and controlling opening and closing of a vehicle door and locking and unlocking of the vehicle door; the vehicle door opening/closing execution mechanism is used for controlling electric opening and closing of the vehicle door and recognizing and controlling the opening angle of the vehicle door; and the door lock is used for achieving electric locking and unlocking of the vehicle door, and the safety early-warning device is used for reminding a vehicle owner. According to the system and method, electric opening and closing of the vehicle door can be achieved, and meanwhile, manual opening and closing can be achieved. According to the electric vehicle door control system, different new experience is brought to a user, limitation caused by manual door opening/closing is also solved, and meanwhile, great convenience is brought to people with reduced mobility or vehicle owners having too many articles on hands.

Description

An electric vehicle door control system and its control method

technical field

The invention belongs to the technical field of control and data acquisition, and in particular relates to an electric vehicle door control system and a control method thereof.

Background technique

With the continuous improvement of living standards, cars have entered thousands of households and become the first choice for people to travel, and people have become increasingly inseparable from cars. In recent years, with the acceleration of the development of automobile intelligence, vehicle-mounted "black technologies" are also emerging in an endless stream. Many "black technologies" not only bring us more convenience, but also improve the safety and convenience of vehicles, and many fashionable functions are also sought after by young people. But until now, the switch of the car door is mainly realized by hand.

At present, there are mainly two ways of opening and closing the car door: manual mode and electric mode, among which the manual mode is the main mode.

The manual way is the most common way of opening and closing the door, which is that people open the door by pulling the door handle or push and close the door by hand. The manual mode is characterized by simple structure and low cost, but the switch of the car door needs to be realized manually.

After more than 100 years of development of automobiles, with the emergence of various new technologies, many configurations have appeared and then been eliminated, but the doors have always existed. Although the opening method of the car door has changed a lot, the opening of the car door usually requires a person to open it manually through the door handle. The first thing passengers come into contact with when entering a vehicle is the door. Passengers often get their first impression of the vehicle from the door. In addition to the beautiful appearance, the variety of ways in and out of the door and the degree of intelligence are increasingly valued by the majority of car owners. With the promotion of intelligent interconnection and intelligent driving, the demand for electric vehicle door opening systems will become stronger and stronger.

Contents of the invention

In order to overcome the above-mentioned problems existing in the prior art, the present invention provides an electric vehicle door control system and its control method, which can not only realize the electric opening and closing of the vehicle door, but also realize the manual opening and closing; the present invention brings While the user has a unique new experience, it also solves the limitations caused by manual opening and closing of the door, and at the same time brings great convenience to people with limited mobility or car owners with too many items in their hands.

The present invention realizes through following technical scheme:

An electric car door control system, which is composed of an electric car door controller, a door switch actuator, a door lock, a switch and a safety warning device; the electric car door controller is used for collecting external information, receiving external commands, controlling the opening and closing of the car door and Locking and unlocking, the door switch actuator is used to control the electric opening and closing of the door, and to identify and control the opening angle of the door; the door lock is used to realize the electric locking and unlocking of the door, the security The early warning device is used to remind the car owner.

Preferably, the electric door controller is composed of a microcontroller ECU, a memory EEPROM and a drive circuit; the microcontroller receives the vehicle status information through the CAN network, and according to the vehicle speed, wheel speed, power mode, gear and parking signal When the system is in a safe working condition, the ECU will respond to any command; when the system is in an unsafe working condition, the ECU will reject the door opening command and can respond to the door closing command; when the door is being opened electrically When switching to an unsafe working condition at this time, the door will hover; when the door is being electrically closed, switching to an unsafe working condition at this time, the door will not be affected and continue to be electrically closed.

Preferably, the door switch actuator is composed of a motor, a Hall sensor and an actuator, the Hall sensor transmits the collected information to the actuator for execution, and the motor is used to drive the actuator.

Preferably, the door lock is a self-priming lock, which is used to realize the electric locking and unlocking of the car door, and is composed of a latch controller, a door lock motor and a lock state switch, and the door lock motor is used to drive the latch controller to control A locking state switch; wherein, the locking state switch includes a pawl position feedback switch, a half-lock state switch and a full-lock state switch.

Preferably, the safety warning device is composed of a radar and a buzzer, and the radar is used to detect obstacles near the door to determine whether there is a safety hazard in the process of opening and closing the door; the buzzer generates a buzzing sound to remind car owners and pedestrians to pay attention .

A method for controlling an electric vehicle door, specifically comprising the steps of:

Step 1: When the system detects that the power supply voltage is higher or lower than the set voltage, the power door controller will turn off related functions to avoid system damage; when the power supply voltage returns to normal, the power door controller will resume related functions;

Step 2: When the system detects that the power supply voltage is within the set range, the control system enters the working mode, which specifically includes the following modes:

a. Initialization mode: the system is powered on for the first time or powered on again after a power failure to enter the initialization mode; in this mode, when the self-priming lock is in the full lock state, it will learn Hall position 0; the learning of Hall position 0 is completed After that, when the door is electrically opened for the first time, the ECU will learn the maximum mechanical door opening angle;

Wherein, the Hall position 0 learning: manually close the door to the full lock position, or manually close the car door to the half lock position, the self-priming lock will automatically attract to the full lock position, and the Hall position 0 of the ECU will be set, otherwise ECU will not respond to any operation commands;

The maximum mechanical door opening angle learning: After the Hall position 0 is set, if there is a maximum mechanical door opening angle learning state in the EEPROM, it will directly enter the working mode; otherwise, the ECU will only respond to the door opening command, and the door will be electrically opened to the maximum mechanical door opening Angle and stall protection occurs, when the door Hall position is greater than the maximum mechanical door opening angle when the car is blocked, the effective position is learned, the maximum mechanical door opening angle is learned, and the system enters the working mode;

Setting or clearing of the maximum mechanical door opening angle: the maximum mechanical door opening angle can be set or cleared through external commands; after the maximum mechanical door opening angle is cleared, the system returns to the initialization mode from the working mode.

b. Transportation mode: ECU receives the transportation mode command, and the system enters the transportation mode; in this mode, the ECU will only retain the functions of electric unlocking and electric locking, and will not respond to any operation commands; the transportation mode can be exited by external commands;

c. Working mode: The system can work normally in this mode and can complete all the functions of the system;

The ECU receives the switching command from the hard line input or the CAN network signal input, and realizes the driving of the self-priming lock, the electric hinge motor, and the buzzer through the judgment of the current system state, so as to realize the electric opening and closing of the door. Closed-loop control of the door opening and closing speed during the door opening and closing process;

d. Low power consumption mode: When no command is received for a long time and no operation is performed, the system enters low power consumption mode to save power;

e. Protection mode: When the motor is started frequently, in order to prevent the motor from overheating, the system will enter the failure mode; the ECU counts according to the running state of the motor. When the count reaches the threshold, it will execute the current operation and then enter the protection mode. In this mode, Do not respond to any order;

f. Fault mode: When the electric hinge motor is stuck due to foreign objects, or the stall fault occurs due to the abnormal position of the Hall, the system enters the fault mode; after the motor stops, the stall fault is cleared, and the ECU returns to the working mode.

Preferably, step one is specifically as follows:

a. The microcontroller detects that the power supply voltage transitions from normal voltage to undervoltage: the power supply voltage shows a downward trend and the supply voltage reaches the first working point, the microcontroller closes related functions, and the electric door control system enters undervoltage protection;

b. The microcontroller detects the transition of the supply voltage from undervoltage to normal voltage: the supply voltage recovers from undervoltage and reaches the second operating point, the microcontroller resumes relevant functions, and the electric door control system releases the undervoltage protection;

c. The microcontroller detects that the power supply voltage transitions from normal voltage to overvoltage: the power supply voltage shows an upward trend and the supply voltage reaches the third operating point, the microcontroller turns off related functions, and the electric door control system enters overvoltage protection;

d. The microcontroller detects that the power supply voltage transitions from overvoltage to normal voltage: the power supply voltage recovers from overvoltage and reaches the fourth operating point, the microcontroller resumes related functions, and the electric door control system releases the overvoltage protection.

Compared with prior art, advantage of the present invention is as follows:

The electric car door control system of the present invention not only has the electric opening and closing mode of the car door, but can realize the electric opening and closing of the car door; at the same time, it can also be converted into a manual mode to realize manual opening and closing of the door when necessary. The electric door opening and closing is realized through the door opening and closing commands received by the system. Such a command may come from a switch button, or a door opening and closing command from an in-vehicle bus. The bus here may be but not limited to a CAN bus, a LIN bus, and the like. The use of electric doors can realize the diversity of door opening and closing control, which can realize but not limited to electric opening and closing of keys, electric opening and closing of remote control, electric opening and closing of body movement control, fingerprint and face electric opening and closing, etc.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art. Throughout the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn in actual scale.

Fig. 1 is a system block diagram of a kind of electric vehicle door control system of the present invention;

Fig. 2 is a schematic diagram of an electric vehicle door control system of the present invention under overvoltage or undervoltage;

Fig. 3 is a schematic diagram of motor protection judgment in the present invention.

detailed description

In order to clearly and completely describe the technical solution of the utility model and its specific working process, in conjunction with the accompanying drawings, the specific implementation of the utility model is as follows:

In this utility model, unless otherwise specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated; may be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediary, and may be an internal communication between two elements or an interactive relationship between two elements, unless otherwise stated Clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature through an intermediary indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Example 1

As shown in Figure 1, the present embodiment provides an electric door control system, which is composed of an electric door controller, a door switch actuator, a door lock, a switch and a safety warning device; the electric door controller is used for collecting external information, Receive external commands, control the switch of the car door and the locking and unlocking of the car door, the door switch actuator is used to control the electric opening and closing of the car door, and identify and control the opening angle of the car door; the door lock is used to realize The electric locking and unlocking of the car door, the safety warning device is used to remind the car owner.

Example 2

As shown in Figure 2-3, this embodiment provides a method for controlling an electric vehicle door, which specifically includes the following steps:

1.1. Overvoltage/undervoltage protection

When the system detects that the supply voltage is higher or lower than the set voltage, the ECU shuts down related functions to avoid system damage. When the supply voltage returns to normal, the ECU resumes related functions. See Figure 2. ·

a. The ECU detects that the power supply voltage transitions from normal voltage to undervoltage: the power supply voltage shows a downward trend and reaches the first working point, the ECU closes related functions, and the electric door control system enters undervoltage protection;

b. ECU detects that the power supply voltage transitions from undervoltage to normal voltage: the power supply voltage recovers from undervoltage and reaches the second operating point, the ECU resumes relevant functions, and the electric door control system releases the undervoltage protection;

c. ECU detects that the power supply voltage transitions from normal voltage to overvoltage: the power supply voltage shows an upward trend and the power supply voltage reaches the third operating point, ECU closes related functions, and the electric door control system enters overvoltage protection;

d. ECU detects that the power supply voltage transitions from overvoltage to normal voltage: the power supply voltage recovers from overvoltage and reaches the working point ④, the ECU resumes related functions, and the electric door control system releases the overvoltage protection.

1.2. System working mode

a. Initialization mode: The system is powered on for the first time or powered on again after a power failure to enter the initialization mode. In this mode, when the self-priming lock is in the fully locked state, it will learn Hall position 0; after the Hall position 0 learning is completed, the ECU will learn the maximum mechanical door opening angle when the door is opened electrically for the first time.

Hall position 0 learning: Manually close the door to the full lock position, or manually close the door to the half lock position, the self-suction lock will automatically close to the full lock position, and the Hall position 0 of the ECU will be set, otherwise the ECU will not Respond to any operation command.

Maximum mechanical door opening angle learning: After the Hall position 0 is set, if there is a maximum mechanical door opening angle learning state in the EEPROM, it will directly enter the working mode; otherwise, the ECU will only respond to the door opening command, and the door will be electrically opened to the maximum mechanical door opening angle and Locked rotor protection occurs, when the door Hall position is greater than the maximum mechanical door opening angle when the rotor is locked, the effective position is learned, the maximum mechanical door opening angle is learned, and the system enters the working mode.

Setting or clearing of the maximum mechanical door opening angle: the maximum mechanical door opening angle can be set or cleared through external commands. After the maximum mechanical door opening angle is cleared, the system returns to the initialization mode from the working mode.

b. Transportation mode: ECU receives the transportation mode command, and the system enters the transportation mode. In this mode, the ECU will only retain the functions of electric unlocking and electric locking, and will not respond to any operation commands. Shipping mode can be exited via an external command.

c. Working mode: The system can work normally in this mode and can complete all the functions of the system.

d. Low power consumption mode: When no command is received for a long time and no operation is performed, the system enters low power consumption mode to save power.

e. Protection mode: When the motor is started frequently, the system will enter the failure mode in order to prevent the motor from overheating.

f. Failure mode: When the electric hinge motor is stuck due to foreign objects, or stalled due to abnormal position of the Hall, the system enters the failure mode.

A kind of electric vehicle door control system of the present invention has following function:

1. Safe working conditions

Safe working condition: The opening or closing process of the door will not cause a safety accident, that is, it will not cause injury to people or damage to the vehicle. The ECU receives the status information of the vehicle through the CAN network, and judges whether the system is in a safe working condition according to the logic sequence of the vehicle speed, wheel speed, power mode, gear position and parking signal.

When the system is in a safe working condition, the ECU can respond to any commands.

When the system is in an unsafe working condition, the ECU will reject the door opening command and can respond to the door closing command; when the door is being opened electrically, switch to an unsafe working condition at this time, and the door will hover; when the door is being electrically closed, at this time Switching to an unsafe working condition, the door will not be affected and continue to be closed electrically.

2. Door switch and hover function

The ECU receives the switching command from the hard line input or the CAN network signal input, and realizes the driving of the self-priming lock, the electric hinge motor, and the buzzer through the judgment of the current system state, so as to realize the electric opening and closing of the door. During the door opening and closing process, the closed-loop control of the door opening and closing speed is carried out.

When the door is in the process of performing electric switching, if the corresponding output enable is prohibited, the electric switching process will be stopped immediately.

3. Follow-up function

When the door is hovering open, if the door is opened or closed manually, and the pushing speed is between the minimum speed and the maximum speed within the follow-up confirmation time, the ECU will judge by detecting the change of the Hall signal Follow up to open or close the door. The process is as follows:

When the door is manually pushed outwards, and the door pushing speed is between the minimum speed and the maximum speed within the follow-up confirmation time, the system will determine that the follow-up is valid, and the door will be opened electrically; After a certain period of time, the door push speed is between the minimum speed of follow-up and the maximum speed of follow-up, the system will determine that follow-up is valid, and the door will be closed electrically.

When the door is manually pushed outward or inward during electric operation, the system will determine that the follow-up is invalid.

4. Maximum door opening setting

The maximum opening of the door can be set. When leaving the factory, the system has set the maximum and minimum opening of the door as the default maximum and minimum opening of the door, and the user can set the maximum opening of the door according to actual needs. The maximum opening of the door set by the user should be between the default maximum opening of the door and the default minimum opening of the door, otherwise it is invalid. When operating, manually pull the door to the target position, press and hold the button on the inner handle of the door, and hear the buzzer sound, and the maximum opening position of the door is set.

5. The opening and closing of the door electric switch function

The ECU can turn on and off the electric switch function of the car door through a hard-wired switch or receive CAN bus commands. After the door electric switch function is turned off, the door can be opened and closed manually; at this time, the ECU will prohibit the operation of the electric hinge motor, but retain the functions of self-priming lock electric locking and electric unlocking, and at the same time feed back relevant status signals to the CAN network in real time superior.

6. Obstacle avoidance function

ECU receives radar signals through CAN bus or LIN bus, and detects whether obstacles will be encountered during the electric opening and closing of the door, so as to perform obstacle avoidance operations in advance and prompt the user with a beep sound.

Rear obstacle judgment: During the electric opening process of the car door, if a signal is detected, it is judged that there is an obstacle detected in the rear. The ECU will stop the electric turn on, wait for a period of time and then the electric reverse turn off about 5°.

Judgment of side obstacles: During the electric door opening process, the ECU receives signals through the LIN network to monitor side obstacles. When the distance between the obstacle and the door reaches the set value, the ECU will stop the electric opening, and after waiting for a period of time, the electric reverse will close by about 5°.

7. Anti-pinch function

The power door control system has an anti-trap function. During the electric opening and closing process of the car door, by monitoring the operating current of the electric hinge motor, it is judged whether anti-pinch occurs.

The ECU is divided into multiple anti-pinch areas according to the door opening angle from fully closed to fully open. By adjusting the anti-pinch compensation of these areas, the size of the anti-pinch force in different areas can be adjusted.

Software logic anti-pinch function: During the electric door switch process, if anti-pinch action occurs, the electric door will stop running, and perform anti-pinch reverse operation according to the area where the motor is located. During the anti-pinch reverse operation, if the anti-pinch action occurs again (called secondary anti-pinch), the electric door will hover. Regardless of whether the secondary anti-pinch occurs, after the electric door anti-pinch operation is completed, the accumulated anti-pinch times will increase by 1.

8. Stall protection

If the electric hinge motor is stuck due to foreign objects, or stalled due to the abnormal position of the Hall, the ECU will judge through the Hall signal and the operating current value of the motor, and immediately stop the stalled motor. and enter failure mode. After the motor stops running, the stall fault is cleared, and the ECU returns to the working mode.

9. Sleep wake-up function

The ECU manages and detects the door status through the network, and can enter the low power consumption mode. When the electric door is fully closed and the power mode is OFF or the power mode is invalid, the ECU enters into sleep mode.

After receiving the switch command from the hardware switch input or the CAN network signal input, the ECU will be woken up and perform the electric switch function.

10. Misuse of the locking function

According to the state of the car door, if it is determined that the ECU has been operated abnormally for n consecutive times, it will execute the misoperation locking function and prohibit the electric door switch function.

If the anti-pinch function is triggered continuously for more than n times during the opening and closing of the electric door, the ECU will perform the misoperation locking function, prohibit the electric door opening and closing function, and prompt the user to reject the operation command with a buzzer sound; if the electric door is opened and closed , continuous reverse operation for more than n times (anti-pinch reverse is not included), the ECU will perform the misoperation locking function, prohibit the electric door switch function, and reject the user's operation command with a buzzer sound;

After performing the misoperation locking function, the user needs to manually close the door to the half-lock state, and the door lock automatically pulls to the full lock state, or the user manually closes the car door to the full lock state, and the ECU will release the misoperation locking function and return to work model.

11. Protection mode

The function of the protection mode is to prevent the motor from overheating, including electric hinge motor thermal protection and lock motor thermal protection. The ECU counts according to the running state of the motor. When the count reaches the threshold, it will execute the current operation and then enter the protection mode. In this mode, it is forbidden to respond to any commands. See Figure 3.

12. Prompt sound control

By comparing the sound command with the diagnosis result at this time, the prompt sound will be sounded in the order of setting the maximum opening < side obstacle avoidance < radar level 1 alarm < radar level 2 alarm < radar level 3 alarm, Higher-level beeps will override lower-level beeps.

The preferred embodiment of the present invention has been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details of the above embodiment, within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, These simple modifications all belong to the protection scope of the present invention.

In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be described separately.

In addition, various combinations of different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.

Claims

An electric vehicle door control system is characterized in that it is composed of an electric vehicle door controller, a vehicle door switch actuator, a door lock, a switch and a safety warning device; the electric vehicle door controller is used for collecting external information, receiving external commands, and controlling the vehicle door switch and the locking and unlocking of the car door, the door switch actuator is used to control the electric opening and closing of the car door, and to identify and control the opening angle of the car door; the door lock is used to realize the electric locking and unlocking of the car door , the safety warning device is used to remind the owner of the vehicle.
A kind of electric vehicle door control system as claimed in claim 1, is characterized in that, described electric vehicle door controller is made up of microcontroller ECU, memory EEPROM and driving circuit; Microcontroller receives whole vehicle state information through CAN network, and According to the logic sequence of vehicle speed, wheel speed, power mode, gear position and parking signal to determine whether the system is in a safe working condition, when the system is in a safe working condition, the ECU responds to any command; when the system is in an unsafe working condition, the ECU It will reject the door opening command and can respond to the door closing command; when the door is being electrically opened, switch to an unsafe working condition at this time, and the door will hover; when the door is being electrically closed, switch to an unsafe working condition at this time, and the door will not Affected, continue to close electrically.
An electric vehicle door control system according to claim 1, wherein the door switch actuator is composed of a motor, a Hall sensor and an actuator, the Hall sensor transmits the collected information to the actuator for execution, and the motor Used to drive actuators.
An electric vehicle door control system according to claim 1, wherein the door lock is a self-priming lock for realizing the electric locking and unlocking of the vehicle door, and the latch controller, the door lock motor and the lock The door lock motor is used to drive the latch controller to control the lock state switch; wherein the lock state switch includes a pawl position feedback switch, a half lock state switch and a full lock state switch.
An electric vehicle door control system according to claim 1, wherein the safety warning device is composed of a radar and a buzzer, and the radar is used to detect obstacles near the vehicle door to determine whether there is a potential safety hazard in the process of opening and closing the door. ; The buzzer generates a buzzing sound to remind car owners and pedestrians to pay attention.
A control method for an electric vehicle door control system according to claim 1, characterized in that it specifically comprises the following steps:

Step 1: When the system detects that the power supply voltage is higher or lower than the set voltage, the power door controller will turn off related functions to avoid system damage; when the power supply voltage returns to normal, the power door controller will resume related functions;

Step 2: When the system detects that the power supply voltage is within the set range, the control system enters the working mode, which specifically includes the following modes:

a. Initialization mode: the system is powered on for the first time or powered on again after a power failure to enter the initialization mode; in this mode, when the self-priming lock is in the full lock state, it will learn Hall position 0; the learning of Hall position 0 is completed After that, when the door is electrically opened for the first time, the ECU will learn the maximum mechanical door opening angle;

Wherein, the Hall position 0 learning: manually close the door to the full lock position, or manually close the door to the half lock position, the self-priming lock will automatically attract to the full lock position, and the Hall position 0 of the ECU will be set, otherwise ECU will not respond to any operation commands;

The maximum mechanical door opening angle learning: After the Hall position 0 is set, if there is a maximum mechanical door opening angle learning state in the EEPROM, it will directly enter the working mode; otherwise, the ECU will only respond to the door opening command, and the door will be electrically opened to the maximum mechanical door opening Angle and locked rotor protection occurs, when the door Hall position is greater than the maximum mechanical door opening angle when locked, the effective position is learned, the maximum mechanical door opening angle learning is completed, and the system enters the working mode;

Setting or clearing of the maximum mechanical door opening angle: the maximum mechanical door opening angle can be set or cleared through external commands; after the maximum mechanical door opening angle is cleared, the system returns to the initialization mode from the working mode.

b. Transportation mode: ECU receives the transportation mode command, and the system enters the transportation mode; in this mode, the ECU will only retain the functions of electric unlocking and electric locking, and will not respond to any operation commands; the transportation mode can be exited by external commands;

c. Working mode: The system can work normally in this mode and can complete all the functions of the system;

The ECU receives the switching command from the hard line input or the CAN network signal input, and realizes the driving of the self-priming lock, the electric hinge motor, and the buzzer through the judgment of the current system state, so as to realize the electric opening and closing of the door. Closed-loop control of door opening and closing speed during door opening and closing;

d. Low power consumption mode: When no command is received for a long time and no operation is performed, the system enters low power consumption mode to save power;

e. Protection mode: When the motor is started frequently, in order to prevent the motor from overheating, the system will enter the failure mode; the ECU counts according to the running state of the motor. When the count reaches the threshold, it will execute the current operation and then enter the protection mode. In this mode, Do not respond to any order;

f. Fault mode: When the electric hinge motor is stuck due to foreign objects, or the stall fault occurs due to the abnormal position of the Hall, the system enters the fault mode; after the motor stops, the stall fault is cleared, and the ECU returns to the working mode.
A method for controlling an electric vehicle door according to claim 6, wherein step 1 is specifically as follows:

a. The microcontroller detects that the power supply voltage transitions from normal voltage to undervoltage: the power supply voltage shows a downward trend and the supply voltage reaches the first working point, the microcontroller closes related functions, and the electric door control system enters undervoltage protection;

b. The microcontroller detects the transition of the supply voltage from undervoltage to normal voltage: the supply voltage recovers from undervoltage and reaches the second operating point, the microcontroller resumes relevant functions, and the electric door control system releases the undervoltage protection;

c. The microcontroller detects that the power supply voltage transitions from normal voltage to overvoltage: the power supply voltage shows an upward trend and the supply voltage reaches the third operating point, the microcontroller turns off related functions, and the electric door control system enters overvoltage protection;

d. The microcontroller detects that the power supply voltage transitions from overvoltage to normal voltage: the power supply voltage recovers from overvoltage and reaches the fourth operating point, the microcontroller resumes related functions, and the electric door control system releases the overvoltage protection.