Automobile door control method, device, vehicle and storage medium

Abstract

The present application relates to a control method, device, vehicle and storage medium for a car door, wherein the method comprises: comparing the phases between at least two Hall signals of a car door drive motor within a preset time length, shielding at least two Hall signals when the comparison result meets the preset filtering condition, otherwise calculating the signal change rate between at least two Hall signals; judging the actual control intention of the user according to the signal change rate and the current state of the car door, and matching the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the car door to close or open based on the braking action or power-assisting action. The embodiment of the present application can shield the Hall signal from being touched accidentally, and determine the actual control intention of the user based on the Hall signal and the current state of the car door, so as to assist the car door to execute the closing or opening action according to the actual control intention of the user, with a higher level of automation and intelligence, without the need for the user to issue additional control instructions, thereby improving the user's experience.

Description

Technical Field

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

[0002] Automatic opening or closing of doors based on door drive motors can effectively improve the intelligence level of the vehicle and enhance the user experience. In related technologies, the movement direction of the door can be determined based on a gyroscope sensor, providing corresponding assistance when the user opens or closes the door.

[0003] However, in the related art, the use of gyroscope sensors increases hardware costs, and it is difficult to determine whether the movement of the door is caused by the user, which results in the opening or closing of the door not being in line with the user's intention, affecting the user's experience, and needs to be improved. Summary of the invention

[0004] The present application provides a method, device, vehicle and storage medium for controlling a car door to solve the technical problems in the related art that the use of a gyroscope sensor increases the hardware cost and it is difficult to determine whether the movement of the door is caused by the user, so that the automatic movement of the door does not meet the user's intention.

[0005] A first aspect of the present application provides a method for controlling a vehicle door, wherein the vehicle is provided with a door drive motor for driving the vehicle door to open or close, wherein the method comprises the following steps: collecting at least two Hall signals of the door drive motor within a preset time length; comparing the phases between the at least two Hall signals, and when the comparison result meets a preset filtering condition, shielding the at least two Hall signals, otherwise calculating the signal change rate between the at least two Hall signals; and judging the actual control intention of the user according to the signal change rate and the current state of the vehicle door, and matching the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the closing or opening of the vehicle door based on the braking action or the power-assisting action.

[0006] According to the above-mentioned technical means, the embodiment of the present application can shield the accidental touch of the Hall signal, and determine the user's actual control intention based on the Hall signal and the current state of the vehicle door, thereby assisting the vehicle door to execute the closing or opening action according to the user's actual control intention. The level of automation and intelligence is higher, and the user does not need to issue additional control instructions, thereby improving the user experience.

[0007] Optionally, in one embodiment of the present application, determining the user's actual control intention based on the signal change rate and the current state of the car door includes: calculating the initial operating speed of the car door based on the signal change rate; when the initial operating speed is in a first speed range, the actual control intention is a manual operation intention; when the initial operating speed is in a second speed range, the actual control intention is a manual triggering automatic operation intention; when the initial operating speed is in a third speed range, the actual control intention is a violent door slamming operation intention.

[0008] According to the above-mentioned technical means, the embodiment of the present application can judge the user's actual control intention based on the initial running speed, so as to assist the door movement according to the user's actual control intention.

[0009] Optionally, in one embodiment of the present application, when the actual control intention is the manual operation intention, matching the corresponding braking action or power assist action according to the actual control intention includes: obtaining the current body posture of the vehicle; obtaining the first target power assist of the vehicle door according to the current body posture and the actual movement direction of the vehicle door obtained by the comparison result, so as to generate a manual power assist action.

[0010] According to the above-mentioned technical means, the embodiment of the present application can provide assistance when the user's actual control intention is a manual operation intention, so that the user can save more effort when opening or closing the car door.

[0011] Optionally, in one embodiment of the present application, when the actual control intention is the manually triggered automatic operation intention, matching the corresponding braking action or power assist action according to the actual control intention includes: obtaining the actual movement direction of the car door according to the comparison result; generating a second target power assist for the car door based on the actual movement direction to generate an automatic power assist action.

[0012] According to the above-mentioned technical means, the embodiment of the present application can control the automatic opening or closing of the vehicle door based on the initial movement speed and the actual movement direction when the user's actual control intention is to manually trigger the automatic operation intention.

[0013] Optionally, in one embodiment of the present application, when the actual control intention is the violent door slamming operation intention, matching the corresponding braking action or power assist action according to the actual control intention includes: obtaining the actual movement direction of the car door according to the comparison result, and judging whether the initial running speed is greater than a preset braking threshold; if the initial running speed is greater than the preset braking threshold, generating a first target resistance of the car door based on the actual movement direction to generate a braking action; if the initial running speed is less than or equal to the preset braking threshold, generating a second target resistance of the car door based on the actual movement direction and parameter information of the car door to generate a deceleration action.

[0014] According to the above-mentioned technical means, the embodiment of the present application can control the car door to decelerate in the reverse direction based on the initial running speed when the user's actual control intention is to slam the door violently, thereby avoiding damage to the car door due to violent slamming of the door and affecting the service life of the car door.

[0015] A second aspect of the present application provides a control device for a car door, wherein the vehicle is provided with a door drive motor for driving the car door to open or close, wherein the device includes: an acquisition module, used to acquire at least two Hall signals of the door drive motor within a preset time length; a comparison module, used to compare the phases between the at least two Hall signals, and when the comparison result meets the preset filtering condition, shielding the at least two Hall signals, otherwise calculating the signal change rate between the at least two Hall signals; and a control module, used to judge the user's actual control intention based on the signal change rate and the current state of the car door, and match the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the closing or opening of the car door based on the braking action or the power-assisting action.

[0016] Optionally, in one embodiment of the present application, the control module includes: a calculation unit, used to calculate the initial running speed of the car door according to the signal change rate; a first judgment unit, used to judge that the actual control intention is a manual operation intention when the initial running speed is in a first speed range; a second judgment unit, used to judge that the actual control intention is a manual triggering automatic operation intention when the initial running speed is in a second speed range; a third judgment unit, used to judge that the actual control intention is a violent door slamming operation intention when the initial running speed is in a third speed range.

[0017] Optionally, in one embodiment of the present application, the control module also includes: a first acquisition unit, used to acquire the current body posture of the vehicle; a first generation unit, used to obtain the first target assistance of the vehicle door according to the current body posture and the actual movement direction of the vehicle door obtained by the comparison result, so as to generate a manual assistance action.

[0018] Optionally, in one embodiment of the present application, the control module also includes: a second acquisition unit, used to obtain the actual movement direction of the car door according to the comparison result; a second generation unit, used to generate a second target assistance for the car door based on the actual movement direction to generate an automatic assistance action.

[0019] Optionally, in one embodiment of the present application, the control module also includes: a judgment unit, used to obtain the actual movement direction of the automobile door according to the comparison result, and judge whether the initial running speed is greater than a preset braking threshold; a third generation unit, used to generate a first target resistance of the automobile door based on the actual movement direction when the initial running speed is greater than the preset braking threshold, so as to generate a braking action; a fourth generation unit, used to generate a second target resistance of the automobile door based on the actual movement direction and parameter information of the automobile door when the initial running speed is less than or equal to the preset braking threshold, so as to generate a deceleration action.

[0020] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for controlling a vehicle door as described in the above embodiment.

[0021] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned method for controlling a vehicle door.

[0022] Beneficial effects of the embodiments of the present application:

[0023] (1) The embodiment of the present application can shield the false touch Hall signal based on the preset filtering conditions to prevent the false touch or door rebound from causing the user's actual control intention to be misjudged, thereby affecting the user's normal use of the door;

[0024] (2) The embodiments of the present application can determine the user's actual control intention based on the Hall signal and the current state of the vehicle door, thereby assisting the vehicle door to execute closing or opening actions according to the user's actual control intention. The level of automation and intelligence is higher, and the user does not need to issue additional control instructions, thereby improving the user experience.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flow chart of a method for controlling a vehicle door according to an embodiment of the present application;

[0028] Figure 2 A schematic diagram of a Hall signal when a vehicle door is shaking in situ according to an embodiment of the present application;

[0029] Figure 3 is a flow chart of a method for controlling a vehicle door according to an embodiment of the present application;

[0030] Figure 4 A schematic diagram of a Hall signal under normal triggering conditions according to an embodiment of the present application;

[0031] Figure 5 A schematic diagram of a Hall signal in a violent door slamming situation according to an embodiment of the present application;

[0032] Figure 6 It is a structural schematic diagram of a vehicle door control device provided according to an embodiment of the present application;

[0033] Figure 7 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0034] Among them, 10 is a control device for a car door; 100 is a collection module, 200 is a comparison module, and 300 is a control module. DETAILED DESCRIPTION

[0035] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0036] The following describes the control method, device, vehicle and storage medium of the automobile door of the embodiment of the present application with reference to the accompanying drawings. In view of the technical problem that the use of gyroscope sensors in the related art mentioned in the background technology center increases the hardware cost, and it is difficult to judge whether the movement of the door is caused by the user, so that the automatic action of the door does not meet the user's intention, the present application provides a control method for the automobile door, in which the phase between at least two Hall signals of the door drive motor within a preset time is compared to shield the false touch Hall signal, increase the accuracy of the user's intention judgment, and judge the user's actual control intention according to the signal change rate and the current state of the automobile door, and match the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the automobile door to close or open based on the braking action or power-assisting action, with a higher level of automation and intelligence, without the user having to issue additional control instructions, thereby improving the user's experience. Thus, the technical problem that the use of gyroscope sensors in the related art increases the hardware cost, and it is difficult to judge whether the movement of the door is caused by the user, so that the automatic action of the door does not meet the user's intention is solved.

[0037] Specifically, Figure 1 A schematic flow chart of a method for controlling a vehicle door provided in an embodiment of the present application.

[0038] like Figure 1 As shown, the control method of the automobile door, the vehicle is provided with a door driving motor for driving the automobile door to open or close, wherein the method comprises the following steps:

[0039] In step S101 , at least two Hall signals of a door drive motor within a preset time period are collected.

[0040] It should be noted that the vehicle of the embodiment of the present application is provided with a door drive motor for driving the vehicle door to open or close, so as to provide power for opening or closing the door through the drive motor.

[0041] The embodiment of the present application can detect whether the door drive motor generates a Hall signal when the car door is in a non-closed static state and has not received an open / close command, thereby determining whether the door is under the control of a user's casual action, and then collecting at least two signals generated by the door drive motor due to the door action within a preset time period.

[0042] The preset duration may be set by technicians in this field according to actual conditions and is not specifically limited here.

[0043] In step S102, the phases of at least two Hall signals are compared, and when the comparison result meets a preset filtering condition, the at least two Hall signals are shielded, otherwise the signal change rate between the at least two Hall signals is calculated.

[0044] In the actual implementation process, the embodiment of the present application can compare the phases between at least two Hall signals when the door is under the control of the user's random action, so as to determine whether the comparison result meets the preset filtering condition, wherein the preset filtering condition can be, for example, Figure 2 As shown, based on at least two Hall signals, it is determined whether the direction of door movement changes continuously, that is, whether the door shakes in place at this time; after the door drive motor stops driving, the door continues to move due to inertia during the period from movement to complete stop.

[0045] The embodiment of the present application can shield the Hall signals that meet the above preset filtering conditions, and calculate the signal change rate between at least two Hall signals based on the Hall signals that do not meet the above preset filtering conditions.

[0046] In step S103, the actual control intention of the user is determined according to the signal change rate and the current state of the car door, and the corresponding braking action or power-assisting action is matched according to the actual control intention to assist the closing or opening of the car door based on the braking action or power-assisting action.

[0047] As a possible implementation method, the embodiment of the present application can determine the door movement speed based on the signal change rate, and in combination with the current state of the car door, judge the user's actual control intention, and match the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the car door to close or open based on the braking action or power-assisting action, wherein the assisting car door opening is the action of expanding the door opening angle when the door is in the open state.

[0048] Optionally, in one embodiment of the present application, the user's actual control intention is judged based on the signal change rate and the current state of the car door, including: calculating the initial running speed of the car door based on the signal change rate; when the initial running speed is in a first speed range, the actual control intention is a manual operation intention; when the initial running speed is in a second speed range, the actual control intention is a manual triggering automatic operation intention; when the initial running speed is in a third speed range, the actual control intention is a violent door slamming operation intention.

[0049] In some embodiments, the embodiments of the present application can calculate the initial running speed of the car door according to the signal change rate, so as to determine the user's actual control intention based on the initial running speed, and when the initial running speed is in the first speed range, the actual control intention is a manual operation intention, when the initial running speed is in the second speed range, the actual control intention is a manual triggering automatic operation intention, and when the initial running speed is in the third speed range, the actual control intention is a violent door slamming operation intention, wherein the initial running speed does not distinguish the direction of movement, and under the premise that the values ​​of the initial movement speeds are all absolute values, the upper limit of the first speed range is less than the lower limit of the second speed range, and the upper limit of the second speed range is less than the lower limit of the third speed range.

[0050] Optionally, in one embodiment of the present application, when the actual control intention is a manual operation intention, the corresponding braking action or power assist action is matched according to the actual control intention, including: obtaining the current body posture of the vehicle; obtaining the first target power assist of the car door according to the current body posture and the actual movement direction of the car door obtained by the comparison result, so as to generate a manual power assist action.

[0051] For example, when the embodiment of the present application determines that the user's actual control intention is a manual operation intention, it can obtain the current body posture of the vehicle, including leaning forward, leaning backward, tilting left and right, etc., and obtain the movement direction of the door, that is, the door movement intention is to expand the opening angle or close it, and based on the current body posture and the actual movement direction of the door, use the door drive motor to provide compensation of different forces to ensure that the user has a uniform feel during the process of opening or closing the door, that is, the final compensation force is consistent.

[0052] Optionally, in one embodiment of the present application, when the actual control intention is to manually trigger the automatic operation intention, the corresponding braking action or power assist action is matched according to the actual control intention, including: obtaining the actual movement direction of the car door according to the comparison result; generating a second target power assist for the car door based on the actual movement direction to generate an automatic power assist action.

[0053] That is to say, when the embodiment of the present application determines that the user's actual control intention is to manually trigger the automatic operation intention, it can obtain the movement direction of the door, that is, the door movement intention is to expand the opening angle or close, so as to generate a second target assistance for the car door based on the actual movement direction, generate an automatic assistance action, and switch the door from manual operation mode to automatic operation mode, thereby realizing automatic opening or closing of the door based on the second target assistance.

[0054] Optionally, in one embodiment of the present application, when the actual control intention is an intention to violently slam the door, a corresponding braking action or power-assisting action is matched according to the actual control intention, including: obtaining the actual movement direction of the car door according to the comparison result, and judging whether the initial running speed is greater than a preset braking threshold; if the initial running speed is greater than the preset braking threshold, generating a first target resistance of the car door based on the actual movement direction to generate a braking action; if the initial running speed is less than or equal to the preset braking threshold, generating a second target resistance of the car door based on the actual movement direction and parameter information of the car door to generate a deceleration action.

[0055] In some embodiments, when the embodiment of the present application determines that the user's actual control intention is to violently slam the door, it can obtain the movement direction of the door, that is, the door movement intention is to expand the opening angle or close, and determine whether the initial running speed is greater than the preset braking threshold.

[0056] If the initial running speed is greater than the preset brake threshold, it means that when the door is opened or closed based on the current initial running speed, the door is easily damaged, thereby affecting the service life of the door. The embodiment of the present application can generate a first target resistance of the car door based on the actual movement direction to generate a brake action, and control the door to decelerate until it stops;

[0057] If the initial running speed is less than or equal to the preset brake threshold, the embodiment of the present application can generate a second target resistance of the car door based on the actual movement direction and the parameter information of the car door to generate a deceleration action. When approaching the maximum opening angle or fully closed position of the car door, the car door is decelerated based on the door drive motor, but it will not stop. Figures 2 to 4 As shown, the working principle of the vehicle door control method of the embodiment of the present application is described in detail with an embodiment.

[0058] like Figure 3 As shown, the embodiment of the present application may include the following steps:

[0059] Step 1: Hall signal acquisition and preprocessing: When the electric door is in a non-closed static state and has not received a door opening / closing command, it is detected that the door driver motor generates a Hall signal, and the embodiment of the present application can determine that the current door movement is a hand movement.

[0060] Furthermore, the embodiment of the present application can collect at least two Hall signals of the door drive motor within a preset time period.

[0061] Step 2: Hall signal filtering determination. In the embodiment of the present application, the phases of at least two Hall signals can be compared, and when the comparison result meets the preset filtering condition, at least two Hall signals are shielded.

[0062] Specifically, Figure 2 As shown, when the door movement satisfies a casual action and the Hall signal is continuously generated for a period of time, the embodiment of the present application can prevent the electric door from shaking in place. At this time, the Hall signal continues to be output, but the direction changes continuously. At this time, the Hall signal should be shielded to avoid accidental touch; during the period from the movement of the electric door to the complete stop, a short period of continued movement will be generated due to inertia. At this time, the drive command has been revoked, so the Hall signal should be shielded to avoid accidental touch.

[0063] Step 3: Determine the movement speed. In the embodiment of the present application, the movement speed of the door can be determined according to the signal change rate, and the current state of the door, that is, the movement direction of the door, can be determined according to the Hall signal. Figure 4 As shown, when the Hall signal is triggered normally, the door movement direction is determined based on the fixed phase difference between different Hall signals.

[0064] Step 4: Determine the user's actual control intention based on the signal change rate and the current state of the car door, and match the corresponding braking action or power-assisting action based on the actual control intention to assist the car door in closing or opening based on the braking action or power-assisting action.

[0065] In some embodiments, the embodiments of the present application can calculate the initial running speed of the car door according to the signal change rate, so as to determine the user's actual control intention based on the initial running speed, and when the initial running speed is in the first speed range, the actual control intention is a manual operation intention, when the initial running speed is in the second speed range, the actual control intention is a manual triggering automatic operation intention, and when the initial running speed is in the third speed range, the actual control intention is a violent door slamming operation intention, wherein the initial running speed does not distinguish the direction of movement, and under the premise that the values ​​of the initial movement speeds are all absolute values, the upper limit of the first speed range is less than the lower limit of the second speed range, and the upper limit of the second speed range is less than the lower limit of the third speed range.

[0066] Among them, S1: When the embodiment of the present application determines that the user's actual control intention is a manual operation intention, it can obtain the current body posture of the vehicle, including forward leaning, backward leaning, left tilting and right tilting, and obtain the movement direction of the door, that is, the door movement intention is to expand the opening angle or close it, and based on the current body posture and the actual movement direction of the door, use the door drive motor to provide compensation of different forces to ensure that the user has a uniform feel during the process of opening or closing the door, that is, the final compensation force is consistent.

[0067] S2: The embodiment of the present application can obtain the movement direction of the door when it is determined that the user's actual control intention is to manually trigger the automatic operation intention, that is, the door movement intention is to expand the opening angle or close, so as to generate a second target assistance for the car door based on the actual movement direction, so as to generate an automatic assistance action, and switch the door from a manual operation mode to an automatic operation mode, thereby realizing automatic opening or closing of the door based on the second target assistance.

[0068] S3: When the embodiment of the present application determines that the user's actual control intention is to violently slam the door, the movement direction of the door can be obtained, that is, the movement intention of the door is to expand the opening angle or close the door, and determine whether the initial running speed is greater than the preset brake stop threshold. When the violent slamming operation intention is detected, the Hall signal obtained by the embodiment of the present application can be as follows: Figure 5 shown.

[0069] If the initial running speed is greater than the preset brake threshold, it means that when the door is opened or closed based on the current initial running speed, the door is easily damaged, thereby affecting the service life of the door. The embodiment of the present application can generate a first target resistance of the car door based on the actual movement direction to generate a brake action, and control the door to decelerate until it stops;

[0070] If the initial running speed is less than or equal to the preset braking threshold, the embodiment of the present application can generate a second target resistance of the vehicle door based on the actual movement direction and parameter information of the vehicle door to generate a deceleration action. When approaching the maximum opening angle of the door or the fully closed position, the door is decelerated based on the door drive motor, but the door will not be braked.

[0071] According to the control method of the automobile door proposed in the embodiment of the present application, the phase between at least two Hall signals of the door drive motor within a preset time is compared to shield the false touch Hall signal, increase the accuracy of the user's intention judgment, and judge the user's actual control intention according to the signal change rate and the current state of the automobile door, and match the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the automobile door to close or open based on the braking action or power-assisting action, with a higher level of automation and intelligence, without the user having to issue additional control instructions, thereby improving the user's experience. Thus, the technical problem in the related art that the use of gyroscope sensors increases the hardware cost, and it is difficult to judge whether the movement of the door is caused by the user, so that the automatic movement of the door does not meet the user's intention is solved.

[0072] Next, the control device for a vehicle door according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0073] Figure 6 It is a block diagram of a control device for a car door according to an embodiment of the present application.

[0074] like Figure 6 As shown, the vehicle door control device 10 is provided with a door driving motor for driving the vehicle door to open or close, wherein the device 10 includes: a collection module 100, a comparison module 200 and a control module 300.

[0075] Specifically, the acquisition module 100 is used to acquire at least two Hall signals of the door drive motor within a preset time period.

[0076] The comparison module 200 is used to compare the phases between at least two Hall signals, and when the comparison result meets the preset filtering condition, shield the at least two Hall signals, otherwise calculate the signal change rate between the at least two Hall signals.

[0077] The control module 300 is used to determine the user's actual control intention based on the signal change rate and the current state of the car door, and match the corresponding braking action or power-assisting action according to the actual control intention to assist the car door in closing or opening based on the braking action or power-assisting action.

[0078] Optionally, in one embodiment of the present application, the control module 300 includes: a calculation unit, a first judgment unit, a second judgment unit and a third judgment unit.

[0079] Wherein, the calculation unit is used to calculate the initial running speed of the car door according to the signal change rate.

[0080] The first judgment unit is used to judge that the actual control intention is a manual operation intention when the initial running speed is in the first speed range.

[0081] The second judgment unit is used to judge that the actual control intention is a manual triggering automatic operation intention when the initial running speed is in the second speed range.

[0082] The third judgment unit is used to judge that the actual control intention is a violent door slamming operation intention when the initial running speed is in the third speed range.

[0083] Optionally, in one embodiment of the present application, the control module 300 further includes: a first acquisition unit and a first generation unit.

[0084] Wherein, the first acquisition unit is used to acquire the current body posture of the vehicle.

[0085] The first generating unit is used to obtain a first target power assist of the vehicle door according to the current vehicle body posture and the actual movement direction of the vehicle door obtained from the comparison result, so as to generate a manual power assist action.

[0086] Optionally, in one embodiment of the present application, the control module 300 further includes: a second acquisition unit and a second generation unit.

[0087] Wherein, the second acquisition unit is used to obtain the actual movement direction of the car door according to the comparison result.

[0088] The second generating unit is used to generate a second target power assistance for the vehicle door based on the actual movement direction to generate an automatic power assistance action.

[0089] Optionally, in one embodiment of the present application, the control module 300 further includes: a judgment unit, a third generation unit and a fourth generation unit.

[0090] The judgment unit is used to obtain the actual movement direction of the car door according to the comparison result, and to judge whether the initial running speed is greater than a preset braking threshold.

[0091] The third generating unit is used to generate a first target resistance of the vehicle door based on the actual moving direction when the initial running speed is greater than a preset braking threshold value, so as to generate a braking action.

[0092] The fourth generating unit is used to generate a second target resistance of the vehicle door based on the actual movement direction and parameter information of the vehicle door when the initial running speed is less than or equal to the preset braking threshold, so as to generate a deceleration action.

[0093] It should be noted that the above explanation of the embodiment of the method for controlling a vehicle door is also applicable to the control device for the vehicle door of this embodiment, and will not be repeated here.

[0094] According to the control device for automobile doors proposed in the embodiment of the present application, the phases between at least two Hall signals of the door drive motor within a preset time are compared to shield the false touch Hall signal, increase the accuracy of user intention judgment, and judge the user's actual control intention according to the signal change rate and the current state of the automobile door, and match the corresponding braking action or power-assisting action according to the actual control intention, so as to assist the automobile door to close or open based on the braking action or power-assisting action, with a higher level of automation and intelligence, without the need for the user to issue additional control instructions, thereby improving the user's experience. Thus, the technical problem in the related art that the use of gyroscope sensors increases the hardware cost and it is difficult to judge whether the movement of the door is caused by the user, making the automatic movement of the door inconsistent with the user's intention, is solved.

[0095] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0096] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0097] When the processor 702 executes the program, the vehicle door control method provided in the above embodiment is implemented.

[0098] Furthermore, the vehicle also includes:

[0099] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0100] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0101] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0102] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0103] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0104] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0105] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method for controlling a vehicle door is implemented.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0110] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0112] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0113] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a vehicle door, characterized in that: The vehicle is provided with a door drive motor for driving the vehicle door to open or close, wherein the method comprises the following steps: Collecting at least two Hall signals of the door drive motor within a preset time period; Comparing the phases between the at least two Hall signals, shielding the at least two Hall signals when the comparison result meets a preset filtering condition, otherwise calculating the signal change rate between the at least two Hall signals; and Determining the actual control intention of the user according to the signal change rate and the current state of the automobile door, and matching a corresponding braking action or power-assisting action according to the actual control intention, so as to assist the automobile door in closing or opening based on the braking action or the power-assisting action; The determining the actual control intention of the user according to the signal change rate and the current state of the vehicle door comprises: Calculating the initial running speed of the automobile door according to the signal change rate; When the initial operating speed is in the first speed range, the actual control intention is a manual operation intention; When the initial operating speed is in the second speed range, the actual control intention is a manual triggering automatic operation intention; When the initial operating speed is in the third speed range, the actual control intention is a violent door slamming operation intention.

2. The method according to claim 1, characterized in that When the actual control intention is the manual operation intention, matching the corresponding braking action or power-assisting action according to the actual control intention includes: Obtaining the current body posture of the vehicle; A first target power assist of the vehicle door is obtained according to the current vehicle body posture and the actual movement direction of the vehicle door obtained from the comparison result to generate a manual power assist action.

3. The method according to claim 1, characterized in that: When the actual control intention is the manual triggering of the automatic operation intention, matching the corresponding braking action or power assist action according to the actual control intention includes: Obtaining the actual movement direction of the vehicle door according to the comparison result; A second target power assistance of the vehicle door is generated based on the actual movement direction to generate an automatic power assistance action.

4. The method according to claim 1, characterized in that: When the actual control intention is the violent door slamming operation intention, matching the corresponding braking action or power assist action according to the actual control intention includes: Obtaining the actual movement direction of the vehicle door according to the comparison result, and determining whether the initial running speed is greater than a preset brake threshold; If the initial running speed is greater than the preset braking threshold, generating a first target resistance of the vehicle door based on the actual moving direction to generate a braking action; If the initial running speed is less than or equal to the preset braking threshold, a second target resistance of the vehicle door is generated based on the actual moving direction and parameter information of the vehicle door to generate a deceleration action.

5. A control device for a car door, characterized in that: The vehicle is provided with a door drive motor for driving the vehicle door to open or close, wherein the device comprises: A collection module, used for collecting at least two Hall signals of the door drive motor within a preset time period; a comparison module, configured to compare the phases between the at least two Hall signals, and shield the at least two Hall signals when the comparison result satisfies a preset filtering condition, otherwise, calculate the signal change rate between the at least two Hall signals; and A control module, configured to determine the actual control intention of the user according to the signal change rate and the current state of the automobile door, and match a corresponding braking action or power-assisting action according to the actual control intention, so as to assist the automobile door in closing or opening based on the braking action or the power-assisting action; A calculation unit, used for calculating the initial running speed of the vehicle door according to the signal change rate; a first judging unit, configured to judge that the actual control intention is a manual operation intention when the initial running speed is in a first speed interval; a second judgment unit, configured to judge, when the initial operating speed is in a second speed range, that the actual control intention is a manual triggering automatic operation intention; The third judgment unit is used to judge that the actual control intention is a violent door slamming operation intention when the initial running speed is in a third speed range.

6. The device according to claim 5, characterized in that The control module also includes: A first acquisition unit, used to acquire a current body posture of the vehicle; The first generating unit is used to obtain a first target power assist of the vehicle door according to the current vehicle body posture and the actual movement direction of the vehicle door obtained from the comparison result, so as to generate a manual power assist action.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for controlling a vehicle door as claimed in any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle door control method as described in any one of claims 1 to 4.

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