Vehicle door control method, system, electronic device and storage medium

Abstract

The present application provides a door control method, system, electronic device and storage medium. The door control method includes obtaining initial position information, real-time position information, target position information and real-time running speed of a driving motor of the vehicle, determining a target speed control curve and a PWM duty cycle control curve of the driving motor according to the initial position information and the target position information, determining a real-time target running speed according to the real-time position information and the target speed control curve, determining a running speed difference according to the real-time running speed and the real-time target running speed, determining a PWM duty cycle adjustment range based on a preset mapping relationship between the running speed difference and the running speed difference and a PWM duty cycle adjustment range, and controlling the driving motor to adjust the PWM control curve according to the PWM duty cycle adjustment range. The present application improves user experience.

Description

Technical Field

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

[0002] With the continuous deepening of the development of the "New Four Modernizations" in the automotive industry, the degree of automobile electrification, intelligence, and networking is getting higher and higher, and there is more and more attention and understanding of user needs. The technologies of the ICT industry and the Internet industry continue to penetrate into the automotive industry. The development and application of more and more automated and intelligent components or systems have greatly improved the comfort and convenience of drivers and passengers during vehicle use. Among them, electric doors can provide more advanced and intelligent services for drivers and passengers to enter and exit the vehicle.

[0003] However, in practice, many problems have been exposed, such as: opening / closing speed that is too fast makes the user experience stiff, noisy, and has a large impact force, or the speed is too slow, affecting the time for users to enter and exit the vehicle; when the vehicle is on a slope, such as a downhill road, when the door is opened to the maximum position, it cannot stop moving immediately due to inertia, which will have an impact on the structural parts; and on an uphill road, when the door is closed, the door moves very fast due to inertia, and will also have an impact on the structural parts when locked, and the anti-pinch function performance will be reduced; the door places a huge load on the motor during the transition from a stopped state to a moving state, and the door will shake in place during the transition from moving to a stopped state, causing continuous wear and tear on the entire hardware and structural system of the electric door. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the present invention provides a door control method, system, equipment and medium to solve the above-mentioned problems of door opening / closing speed being too fast and poor user experience; when the vehicle is on a slope, when the door is opened to the maximum position, it cannot stop moving immediately due to inertia, which will produce impact force on the structural parts; on an uphill road, when the door is closed, the door moves very fast due to inertia, and will also produce impact force on the structural parts when locked, and the performance of the anti-pinch function will be reduced; the load on the motor is extremely large during the state transition from stop to movement, and the door will shake in place during the state transition from movement to stop, causing continuous strain on the entire hardware and structural system of the electric door.

[0005] In a first aspect, the present application provides a vehicle door control method, wherein the vehicle door is electrically connected to a drive motor, and the vehicle door control method comprises:

[0006] Obtain the vehicle's initial position information, real-time position information, target position information and the real-time running speed of the drive motor;

[0007] Determine a target speed control curve and a PWM duty cycle control curve of the drive motor according to the initial position information and the target position information;

[0008] Determine the real-time target running speed based on the real-time position information and the target speed control curve;

[0009] Determine the running speed difference according to the real-time running speed and the real-time target running speed;

[0010] Determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range;

[0011] The driving motor is controlled to adjust the PWM control curve according to the PWM duty cycle adjustment amplitude.

[0012] In an exemplary embodiment of the present application, determining a PWM duty cycle control curve of a driving motor includes:

[0013] Determining a target speed control curve according to the initial position information and the target position information;

[0014] Based on the target speed control curve, determine the acceleration change curve of the drive motor;

[0015] Based on the acceleration change curve and a preset mapping relationship between acceleration and PWM duty cycle, a PWM duty cycle control curve is determined.

[0016] In another exemplary embodiment of the present application, the vehicle door is further electrically connected to a brake motor, and the vehicle door control method further includes:

[0017] Determine the remaining distance based on the real-time location information and the target location information;

[0018] If the remaining stroke is less than or equal to a first preset distance threshold, the brake motor is controlled to use the first preset distance as a deceleration distance and to reduce the running speed according to a preset deceleration curve.

[0019] In another exemplary embodiment of the present application, the vehicle door control method further includes:

[0020] Acquiring a movement state of the vehicle door, wherein the movement state includes being interrupted and stopped;

[0021] If the motion state is interrupted and stopped, the brake motor is controlled to use a second preset distance as a deceleration distance, and the running speed is reduced according to a preset deceleration curve, and the second preset distance is smaller than the first preset distance.

[0022] In another exemplary embodiment of the present application, the motion state further includes being interrupted and reversed, and the door control method further includes:

[0023] If the motion state includes interrupted reversal, the brake motor is controlled to use a third preset distance as a deceleration distance, and the running speed is reduced according to a preset deceleration curve, and the third preset distance is smaller than the second preset distance.

[0024] In another exemplary embodiment of the present application, the vehicle door control method further includes:

[0025] Obtain the current pitch angle of the vehicle to be controlled and the real-time door speed of the door;

[0026] If the current pitch angle is greater than a preset angle threshold, controlling the brake motor to brake the door;

[0027] If the real-time door speed is greater than a preset speed threshold, the drive motor is controlled to drive the door in reverse.

[0028] In a second aspect, the present application provides a vehicle door control system, wherein the vehicle door is electrically connected to a drive motor, and the vehicle door control system comprises:

[0029] The acquisition module is used to obtain the initial position information, real-time position information, target position information and real-time running speed of the driving motor of the vehicle;

[0030] A first determination module, used to determine a target speed control curve and a PWM duty cycle control curve of the drive motor according to the initial position information and the target position information;

[0031] The second determination module is used to determine the real-time target running speed according to the real-time position information and the target speed control curve;

[0032] A third determination module is used to determine a running speed difference according to the real-time running speed and the real-time target running speed;

[0033] A fourth determination module, configured to determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range;

[0034] The control module is used to control the drive motor to adjust the PWM control curve according to the PWM duty cycle adjustment amplitude.

[0035] In a third aspect, the present application provides an electronic device, the electronic device comprising:

[0036] one or more processors;

[0037] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the vehicle door control method as described above.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer executes the vehicle door control method as described above.

[0039] Beneficial effects of the present invention:

[0040] The present invention obtains the initial position information, real-time position information, target position information and real-time running speed of the vehicle, determines the target speed control curve and PWM duty cycle control curve of the driving motor according to the initial position information and the target position information, determines the real-time target running speed according to the real-time position information and the target speed control curve, determines the running speed difference according to the real-time running speed and the real-time target running speed, determines the PWM duty cycle adjustment range based on the running speed difference and the preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range, controls the driving motor to adjust the PWM control curve according to the PWM duty cycle adjustment range, thereby solving the technical problems such as the electric door opening / closing speed is too fast, the user experience is not good, the impact force on the structural parts, and the continuous wear and tear on the entire hardware and structural system of the electric door.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0043] Figure 1 A flow chart of a vehicle door control method shown as an exemplary embodiment of the present application;

[0044] Figure 2 for Figure 1 A flowchart of determining a target speed control curve of a drive motor in an exemplary embodiment in the illustrated embodiment;

[0045] Figure 3 for Figure 2 A schematic diagram of a speed control curve in the illustrated embodiment;

[0046] Figure 4 for Figure 1 A flowchart of determining a PWM duty cycle control curve for driving a motor in an exemplary embodiment in the illustrated embodiment;

[0047] Figure 5 A flow chart of a vehicle door control method shown as another exemplary embodiment of the present application;

[0048] Figure 6 A flow chart of a vehicle door control method shown as another exemplary embodiment of the present application;

[0049] Figure 7 A flow chart of a vehicle door control method shown as another exemplary embodiment of the present application;

[0050] Figure 8 A flow chart of a vehicle door control method shown as another exemplary embodiment of the present application;

[0051] Fig. 9 A flow chart of a vehicle door control method shown in a specific embodiment of the present application;

[0052] Fig.10 A block diagram of a door control system according to an exemplary embodiment of the present application;

[0053] Fig.11 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0054] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0056] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0057] See also Figure 1 , Figure 1 The flowchart of a vehicle door control method is shown as an exemplary embodiment of the present application, and the vehicle door is electrically connected to a drive motor.

[0058] like Figure 1 As shown, in an exemplary embodiment of the present application, the door control method at least includes steps S110 to S160, which are described in detail as follows:

[0059] Step S110. Obtain the initial position information, real-time position information, target position information and real-time running speed of the driving motor of the vehicle;

[0060] Step S120. Determine the target speed control curve and PWM duty cycle control curve of the drive motor according to the initial position information and the target position information;

[0061] Step S130. Determine the real-time target running speed according to the real-time position information and the target speed control curve;

[0062] Step S140. Determine the running speed difference according to the real-time running speed and the real-time target running speed;

[0063] Specifically, the difference between the real-time running speed and the real-time target running speed is the running speed difference;

[0064] Step S150. Determine the PWM duty cycle adjustment range based on the running speed difference and the preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range;

[0065] Specifically, in the present application, the preset mapping relationship between the running speed difference and the PWM duty cycle adjustment amplitude includes the running speed difference and the PWM duty cycle adjustment amplitude, which is used to determine the PWM duty cycle adjustment amplitude based on the preset mapping relationship between the two. Exemplarily, the preset mapping relationship between the running speed difference and the PWM duty cycle adjustment amplitude can adopt a gradient method. For example, if the running speed difference is less than a first preset speed difference threshold, the first preset PWM duty cycle adjustment amplitude is determined as the PWM duty cycle adjustment amplitude. If the running speed difference is greater than or equal to the first preset speed difference threshold and less than the second preset speed difference threshold, the second preset PWM duty cycle adjustment amplitude is determined as the PWM duty cycle adjustment amplitude.

[0066] Step S160: Control the drive motor to adjust the PWM control curve according to the PWM duty cycle adjustment amplitude.

[0067] See also Figure 2 , Figure 2 for Figure 1 The illustrated embodiment is a flow chart of determining a target speed control curve for a drive motor in an exemplary embodiment.

[0068] like Figure 2 As shown, in an exemplary embodiment of the present application, Figure 1 The process of determining the target speed control curve of the drive motor in the illustrated embodiment includes step S210 and step S220, which are described in detail as follows:

[0069] Step S210. Determine the total travel of the vehicle to be controlled according to the initial position information and the target position information;

[0070] Step S220: Determine a target speed control curve based on the total journey and a preset mapping relationship between each road section in the total journey and the target speed.

[0071] Specifically, the preset mapping relationship between each road section in the total journey and the target speed includes each road section in the total journey and the target speed, and is used to determine the target speed corresponding to each road section in the total journey based on the preset mapping relationship between the two. Figure 3 As shown, the speed of the initial 1 / 10 section of the total journey is accelerated according to the rising curve in the sine image; the speed of the 1 / 10 section of the total journey close to the target position is decelerated according to the falling curve in the sine image; the remaining 8 / 10 sections of the total journey travel at a constant speed according to the preset speed threshold.

[0072] See also Figure 4 , Figure 4 for Figure 1 The illustrated embodiment is a flow chart of determining a PWM duty cycle control curve for driving a motor in an exemplary embodiment.

[0073] like Figure 4 As shown, in an exemplary embodiment of the present application, Figure 1 The process of determining the PWM duty cycle control curve of the driving motor in the illustrated embodiment includes steps S410 to S430, which are described in detail as follows:

[0074] Step S410. Determine a target speed control curve according to the initial position information and the target position information;

[0075] Step S420. Determine the acceleration change curve of the drive motor based on the target speed control curve;

[0076] Specifically, the slope of the corresponding point on the target speed control curve is the corresponding acceleration;

[0077] Step S430: Determine a PWM duty cycle control curve based on the acceleration change curve and a preset mapping relationship between acceleration and PWM duty cycle.

[0078] See also Figure 5 , Figure 5The flowchart of a vehicle door control method is shown as another exemplary embodiment of the present application.

[0079] like Figure 5 As shown, in another exemplary embodiment of the present application, the vehicle door is also electrically connected to a brake motor, and the vehicle door control method further includes steps S510 and S520, which are described in detail as follows:

[0080] Step S510. Determine the remaining trip based on the real-time location information and the target location information;

[0081] Step S520: If the remaining travel is less than or equal to the first preset distance threshold, control the brake motor to use the first preset distance as the deceleration distance and reduce the running speed according to the preset deceleration curve.

[0082] See also Figure 6 , Figure 6 The flowchart of a vehicle door control method is shown as another exemplary embodiment of the present application.

[0083] like Figure 6 As shown, in another exemplary embodiment of the present application, the door control method further includes step S610 and step S620, which are described in detail as follows:

[0084] S610. Get the movement state of the door;

[0085] It should be noted that the state of motion includes being interrupted and stopped;

[0086] S620. If the motion state includes being interrupted and stopped, control the brake motor to use a second preset distance as a deceleration distance, and reduce the running speed according to a preset deceleration curve.

[0087] It should be noted that the second preset distance is smaller than the first preset distance.

[0088] Specifically, the preset deceleration curve may adopt the descending part curve in the sinusoidal image;

[0089] See also Figure 7 , Figure 7 The flowchart of a vehicle door control method is shown as another exemplary embodiment of the present application.

[0090] like Figure 7 As shown, in another exemplary embodiment of the present application, the motion state also includes being interrupted and reversed, and the door control method further includes step S730, which is described in detail as follows:

[0091] Step S730: If the motion state is interrupted and reversed, control the brake motor to use the third preset distance as the deceleration distance and reduce the running speed according to the preset deceleration curve.

[0092] It should be noted that the third preset distance is smaller than the second preset distance; interrupted reversal means that the original motion state is interrupted and runs in a motion direction opposite to the original motion direction. For example, the original motion direction of the door is closing, and after interrupted reversal, the motion direction of the door is opening.

[0093] See also Figure 8 , Figure 8 The flowchart of a vehicle door control method is shown as another exemplary embodiment of the present application.

[0094] like Figure 8 As shown, in another exemplary embodiment of the present application, the door control method further includes steps S810 to S830, which are described in detail as follows:

[0095] Step S810. Obtain the current pitch angle of the vehicle to be controlled and the real-time door speed of the door;

[0096] It should be noted that the current pitch angle includes the corresponding tilt angles when the vehicle is in forward pitch, backward pitch, left tilt, right tilt, etc.

[0097] Step S820: If the current pitch angle is greater than the preset angle threshold, control the brake motor to brake the door;

[0098] Step S830: If the real-time door speed is greater than the preset speed threshold, control the drive motor to drive the door in reverse.

[0099] See also Fig. 9 , Fig. 9 The flowchart of the vehicle door control method is shown in a specific embodiment. In this specific embodiment, the vehicle door is electrically connected to a drive motor and a brake motor.

[0100] like Fig. 9 As shown, in a specific embodiment, the steps of the door control method are as follows:

[0101] Obtain the vehicle's initial position information, real-time position information, target position information and the real-time running speed of the drive motor;

[0102] Determine the total travel distance of the vehicle to be controlled according to the initial position information and the target position information;

[0103] Determine a target speed control curve based on a preset mapping relationship between the total trip and each road section in the total trip and the target speed;

[0104] Based on the target speed control curve, determine the acceleration change curve of the drive motor. Specifically, the slope of the corresponding point on the target speed control curve is the corresponding acceleration.

[0105] Determine the PWM duty cycle control curve according to the acceleration change curve and the preset mapping relationship between the acceleration and the PWM duty cycle;

[0106] Determine the real-time target running speed based on the real-time position information and the target speed control curve;

[0107] Determine the running speed difference according to the real-time running speed and the real-time target running speed. Specifically, the running speed difference is the difference obtained by subtracting the real-time target running speed from the real-time running speed.

[0108] Determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range;

[0109] Control the drive motor to adjust the PWM control curve according to the PWM duty cycle adjustment range;

[0110] Determine the remaining distance based on the real-time location information and the target location information;

[0111] If the remaining distance is less than or equal to the first preset distance threshold, the brake motor is controlled to use the first preset distance as the deceleration distance and reduce the running speed according to the preset deceleration curve;

[0112] Get the movement state of the car door, which includes being interrupted and stopped and being interrupted and reversed;

[0113] If the motion state includes being interrupted and stopped, the brake motor is controlled to use a second preset distance as a deceleration distance, and the running speed is reduced according to a preset deceleration curve, and the second preset distance is less than the first preset distance;

[0114] If the motion state is interrupted and reversed, the brake motor is controlled to use the third preset distance as the deceleration distance, and the running speed is reduced according to the preset deceleration curve, and the third preset distance is less than the second preset distance;

[0115] Obtain the current pitch angle of the vehicle to be controlled and the real-time door speed of the door;

[0116] If the current pitch angle is greater than the preset angle threshold, the brake motor is controlled to brake the door;

[0117] If the real-time door speed is greater than the preset speed threshold, the drive motor is controlled to drive the door in reverse.

[0118] See also Fig.10 , Fig.10 A block diagram of a vehicle door control system is shown as an exemplary embodiment of the present application, wherein the vehicle door is electrically connected to a drive motor.

[0119] like Fig.10 As shown, the door control system M1000 of the embodiment of the present application includes:

[0120] The acquisition module M1010 is used to obtain the initial position information, real-time position information, target position information and real-time running speed of the driving motor of the vehicle;

[0121] The first determination module M1020 is used to determine a target speed control curve and a PWM duty cycle control curve of the drive motor according to the initial position information and the target position information;

[0122] The second determination module M1030 is used to determine the real-time target running speed according to the real-time position information and the target speed control curve;

[0123] The third determination module M1040 is used to determine the running speed difference according to the real-time running speed and the real-time target running speed;

[0124] A fourth determination module M1050, configured to determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range;

[0125] The control module M1060 is used to control the drive motor to adjust the PWM control curve according to the PWM duty cycle adjustment amplitude.

[0126] It should be noted that the door control system provided in the above embodiment and the door control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the door control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0127] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the door control method provided in the above-mentioned embodiments.

[0128] Fig.11 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Fig.11 The computer system 1100 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0129] like Fig.11As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage part 1108 to the random access memory (RAM) 1103, such as executing the method described in the above embodiment. In RAM 1103, various programs and data required for system operation are also stored. CPU 1101, ROM 1102 and RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0130] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as needed, so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0131] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1109, and / or installed from a removable medium 1111. When the computer program is executed by a central processing unit (CPU) 1101, various functions defined in the system of the present application are executed.

[0132] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0133] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0134] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0135] Another aspect of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the door control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0136] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle door control method provided in each of the above embodiments.

[0137] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A door control method, characterized in that: The vehicle door is electrically connected to a driving motor, and the vehicle door control method includes: Obtain the vehicle's initial position information, real-time position information, target position information and the real-time running speed of the drive motor; Determining a target speed control curve according to the initial position information and the target position information; Based on the target speed control curve, determine the acceleration change curve of the drive motor; Determining a PWM duty cycle control curve based on the acceleration change curve and a preset mapping relationship between acceleration and PWM duty cycle; Determine the real-time target running speed based on the real-time position information and the target speed control curve; Determine the running speed difference according to the real-time running speed and the real-time target running speed; Determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range; The driving motor is controlled to adjust the PWM duty cycle control curve according to the PWM duty cycle adjustment amplitude.

2. The door control method according to claim 1, characterized in that: Determine the target speed control curve of the drive motor, including: Determining the total travel of the vehicle to be controlled according to the initial position information and the target position information; Based on the preset mapping relationship between the total journey and each road section in the total journey and the target speed, a target speed control curve is determined.

3. The door control method according to claim 1, characterized in that: The vehicle door is also electrically connected to a brake motor, and the vehicle door control method further includes: Determine the remaining distance based on the real-time location information and the target location information; If the remaining stroke is less than or equal to a first preset distance threshold, the brake motor is controlled to use the first preset distance as a deceleration distance and to reduce the running speed according to a preset deceleration curve.

4. The vehicle door control method according to claim 1, characterized in that: The door control method further includes: Acquiring a movement state of the vehicle door, wherein the movement state includes being interrupted and stopped; If the motion state includes being interrupted and stopped, the brake motor is controlled to use a second preset distance as a deceleration distance, and the running speed is reduced according to a preset deceleration curve, and the second preset distance is smaller than the first preset distance.

5. The vehicle door control method according to claim 4, characterized in that: The motion state also includes being interrupted and reversed, and the door control method further includes: If the motion state is interrupted and reversed, the brake motor is controlled to use a third preset distance as a deceleration distance, and the running speed is reduced according to a preset deceleration curve, and the third preset distance is smaller than the second preset distance.

6. The vehicle door control method according to claim 1, characterized in that: The door control method further includes: Obtain the current pitch angle of the vehicle to be controlled and the real-time door speed of the door; If the current pitch angle is greater than a preset angle threshold, controlling the brake motor to brake the door; If the real-time door speed is greater than a preset speed threshold, the drive motor is controlled to drive the door in reverse.

7. A door control system, characterized in that: The vehicle door is electrically connected to a drive motor, and the vehicle door control system includes: The acquisition module is used to obtain the initial position information, real-time position information, target position information and real-time running speed of the driving motor of the vehicle; A first determination module is used to determine a target speed control curve according to the initial position information and the target position information; determine an acceleration change curve of the drive motor based on the target speed control curve; and determine a PWM duty cycle control curve based on the acceleration change curve and a preset mapping relationship between acceleration and PWM duty cycle; The second determination module is used to determine the real-time target running speed according to the real-time position information and the target speed control curve; A third determination module is used to determine a running speed difference according to the real-time running speed and the real-time target running speed; A fourth determination module, configured to determine the PWM duty cycle adjustment range based on the running speed difference and a preset mapping relationship between the running speed difference and the PWM duty cycle adjustment range; The control module is used to control the drive motor to adjust the PWM duty cycle control curve according to the PWM duty cycle adjustment amplitude.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the vehicle door control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the vehicle door control method as claimed in any one of claims 1 to 6.

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