Door system and vehicle

Abstract

The vehicle has a door (110) system including a door (110), an actuator (120), and a controller (150). The door (110) is mechanically coupled to a vehicle body. The actuator (120) is connected to the door (110) and controls a state of the door (110). The controller (150) controls the actuator to control the state of the door (110) based on a current operation mode of the door (110) system. The operation modes include at least an electric mode, a pause mode, and a manual mode, and in the electric mode, the controller (150) controls the actuator (120) to drive the door (110) to open or close. In the stop mode, the controller (150) controls the actuator (120) to stop the door (110) midway, and in the manual mode, the controller (150) controls the actuator (120) to drive and move the door (110) based on an external force acting on the door (110).

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application having a filing date of December 30, 2021, application number 202111651507.X and title "Door System and Vehicle", the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of vehicle technology, and more particularly, to door systems and vehicles. [Background technology]

[0003] As the demand for vehicles increases, the demand for automation and intelligence of the doors for passengers to get in and out of the vehicle increases. For the conventional car doors, the door lock needs to be unlocked by manually pulling the outer handle of the door and connecting the mechanical structure, and after unlocking, the door needs to be pushed open to get in and out of the vehicle, which is a complicated process, especially when the passengers have their hands full and it is difficult to operate the door handle, making it more difficult to get in and out of the vehicle. Summary of the Invention [Problem to be solved by the invention]

[0004] The Summary of the Invention introduces a series of simplified form concepts, which are explained in more detail in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and necessary technical features of the claimed technical means, nor is it intended to determine the scope of protection of the claimed technical means. [Means for solving the problem]

[0005] In response to the shortcomings of the prior art, a door system according to an embodiment of the present application includes a door, an actuator, and a controller, the door being mechanically coupled to a vehicle body, the actuator being connected to the door and controlling a state of the door, and the controller controlling the actuator to control the state of the door based on a current operation mode of the door system, the operation modes including at least an electric mode, a stop mode, and a manual mode, in the electric mode, the controller controls the actuator to drive the door to open or close, in the stop mode, the controller controls the actuator to stop the door, and in the manual mode, the controller controls the actuator to drive the door to move based on an external force acting on the door.

[0006] In one embodiment, the manual mode includes at least one of a manual assist mode, a manual anti-shock protection mode, a manual interference mode, and a manual tendency door closing mode, and in the manual assist mode, the controller controls the actuator to provide a driving force to the door in a direction that is the same as a door movement direction, in the manual anti-shock protection mode, the controller controls the actuator to provide a driving force to the door in a direction that is opposite to a door movement direction, in the manual interference mode, the controller controls the door drive mechanism to drive the door to open or close at a predetermined speed based on an external force applied to the door, and in the manual tendency door closing mode, the controller controls the actuator to drive the door to close based on door manual closing tendency information.

[0007] In one embodiment, the manual assist mode includes, when the manual assist mode is on, obtaining, by the controller, an initial acceleration and a peripheral velocity of the door, and, when the initial acceleration is greater than or equal to a first acceleration threshold and the peripheral velocity of the door is less than a first velocity threshold, controlling, by the controller, the actuator to provide a driving force to the door in a direction that is the same as a direction of door movement.

[0008] In one embodiment, the manual assistance mode further includes, when the door moves in the door opening direction, acquiring environmental information of the movement path of the door in real time by the controller, and when it is determined based on the environmental information that there is an obstacle in the movement path of the door, controlling the actuator to stop providing driving force by the controller.

[0009] In one embodiment, the manual assistance mode further includes, when the door moves in a door closing direction, acquiring door force information in real time by the controller, and when it is determined based on the force information that the door is subjected to a force that prevents the door from moving, controlling the actuator by the controller to stop providing a driving force.

[0010] In one embodiment, the manual shock prevention protection mode includes, when the manual shock prevention protection mode is on, obtaining an initial acceleration and a peripheral velocity of the door by the controller, and when the initial acceleration is greater than or equal to a second acceleration threshold and the peripheral velocity of the door is less than a second velocity threshold, controlling the actuator by the controller to provide a driving force to the door in a direction opposite to a direction of movement of the door.

[0011] In one embodiment, the manual impact prevention protection mode further includes: when the door moves in a door-opening direction, acquiring environmental information of a movement path of the door by the controller in real time, and outputting presentation information when it is determined based on the environmental information that there is an obstacle in the movement path of the door; and when the door moves in a door-closing direction, acquiring force information of the door by the controller in real time, and outputting presentation information when it is determined based on the force information that the door is subjected to a force that prevents the door movement.

[0012] In one embodiment, the manual intervention mode further includes, when the actuator drives the door to open or close, acquiring peripheral speed information of the door in real time by the controller, and when it is determined based on the peripheral speed information that the peripheral speed is not equal to a third speed threshold, controlling the actuator to drive the door to move at a third speed threshold by the controller.

[0013] In one embodiment, the manual door closing mode includes, when the manual door closing mode is on, the manual assist mode is off, and the door is in an open state or an intermediate stop state, acquiring acceleration information and peripheral speed information of the door by the controller, and when determining, based on the acceleration information, that the initial acceleration is equal to or greater than a fourth acceleration and the peripheral speed is less than a fourth speed threshold, controlling the actuator by the controller to drive the door to close.

[0014] In one embodiment, the electric mode includes at least one of an automatic door open mode and an automatic door close mode, and in the automatic door open mode, the controller controls the actuator to drive the door open, and in the automatic door close mode, the controller controls the actuator to drive the door close.

[0015] In one embodiment, the door automatic opening mode includes, when the door is closed, obtaining a door open command by the controller, controlling the door lock to unlock and controlling an actuator to drive the door open.

[0016] In one embodiment, the door automatic opening mode further includes, before controlling the door lock to unlock, obtaining, by the controller, environmental information of a movement path of the door, and verifying that there is no obstacle in the movement path of the door based on the environmental information.

[0017] In one embodiment, the actuator driving the door to open further includes acquiring environmental information of a movement path of the door by the controller, and controlling the door to be in a stopped state when it is determined based on the environmental information that there is an obstacle in the movement path of the door.

[0018] In one embodiment, the actuator driving to open the door further includes acquiring force information of the door by the controller, and controlling the door to be in a half-stop state when it is determined based on the force information that the door is subjected to a first resistance force and that the first resistance force is equal to or greater than a first resistance force value.

[0019] In one embodiment, the automatic door close mode includes, when the door is in an open state or an intermediate stop state, obtaining a door close command by the controller, controlling the actuator to drive the door closed and controlling the door lock to lock the door.

[0020] In one embodiment, the actuator driving the door to close further includes acquiring force information of the door by the controller, and controlling the door to be in a half-stop state when it is determined based on the force information that the door is subjected to a second resistance force and that the second resistance force is equal to or greater than a second resistance force value.

[0021] In one embodiment, the mid-stop mode includes receiving a mid-stop command by the controller and controlling the door to be in a mid-stop state when the door is moving toward a door-opening direction or a door-closing direction.

[0022] A vehicle according to another aspect of the present invention includes a vehicle body and the door system as described above.

[0023] The door system and vehicle of the present application divide the door system into different operation modes, which is advantageous for the implementation of algorithms and improves the user experience. [Brief description of the drawings]

[0024] The above and other objects, features and advantages of the present application will become more apparent from a more detailed description of the embodiments of the present application with reference to the accompanying drawings, which provide a further understanding of the embodiments of the present application, constitute a part of the specification, and explain the present application together with the embodiments of the present application, but do not limit the present application. In the drawings, the same reference numerals generally represent the same parts or steps.

[0025] [Figure 1] FIG. 1 is a schematic block diagram of a door system according to an embodiment of the present application. [Diagram 2] FIG. 2 is a schematic diagram of an operation mode switching of a door system according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] In order to make the objectives, technical means and advantages of the present application clearer, exemplary embodiments of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, and are not all of the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described herein. All other embodiments that a person skilled in the art can obtain based on the embodiments described herein without creative labor are all within the scope of protection of the present application.

[0027] In the following description, many specific details are provided to make the present application more thoroughly understandable. However, as is apparent to those skilled in the art, the present application can be implemented without one or more of these details. In other instances, some technical features known in the art are not described to avoid confusion with the present application.

[0028] As should be understood, the present application may be embodied in different forms and should not be construed as being limited to the examples provided herein, but rather these examples are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0029] The purpose of the terms used herein is merely to describe specific embodiments and is not intended to limit the present application. As used herein, the singular forms "a", "one" and "the" are intended to include the plural, unless the context clearly dictates otherwise. It is further understood that the terms "comprise" and / or "comprise" when used herein determine the presence of the stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups. As used herein, the term "and / or" includes any and all combinations of the associated listed items.

[0030] In order to thoroughly understand the present application, the following description will provide a detailed structure to describe the technical means of the present application. The preferred embodiments of the present application are described in detail as follows. In addition to these detailed descriptions, the present application may have other embodiments.

[0031] Hereinafter, a door system and a vehicle according to an embodiment of the present application will be described with reference to the drawings. First, FIG. 1 shows a schematic block diagram of a door system according to an embodiment of the present application. As shown in FIG. 1, the door system according to the embodiment of the present application includes a door 110, an actuator 120, and a controller 150. The door 110 is mechanically coupled to a vehicle body, the actuator 120 is connected to the door 110 and controls the state of the door 110, and the controller 150 controls the actuator 120 to control the state of the door 110 based on a current operation mode of the door system. The operation mode includes at least an electric mode, a midway stop mode, and a manual mode. In the electric mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close, in the midway stop mode, the controller 150 controls the actuator to stop the door 110 midway, and in the manual mode, the controller 150 controls the actuator 120 to drive and move the door 110 based on an external force acting on the door 110.

[0032] In some embodiments, the door system further includes a sensor 140, which may be located on the door 110 or at another location on the vehicle, including, but not limited to, a radar, camera, or other sensor, for detecting an obstacle in the path of the door 110 during the process of opening the door 110. In some embodiments, the door system further includes a door lock 130 for locking the door 110, which may be a power-to-release suction lock.

[0033] Specifically, the door 110, i.e., the door assembly, is connected to the vehicle body (i.e., the vehicle body assembly) by a hinge, and illustratively, the door assembly includes a door inner panel, a door outer panel, a reinforced support structure, a sealing structure, and the like.

[0034] The door 110 and the vehicle body are connected to each other by a hinge and also via an actuator 120. The actuator 120 drives the door 110 to perform a door opening operation or a door closing operation. For example, a door speed sensor or an acceleration sensor is integrated in the actuator 120, and a hall sensor is integrated in the drive motor of the actuator 120 to detect the magnitude of the movement speed or the movement acceleration of the door 110.

[0035] The controller 150 acquires door movement information and surrounding environment information, and controls the actuator 120 to control the movement of the door 110 based on the door movement information and the environmental information. The door movement information and environmental information acquired by the controller 150 may be acquired from a sensor of the door system or from the vehicle. Exemplarily, when the actuator 120 receives a signal input from the controller 150, the driving motor rotates forward and backward to realize the opening and closing of the door 110. The controller 150 controls the magnitude of the output force value of the actuator 120, and the actuator 120 integrated with a door speed sensor or an acceleration sensor feeds back a speed signal or an acceleration signal to the controller 150, and the controller 150 realizes real-time dynamic compensation of the door 110 by an algorithm.

[0036] The controller 150 controls the functions of the door lock 130 such as suction, power release, child lock, and unlock, and the door lock 130 feeds back a half-latch signal, a full-latch signal, a full-open signal, and the like of the door lock to the controller 150. The door lock 130 is attached to the sheet metal of the door assembly and receives signals from the controller 150 to realize operations such as power release and suction of the lock body. Exemplarily, the door lock 130 further has an ice-breaking function and has an ice-breaking force of 400N or more.

[0037] Exemplarily, the sensor 140 includes a radar, which may be attached to the sheet metal of the door assembly, to detect obstacles in the opening path during the opening process of the door 110. The controller 150 controls the wake-up conditions of the sensor 140 to perform obstacle judgment, and the sensor 140 feeds back an obstacle signal and distance to the controller 150 to perform obstacle avoidance processing.

[0038] Exemplarily, the sensor 140 further includes a seat belt sensor that collects a lock signal of a seat belt buckle. The sensor 140 may include a gravity sensor under the seat that detects whether a passenger is present in the seat, an infrared temperature sensor, an image sensor, etc. In addition, the sensor 140 may further include a device that detects signals such as a sensor key, an electronic key, a door opening by an outside handle, a knock signal sensor, a voice command, an NFC command, a center display command, an inside handle, an in-car button, etc., and the signal detected by the sensor 140 may be transmitted to the controller 150.

[0039] In the embodiment of the present application, the door system is divided into different operation modes, which is favorable for the implementation of the algorithm of the subsequent control module, and at the same time, the modular design is realized, and the design efficiency is higher. Figure 2 shows a schematic diagram of the operation mode switching of the door system in the embodiment of the present application, and the operation modes of the door system in the embodiment of the present application at least include an electric mode, a mid-stop mode, and a manual mode, which are specifically described as follows:

[0040] 1. Electric mode In the electric mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close. Illustratively, the electric mode includes at least one of an automatic door open mode and an automatic door close mode. In the automatic door open mode, the controller 150 controls the actuator 120 to drive the door 110 to open, and in the automatic door close mode, the controller 150 controls the actuator 120 to drive the door 110 to close.

[0041] 1. Automatic door opening mode Exemplarily, the operating condition of the door automatic opening mode is that the entire vehicle is unlocked and in a non-anti-theft state, thereby ensuring the safety of the vehicle. The unlocking of the entire vehicle is performed after pressing the unlock button for the entire vehicle, and the vehicle is unlocked and the door is ready to be opened. The door automatic opening mode includes that when the door is closed, the controller 150 obtains a door opening command and controls the door lock to unlock and controls the actuator 120 to drive and open the door 110. The door opening command includes at least one of a sensor key signal, an electronic key signal, an outside handle door opening signal, a knock signal, a voice door opening command, an NFC door opening command, a center display door opening command, an inside handle pull signal, an interior button signal, and the like. In some embodiments, the trigger condition of the door automatic opening mode further includes the controller 150 detecting that the vehicle is in a non-anti-theft state.

[0042] For example, when realizing an automatic door opening function, the controller 150 controls the door lock 130 to perform an electric unlock, and when it detects a change in the door lock 130 from "full latch-half latch-fully open," it controls the actuator 120 to open the door.

[0043] For example, before the controller 150 controls the actuator 120 to open the door, it first obtains environmental information of the movement path of the door and confirms that there is no obstacle on the movement path of the door based on the environmental information. For example, the controller 150 wakes up a radar and obtains environmental information through the radar. When the radar detects an obstacle around the door 110 and confirms that there is no obstacle around the door 110, it transmits confirmation information that there is no obstacle around the door to the controller 150. After receiving the confirmation information, the controller 150 controls the door lock to be unlocked, and the door is automatically opened, thereby avoiding a collision between the door 110 and the obstacle. If the radar detects an obstacle around the door 110 after being woken up, it feeds back the collected obstacle distance information to the controller 150, and the controller 150 judges whether the door can be opened and the door opening angle based on the obstacle distance, and if the door opening angle is smaller than the minimum door opening angle, it refuses to execute the door opening command and presents to the user "The door opening angle is too small, please open the door manually". The presentation method includes, but is not limited to, the display on the center display, the meter, the HUD display system, the voice presentation, the presentation by the mobile terminal, etc.

[0044] Furthermore, in the door opening process, the controller 150 continuously acquires environmental information of the door movement path, and when it is confirmed based on the environmental information that there is an obstacle in the door movement path, it controls the door to be in a stopped state. Next, taking a radar as an example, in the door opening process, the radar continues to detect the periphery of the door in real time, and stops the detection when the door opens to a set maximum stop position. If the radar detects that there is an obstacle in the periphery of the door 110, the controller 150 controls the actuator 120 to stop providing the driving force, thereby stopping the door 110 in the middle. For example, the controller 150 controls the door to stop at a position 20 cm to 30 cm away from the obstacle.

[0045] In the door opening process, the controller 150 controls the door to be in a stopped state when it is confirmed that the door receives a first resistance force based on the force information of the door and the first resistance force is equal to or greater than a first resistance force value. For example, when the door collides with an obstacle in a radar detection blind zone or a person manually blocks the door from opening, the controller 150 controls the actuator 120 to stop providing the driving force when it detects that there is an external force blocking the door from opening and that the external force acting on the door 110 blocking the door from opening is equal to or greater than a first resistance force value, thereby stopping the door from opening. For example, the controller 150 may determine that there is an external force blocking the door from opening when it detects that the current of the actuator 120 is equal to or greater than a restraining current or that the change in the sensor signal value within a short period of time exceeds a certain threshold. The sensor may include, but is not limited to, a Hall sensor.

[0046] 2. Automatic door closing mode The operating condition of the automatic door closing mode may be any operating condition. The trigger conditions of the automatic door closing mode include, when the door is in an open state or a halfway stopped state, the controller 150 detects a door closing command, for example, the key is released and the user presses the brake, the center display receives a door closing command, obtains a seat belt fastening signal, receives a voice door closing command, the user pulls the inside handle or outside handle, presses a button inside the car, the vehicle speed is detected to exceed a certain threshold, an NFC door closing command, a manual door closing tendency, etc. are detected.

[0047] The execution operation of the door automatic close mode includes the controller 150 controlling the actuator to drive the door to close and the door lock to lock it. When the door lock 130 detects a signal change from full open to half latch, the controller 150 drives the door lock 130 to automatically suck in and complete locking.

[0048] In order to ensure the safety of the vehicle, in the process of the controller 150 driving the actuator 120 to drive the door to close, the controller 150 obtains force information of the door 110, and if it is determined based on the force information that the door 110 receives a second resistance force and the second resistance force is equal to or greater than the second resistance force value, it controls the door 110 to be in a halfway stopped state. Exemplarily, the controller 150 determines the force information of the door 110 based on the motor current of the actuator, and if the controller 150 detects that the motor current of the actuator 120 is greater than a preset restraining current (e.g., the current is 7A or more), it immediately controls the actuator 120 to stop closing the door, and the door immediately stops at the current position. Alternatively, in this case, the controller 150 may immediately drive the motor of the actuator 120 to rotate in reverse and open the door to the maximum open position.

[0049] 2. Mid-stop mode The door 110 being in a halfway stop state means that the door 110 has stopped moving during the opening or closing process and is not fully open. The halfway stop mode includes receiving a halfway stop command from the controller 150 when the door is moving in the door opening direction or the door closing direction, and controlling the door to be in a halfway stop state.

[0050] The operation condition of the midway stop mode may be any operation condition. For example, the trigger condition of the midway stop mode includes, but is not limited to, the midway stop command received by the controller 150, a midway stop command collected by the center display, a seat belt fastening signal, a voice midway stop command, an inside handle pull signal, an in-vehicle button signal, an outside handle pull signal, an NFC midway stop command, a pinch prevention signal when opening a door, a pinch prevention signal when closing a door, a brake step signal, an electronic key signal, a knock signal, and an obstacle signal transmitted by a radar (for example, there is an obstacle in the door opening direction, and there is an obstacle moving toward the door at the side rear).

[0051] For example, in the door opening process, if the user clicks the door midway stop virtual button on the center display, the multimedia host sends a midway stop command to the controller 150. In the door opening process, if the user fastens the seat belt, the controller 150 detects the signal sent when the seat belt buckle changes from the released state to the engaged state, and the system activates the function of electrically closing the door when the seat belt is fastened, the door is stopped midway. In the door opening process, if the user sends a voice signal to stop the door opening, the multimedia host immediately sends a door midway stop command to the controller 150 after receiving the voice command. In the door opening process, if the controller 150 detects that there is an external force that prevents the door from opening (for example, if it detects a change in the current of the actuator 120 and detects that the current is ≧7A, or if it detects a hole change within a short time), it triggers a pinch prevention midway stop. In the door opening process, if the radar detects an obstacle, it stops at a position 20 to 30 cm away from the obstacle.

[0052] During the door closing process, if the controller 150 detects a stop command for the door 110, it controls the door 110 to stop the door 110 in the same manner. For example, during the door closing process, if the user clicks the door stop virtual button on the center display, the multimedia host sends a stop command to the controller 150. Alternatively, during the door closing process, the user makes a voice to stop the door closing, and the multimedia host immediately sends a stop command to the controller 150 after receiving the voice command. During the door closing process, if there is an external force preventing the door from closing, and the controller 150 detects that there is an external force preventing the door from closing (for example, if it detects a change in the motor current of the actuator 120 and detects that the current is ≧7A, or if it detects a hall change within a short time), it triggers a stop to prevent pinching.

[0053] The execution operation of the midway stop mode is that when the controller 150 receives a door midway stop command, it immediately stops driving and causes the door 110 to immediately stop at the current position.

[0054] 3. Manual mode Exemplarily, the manual mode includes a manual assist mode, a manual anti-shock protection mode, a manual interference mode, and a manual tendency door opening / closing mode. In the manual assist mode, the controller 150 controls the actuator 120 to provide a driving force to the door 110 in the same direction as the door moving direction; in the manual anti-shock protection mode, the controller 150 controls the actuator 120 to provide a driving force to the door 110 in the opposite direction to the door moving direction; in the manual interference mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close at a predetermined speed based on an external force applied to the door 110; and in the manual tendency door closing mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close based on the door manual closing tendency information acting on the door 110. In the embodiment of the present application, by defining some functions of the electric manual mode, the degree of intelligence of the door system can be higher, and the user's needs can be better met, thereby improving the user experience.

[0055] 1. Manual Assist Mode The manual assistance mode is used to provide assistance for manually opening and closing the door. The passenger's usage habits for the conventional door generally require a small operating force in the door opening and closing process, and the manual assistance mode can realize the purpose of reducing the operating force of the door. When the door is stationary, when the door is manually opened or closed, the door automatically provides an adjustable compensation force to overcome the mechanical internal resistance of the door system, thereby making the operating force for the door opening and closing of the user's hand adjustable. In the manual assistance mode, when the manual operating force is lost, the door stops moving.

[0056] The use scenario of the manual assistance mode mainly includes in the parking lot, when the parking space is very narrow, to realize the door opening and closing at a small angle by manual intervention. This mode needs to provide a switch in the system, to be used in special operating conditions, and to be turned off in a timely manner, so as not to affect the normal function of the door system.

[0057] The trigger conditions for manual assist mode are at least: (1) The manual assist mode is on, and for example, the door is currently in a half-stop state or an open state (i.e., the initial speed of the door is 0), and the open state is a maximum open state; (2) The controller obtains the initial acceleration and the peripheral velocity of the door, and determines that the initial acceleration is equal to or greater than the first acceleration threshold and the peripheral velocity is less than the first velocity threshold. Specifically, when an external force acts on the door 110, the door 110 can obtain the initial acceleration and obtain the acceleration information of the door through an acceleration sensor integrated in the actuator 120. The sensor associated with the actuator 120 can also obtain the state information of the door, and the peripheral velocity of the door can be obtained through a corresponding algorithm, and the sensor includes but is not limited to a Hall sensor. The peripheral velocity of the door is the linear velocity of the peripheral edge of the door. If the initial acceleration is equal to or greater than the first acceleration threshold and the peripheral velocity of the door is less than the first velocity threshold, it indicates that the user intends to open or close the door, but the door opening and closing speed has not reached the expected speed, in this case, the manual assistance mode can be turned on to provide assistance for opening and closing the door. For example, the initial acceleration of the door is ≧0.5m / s 2 and the door edge velocity is <2m / s, then enter manual assist mode. The above velocity and acceleration thresholds are only examples.

[0058] The operation of the manual assistance mode mainly includes the controller 150 controlling the actuator 120 to provide a driving force in the same direction as the door moving direction to the door 110. The driving force in the same direction as the door moving direction can overcome the mechanical internal resistance of the door system, so that the operating force fed back to the user's hand is small, and according to the conventional manual door opening and closing, the operating force of the hand may be 50N or less.

[0059] Furthermore, when the door moves in the door opening direction, the controller 150 obtains environmental information of the door movement path in real time, and when it is determined based on the environmental information that there is an obstacle in the door movement path, it controls the actuator 120 to stop providing the driving force. When it is determined that there is an obstacle in the door movement path, the controller 150 may further control to transmit presentation information to present to the user. For example, in the process of assisting the door opening, the controller 150 wakes up the sensor 140, and the sensor 140 in the wake-up state detects obstacle information around the door 110 in real time, and when an obstacle is detected, notifies the user of the obstacle situation by a warning sound or a center display, etc. If the user ignores the warning and continues to apply an external force to the door 110, the controller 150 controls the actuator 120 to stop providing the driving force to the door 110, and the user can manually overcome the mechanical internal resistance of the door and drive the door 110 to open it.

[0060] For example, when the door moves toward the door closing direction, the controller 150 obtains force information of the door in real time, and when it is determined based on the force information that the door 110 receives a force that prevents the door from moving, it controls the actuator 120 to stop providing the driving force. When it is determined that the door 110 receives a force that prevents the door from moving, the controller 150 may further control to transmit presentation information to present to the user. For example, in the manual assistance process in the door closing direction, when the controller 150 detects that there is an external force that prevents the door from closing (for example, when the controller 150 detects that the current of the actuator 120 exceeds a preset threshold, for example, 7 A, or when the controller 150 detects a hole change within a short period of time), it notifies the user of the obstacle situation by a warning sound or a center display, and when the user ignores the warning and continues to apply the external force to the door 110, the controller 150 controls the actuator to stop providing the driving force to the door 110, and the user can manually overcome the mechanical internal resistance of the door and drive the door 110 to close it.

[0061] When the door reaches the door lock position and the controller 150 detects a change signal of the door lock 130 from full open to half latched, the actuator 120 stops operating, and the controller 150 controls the door lock 130 to automatically suck from the half latched position to the full latched position to complete the door closing operation.

[0062] For example, a user can preset a door opening / closing habit for the manual assistance mode. If a force of 100N is required to open or close a door before providing no assistance, when the user's door opening / closing habit is set to light, the user only needs to provide a force of 30N to open or close the door, and the actuator 120 provides a force of 70N; when the user's door opening / closing habit is set to medium, the user needs to provide a force of 50N to open or close the door, and the actuator 120 provides a force of 50N; when the user's door opening / closing habit is set to heavy, the actuator 120 only provides a force of 30N to open or close the door, and the user needs to provide a force of 70N.

[0063] 2. Manual anti-shock protection mode The manual anti-shock protection mode is used to provide anti-shock protection for the door when manually opening and closing the door. The operating conditions of the manual anti-shock protection mode may be any operating conditions.

[0064] The trigger conditions for the manual shockproof protection mode are at least: (1) The manual shock protection mode is on, (2) The controller 150 obtains the initial acceleration and peripheral velocity of the door 110, and determines that the initial acceleration is equal to or greater than the second acceleration threshold and the peripheral velocity of the door is equal to or greater than the second velocity threshold. When an external input force acts on the door 110, the door 110 generates an initial acceleration under the action of the external force, and when the initial acceleration is equal to or greater than the second acceleration threshold and the peripheral velocity is equal to or greater than the second velocity threshold, it indicates that the user intends to open or close the door, and the door opening and closing speed is greater than the expected speed, that is, the user's biasing force is too large. The door system can detect the magnitude of the initial acceleration through a Hall sensor associated with the electric stopper, and the initial acceleration of the door is ≧0.5m / s 2 and if the door edge speed is ≧2 m / s, enter manual anti-shock protection mode, the above thresholds are only examples, the second acceleration threshold may be equal to the first acceleration threshold, and the second velocity threshold may be equal to the first velocity threshold.

[0065] The operation of the manual anti-shock protection mode mainly includes the controller 150 controlling the actuator to provide a driving force to the door 110 in a direction opposite to the door movement direction, which can overcome the input force from outside the door system and slow down the door closing speed.

[0066] Specifically, in the process of violently closing the door in the door opening direction, the controller 150 decelerates and stops the door before it moves to the mechanical full stroke stop position, preventing the door from contacting the full stroke stop position with the door violent closing load. The full stroke stop position refers to the maximum position at which the actuator 120 can mechanically open. The door opening position of the door is divided into two types, one is the maximum mechanical door opening position, which is the same as the conventional mechanical door opening position, i.e., the full stroke stop position, and the other is the maximum opening position at which the actuator 120 drives the door 110 to open in the door automatic opening mode, which may be called the soft stop position. In order to prevent the door from being impacted on the door stopper every time the door is opened, the door is not opened to the full stroke stop position in the door automatic opening mode, i.e., the door opening angle of the full stroke stop position>the door opening angle of the soft stop position, for example, if the door opening angle of the full stroke stop position is 90°, the door opening angle of the soft stop position is less than 90°.

[0067] Specifically, during the process of slamming the door in the door closing direction, the controller 150 decelerates and stops the door 110 before the door reaches the door lock position.

[0068] In some embodiments, pushing the door hard when it forms a small angle with the full stroke stop or door lock position may only slow down the door movement but not stop it. When the door reaches the door lock position, it automatically sucks from the half latched position to the fully latched position.

[0069] Furthermore, in the manual shock prevention protection mode, when the door moves in the door opening direction, the controller 150 obtains environmental information of the door movement path in real time, and when it determines that there is an obstacle in the door movement path based on the environmental information, it outputs presentation information. For example, the controller 150 wakes up the sensor 140, which detects obstacle information around the door 110 in real time, and when the door 110 encounters an obstacle during the door opening process, the sensor 140 feeds back a detected obstacle signal to the controller 150 and notifies the user through the center display or the frequency of the buzzer sound.

[0070] Also, when the door moves in the door closing direction, the controller 150 acquires force information of the door in real time, and when it determines based on the force information that the door is subjected to a force that prevents the door from moving, it outputs presentation information. Specifically, when the controller detects an external force that prevents the door from closing during the process of closing the door 110, that is, when the door encounters an obstacle and triggers the entrapment prevention, the controller 150 detects that a large current signal appears in the actuator 120 and notifies the user through the center display or the frequency of the buzzer sound.

[0071] 3. Manual interference mode The manual interference mode is used to interfere with the moving speed of the door in response to the action of an external force. The operating condition of the manual interference mode may be any operating condition. When the actuator 120 drives the door 110 to open or close, the controller 150 obtains the peripheral speed information of the door in real time, and when it determines that the peripheral speed of the door is not equal to the third speed threshold according to the peripheral speed information, it controls the actuator to drive the door to move at the third speed threshold, so as to meet the user's needs for the door closing speed.

[0072] The trigger conditions for the manual interference mode are mainly: (1) In the process of controlling the actuator 120 to drive the door 110 to open or close by the controller 150 (i.e., the door is automatically opened or closed, and the initial speed of the door is not 0), the user applies a force to the door 110 in the same direction as the movement direction, and the controller 150 detects the applied force; (2) The initial acceleration of the door 110 is equal to or greater than a third acceleration threshold, and the peripheral velocity of the door 110 is less than a third velocity threshold, e.g., the initial acceleration of the door 110 is ≧0.5 m / s 2 and if the door edge speed is <2 m / s, enter manual intervention mode, where the above thresholds are only examples, and the third acceleration threshold may be equal to the first acceleration threshold, and the third velocity threshold may be equal to the first velocity threshold.

[0073] For the trigger condition, the door is temporarily accelerated, and the controller 150 detects that the door is not opening or closing at a predetermined speed (e.g., 2 m / s), but in this case, the user thinks that the door opening or closing speed is too slow when the user applies a force in the same direction as the door moving direction. Therefore, the controller 150 adjusts the driving force of the actuator 120, and finally opens and closes the door at a stable and uniform speed at the set speed, thereby satisfying the user's needs.

[0074] Another trigger condition for the manual intervention mode is (1) In the process of controlling the actuator 120 to drive the door 110 to open or close by the controller 150 (i.e., the door is automatically opened or closed, and the initial speed of the door is not 0), the user applies a force to the door 110 in a direction opposite to the moving direction, and the controller 150 detects the applied force; (2) Entering a manual intervention mode when the controller 150 detects that the user applies a force smaller than a preset anti-pinch force (e.g., 100N). The controller 150 can detect the force applied by the user by detecting a change in current (e.g., current < 7A) of the actuator 120 or a Hall change within a short period of time. Conversely, if the external force applied to the door is larger than the anti-pinch force, the controller 150 controls the door to stop midway.

[0075] Under the trigger condition, the execution operation of the manual intervention mode mainly includes: the door temporarily decelerates, and the controller 150 detects that the door is not opening or closing at a predetermined speed, but in this case, the user applies a force in the opposite direction to the door movement direction, indicating that the user thinks the door is opening or closing too fast. Therefore, the controller 150 adjusts the driving force of the actuator 120, and finally the door opens and closes at a stable and uniform speed at the set speed.

[0076] Although the above description has been given as an example of triggering the manual intervention mode by applying an action force by the user, the action force that triggers the manual intervention mode is not limited to the operation force applied by the user's hand. For example, when the vehicle is on a slope, the door's own weight component force is input to the door system, or when the door is subjected to an input force of wind force in a gust of wind, the manual intervention mode may be triggered.

[0077] 4. Manual door closing mode The manual door closing mode is used to automatically close the door when the user senses a tendency to close the door. When using a conventional door, the user may become accustomed to closing the door after getting off the vehicle. Based on the above user usage habits, and considering that even if the door automatic closing function is available, it is very inconvenient to operate the interaction button or center display when the user is outside the vehicle, the manual door closing mode is defined.

[0078] Specifically, when the door is stationary, if the door is manually pushed, the door system does not detect a command to open or close the door, but detects a condition to trigger the manual door close mode. In this case, if the door system determines that there is an external force operation to close the door and that the manual door close function has not been manually blocked by the user, it will automatically perform a door close related operation.

[0079] The operating condition for the manual door close mode may be any operating condition. The trigger condition for the manual door close mode is: (1) In the door system, the manual door closing mode is set to an ON state, the manual assist mode is set to an OFF state, and the door 110 is in a half-stop state or an open state (i.e., the initial speed of the door is 0); (2) The door 110 generates an initial acceleration due to the action of an external force, and the controller 150 obtains the acceleration information and the peripheral speed information of the door, and the door 110 has an acceleration, and the initial acceleration is equal to or exceeds a fourth acceleration threshold (e.g., 0.5 m / s 2 ) and the peripheral speed of the door 110 is less than a fourth speed threshold (e.g., 2 m / s), it is assumed that the user intends to close the door, in which case the door 110 is automatically closed.

[0080] The operation of the manual door close mode mainly involves the controller 150 controlling the actuator 120 to drive the door 110 closed.

[0081] Furthermore, when the controller 150 detects a signal change from the fully open to the half-latched state of the door lock 130, the controller 150 drives the door lock 130 to automatically suck in and complete the locking.

[0082] Furthermore, when the door 110 forms a small angle with the door lock position, the actuator 120 is not necessarily triggered, in this case, when the controller 150 detects a signal change from full open to half latched of the door lock 130, it will automatically drive the door lock 130 to suck in and complete locking.

[0083] 4. Manual mode for low power consumption The above manual mode may be referred to as a charged manual mode, i.e., the door system can supply power to the actuator. In addition to the charged manual mode, the door system supports an underpowered manual mode. The operating condition of the underpowered manual mode may be any operating condition. The triggering condition of the underpowered manual mode at least includes that the door system cannot supply power to the actuator and the door system can perform manual operation.

[0084] In low power manual mode, the door system is similar to a conventional door. In this mode, the user must provide all input forces necessary to move the door. If necessary, in low power manual mode, the door system can maintain door unlock / unlock, door lock auto-suction, and door lock power release with backup power for the door lock. Without backup power, a mechanical key must be secured to the outside handle and an interior emergency opening cable must be secured inside the vehicle. The door system will return to other modes as required by the vehicle when power is restored.

[0085] Figure 2 shows the control policy logic diagram of the switching between the above different function modes, including three special switching modes between door states and operation modes, and twelve conventional switching modes between door operation modes.

[0086] Specifically, the three special switching modes are special switching mode A, special switching mode B, and special switching mode C. In special switching mode A, the door 110 is switched from a closed state to the electric mode, in special switching mode B, the door 110 is switched from a maximum open state to the electric mode, and in special switching mode C, the door 110 is switched from a maximum open state to the charged manual mode.

[0087] The special switching mode A is a mode in which the door is switched from a closed state to an electric mode. When the door system detects a door open signal such as a center display, seat belt fastening, voice, inside handle, in-vehicle button, outside handle, NFC, electronic key, tap, gesture, etc., while the door 110 is in a closed state, the door lock 130 performs an electric unlock, and when the controller 150 detects a change in the door lock 130 from a full latch to a half latch to a full open state, the controller 150 wakes up the sensor 140, enters the electric mode, and executes an execution operation including controlling the actuator 120 to drive the door to open.

[0088] The special switching mode B is a mode in which the door 110 is switched from the maximum open state to the electric mode. When the door system detects a door closing signal from the center display, seat belt fastening, voice, inside handle, in-vehicle button, outside handle, gesture, brake, or the like while the door 110 is in the maximum open state, the door system automatically switches to the electric mode and controls the actuator 120 to drive the door 110 to close it.

[0089] The special switching mode C is a mode in which the door 110 is switched from the maximum open state to the charged manual mode. The special switching mode C further includes a mode in which the door 110 is switched from the maximum open state to a manual assist mode in the charged manual mode, a manual shock prevention protection mode, a manual interference mode, or a manual tilt door opening / closing mode.

[0090] Switching from maximum opening to manual assist mode includes the following:

[0091] When the door 110 is in the maximum opening state, the manual assist mode of the door system is on, and an external input force acts on the door system, the door obtains an initial acceleration, and the door system obtains the acceleration information of the door 110 through the acceleration sensor integrated in the actuator 120, the door enters the manual assist mode. The Hall sensor associated with the actuator 120 can obtain the door status information, and the peripheral speed of the door can be obtained through the corresponding algorithm. For example, the initial acceleration of the door is ≧0.5m / s 2 and the door edge velocity is <2m / s, then enter manual assist mode. The above velocity and acceleration thresholds are only examples.

[0092] After being switched to the manual assistance mode, the door system performs the execution operation in the manual assistance mode, that is, the actuator 120 provides a driving force in the same direction as the moving direction of the door 110, thereby overcoming the mechanical internal resistance of the door system and reducing the operating force fed back to the user's hand. In addition, during the manual assistance process in the door closing direction, if the door 110 encounters an obstacle, the controller 150 will enter a mid-stop mode and notify the user of the obstacle situation when it detects that there is an external force that prevents the door from closing, and if the user ignores the warning and continues the manual operation, the actuator 120 will stop providing assistance, and the user can manually overcome the mechanical internal resistance of the door to drive the door to close.

[0093] When the door reaches the door lock position and the controller 150 detects a change signal of the door lock 130 from full open to half latched, the actuator 120 stops operating, and the controller 150 controls the door lock 130 to automatically move from the half latched position to the full latched position to complete the door closing operation.

[0094] It is possible to switch from the maximum opening state to the manual shock prevention protection mode. When the door 110 is in the maximum opening state and the manual shockproof protection mode of the door system is on and an external input force acts on the door system, the door 110 obtains an initial acceleration, the door system detects the magnitude of the initial acceleration of the door by a Hall sensor associated with the actuator 120, and when the initial acceleration of the door and the peripheral speed of the door fall within a certain range, the door system switches to the manual shockproof protection mode. In the manual shockproof protection mode, the actuator 120 provides a driving force in a direction opposite to the door movement direction to overcome the external input driving force of the door system.

[0095] Specifically, in the process of roughly closing the door in the door closing direction, the door system decelerates and stops the door 110 before the door reaches the door lock position. In addition, if an obstacle is encountered during the door closing process to trigger the anti-pinch function, the controller 150 detects that a high current signal appears in the actuator 120 and notifies the user on the center display or by the frequency of the buzzer sound.

[0096] Switching from the maximum opening state to the manual door closing mode means that when the manual door closing mode is set to an on state and the manual assist mode is set to an off state in the door system, when the door system detects that the acceleration of the door 110 and the peripheral speed of the door enter a certain range, it considers that the user intends to close the door, in which case the controller 150 controls the actuator 120 to drive the door to perform the door closing operation, and after the controller 150 detects a signal change of the door lock 130 from full open to half latch, it drives the door lock 130 to automatically suck in and complete the locking.

[0097] The 12 conventional switching modes mainly include 12 combination switching between four different operation modes of the door system, namely, electric mode, mid-stop mode, charged manual mode and power-deficient manual mode.

[0098] The conventional switching mode 1 is a mode in which the door is switched from the electric mode to the mid-stop mode, and its triggering conditions include any one of the following: (1) obtaining a mid-stop button signal or other signals that collide with the door opening / closing signal; (2) detecting the presence of an obstacle during the door opening / closing process, and performing obstacle avoidance or anti-pinch protection. In this case, the door is switched from the electric mode to the mid-stop mode, stops the door opening / closing, and enters the mid-stop state.

[0099] The conventional switching mode 2 is a mode in which the door is switched from the mid-stop mode to the electric mode, and its trigger condition includes that the door system detects a door opening / closing command input from outside in the mid-stop state, in which case the door is switched from the mid-stop state to the electric mode and automatically opens and closes the door.

[0100] Conventional switching mode 3 is a mode in which the door is switched from the midway stop mode to the charged manual mode, and specifically includes the following conventional switching modes 3.1 to 3.3.

[0101] The conventional switching mode 3.1 is a mode in which the door is switched from the mid-stop mode to the manual assistance mode, and its trigger conditions are: (1) In the door system, the manual assist mode is on; and (2) In the mid-stop mode, when an external input force acts on the door system, the door 110 obtains an initial acceleration, the door system can obtain the door acceleration information through the acceleration sensor integrated in the actuator 120, the Hall sensor associated with the actuator 120 can obtain the door status information, and the door peripheral speed can be obtained through a corresponding algorithm; and when the door acceleration is greater than a certain threshold and the door peripheral speed is less than a certain threshold, the door enters a manual assistance mode.

[0102] In the manual assist mode, the actuator 120 provides a driving force in the same direction as the door moving direction to overcome the mechanical internal resistance of the door system. If an obstacle is encountered during the manual assist process in the door closing direction and the controller 150 detects that there is an external force preventing the door from closing, the controller 150 enters the midway stop mode. During the manual assist process in the door opening direction, the sensor 140 in the wake-up state detects obstacle information during the door moving in real time and notifies the user of the obstacle situation by an alarm sound or a center display. When the door reaches the door lock position and the controller 150 detects a change signal of the door lock 130 from full open to half latch, the actuator 120 stops operating and the controller 150 controls the door lock 130 to automatically suck from the half latch position to the full latch position to complete the door closing operation.

[0103] The conventional switching mode 3.2 is a mode in which the door 110 is switched from the halfway stop state to the manual shock prevention protection mode, and the trigger condition is: (1) In the door system, the manual shock prevention protection mode is turned on; and (2) When an external input force acts on the door system, the door gets an initial acceleration, and when the initial acceleration and the peripheral velocity of the door are both greater than a certain threshold, enter a manual anti-shock protection mode. In the manual anti-shock protection mode, the actuator 120 provides a driving force in a direction opposite to the moving direction of the door to overcome the external input driving force of the door system.

[0104] Specifically, in the process of violently closing the door in the door-opening direction, the actuator 120 decelerates and stops the door 110 before it moves to the mechanical full-stroke stop position. The door system prevents the door from contacting the full-stroke stop position under the door violent-closing load, and in the process of violently closing the door in the door-closing direction, the door system decelerates and stops the door before it reaches the door-locked position. If the door forms a small angle with the full-stroke stop position or the door-locked position, pushing the door hard may only slow down the movement of the door but not stop it. When the door reaches the door-locked position, the door automatically sucks from the half-latch position to the full-latch position.

[0105] In the manual shockproof protection mode, if an obstacle is encountered during the door opening process, the sensor 140 will feed back the detected obstacle signal to the controller 150 to notify the user of the obstacle information. If an obstacle is encountered during the door closing process to trigger the anti-trapping function, the controller 150 will detect the appearance of a high current signal in the motor and notify the user of the obstacle information.

[0106] The conventional switching mode 3.3 is a mode in which the door is switched from the halfway stop state to the manual door closing mode, and the trigger conditions are: (1) In the door system, the manual door closing mode is set to an ON state, the manual assistance mode is set to an OFF state, and the door 110 is in a half-stop state or a maximum open state; (2) When the door system detects that the acceleration of the door is greater than a certain threshold and the peripheral speed of the door is less than a certain threshold, it considers that the user intends to close the door, in which case the door is automatically closed, and the controller 150 controls the actuator 120 to perform a door closing operation, and when it detects a signal change from full open to half latch of the door lock 130, it drives the door lock 130 to automatically suck in and complete locking. Exemplarily, when the door forms a very small angle with the door lock position, the actuator 120 may not be triggered, and the controller 150 detects a signal change from full open to half latch of the door lock 130 and drives the door lock 130 to automatically suck in and complete locking.

[0107] Conventional switching mode 4 is a mode in which the door is switched from the charging manual mode to the midway stop mode, and specifically includes the following conventional switching modes 4.1 to 4.3.

[0108] The conventional switching mode 4.1 is a mode in which the door is switched from the manual assistance mode to the midway stop mode, and its trigger conditions include: in the manual assistance mode, when the door does not detect an external operating force, it will enter the midway stop mode; The conventional switching mode 4.2 is a mode in which the door is switched from the manual anti-shock protection mode to the mid-stop mode, and its triggering conditions include one of the following: (1) in the door anti-shock protection mode, the door decelerates and stops moving; (2) during the door opening and closing process, the door encounters an obstacle that blocks the door from moving; The conventional switching mode 4.3 is a mode in which the door is switched from the manual door closing mode to the midway stop mode, and the triggering condition includes: during the door closing process, an obstacle is encountered to trigger the anti-pinch function.

[0109] The conventional switching mode 5 is a mode in which the door is switched from the electric mode to the electrified manual mode. When the door system detects an external input force in the same direction as the door moving direction, it can determine whether the door system is switched to the manual assistance mode or the manual shock prevention protection mode based on the initial acceleration of the door. When the initial acceleration of the door is equal to or greater than a certain threshold and the peripheral speed of the door is less than a certain threshold, it will enter the manual interference mode; when the initial acceleration of the door is greater than a certain threshold and the peripheral speed of the door is greater than a certain threshold, it will enter the manual shock prevention protection mode. When the door system detects an external input in the opposite direction to the door moving direction, if the applied force value is less than the anti-pinch force, it will enter the manual interference mode.

[0110] The conventional switching mode 6 is a mode in which the door is switched from the electrified manual mode to the electric mode, and specifically includes the following conventional switching mode 6.1 and conventional switching mode 6.2.

[0111] The conventional switching mode 6.1 is a mode in which the door is switched from the manual interference mode to the electric mode, and its triggering conditions include: the external interference operating force disappears, the acceleration of the door changes, and the door system returns to the electric mode.

[0112] The conventional switching mode 6.2 is a mode in which the door is switched from the manual door closing mode to the electric mode, and its triggering conditions include: the external interference operating force disappears, the acceleration of the door changes, the controller 150 drives the actuator 120 to drive the door to perform the door closing operation, and the door system returns to the electric mode.

[0113] Conventional switching mode 7 is a mode in which the door is switched from the electric mode to the power-deprived manual mode, and its triggering conditions include the vehicle system being power-deprived and the door system having no backup power source.

[0114] Conventional switching mode 8 is a mode in which the door is switched from the mid-stop mode to the power-starved manual mode, and the triggering conditions include the vehicle system being power-starved and the door system having no backup power source.

[0115] Conventional switching mode 9 is a mode in which the door is switched from a charged manual mode to a power-depleted manual mode, and the triggering conditions include the vehicle system being power-depleted and the door system having no backup power source.

[0116] The conventional switching mode 10 is a mode in which the door is switched from a power-starved manual mode to an electric mode, and its triggering conditions include: the vehicle system supplies power or the door system has a backup power source, and the door system obtains a door open / close signal.

[0117] Conventional switching mode 11 is a mode in which the door is switched from low-power manual mode to mid-stop mode, and the trigger conditions include the vehicle system being powered or the door system having a backup power source.

[0118] Conventional switch mode 12 is a mode in which the door is switched from an unpowered manual mode to a powered manual mode, the trigger conditions of which include the vehicle system being powered or the door system having a standby power source.

[0119] Based on the above description, in the embodiment of the present application, the door system is divided into different operation modes, and the inputs and outputs of the different operation modes and the trigger conditions for switching between the different operation modes are clarified. In the algorithm programming stage, the algorithm programming can be directly realized in a modularized manner for different operation modes based on the above operation modes, and then integrated with each other. Compared with non-modular design, the contents are more easily organized, thus improving efficiency.

[0120] In addition, a vehicle according to an embodiment of the present application includes a vehicle body and the door system as described above, and exemplarily, the vehicle body is mechanically coupled to the door of the door system. Since the vehicle according to the embodiment of the present application includes the door system as described above, it also has similar advantages.

[0121] Although the exemplary embodiments have been described with reference to the drawings, it should be understood that the exemplary embodiments are merely illustrative and are not intended to limit the scope of the present application. Those skilled in the art may make various changes and modifications without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as defined in the appended claims.

[0122] Those skilled in the art can recognize that the units and algorithm steps of each example described in the combination of the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in the form of hardware or software depends on the specific application and design constraints of the technical means. Those skilled in the art may implement the described functions in different ways for each specific application, but such implementation should not be considered to go beyond the scope of the present application.

[0123] It should be understood that in some embodiments of the present application, the disclosed devices and methods can be realized in other ways. For example, the above-described device embodiments are merely schematic, and the division of each unit is merely a logical functional division, and there may be other division methods when actually realized, for example, multiple units or components may be combined or integrated into another device, and some features may be ignored or not implemented.

[0124] In the specification provided herein, many specific details are described. However, it will be understood that the embodiments of the present application may be practiced without these specific details. In some embodiments, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of this specification.

[0125] Similarly, it is understood that in the description of the exemplary embodiments of the present application, in order to simplify the present application and to facilitate understanding of one or more of the aspects of the present application, the features of the present application may be grouped together in a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting an intention that the present application as claimed requires more features than are expressly recited in each claim. More specifically, as the corresponding claims reflect, the concept of the application is that the corresponding technical problem can be solved using fewer than all features of a single disclosed embodiment. Therefore, the claims according to specific embodiments are expressly incorporated into the specific embodiments, and each claim itself is an individual embodiment of the present application.

[0126] As will be understood by those skilled in the art, all features disclosed in this specification (including the accompanying claims, abstract and drawings) and all processes or units of any method or apparatus so disclosed may be combined using any combination other than mutual exclusivity between features. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced with an alternative feature serving the same, equivalent or similar purpose.

[0127] Also, as will be understood by those skilled in the art, some embodiments described herein may include some features included in other embodiments but not other features included in other embodiments, but it is meant that combinations of features of different embodiments are within the scope of the present application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination manner.

[0128] The various components of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. As will be appreciated by those skilled in the art, microprocessors or digital signal processors (DSPs) may be used in practice to implement some or all of the functionality of some of the modules of the present application. The present application may also be implemented as device programs (e.g., computer programs and computer program products) that perform some or all of the methods described herein. Such programs implementing the present application may be stored on a computer-readable medium or may be in the form of one or more signals. Such signals may be downloaded from an Internet site, provided on a carrier signal, or provided in other formats.

[0129] It should be noted that the above embodiments are illustrative of the present application, but are not limiting of the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs in parentheses shall not be construed as limiting the claims. The present application may be realized by hardware comprising several distinct elements, and by a suitably programmed computer. In a unit claim enumerating several devices, several of such devices may be embodied by the same hardware. The use of words such as first, second, and third does not indicate any order. Such words may be construed as names.

Claims

1. a door, an actuator, and a controller; the door is mechanically coupled to a vehicle body; the actuator is connected to the door and controls a state of the door; the controller controls the actuator to control a state of the door based on a current operating mode of the door system; The operation modes include at least an electric mode, a stop mode, and a manual mode; In the electric mode, the controller controls the actuator to drive the door open or closed; In the midway stop mode, the controller controls the actuator to midway stop the door; 2. The door system according to claim 1, wherein in the manual mode, the controller controls the actuator to drive the door to move based on an external force acting on the door.

2. The manual mode includes at least one of a manual assist mode, a manual anti-shock protection mode, a manual intervention mode, and a manual door closing mode; In the manual assist mode, the controller controls the actuator to provide a driving force to the door in a direction that is the same as a direction of door movement; In the manual shock protection mode, the controller controls the actuator to provide a driving force to the door in a direction opposite to a direction of door movement; In the manual intervention mode, the controller controls the door drive mechanism to drive the door to open or close at a predetermined speed based on an external force applied to the door; 2. The door system of claim 1, wherein in the manual door closing mode, the controller controls the actuator to drive the door closed based on door manual closing tendency information.

3. The manual assistance mode includes: When a manual assist mode is on, the controller obtains an initial acceleration and a peripheral velocity of the door.

3. The door system of claim 2, further comprising controlling, by the controller, the actuator to provide a driving force to the door in a direction that is the same as a direction of door movement when the initial acceleration is greater than or equal to a first acceleration threshold and the peripheral velocity of the door is less than a first velocity threshold.

4. The manual assistance mode includes: When the door moves in a door opening direction, the controller acquires environmental information of the movement path of the door in real time; 4. The door system of claim 3, further comprising: when determining based on the environmental information that there is an obstacle in a path of movement of the door, the controller controls the actuator to stop providing a driving force.

5. The manual assistance mode includes: When the door moves in a closing direction, the controller acquires force information of the door in real time; 5. The door system according to claim 3, further comprising: when it is determined based on the force information that the door is subjected to a force that prevents the door from moving, the controller controls the actuator to stop providing a driving force.

6. The manual shockproof protection mode is When the manual shockproof protection mode is on, the controller obtains an initial acceleration and a peripheral velocity of the door; 6. The door system of claim 2, further comprising: when the initial acceleration is greater than or equal to a second acceleration threshold and the peripheral velocity of the door is greater than or equal to a second velocity threshold, controlling, by the controller, the actuator to provide a driving force to the door in a direction opposite to a direction of door movement.

7. The manual shockproof protection mode is When the door moves in a door opening direction, acquiring environmental information of a moving path of the door in real time by the controller, and when it is determined that there is an obstacle on the moving path of the door based on the environmental information, outputting presentation information; 7. The door system according to claim 6, further comprising: acquiring force information of the door by the controller in real time when the door moves in a door closing direction; and outputting presentation information when it is determined based on the force information that the door is subjected to a force preventing the door movement.

8. The manual interference mode includes: When the actuator drives the door to open or close, the controller obtains peripheral speed information of the door in real time; 8. The door system of claim 2, further comprising, when determining based on the peripheral speed information that the peripheral speed is not equal to a third speed threshold, controlling, by the controller, the actuator to drive the door to move at a third speed threshold.

9. The manual door close mode includes: When the manual door closing mode is on, the manual assistance mode is off, and the door is in an open state or a halfway stop state, the controller obtains door acceleration information and edge speed information; The door system according to any one of claims 2 to 8, further comprising: when determining, based on the acceleration information, that the initial acceleration is equal to or greater than a fourth acceleration threshold and that the peripheral velocity is less than a fourth velocity threshold, the controller controls the actuator to drive the door to close.

10. The electric mode includes at least one of an automatic door opening mode and an automatic door closing mode; In the automatic door opening mode, the controller controls the actuator to drive the door open; 10. The door system according to claim 1, wherein in the automatic door closing mode, the controller controls the actuator to drive the door to close.

11. The automatic door opening mode is 11. The door system of claim 10, further comprising: when the door is closed, obtaining a door open command by the controller, controlling the door lock to unlock, and controlling an actuator to drive the door open.

12. The automatic door opening mode is 12. The door system of claim 11, further comprising: before controlling the door lock to unlock, the controller obtains environmental information of a moving path of the door, and confirms that there is no obstacle in the moving path of the door based on the environmental information.

13. The actuator drives the door to open, 13. The door system of claim 12, further comprising: controlling the door to be in a stopped state when the controller determines based on the environmental information that there is an obstacle in the movement path of the door.

14. The actuator drives the door to open, 14. The door system according to claim 12 or 13, further comprising: acquiring force information of the door by the controller; and controlling the door to be in a half-stop state when it is confirmed based on the force information that the door is subjected to a first resistance force and that the first resistance force is equal to or greater than a first resistance force value.

15. The automatic door closing mode is The door system according to any one of claims 10 to 14, further comprising: when the door is in an open state or an intermediate stop state, obtaining a door close command by the controller, controlling the actuator to drive the door to close, and controlling the door lock to lock the door.

16. The actuator drives the door to close, 16. The door system of claim 15, further comprising: acquiring force information of the door by the controller; and controlling the door to be in a half-stop state when it is determined based on the force information that the door is subjected to a second resistance force and that the second resistance force is equal to or greater than a second resistance force value.

17. The midway stop mode is The door system according to any one of claims 1 to 16, further comprising receiving an intermediate stop command by the controller when the door moves in a door-opening direction or a door-closing direction, and controlling the door to be in an intermediate stop state.

18. A vehicle comprising a door system according to any one of claims 1 to 17.

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