Door control method, device, equipment and storage medium

Abstract

The present invention belongs to the field of vehicle control technology, and discloses a door control method, device, equipment and storage medium. The present application detects whether the vehicle is on flat ground when it is detected that the door opening is in a preset holding interval; if not, the door maintenance current value is determined according to the current slope value of the vehicle; and a reverse working current is output according to the door maintenance current value to keep the door opening unchanged. Since a preset holding interval is set for the vehicle opening, and when the vehicle is not on flat ground, a reverse working current is calculated and output according to the slope value of the vehicle, and the actuating mechanism of the door is controlled to provide a control force in the opposite direction of the door's self-closing force, so that the door reaches a torque balance state, and the door opening is maintained unchanged, avoiding the vehicle door from automatically opening and closing due to the influence of the self-closing force, thereby improving the actual user experience.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle door control method, device, equipment and storage medium. Background Art

[0002] At present, the doors used in vehicles are mainly divided into manual doors and electric side doors. The electric side doors use the external force output by the motor as the driving force for opening and closing the doors. The internal resistance can be set relatively large without affecting the use of passengers. The doors can be maintained in any position on flat ground, but when the vehicle is on a slope, under the influence of the self-closing force of the doors, the doors may not be able to be maintained and open and close automatically after stopping moving, causing inconvenience to the passengers.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle door control method, device, equipment and storage medium, aiming to solve the technical problem in the prior art that the electric door cannot be maintained and opened and closed automatically when the vehicle is on a slope.

[0005] To achieve the above object, the present invention provides a door control method, the method comprising the following steps:

[0006] When it is detected that the door opening is in a preset holding interval, detecting whether the vehicle is on flat ground;

[0007] If it is not on flat ground, the door maintenance current value is determined according to the current slope value of the vehicle;

[0008] A reverse working current is output according to the door maintaining current value to keep the door opening unchanged.

[0009] Optionally, after the step of outputting a reverse working current according to the door maintaining current value to keep the door opening unchanged, the method further includes:

[0010] Get the change in the motion state of the door;

[0011] If the motion state change is greater than a preset change threshold, searching for a corresponding slope change protection curve according to the current slope value;

[0012] Determining a door protection current value according to the motion state change amount and the slope change protection curve;

[0013] The output reverse working current is adjusted according to the door protection current value.

[0014] Optionally, if the motion state change amount is greater than a preset change threshold, the step of searching for a corresponding slope change protection curve according to the current slope value includes:

[0015] If the motion state change is greater than a preset change threshold, obtaining a preset slope interval to which the current slope value belongs;

[0016] Find the slope change protection curve corresponding to the preset slope interval to which the current slope value belongs.

[0017] Optionally, after the step of adjusting the output reverse working current according to the door protection current value, the method further includes:

[0018] Real-time monitoring of the door's movement speed;

[0019] If the movement speed is zero, a reverse working current is output according to the door maintenance current value to keep the door opening unchanged.

[0020] Optionally, after the step of adjusting the output reverse working current according to the door protection current value, the method further includes:

[0021] Get the continuous output duration of the output reverse working current;

[0022] If the continuous output time is greater than or equal to the preset time threshold, the output of the reverse working current is stopped.

[0023] Optionally, if the vehicle is not on flat ground, the step of determining the door maintenance current value according to the current slope value of the vehicle comprises:

[0024] If the vehicle is not on flat ground, the operating force torque value and the self-closing force torque value are calculated according to the current slope value of the vehicle, and the system resistance torque value is determined according to the vehicle parameters of the vehicle;

[0025] According to the door system torque balance equation, the door holding current value is determined according to the operating force torque value, the self-closing force torque value and the system resistance torque value.

[0026] Optionally, after the step of detecting whether the vehicle is on flat ground when the door opening is detected to be in a preset holding interval, the method further includes:

[0027] If the vehicle is on flat ground, the change in the motion state of the door is obtained;

[0028] If the motion state change amount is greater than a preset change threshold, obtaining a flat ground change protection curve;

[0029] Determine the door protection current value according to the motion state change amount and the flat ground change protection curve;

[0030] A reverse protection current is output according to the door protection current value to prevent the door from being damaged.

[0031] In addition, to achieve the above object, the present invention further provides a vehicle door control device, the vehicle door control device comprising the following modules:

[0032] An opening detection module, used to detect whether the vehicle is on flat ground when detecting that the opening of the door is in a preset holding interval;

[0033] A current calculation module, used to determine a door maintenance current value according to a current slope value of the vehicle if the vehicle is not on flat ground;

[0034] The door holding module is used to output a reverse working current according to the door maintaining current value to keep the door opening unchanged.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle door control device, which includes: a processor, a memory, and a vehicle door control program stored in the memory and executable on the processor, and when the vehicle door control program is executed by the processor, the steps of the vehicle door control method as described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium, on which a door control program is stored, and when the door control program is executed, the steps of the door control method described above are implemented.

[0037] The present invention detects whether the vehicle is on flat ground when it detects that the door opening is in a preset holding interval; if not, the door maintenance current value is determined according to the current slope value of the vehicle; and a reverse working current is output according to the door maintenance current value to keep the door opening unchanged. Since a reverse working current is calculated and output according to the slope value of the vehicle in a preset holding interval of the vehicle opening, and when the vehicle is not on flat ground, the actuating mechanism of the door is controlled to provide a control force in the opposite direction of the door self-closing force, so that the door reaches a torque balance state, the door opening is maintained unchanged, and the vehicle door is prevented from automatically opening and closing due to the influence of the self-closing force, thereby improving the actual user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present invention;

[0039] Figure 2 It is a flow chart of a first embodiment of a vehicle door control method of the present invention;

[0040] Figure 3 A schematic diagram of interval setting according to an embodiment of the present invention;

[0041] Figure 4 This is a diagram of the automatic door closing system architecture according to an embodiment of the present invention;

[0042] Figure 5 It is a flow chart of a second embodiment of a vehicle door control method of the present invention;

[0043] Figure 6 A schematic diagram of a flow chart of a third embodiment of a vehicle door control method of the present invention

[0044] Figure 7 A schematic diagram of a door control execution flow chart according to an embodiment of the present invention;

[0045] Figure 8 It is a structural block diagram of the first embodiment of the vehicle door control device of the present invention.

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0048] Reference Figure 1 , Figure 1 The diagram is a structural diagram of a door control device in a hardware operating environment according to an embodiment of the present invention.

[0049] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art will understand that Figure 1The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0051] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module and a door control program.

[0052] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in a door control device, and the electronic device calls the door control program stored in the memory 1005 through the processor 1001, and executes the door control method provided by an embodiment of the present invention.

[0053] The embodiment of the present invention provides a door control method, referring to Figure 2 , Figure 2 It is a flow chart of a first embodiment of a vehicle door control method of the present invention.

[0054] In this embodiment, the door control method includes the following steps:

[0055] Step S10: When it is detected that the door opening is in a preset holding interval, detecting whether the vehicle is on flat ground.

[0056] It should be noted that the executor of this embodiment may be the door control device or the vehicle itself. The door control device may be a controller that can control components in the vehicle, such as an ECU controller. Of course, it may also be other controllers that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the door control method of this application is described by taking the door control device as an example.

[0057] It should be noted that the preset holding interval may be a door opening interval that needs to be maintained by the driving mechanism, and the preset holding interval may be pre-set by the vehicle manufacturer.

[0058] In a specific implementation, any way that causes the door opening to be in the preset holding range will trigger step S10 of this embodiment, such as when the vehicle opens the door directly according to the signal and the opening is in the preset holding range, or after the door is opened, the door opening is in the preset protection range due to the system's own movement.

[0059] It can be understood that if it is detected that the vehicle's door opening is in a preset holding range, it means that the door may need to be maintained at this time. In order to further distinguish, it can be detected whether the vehicle is on flat ground, so as to determine whether the drive motor needs to output working current to maintain the door opening.

[0060] Among them, detecting whether the vehicle is on flat ground may be detecting whether the collected value of a slope sensor installed in the vehicle is 0. If so, it is determined that the vehicle is on flat ground; if not, it is determined that the vehicle is not on flat ground.

[0061] For ease of understanding, now combined Figure 3 This is for illustration only, but not for limitation. Figure 3 Schematic diagram of interval setting in this embodiment. Figure 3 As shown, the door opening can be divided into three areas according to actual conditions. Among them, when the opening is in area 1, the door opening is too small, and it is almost impossible for the user to enter or exit the vehicle in this situation. Therefore, for this area, there is no need for real-time driving mechanism reverse current to hold the door; if the opening is in area 2, the user may enter or exit the vehicle at this time. At this time, the driving mechanism is required to output reverse current to maintain the door opening to avoid automatic opening and closing of the door, which reduces the user experience; if the opening is in area 3, the door opening has exceeded the maximum opening that the motor can control. This area is a non-electric function area. Therefore, in summary, area 2 can be used as the preset holding interval.

[0062] Step S20: If the vehicle is not on flat ground, determine the door maintenance current value according to the current slope value of the vehicle.

[0063] It should be noted that if the vehicle is not on flat ground, it means that the vehicle is on a slope. At this time, the vehicle's doors may change their door opening due to the self-closing force of the doors, resulting in automatic opening and closing. In order to avoid this phenomenon, the current slope value of the vehicle can be obtained at this time, and the current required to maintain the door opening unchanged can be determined according to the current slope value, that is, the door maintaining current.

[0064] In a specific implementation, obtaining the current slope value of the vehicle may be by reading the current acquisition value of a slope sensor installed in the vehicle, thereby obtaining the current slope value. Determining the door holding current value according to the current slope value of the vehicle may be by searching a preset slope current mapping table for a corresponding door holding current value according to the current slope value. The preset slope current mapping table may include a correspondence between the slope value and the door holding current value, and the correspondence may be pre-calibrated by the vehicle manufacturer.

[0065] In actual use, if the vehicle is on flat ground, the vehicle can rely on the system resistance of the vehicle to keep the door opening unchanged, and there is no need to calculate the door maintenance current value.

[0066] Furthermore, since different super items of the vehicle on the slope may result in too many slope values, if calibration is performed one by one, the workload is huge and the calibration cost is too high. In order to overcome this defect, step S20 in this embodiment may include:

[0067] If the vehicle is not on flat ground, the operating force torque value and the self-closing force torque value are calculated according to the current slope value of the vehicle, and the system resistance torque value is determined according to the vehicle parameters of the vehicle;

[0068] According to the door system torque balance equation, the door holding current value is determined according to the operating force torque value, the self-closing force torque value and the system resistance torque value.

[0069] It should be noted that the operating force torque value can be the torque from the current operating force of the door to the hinge rotation center of the door, the self-closing force torque value can be the torque from the current self-closing force of the door to the hinge center of the door, and the system resistance torque value can be the torque from the system resistance provided by the hardware of the door to the hinge rotation center of the door.

[0070] The door system moment balance equation can be:

[0071] M1+M2+M3+M4=0

[0072] Wherein, M1 may be the operating force torque value, M2 may be the self-closing force torque value, M3 may be the system resistance torque value, and M4 may be the torque from the output force of the actuator in the door actuating mechanism to the rotation center of the door hinge, wherein, M4=ax+b, wherein, x is the door holding current value, and a and b are the motor torque characteristic constants of the actuator in the door actuating mechanism.

[0073] It can be understood that by substituting the operating force torque value, the closing force torque value and the system resistance torque value into the door system torque balance equation, M4 can be calculated, and then the door holding current value can be calculated based on the motor torque characteristic constant of the motor used in the vehicle.

[0074] Step S30: outputting a reverse working current according to the door maintaining current value to keep the door opening unchanged.

[0075] It should be noted that outputting a reverse working current according to the door maintaining current value to keep the door opening unchanged can be achieved by controlling the actuator in the actuating mechanism for controlling the opening and closing of the door in the vehicle to output a reverse working current, controlling the actuating mechanism to provide a control force in the opposite direction to the self-closing force of the door, so that the door reaches a torque balance state, thereby keeping the door opening unchanged.

[0076] For ease of understanding, now combined Figure 4This is for illustration only, but not for limitation. Figure 4 FIG. 1 is a schematic diagram of the automatic door closing system of the vehicle in this embodiment. Figure 4 As shown in the figure, the automatic door closing system architecture mainly includes multiple modules such as control unit, actuating mechanism, safety protection, triggering mode, etc. Among them, the ECU controller in the control unit can obtain the collected values ​​of various components in the vehicle, such as the collected values ​​of the slope sensor, etc. The actuating mechanism includes an actuator (Drive unit) and an electronic lock (E-latch). The actuator can be used to output reverse working current to ensure that the opening of the door remains unchanged.

[0077] This embodiment detects whether the vehicle is on flat ground when it detects that the door opening is in a preset holding interval; if not, the door holding current value is determined according to the current slope value of the vehicle; and a reverse working current is output according to the door holding current value to keep the door opening unchanged. Since a reverse working current is calculated and output according to the slope value of the vehicle in a preset holding interval of the vehicle opening, and when the vehicle is not on flat ground, the actuating mechanism of the door is controlled to provide a control force in the opposite direction of the door's self-closing force, so that the door reaches a torque balance state, the door opening is maintained unchanged, and the vehicle door is prevented from automatically opening and closing due to the influence of the self-closing force, thereby improving the actual user experience.

[0078] refer to Figure 5 , Figure 5 It is a flow chart of a second embodiment of a vehicle door control method of the present invention.

[0079] Based on the first embodiment, after step S30, the vehicle door control method of this embodiment further includes:

[0080] Step S40: Obtain the change in the motion state of the vehicle door.

[0081] It should be noted that the motion state change amount may be a velocity change amount or an acceleration change amount, and this embodiment does not limit this.

[0082] It should be noted that during the door holding process, the door may move due to external forces, such as collision, strong wind and other factors. If the door moves too fast, a collision may occur or even damage the door when the door is closed or opened to the maximum angle. Therefore, a preset change threshold can be set in advance to determine whether the door moves too fast.

[0083] Step S50: If the motion state change is greater than a preset change threshold, a corresponding slope change protection curve is searched according to the current slope value.

[0084] It should be noted that the preset change threshold can be set in advance by the vehicle manufacturer. In order to distinguish excessively fast movement from normal door closing behavior, the preset change threshold can be set larger. If the change in the motion state is greater than the preset change threshold, it means that the door is moving too fast at this time, which may cause damage to the door, and the movement speed of the door needs to be reduced. At this time, in order to reasonably protect the door, the corresponding slope change protection curve can be found according to the current slope value.

[0085] Among them, different slope values ​​may correspond to different slope change protection curves, and the slope change protection curve may include a mapping relationship between the change in motion state and the door protection current value, and the slope change protection curve may be pre-set by the vehicle manufacturer.

[0086] Furthermore, since there are a large number of slope values, if each slope value is calibrated and a corresponding slope change protection curve is set, the workload is too large. According to actual research by technical personnel, when the slopes are relatively close, the slope change protection curves are actually very different. Therefore, multiple preset slope intervals can be set in advance, and then a slope change protection curve can be calibrated for each preset slope interval. At this time, step S50 described in this embodiment may include:

[0087] If the motion state change is greater than a preset change threshold, obtaining a preset slope interval to which the current slope value belongs;

[0088] Find the slope change protection curve corresponding to the preset slope interval to which the current slope value belongs.

[0089] It should be noted that the preset slope interval can be set by the vehicle manufacturer according to actual needs. For example, 8 preset slope intervals are set according to different slopes, and this embodiment does not limit this.

[0090] It can be understood that presetting a preset slope interval and then calibrating a slope change protection curve for the preset slope interval can greatly reduce the workload during the calibration process.

[0091] Step S60: determining a door protection current value according to the motion state change amount and the slope change protection curve.

[0092] It should be noted that determining the door protection current value according to the motion state change amount and the slope change protection curve may be to search for the door protection current value corresponding to the motion state change amount in the slope change protection curve.

[0093] Step S70: adjusting the output reverse working current according to the door protection current value.

[0094] It should be noted that adjusting the output reverse working current according to the door protection current value may be adjusting the current magnitude of the output reverse working current to the current magnitude corresponding to the door protection current value. The door protection current value is generally greater than the door maintenance current value.

[0095] In a specific implementation, after adjusting the output reverse working current according to the door protection current value, the change in the movement state of the door can also be monitored in real time. If the change is inconsistent with the change in the slope change protection curve, the door protection current value can also be corrected. For example: if the change in the movement state of the door is faster than the change in the slope change protection curve, the door protection current value can be appropriately reduced (such as reducing the door protection current value by a preset reduction factor).

[0096] Furthermore, in order to ensure that the door opening degree remains unchanged after the door stops moving, the following steps may be further included after step S70 in this embodiment:

[0097] Real-time monitoring of the door's movement speed;

[0098] If the movement speed is zero, a reverse working current is output according to the door maintenance current value to keep the door opening unchanged.

[0099] It can be understood that if the movement speed is zero, it means that the door has stopped moving at this time. At this time, the current size of the output reverse working current can be adjusted to the current size corresponding to the door maintenance current value previously calculated according to the current slope value of the vehicle, thereby ensuring that the door opening can be maintained unchanged.

[0100] In a specific implementation, in order to ensure that the door opening is maintained unchanged, the door maintenance current value can be recalculated according to the current slope value of the vehicle, and then a reverse working current is output according to the door maintenance current value to keep the door opening unchanged.

[0101] Furthermore, in order to avoid excessive function consumption, after step S70 in this embodiment, the following steps may be further included:

[0102] Get the continuous output duration of the output reverse working current;

[0103] If the continuous output time is greater than or equal to the preset time threshold, the output of the reverse working current is stopped.

[0104] It should be noted that the continuous output duration can be the duration of continuously outputting the reverse working current, that is, the duration of maintaining the door opening unchanged. The preset duration threshold can be pre-set by the vehicle manufacturer or user according to actual needs, for example, the preset duration threshold is set to 1 minute.

[0105] It can be understood that if the continuous output time is greater than or equal to the preset time threshold, it means that the door opening has been maintained unchanged for a long time. At this time, the user has basically completed the action of getting on or off the car. In order to avoid excessive functional consumption, the door opening can no longer be maintained unchanged. Therefore, the output of reverse working current can be stopped.

[0106] This embodiment obtains the change in the motion state of the door; if the change in the motion state is greater than the preset change threshold, the corresponding slope change protection curve is searched according to the current slope value; the door protection current value is determined according to the change in the motion state and the slope change protection curve; and the output reverse working current is adjusted according to the door protection current value. Since the change in the motion state of the door is monitored to determine whether the door moves too fast, the door protection current value is determined according to the preset slope change protection curve when the door moves too fast, and the output reverse working current is adjusted according to the door protection current value to slow down the movement speed of the door and avoid damage to the door due to excessive movement of the door.

[0107] refer to Figure 6 , Figure 6 It is a flow chart of a third embodiment of a vehicle door control method of the present invention.

[0108] Based on the first embodiment, after step S10, the vehicle door control method of this embodiment further includes:

[0109] Step S20': if the vehicle is on flat ground, obtain the change in the motion state of the door.

[0110] It should be noted that if the vehicle is on flat ground, there is no need to output additional reverse working current at this time, and the door opening can be maintained by relying solely on system resistance. However, the door may move due to external factors, such as collision or strong wind. After determining that the vehicle is on flat ground, the movement state of the door can be monitored in real time to obtain the change in the movement state of the door.

[0111] Step S30': if the motion state change amount is greater than a preset change threshold, a flat ground change protection curve is obtained.

[0112] It is understandable that if the change in motion state is greater than the preset change threshold, it means that the movement of the door is too fast and may cause damage to the door, and the movement speed of the door needs to be reduced. In order to reasonably protect the door, a flat ground change protection curve can be obtained. The flat ground change protection curve can be pre-set by the vehicle manufacturer, and the flat ground change protection curve can include the corresponding relationship between the change in motion state of the vehicle when it is on flat ground and the door protection current value.

[0113] Step S40 ′: determining a door protection current value according to the motion state variation and the flat ground variation protection curve.

[0114] It should be noted that determining the door protection current value according to the motion state change amount and the flat ground change protection curve may be to find the door protection current value corresponding to the motion state change amount in the flat ground change protection curve.

[0115] Step S50 ′: outputting a reverse protection current according to the door protection current value to prevent the door from being damaged.

[0116] It should be noted that adjusting the output reverse working current according to the door protection current value may be adjusting the current magnitude of the output reverse working current to the current magnitude corresponding to the door protection current value. The door protection current value is generally greater than the door maintenance current value.

[0117] In a specific implementation, after adjusting the output reverse working current according to the door protection current value, the door's motion state change can also be monitored in real time. If the change is inconsistent with the change in the ground change protection curve, the door protection current value can also be corrected. For example: if the change in the door's motion state change is faster than the change in the ground change protection curve, the door protection current value can be appropriately reduced (such as reducing the door protection current value by a preset reduction factor).

[0118] For ease of understanding, now combined Figure 7 This is for illustration only, but not for limitation. Figure 7 FIG. 1 is a schematic diagram of the door control execution flow of this embodiment, as shown in FIG. Figure 7 As shown, when the electric mechanism of the vehicle receives the stop door opening / closing signal, it will detect the current opening of the door. If the current opening is in area 1 that does not need to be maintained, the actuator will not output the direction compensation current (i.e., the reverse working current), and the door opening will continue to be monitored. If the door opening is maintained to area 2 that needs to be maintained by the system's own movement, or when the door opening is directly in area 2 that needs to be maintained after receiving the signal, it will determine whether the vehicle is on flat ground based on the collected value of the slope sensor. If so, the working current will not be output subsequently, and the change in the movement state of the door (speed or acceleration) will be monitored. If the door speed changes, it will output a reverse protection current until the door speed becomes 0; if the vehicle is not on flat ground (i.e. on a slope), it will output a reverse working current according to the slope information (current slope value) to maintain the door opening unchanged, and then detect whether the change in the door's motion state exceeds the preset threshold. If so, it will output a reverse protection current until the door speed becomes 0, and then output a reverse working current to maintain the door opening. After that, when it is detected that the holding time reaches the continuous output time T1 and the door is not moving, the reverse working current will be stopped.

[0119] In this embodiment, if the vehicle is on flat ground, the change in the movement state of the door is obtained; if the change in the movement state is greater than a preset change threshold, a flat ground change protection curve is obtained; the door protection current value is determined according to the change in the movement state and the flat ground change protection curve; and a reverse protection current is output according to the door protection current value to prevent damage to the door. Since the change in the movement state of the door is also monitored when the vehicle is on flat ground, it is determined whether the door moves too fast due to other factors, and when the movement speed is too fast, the door protection current value is determined according to the flat ground change protection curve, and a reverse protection current is output according to the door protection current value to slow down the movement speed of the door and prevent the door from being damaged due to excessive movement.

[0120] In addition, an embodiment of the present invention further provides a storage medium, on which a door control program is stored. When the door control program is executed by a processor, the steps of the door control method described above are implemented.

[0121] Reference Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the vehicle door control device of the present invention.

[0122] like Figure 8 As shown, the door control device proposed in the embodiment of the present invention includes:

[0123] The opening detection module 10 is used to detect whether the vehicle is on flat ground when detecting that the opening of the door is in a preset holding interval;

[0124] The current calculation module 20 is used to determine the door maintenance current value according to the current slope value of the vehicle if the vehicle is not on flat ground;

[0125] The door holding module 30 is used to output a reverse working current according to the door maintaining current value to keep the door opening unchanged.

[0126] This embodiment detects whether the vehicle is on flat ground when it detects that the door opening is in a preset holding interval; if not, the door holding current value is determined according to the current slope value of the vehicle; and a reverse working current is output according to the door holding current value to keep the door opening unchanged. Since a preset holding interval is preset for the vehicle opening, and when the vehicle is not on flat ground, the reverse working current is calculated and output according to the slope value of the vehicle to keep the door opening unchanged, the vehicle door is prevented from automatically opening and closing due to the influence of the self-closing force, thereby improving the actual user experience.

[0127] Furthermore, the door holding module 30 is also used to obtain the change in the motion state of the door; if the change in the motion state is greater than a preset change threshold, the corresponding slope change protection curve is searched according to the current slope value; the door protection current value is determined according to the change in the motion state and the slope change protection curve; and the output reverse working current is adjusted according to the door protection current value.

[0128] Furthermore, the door holding module 30 is also used to obtain the preset slope interval to which the current slope value belongs if the change in the motion state is greater than a preset change threshold; and search for a slope change protection curve corresponding to the preset slope interval to which the current slope value belongs.

[0129] Furthermore, the door holding module 30 is also used to monitor the movement speed of the door in real time; if the movement speed is zero, a reverse working current is output according to the door maintenance current value to keep the opening of the door unchanged.

[0130] Furthermore, the door holding module 30 is also used to obtain the continuous output time of the output reverse working current; if the continuous output time is greater than or equal to a preset time threshold, the output of the reverse working current is stopped.

[0131] Furthermore, the current calculation module 20 is also used to calculate the operating force torque value and the self-closing force torque value according to the current slope value of the vehicle if the vehicle is not on flat ground, and determine the system resistance torque value according to the vehicle parameters of the vehicle; according to the door system torque balance equation, the door maintenance current value is determined according to the operating force torque value, the self-closing force torque value and the system resistance torque value.

[0132] Furthermore, the opening detection module 10 is also used to obtain the change in the motion state of the door if the vehicle is on flat ground; if the change in the motion state is greater than a preset change threshold, obtain a flat ground change protection curve; determine the door protection current value based on the change in the motion state and the flat ground change protection curve; output a reverse protection current based on the door protection current value to avoid damage to the door.

[0133] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0134] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0135] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the door control method provided in any embodiment of the present invention, and will not be repeated here.

[0136] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0137] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0139] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A door control method, characterized in that: The door control method comprises the following steps: When it is detected that the door opening is in a preset holding interval, detecting whether the vehicle is on flat ground; If it is not on flat ground, the door maintenance current value is determined according to the current slope value of the vehicle; Outputting a reverse working current according to the door maintaining current value to keep the door opening unchanged; Wherein, after the step of detecting whether the vehicle is on flat ground when the door opening is detected to be in a preset holding interval, the method further includes: If the vehicle is on flat ground, the change in the motion state of the door is obtained; If the motion state change amount is greater than a preset change threshold, obtaining a flat ground change protection curve; Determine the door protection current value according to the motion state change amount and the flat ground change protection curve; A reverse protection current is output according to the door protection current value to prevent the door from being damaged.

2. The door control method according to claim 1, characterized in that: After the step of outputting a reverse working current according to the door maintenance current value to keep the door opening unchanged, the method further includes: Get the change in the motion state of the door; If the motion state change is greater than a preset change threshold, searching for a corresponding slope change protection curve according to the current slope value; Determining a door protection current value according to the motion state change amount and the slope change protection curve; The output reverse working current is adjusted according to the door protection current value.

3. The door control method according to claim 2, characterized in that: If the motion state change amount is greater than a preset change threshold, the step of searching for a corresponding slope change protection curve according to the current slope value comprises: If the motion state change is greater than a preset change threshold, obtaining a preset slope interval to which the current slope value belongs; Find the slope change protection curve corresponding to the preset slope interval to which the current slope value belongs.

4. The vehicle door control method according to claim 2, characterized in that: After the step of adjusting the output reverse working current according to the door protection current value, the method further includes: Real-time monitoring of the door's movement speed; If the movement speed is zero, a reverse working current is output according to the door maintenance current value to keep the door opening unchanged.

5. The vehicle door control method according to claim 2, characterized in that: After the step of adjusting the output reverse working current according to the door protection current value, the method further includes: Get the continuous output duration of the output reverse working current; If the continuous output time is greater than or equal to the preset time threshold, the output of the reverse working current is stopped.

6. The vehicle door control method according to any one of claims 1 to 5, characterized in that: The step of determining the door maintenance current value according to the current slope value of the vehicle if the vehicle is not on flat ground comprises: If the vehicle is not on flat ground, the operating force torque value and the self-closing force torque value are calculated according to the current slope value of the vehicle, and the system resistance torque value is determined according to the vehicle parameters of the vehicle; According to the door system torque balance equation, the door holding current value is determined according to the operating force torque value, the self-closing force torque value and the system resistance torque value.

7. A door control device, characterized in that: The door control device comprises the following modules: An opening detection module, used to detect whether the vehicle is on flat ground when detecting that the opening of the door is within a preset holding interval; A current calculation module, used to determine a door maintenance current value according to a current slope value of the vehicle if the vehicle is not on flat ground; A door holding module, used for outputting a reverse working current according to the door maintaining current value, so as to keep the opening of the door unchanged; The opening detection module is further used to obtain a change in the motion state of the door if the vehicle is on flat ground; if the change in the motion state is greater than a preset change threshold, obtain a flat ground change protection curve; and determine a door protection current value according to the change in the motion state and the flat ground change protection curve; A reverse protection current is output according to the door protection current value to prevent the door from being damaged.

8. A vehicle door control device, characterized in that: The door control device comprises: a processor, a memory, and a door control program stored in the memory and executable on the processor. When the door control program is executed by the processor, the steps of the door control method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a door control program, which, when executed, implements the steps of the door control method according to any one of claims 1 to 6.

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