Door system and vehicle

Abstract

A door system and a vehicle, the door system comprising a door, an actuator and a controller, wherein: the door is mechanically coupled to the vehicle body; the actuator is connected to the door and is used to control the state of the door; the controller is used to control the actuator to control the state of the door according to the current working mode of the door system; wherein, the working mode at least includes: an electric mode, in the electric mode, the controller controls the actuator to drive the door to open or close; a hovering mode, in the hovering mode, the controller controls the actuator to keep the door hovering; a manual mode: in the manual mode, the controller controls the actuator to drive the door to move according to an external force acting on the door. The present invention divides the door system into different working modes, which is beneficial to algorithm implementation and improves the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and more particularly, to a door system and a vehicle. Background Art

[0002] With the increasing demand for vehicles, as the mechanism for passengers to get on and off the vehicle, the demand for its automation and intelligence is also getting higher and higher. Traditional doors require manually pulling the outside door handle, unlocking the door lock through a mechanical structure, and after unlocking, the door still needs to be pushed open to get on and off, which is a cumbersome process. Especially when the passengers' hands are occupied and it is inconvenient to operate the door handle, it will be even more difficult to get on and off. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] In view of the deficiencies of the prior art, an embodiment of the present invention provides a door system, including a door, an actuator, and a controller, wherein: the door is mechanically coupled to the vehicle body; the actuator is connected to the door and is used to control the state of the door; the controller is used to control the actuator to control the state of the door according to the current working mode of the door system; wherein, the working mode at least includes: an electric mode, in the electric mode, the controller controls the actuator to drive the door to open or close; a hover mode, in the hover mode, the controller controls the actuator to keep the door hovering; a manual mode: in the manual mode, the controller controls the actuator to drive the door to move according to the external force acting on the door.

[0005] In one embodiment, the manual mode includes at least one of the following: a manual assist mode, a manual anti-fall protection mode, a manual interference mode, and a manual tendency to close the door mode; wherein, in the manual assist mode, the controller controls the actuator to provide a driving force in the same direction as the movement direction of the door for the door; in the manual anti-fall protection mode, the controller controls the actuator to provide a driving force in the opposite direction to the movement direction of the door for the door; in the manual interference mode, the controller controls the door driving mechanism to drive the door to open or close at a preset speed according to the external force applied to the door; in the manual tendency to close the door mode, the controller controls the actuator to drive the door to close according to the manual door closing tendency information.

[0006] In one embodiment, the manual assistance mode includes: when the manual assistance mode is in an on state, the controller obtains the initial acceleration of the vehicle door and the hemming speed; when the initial acceleration is greater than or equal to a first acceleration threshold and the hemming speed of the vehicle door is less than a first speed threshold, the controller controls the actuator to provide a driving force in the same direction as the movement direction of the vehicle door.

[0007] In one embodiment, the manual assistance mode further includes: when the vehicle door moves in the door-opening direction, the controller real-time obtains the environmental information on the movement path of the vehicle door; if it is determined according to the environmental information that there is an obstacle on the movement path of the vehicle door, the controller controls the actuator to stop providing the driving force.

[0008] In one embodiment, the manual assistance mode further includes: when the vehicle door moves in the door-closing direction, the controller real-time obtains the force information of the vehicle door; if it is determined according to the force information that the vehicle door is subjected to a force that prevents the movement of the vehicle door, the controller controls the actuator to stop providing the driving force.

[0009] In one embodiment, the manual anti-fall protection mode includes: when the manual anti-fall protection mode is in an on state, the controller obtains the initial acceleration of the vehicle door and the hemming speed; when the initial acceleration is greater than or equal to a second acceleration threshold and the hemming speed of the vehicle door is less than a second speed threshold, the controller controls the actuator to provide a driving force in the opposite direction to the movement direction of the vehicle door.

[0010] In one embodiment, the manual anti-fall protection mode further includes: when the vehicle door moves in the door-opening direction, the controller real-time obtains the environmental information on the movement path of the vehicle door, and if it is determined according to the environmental information that there is an obstacle on the movement path of the vehicle door, a prompt message is output; when the vehicle door moves in the door-closing direction, the controller real-time obtains the force information of the vehicle door, and if it is determined according to the force information that the vehicle door is subjected to a force that prevents the movement of the vehicle door, a prompt message is output.

[0011] In one embodiment, the manual interference mode further includes: when the actuator drives the vehicle door to open or close, the controller real-time obtains the hemming speed information of the vehicle door; if it is confirmed according to the hemming speed information that the hemming speed is not equal to a third speed threshold, the controller controls the actuator to drive the vehicle door to move at the third speed threshold.

[0012] In one embodiment, the manual trend door closing mode includes: when the manual trend door closing mode is in the on state, the manual assist mode is in the off state, and the door is in the open or hovering state, the controller obtains door acceleration information and hemming speed information; when it is confirmed according to the acceleration information that the initial acceleration is greater than or equal to a fourth acceleration and the hemming speed is less than a fourth speed threshold, the controller controls the actuator to drive the door to close.

[0013] In one embodiment, the electric mode includes at least one of an automatic door opening mode and an automatic door closing mode; wherein, in the automatic door opening mode, the controller controls the actuator to drive the door to open; in the automatic door closing mode, the controller controls the actuator to drive the door to close.

[0014] In one embodiment, the automatic door opening mode includes: when the door is closed, the controller obtains an opening instruction, controls the door lock of the door to unlock, and controls the actuator to drive the door to open.

[0015] In one embodiment, the automatic door opening mode further includes: before controlling the door lock of the door to unlock, the controller obtains environmental information of the door movement path, and confirms that there is no obstacle on the door movement path according to the environmental information.

[0016] In one embodiment, when the actuator drives the door to open, it further includes: the controller obtains environmental information of the door movement path, and when it is confirmed according to the environmental information that there is an obstacle on the door movement path, controls the door to be in a hovering state.

[0017] In one embodiment, when the actuator drives the door to open, it further includes: the controller obtains the force information of the door, and when it is confirmed according to the force information that the door is subject to a first resistance and the first resistance is greater than or equal to a first resistance value, controls the door to be in a hovering state.

[0018] In one embodiment, the automatic door closing mode includes: when the door is in the open state or the hovering state, the controller obtains a closing instruction, controls the actuator to drive the door to close, and controls the door lock of the door to lock.

[0019] In one embodiment, when the actuator drives the door to close, it includes: the controller obtains the force information of the door, and when it is confirmed according to the force information that the door is subject to a second resistance and the second resistance is greater than or equal to a second resistance value, controls the door to be in a hovering state.

[0020] In one embodiment, the hovering mode includes: when the vehicle door moves in the door-opening direction or in the door-closing direction, if the controller receives a hovering instruction, it controls the vehicle door to be in a hovering state.

[0021] Another aspect of the embodiments of the present invention provides a vehicle, which includes a vehicle body and the door system as described above.

[0022] The door system and the vehicle according to the embodiments of the present invention divide the door system into different working modes, which is conducive to the implementation of the algorithm and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present invention will become more obvious. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0024] Figure 1 FIG. is a schematic block diagram of a door system according to an embodiment of the present invention;

[0025] Figure 2 FIG. is a schematic diagram of the working mode switching of a door system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to make the objectives, technical solutions, and advantages of the present application more obvious, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0027] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features known to the public are not described.

[0028] It should be understood that the present application can be implemented in different forms and should not be construed as limited to the embodiments presented here. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0029] The purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. As used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. As used herein, the term "and / or" includes any and all combinations of the related listed items.

[0030] To thoroughly understand the present application, detailed structures will be presented in the following description to illustrate the technical solutions proposed by the present application. The alternative embodiments of the present application are described in detail below. However, in addition to these detailed descriptions, the present application may also have other embodiments.

[0031] The door system and vehicle proposed by the embodiments of the present invention will be described below with reference to the accompanying drawings. First, refer to Figure 1 , Figure 1 which shows a schematic block diagram of the door system according to an embodiment of the present invention. As Figure 1 shown, the door system according to an embodiment of the present invention includes a door 110, an actuator 120, and a controller 150, where: the door 110 is mechanically coupled to the vehicle body; the actuator 120 is connected to the door 110 and is used to control the state of the door 110; the controller 150 is used to control the actuator 120 to control the state of the door 110 according to the current working mode of the door system; among them, the working mode at least includes: an electric mode, in which the controller 150 controls the actuator 120 to drive the door 110 to open or close; a hover mode, in which the controller 150 controls the actuator to keep the door 110 hovering; a manual mode: in the manual mode, the controller 150 controls the actuator 120 to drive the door 110 to move according to the external force acting on the door 110.

[0032] In some embodiments, the door system further includes a sensor 140. The sensor 140 can be disposed on the door 110 or other positions of the vehicle, including but not limited to radar, camera, or other sensors, and is used to detect obstacles on the opening path during the opening process of the door 110. In some embodiments, the door system further includes a door lock 130 for locking the door 110, and the door lock 130 can be an electrolytic adsorption lock.

[0033] Specifically, the door 110 is the door assembly, which is connected to the vehicle body (i.e., the vehicle body assembly) through a hinge. Exemplarily, the door assembly includes an inner door panel, an outer door panel, a strengthened support structure, and a sealing structure, etc.

[0034] In addition to being hinged to the vehicle body, the vehicle door 110 is also connected by an actuator 120. The actuator 120 is used to drive the vehicle door 110 to perform an opening action or a closing action. Exemplarily, the actuator 120 is integrated with a vehicle door speed sensor or an acceleration sensor, and the drive motor of the actuator 120 is integrated with a Hall sensor for monitoring the magnitude of the movement speed or movement acceleration of the vehicle door 110.

[0035] The controller 150 is used to obtain vehicle door movement information and surrounding environment information, and control the actuator 120 to control the movement of the vehicle door 110 according to the vehicle door movement information and environment information, etc. The vehicle door movement information and environment information obtained by the controller 150 can be obtained from the sensors of the vehicle door system or from the vehicle. Exemplarily, when the actuator 120 receives a signal input from the controller 150, the drive motor rotates forward and backward to realize the opening and closing of the vehicle door 110. The controller 150 controls the magnitude of the force value output by the actuator 120. At the same time, the actuator 120 integrated with a vehicle door speed sensor or an acceleration sensor feeds back a speed signal or an acceleration signal to the controller 150, and the controller 150 realizes real-time dynamic compensation of the vehicle door 110 through an algorithm.

[0036] The controller 150 is also used to control functions such as the engagement, electrolysis, child lock, and unlocking of the door lock 130. At the same time, the door lock 130 feeds back signals such as a half-lock signal, a full-lock signal, and a fully-open signal to the controller 150. The door lock 130 is installed on the sheet metal of the vehicle door assembly, receives signals from the controller 150, and realizes actions such as electrolysis and engagement of the lock body. Exemplarily, the door lock 130 also has an ice-breaking function, and the ice-breaking force is greater than or equal to 400 N.

[0037] Exemplarily, the sensor 140 includes a radar, which can be installed on the sheet metal of the vehicle door assembly, so as to detect obstacles on the opening path during the opening process of the vehicle door 110. The controller 150 controls the wake-up condition of the sensor 140 and judges obstacles. The sensor 140 feeds back the obstacle signal and distance to the controller 150 for obstacle avoidance processing.

[0038] Exemplarily, the sensor 140 also includes a seat belt sensor for collecting the locking signal of the seat belt buckle. The sensor 140 can also include a gravity sensor, an infrared temperature sensor, or an image sensor under the seat, etc., for detecting whether there is a passenger on the seat. In addition, the sensor 140 can also include devices for detecting signals such as an inductive key, an electronic key, external handle opening, a knock signal sensor, a voice command, an NFC command, a central control screen command, an internal handle, and an in-vehicle button. The signals that the sensor 140 can detect are sent to the controller 150.

[0039] The embodiments of the present invention divide the door system into different working modes, which is conducive to the implementation of the subsequent control module algorithm; at the same time, modular design is achieved, and the design efficiency is higher. Figure 2 FIG. shows a schematic diagram of the working mode switching of the door system according to the embodiments of the present invention. The working modes of the door system according to the embodiments of the present invention at least include an electric mode, a hovering mode, and a manual mode, which are specifically described as follows.

[0040] I. Electric mode

[0041] In the electric mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close. Exemplarily, the electric mode includes at least one of an automatic door opening mode and an automatic door closing mode. Among them, in the automatic door opening mode, the controller 150 controls the actuator 120 to drive the door 110 to open; in the automatic door closing mode, the controller 150 controls the actuator 120 to drive the door 110 to close.

[0042] 1. Automatic door opening mode

[0043] Exemplarily, the working condition of the automatic door opening mode is that the whole vehicle is unlocked and in a non-theft state to ensure vehicle safety. Unlocking the whole vehicle means that after pressing the unlock button of the whole vehicle, the vehicle is unlocked and the door enters the openable state. The automatic door opening mode includes: when the door is closed, if the controller 150 obtains an opening instruction, it controls the door lock to unlock and controls the actuator 120 to drive the door 110 to open. Among them, the opening instruction includes at least one of the following: an inductive key signal, an electronic key signal, an external handle opening signal, a knocking signal, a voice opening instruction, an NFC opening instruction, a central control screen opening instruction, a pull inner handle signal, an in-vehicle button signal, etc. In some embodiments, the triggering condition of the automatic door opening mode further includes that the controller 150 detects that the vehicle is in a non-theft state.

[0044] Exemplarily, when implementing the automatic door opening function, the controller 150 controls the door lock 130 to be electrically unlocked. When the controller 150 detects the change of the door lock 130 from "fully locked - half locked - fully open", it then controls the actuator 120 to open the door.

[0045] Exemplarily, before the controller 150 controls the actuator 120 to open the vehicle door, the environmental information of the vehicle door movement path is first obtained, and it is confirmed that there are no obstacles on the vehicle door movement path according to the environmental information. For example, the controller 150 wakes up the radar and obtains the environmental information through the radar. The radar detects the obstacles around the vehicle door 110. When it is confirmed that there are no obstacles around the vehicle door 110, it sends a confirmation message that there are no obstacles around the vehicle door to the controller 150. Only after the controller 150 receives the confirmation message can it control the door lock to unlock to perform automatic door opening, thereby avoiding the vehicle door 110 from colliding with obstacles. If there are obstacles detected around the vehicle door 110 after the radar is woken up, the radar will feedback the collected obstacle distance information to the controller 150. The controller 150 determines whether the door can be opened and the opening angle according to the obstacle distance. If the opening angle is less than the minimum opening angle, the door opening instruction is refused to be executed, and the user is prompted "The vehicle door opening angle is too small, please open the door manually". Among them, the prompting methods include but are not limited to the central control screen, instrument panel, HUD display system display, voice prompt, prompt through the handheld mobile terminal, etc.

[0046] Furthermore, during the vehicle door opening process, the controller 150 continuously obtains the environmental information of the vehicle door movement path. If it is confirmed that there are obstacles on the vehicle door movement path according to the environmental information, it controls the vehicle door to be in a hovering state. Continuing with the radar as an example, during the door opening process, the radar continues to monitor the area around the vehicle door in real time until it reaches the maximum set hovering position and the radar stops detecting. If the radar detects that there are obstacles around the vehicle door 110, the controller 150 controls the actuator 120 to stop providing driving force, so that the vehicle door 110 hovers. For example, the controller 150 controls the vehicle door to hover at a position 20 cm to 30 cm away from the obstacle.

[0047] If during the vehicle door opening process, the controller 150 confirms that the vehicle door is subject to a first resistance according to the force information of the vehicle door, and the first resistance is greater than or equal to the first resistance value, it controls the vehicle door to be in a hovering state. For example, when the vehicle door hits an obstacle in the radar detection blind area or is manually blocked from opening, when the controller 150 detects that there is an external force preventing the door from opening and the external force preventing the door from opening acting on the vehicle door 110 is greater than or equal to the first resistance value, it immediately controls the actuator 120 to stop providing driving force to make the vehicle door hover. Exemplarily, the controller 150 can determine that there is an external force preventing the door from opening when it detects that the current of the actuator 120 is greater than or equal to the stall current, or the change in the sensor signal value within a short period of time exceeds a certain threshold. Among them, the sensors include but are not limited to Hall sensors.

[0048] 2. Automatic door closing mode

[0049] The automatic door closing mode can operate under any operating conditions. Triggering conditions for the automatic door closing mode include: when the vehicle door is open or hovering, if the controller 150 detects a door closing command, such as sensing the key is away, the user applies the brakes, the central control screen receives a door closing command, obtains a seat belt engagement signal, receives a voice door closing command, detects the user pulls the inner or outer handle, presses a button inside the vehicle, detects the vehicle speed exceeds a certain threshold, senses NFC, or manually closes the door.

[0050] The automatic door closing mode includes the following steps: the controller 150 controls the actuator to drive the vehicle door to close and the door lock to lock. When the controller 150 detects a signal change from the fully open position to the partially locked position of the door lock 130, the controller 150 drives the door lock 130 to automatically close and complete the locking.

[0051] In order to ensure the safety of the vehicle, when the controller 150 drives the actuator 120 to close the door, if the controller 150 obtains the force information of the door 110 and confirms that the door 110 is subjected to the second resistance according to the force information, and the second resistance is greater than or equal to the second resistance value, the door 110 is controlled to be in a hovering state. For example, the domain controller 150 determines the force information of the door 110 based on the motor current of the actuator. If the controller 150 detects that the motor current of the actuator 120 is greater than a preset stall current (for example, the current is greater than or equal to 7A), the controller 150 immediately controls the actuator 120 to stop driving the door to close, and the door immediately hovers at the current position. Alternatively, at this time, the controller 150 can also immediately drive the motor of the actuator 120 to reverse, so that the door opens to the maximum opening position.

[0052] 2. Hover Mode

[0053] The vehicle door 110 being in the hovering state means that the vehicle door 110 is suspended during the opening or closing process, so that the vehicle door 110 is in a partially open state. The hovering mode includes: when the vehicle door moves in the door opening direction or the door closing direction, the controller 150 receives a hovering command and controls the vehicle door to be in the hovering state.

[0054] The operating conditions of the hover mode can be any working condition. For example, the triggering conditions of the hover mode include: the hover command received by the domain controller 150, including but not limited to the hover command collected by the central control screen, the seat belt closing signal, the voice hover command, the inner hand pull signal, the in-vehicle button signal, the outer handle pull signal, the NFC hover command, the door opening anti-pinch signal, the door closing anti-pinch signal, the brake signal, the electronic key signal, the knock signal, the obstacle signal sent by the radar (for example, there is an obstacle in the door opening direction, an obstacle moving towards the door from the side and rear), etc.

[0055] For example, during the door opening process, if the user clicks on the virtual door hover button on the center console screen, the multimedia host sends a hover instruction to the controller 150. During the door opening process, if the user fastens the seat belt and the controller 150 detects the signal sent when the seat belt buckle changes from the open state to the closed state, and the function item of electrically closing the door when the seat belt is fastened has been enabled in the system, the door hovers. During the door opening process, if the user sends a voice signal to stop opening the door, the multimedia immediately sends a door hover instruction to the controller 150 after receiving the voice instruction. During the door opening process, if the controller 150 detects an external force preventing the door from opening (for example, detecting a change in the current of the actuator 120, current ≥ 7A; or detecting a Hall change within a short period of time), anti-pinch hovering is triggered. During the door opening process, if the radar detects an obstacle, the door hovers at a position 20 - 30 cm away from the obstacle.

[0056] During the door closing process, when the controller 150 detects the door hover instruction for the door 110, it also controls the door 110 to hover. For example, during the door closing process, if the user clicks on the virtual door hover button on the center console screen, the multimedia host sends a hover instruction to the controller 150. Or, during the door closing process, if the user sends a voice to stop closing the door, the multimedia immediately sends a hover instruction to the controller 150 after receiving the voice instruction. If there is an external force preventing the door from closing during the door closing process, the controller 150 detects an external force preventing the door from closing (for example, detecting a change in the motor current of the actuator 120, current ≥ 7A; or detecting a Hall change within a short period of time), and anti-pinch hovering is triggered.

[0057] The execution action of the hover mode is that after the controller 150 receives the door hover instruction, it immediately stops driving, causing the door 110 to immediately hover at the current position.

[0058] III. Manual Mode

[0059] Exemplarily, the manual mode includes the following types: manual assist mode, manual anti-drop protection mode, manual interference mode, and manual trend switch door mode. In the manual assist mode, the controller 150 controls the actuator 120 to provide a driving force in the same direction as the door movement direction for the door 110; in the manual anti-drop protection mode, the controller 150 controls the actuator 120 to provide a driving force in the opposite direction to the door movement direction for the door 110; in the manual interference mode, the controller 150 controls the actuator 120 to drive the door to open or close at a preset speed according to the external force applied to the door 110; in the manual trend door closing mode, the controller 150 controls the actuator 120 to drive the door 110 to open or close according to the manual door closing trend information acting on the door 110. The embodiments of the present invention define several functions of the charged manual mode, making the door system more intelligent, better meeting user needs, and thus improving the user experience.

[0060] 1. Manual assistance mode

[0061] The manual assistance mode is used to provide assistance for manually opening and closing the door. Generally, passengers' usage habits of traditional doors require a small operating force during the process of opening and closing the door. The manual assistance mode can achieve the purpose of a small operating force for the door. When the door is stationary, if the door is manually opened or closed, the door will automatically provide an adjustable compensation force to overcome the mechanical internal resistance of the door system, enabling the operating force of the user's hand to open and close the door to be adjustable. In the manual assistance mode, when the manual operating force disappears, the door stops moving.

[0062] The usage scenarios of the manual assistance mode mainly include: in a parking lot, when the parking space is very narrow, it is possible to manually intervene to open and close the door at a small angle. This mode needs to be set in the system, used under special working conditions, and closed in a timely manner to avoid affecting the normal function of the door system.

[0063] The triggering conditions of the manual assistance mode at least include:

[0064] (1) The manual assistance mode is in the on state. Exemplarily, the door is currently in the hovering state or the open state (i.e., the initial speed of the door is 0), and the open state is the maximum opening state;

[0065] (2) The controller obtains the initial acceleration and hemming speed of the door, and determines that the initial acceleration is greater than or equal to the first acceleration threshold and the hemming speed is less than the first speed threshold. Specifically, when an external force acts on the door 110, the door 110 obtains an initial acceleration, and the acceleration information of the door can be obtained through an acceleration sensor integrated into the actuator 120. The sensors attached to the actuator 120 can also obtain the door state information. Through corresponding algorithms, the hemming speed of the door can be obtained. The sensors include but are not limited to Hall sensors. Among them, the hemming speed of the door is the linear speed of the hemming position of the door. When the initial acceleration is greater than or equal to the first acceleration threshold and the hemming speed of the door is less than the first speed threshold, it indicates that the user has the intention to open and close the door, but the opening and closing speed does not reach the expectation. At this time, the manual assistance mode is started to provide assistance for opening and closing the door. For example, when the initial acceleration of the door ≥ 0.5m / s 2 , and the hemming speed of the door < 2m / s, enter the manual assistance mode. The above speed and acceleration thresholds are only examples.

[0066] The execution actions of the manual assistance mode mainly include: the controller 150 controls the actuator 120 to provide a driving force in the same direction as the movement direction of the door 110 for the door 110. The driving force in the same direction as the movement direction of the door can overcome the mechanical internal resistance of the door system, so that the operating force fed back to the user's hand is smaller. According to the traditional manual door, it can be stipulated that the operating force of this hand does not exceed 50N.

[0067] Further, when the vehicle door moves towards the door opening direction, the controller 150 obtains the environmental information on the movement path of the vehicle door in real time. If the controller 150 determines that there is an obstacle on the movement path of the vehicle door based on the environmental information, it controls the actuator 120 to stop providing driving force. When it is determined that there is an obstacle on the movement path of the vehicle door, the controller 150 can also control to send out a prompt message to prompt the user. For example, during the process of assisting the vehicle door to open, the controller 150 wakes up the sensor 140. The sensor 140 in the wake-up state detects the obstacle information around the vehicle door 110 in real time, and reminds the user of the situation of the obstacle by means of a warning sound or the central control display screen when an obstacle is detected. If the user ignores the warning and continues to apply an external force to the vehicle door 110, the controller 150 controls the actuator 120 to stop providing driving force for the vehicle door 110, and the user can manually overcome the mechanical internal resistance of the vehicle door to drive the vehicle door 110 to open.

[0068] Exemplarily, when the vehicle door moves towards the door closing direction, the controller 150 obtains the force information of the vehicle door in real time. If it is determined from the force information that the vehicle door 110 is subjected to a force that prevents the movement of the vehicle door, the controller 150 controls the actuator 120 to stop providing driving force. When it is determined that the vehicle door 110 is subjected to a force that prevents the movement of the vehicle door, the controller 150 can also control to send out a prompt message to prompt the user. For example, during the manual assistance process in the door closing direction, if the controller 150 detects that there is an external force preventing the door from closing (for example, the controller 150 detects that the current of the actuator 120 exceeds a preset threshold, such as exceeding 7A; or, the controller 150 detects a Hall change within a short period of time), it reminds the user of the situation of the obstacle by means of a warning sound or the central control display screen. If the user ignores the warning and continues to apply an external force to the vehicle door 110, the controller 150 controls the actuator to stop providing driving force for the vehicle door 110, and the user can manually overcome the mechanical internal resistance of the vehicle door to drive the vehicle door 110 to close.

[0069] If the vehicle door reaches the door lock position and the controller 150 detects a jump signal of the door lock 130 from fully open to half locked, the actuator 120 stops working, and the controller 150 controls the door lock 130 to self-engage from the half locked position to fully locked to complete the door closing action.

[0070] Exemplarily, the user can pre-set the door opening and closing habits for the manual assistance mode. If a force of 100N is required to open and close the door before assistance is provided, then if the user sets the door opening and closing habit to light, the user only needs to provide 30N of force to open and close the door, and the actuator 120 provides 70N of force; if the user sets the door opening and closing habit to medium, the user needs to provide 50N of force, and the actuator 120 provides 50N of force to open and close the door; if the user sets the door opening and closing habit to heavy, the actuator 120 only provides 30N of force, and the user needs to provide 70N of force to open and close the door.

[0071] 2. Manual anti-drop protection mode

[0072] The manual anti-drop protection mode is used to provide anti-drop protection for the vehicle door when manually opening or closing the door. The working conditions of the manual anti-drop protection mode can be any working conditions.

[0073] The triggering conditions of the manual anti-drop protection mode at least include:

[0074] (1) The manual anti-drop protection mode is in the on state;

[0075] (2) The controller 150 obtains the initial acceleration and hemming speed of the vehicle door 110, and determines that the initial acceleration is greater than or equal to the second acceleration threshold and the hemming speed of the vehicle door is greater than or equal to the second speed threshold. When an external input force acts on the vehicle door 110, the vehicle door 110 generates an initial acceleration under the action of the external force. If the initial acceleration is greater than or equal to the second acceleration threshold and the hemming speed is greater than or equal to the second speed threshold, it indicates that the user has the intention to open or close the door, and the opening or closing speed is greater than expected, that is, the user applies too much force. The door system can detect the magnitude of the initial acceleration through the Hall sensor attached to the electric limiter. When the initial acceleration of the vehicle door ≥ 0.5m / s 2 , and the hemming speed of the vehicle door ≥ 2m / s, it enters the manual anti-drop protection mode. The above thresholds are only examples, and the second acceleration threshold can be equal to the first acceleration threshold, and the second speed threshold can also be equal to the first speed threshold.

[0076] The execution actions in the manual anti-drop protection mode mainly include: the controller 150 controls the actuator to provide a driving force in the direction opposite to the movement direction of the vehicle door 110 for the vehicle door 110. The driving force in the direction opposite to the movement direction of the vehicle door can overcome the external input force of the door system and slow down the closing speed.

[0077] Specifically, during the slamming process in the door opening direction, the controller 150 will decelerate and stop the vehicle door before it moves to the mechanical full-stroke stop position, preventing the vehicle door from contacting the full-stroke stop position under the slamming load. The full-stroke stop position refers to the maximum position that the actuator 120 can mechanically open. The opening position of the vehicle door is divided into two types. One is the same maximum mechanical opening position as the traditional mechanical door opening, that is, the above-mentioned full-stroke stop position; the other is the maximum opening position where the actuator 120 drives the vehicle door 110 to open in the automatic door opening mode, and this position can be called the soft stop position. In order to prevent the limiter of the vehicle door from being impacted every time the door is opened, the vehicle door will not be opened to the full-stroke stop position in the automatic door opening mode, that is, the opening angle of the full-stroke stop position > the opening angle of the soft stop position. For example, if the opening angle of the full-stroke stop position is 90°, then the opening angle of the soft stop position is less than 90°.

[0078] Specifically, during the process of slamming the door in the closing direction, the controller 150 will decelerate and stop the door 110 before it reaches the door lock position.

[0079] In some embodiments, if the door is slammed when it forms a very small angle with the full - stroke stop position or the door lock position, the movement of the door may only slow down but not stop. If the door reaches the door lock position, the door will self - suck from the semi - locked position to the fully - locked position.

[0080] Further, in the manual anti - fall protection mode, when the door moves in the opening direction, the controller 150 obtains the environmental information on the movement path of the door in real time. If it determines that there are obstacles on the movement path of the door based on the environmental information, it outputs a prompt message. For example, the controller 150 wakes up the sensor 140, and the sensor 140 detects the obstacle information around the door 110 in real time. If the door 110 encounters an obstacle during the opening process, the sensor 140 will feedback the detected obstacle signal to the controller 150, and remind the user through the central control display screen, or remind the user through the beeping sound frequency.

[0081] In addition, when the door moves in the closing direction, the controller 150 obtains the force information of the door in real time. If it determines that there is a force that prevents the door from moving based on the force information, it outputs a prompt message. Specifically, during the closing process of the door 110, if the controller detects an external force that prevents the door from closing, that is, the door encounters an obstacle and triggers anti - pinch, the controller 150 will detect a signal of a large current in the actuator 120, and remind the user through the central control display screen, or remind the user through the beeping sound frequency.

[0082] 3. Manual interference mode

[0083] The manual interference mode is used to interfere with the movement speed of the door in response to an external force. The working conditions of the manual interference mode can be any working conditions. When the actuator 120 drives the door 110 to open or close, the controller 150 obtains the hemming speed information of the door in real time. If it determines that the hemming speed of the door is not equal to the third speed threshold based on the hemming speed information, the controller controls the actuator to drive the door to move at the third speed threshold to meet the user's demand for the closing speed.

[0084] One triggering condition of the manual interference mode mainly includes:

[0085] (1) During the process of the controller 150 controlling the actuator 120 to drive the door 110 to open or close (that is, the door automatically opens or closes, and the initial speed of the door is not 0), the user applies a force in the same direction as the movement direction to the door 110, and the controller 150 detects this force;

[0086] (2) The initial acceleration of the door 110 is greater than or equal to the third acceleration threshold, and the edge speed of the door 110 is less than the third speed threshold; for example, the initial acceleration of the door 110 is ≥ 0.5 m / s 2 , and the door edge speed is <2m / s, enter the manual interference mode. The above thresholds are only for example, and the third acceleration threshold can be equal to the first acceleration threshold, and the third speed threshold can also be equal to the first speed threshold.

[0087] This trigger condition indicates that after a brief acceleration of the vehicle door, the controller 150 detects that the vehicle door does not open or close at a predetermined speed (for example, 2 m / s), and the user then applies a force in the same direction as the movement of the vehicle door, indicating that the user believes that the vehicle door opens and closes too slowly; therefore, the controller 150 adjusts the driving force of the actuator 120, ultimately making the vehicle door open and close smoothly and evenly at the set speed, thereby meeting user needs.

[0088] Another trigger condition for manual interference mode includes:

[0089] (1) During the process of the controller 150 controlling the actuator 120 to drive the vehicle door 110 to open or close (i.e., the vehicle door is automatically opened or closed, and the initial velocity of the vehicle door is not zero), the user applies a force to the vehicle door 110 in the opposite direction of the movement, and the controller 150 detects the force;

[0090] (2) If the controller 150 detects that the user has applied a force less than a preset anti-pinch force (e.g., 100 N), it enters the manual interference mode. The controller 150 can detect the force applied by the user by detecting a change in the current of the actuator 120 (e.g., current < 7 A) or a Hall effect change in a short period of time. Conversely, if the external force applied to the door is greater than the anti-pinch force, the controller 150 controls the door to hover.

[0091] Under this trigger condition, the execution actions of the manual interference mode mainly include: after the vehicle door is briefly decelerated, the controller 150 detects that the vehicle door does not open and close at the predetermined speed, and the user applies a force opposite to the movement of the vehicle door at this time, indicating that the user believes that the vehicle door opens and closes too fast; therefore, the controller 150 adjusts the driving force of the actuator 120, and ultimately makes the vehicle door open and close smoothly and uniformly at the set speed.

[0092] While the above description uses the example of a user applying force to trigger manual override mode, the force that triggers manual override mode is not limited to the user's hand. For example, when the vehicle is on a slope, the force component of the door's own weight inputting into the door system, or the force input from wind in gusty conditions, can also trigger manual override mode.

[0093] 4. Manual trend closing mode

[0094] Manual Trend Close automatically closes the door when it senses the user's tendency to close it. This is based on the user's habit of closing the door after exiting a traditional vehicle. This is also due to the fact that even with the automatic door closing function, operating the interactive buttons or central control panel while the user is outside the vehicle is inconvenient.

[0095] Specifically, if a door is pushed while stationary, the system will detect that there is no open / close command and that the manual door closing function has been triggered. At this point, the system will determine that there is an external force attempting to close the door, and if the manual door closing function has not been manually disabled by the user, it will automatically execute the relevant actions to close the door.

[0096] The working conditions of manual trend closing mode can be any working conditions. The triggering conditions of manual trend closing mode include:

[0097] (1) The manual closing mode in the door system is on, and the manual power-assisted mode is off; and the door 110 is in a hovering state or an open state (i.e., the initial door velocity is 0);

[0098] (2) The vehicle door 110 generates initial acceleration due to external force. The controller 150 obtains the vehicle door acceleration information and the edge wrapping speed information, and confirms that the vehicle door 110 has acceleration and the initial acceleration is greater than or equal to the fourth acceleration threshold (e.g., 0.5 m / s 2 ), and the edging speed of the door 110 is less than a fourth speed threshold (e.g., 2 m / s), it is considered that the user intends to close the door, and the door 110 is automatically closed.

[0099] The execution action of the manual trend closing mode mainly includes the controller 150 controlling the actuator 120 to drive the vehicle door 110 to close.

[0100] Furthermore, when the controller 150 detects a signal change of the door lock 130 from fully open to half locked, it drives the door lock 130 to automatically close and complete the locking.

[0101] Furthermore, when the vehicle door 110 forms a very small angle with the door lock position, the actuator 120 may not be triggered. At this time, if the controller 150 detects a signal change from fully open to half-locked of the door lock 130, the door lock 130 is driven to automatically close and complete the locking.

[0102] 4. Manual power feeding mode

[0103] The manual mode described above can be called the live manual mode, that is, the door system can provide power for the actuator. In addition to the live manual mode, the door system also supports the power-off manual mode. The working conditions of the power-off manual mode can be any working condition. The triggering conditions of the power-off manual mode at least include: the door system cannot provide power for the actuator, and the door system can be manually operated.

[0104] The door system in the power-off manual mode is similar to a traditional door. In this mode, the user is required to provide all the input forces required for the movement of the door. If necessary, in the power-off manual mode, the door system can keep the door deactivated / unlocked, the door lock automatically engaged, and the door lock electrically released through the backup power supply for the door lock. If there is no backup power supply, a mechanical key needs to be retained on the outside door handle, and an in-vehicle emergency opening cable needs to be retained inside the vehicle. When the door system resumes power supply, the door system will return to other modes depending on the vehicle request.

[0105] Figure 2 A control strategy logic diagram showing the switching between the above different functional modes is shown. It includes three special switching modes between the door states and working modes, and twelve conventional switching modes between the door working modes.

[0106] Specifically, the three special switching modes are: Special switching mode A: Door 110 switches from the closed state to the electric mode; Special switching mode B: Door 110 switches from the maximum opening state to the electric mode; Special switching mode C: Door 110 switches from the maximum opening state to the live manual mode.

[0107] Special switching mode A is for the door to switch from the closed state to the electric mode. When door 110 is in the closed state, if the door system detects opening signals such as the central control screen, seat belt fastening, voice, interior door handle, in-vehicle button, exterior door handle, NFC, electronic key, tapping, gesture, etc.; the actions to be performed include: the door lock 130 performs electric unlocking, and when the controller 150 detects the change of the door lock 130 from fully locked to half locked and then to fully open, the sensor 140 is awakened, and it enters the electric mode, controlling the actuator 120 to drive the door to open.

[0108] Special switching mode B is for door 110 to switch from the maximum opening state to the electric mode. When door 110 is in the maximum opening state, if the door system detects closing signals such as the central control screen, seat belt fastening, voice, interior door handle, in-vehicle button, exterior door handle, gesture, brake, etc., it automatically switches to the electric mode, controlling the actuator 120 to drive door 110 to close.

[0109] Special switching mode C is for the door 110 to switch from the maximum opening state to the live manual mode. Special switching mode C further includes: the door 110 switches from the maximum opening state to the manual assist mode, manual anti-fall protection mode, manual interference mode or manual trend switch door mode in the live manual mode.

[0110] Switching from the maximum opening state to the manual assist mode includes:

[0111] In the maximum opening state of the door 110, if the manual assist mode in the door system is on and an external input force acts on the door system, the door obtains an initial acceleration. The door system obtains the acceleration information of the door 110 through the acceleration sensor integrated into the actuator 120, and then enters the manual assist mode. The Hall sensor carried by the actuator 120 can obtain the door state information, and through the corresponding algorithm, the door hemming speed can be obtained. For example, when the initial acceleration of the door ≥ 0.5m / s 2 , and the door hemming speed < 2m / s, enter the manual assist mode. The above speed and acceleration thresholds are only examples.

[0112] After switching to the manual assist mode, the door system executes the execution actions in the manual assist mode, that is, the actuator 120 provides a driving force in the same direction as the movement direction of the door 110 to overcome the mechanical internal resistance of the door system, so that the hand operation force feedback to the user is smaller. In addition, during the manual assist process in the closing direction, if the door 110 encounters an obstacle and the controller 150 detects that there is an external force preventing the door from closing, it enters the hover mode and reminds the user of the situation of the obstacle. If the user ignores the warning and continues the manual operation, the actuator 120 stops providing assistance, and the user can manually overcome the mechanical internal resistance of the door to drive the door to close.

[0113] If the door reaches the door lock position and the controller 150 detects the jump signal of the door lock 130 from fully open to half locked, the actuator 120 stops working, and the controller 150 controls the door lock 130 to self-engage from the half locked position to fully locked to complete the door closing action.

[0114] Switching from the maximum opening state to the manual anti-fall protection mode includes:

[0115] In the maximum opening state of the door 110, if the manual anti-fall protection mode in the door system is on, when an external input force acts on the door system, the door 110 obtains an initial acceleration. The door system detects the magnitude of the initial acceleration of the door through the Hall sensor carried by the actuator 120. If the initial acceleration of the door and the door hemming speed enter a certain range, it switches to the manual anti-fall protection mode. In the manual anti-fall protection mode, the actuator 120 provides a driving force in the opposite direction to the movement direction of the door to overcome the external input driving force of the door system.

[0116] Specifically, during the process of slamming the door in the closing direction, the door system will decelerate and stop before the door 110 reaches the door lock position. Additionally, during the door closing process, if an obstacle triggers the anti-pinch function and the controller 150 detects a signal of high current in the actuator 120, it will remind the user on the central control display screen or by the frequency of the buzzer sound.

[0117] The switching from the maximum opening state to the manual trend door closing mode includes: If the manual trend door closing mode in the door system is set to open and the manual assist mode is set to closed, when the door system detects that the acceleration of the door 110 and the door edge wrapping speed enter a certain range, it is considered that the user intends to close the door. At this time, the controller 150 controls the actuator 120 to drive the door to perform the door closing action. After the controller 150 detects the signal change of the door lock 130 from fully open to half locked, it drives the door lock 130 to automatically suck and complete the locking.

[0118] The twelve conventional switching modes mainly include the twelve combined switches between the four different working modes (electric mode, hover mode, live manual mode, and power-off manual mode) of the door system.

[0119] Conventional switching mode 1 is the door switching from the electric mode to the hover mode, and its triggering conditions include any one of the following: (1) Obtaining the hover button signal or other signals conflicting with the door opening and closing signals; (2) During the door opening and closing process, detecting an obstacle, avoiding the obstacle or anti-pinch protection. At this time, the door switches from the electric mode to the hover mode, stops opening and closing the door, and enters the hover state.

[0120] Conventional switching mode 2 is the door switching from the hover mode to the electric mode, and its triggering condition includes that the door system detects an external input door opening and closing instruction in the hover state. At this time, the door switches from the hover state to the electric mode and automatically opens and closes the door.

[0121] Conventional switching mode 3 is the door switching from the hover mode to the live manual mode, specifically including:

[0122] Conventional switching mode 3.1 is the door switching from the hover mode to the manual assist mode, and its triggering conditions include:

[0123] (1) The manual assist mode in the door system is open;

[0124] (2) In the hover mode, when an external input force acts on the door system, the door 110 obtains an initial acceleration, and the door system can obtain the acceleration information through the acceleration sensor integrated into the actuator 120 or the door acceleration information. The Hall sensor carried by the actuator 120 can obtain the door state information, and through the corresponding algorithm, the door edge wrapping speed can be obtained. If the door acceleration is greater than a certain threshold and the door edge wrapping speed is less than a certain threshold, it enters the manual assist mode.

[0125] In the manual assist mode, the actuator 120 provides a driving force in the same direction as the movement direction of the vehicle door to overcome the mechanical internal resistance of the vehicle door system. During the manual assist process in the door closing direction, when an obstacle is encountered, the controller 150 detects an external force preventing the door from closing and enters the hover mode. During the manual assist process in the door opening direction, the sensor 140 in the wake-up state will detect the obstacle information during the movement of the vehicle door in real time and remind the user of the obstacle situation through a warning sound or the central control display screen. If the vehicle door reaches the door lock position, the controller 150 detects the jump signal of the door lock 130 from fully open to half locked, the actuator 120 stops working, and the controller 150 controls the door lock 130 to self-engage from the half locked position to the fully locked position to complete the door closing action.

[0126] The normal switching mode 3.2 is for the vehicle door 110 to switch from the hover state to the manual anti-drop protection mode, and its triggering conditions include:

[0127] (1) The manual anti-drop protection mode in the vehicle door system is on;

[0128] (2) When an external input force acts on the vehicle door system and the vehicle door obtains an initial acceleration, if both the initial acceleration of the vehicle door and the vehicle door edge wrapping speed are greater than a certain threshold value, it enters the manual anti-drop protection mode. In the manual anti-drop protection mode, the actuator 120 provides a driving force in the opposite direction to the movement direction of the vehicle door to overcome the external input driving force of the vehicle door system.

[0129] Specifically, during the slamming process in the door opening direction, the actuator 120 will decelerate and stop the vehicle door before it moves to the mechanical full stroke stop position. The vehicle door system will prevent the vehicle door from contacting the full stroke stop position under the slamming load; during the slamming process in the door closing direction, the vehicle door system will decelerate and stop before the vehicle door reaches the door lock position. When the vehicle door is slammed when it forms a very small angle with the full stroke stop position or the door lock position, the movement of the vehicle door may only slow down but not stop. If the vehicle door reaches the door lock position, the vehicle door will self-engage from the half locked position to the fully locked position.

[0130] In the manual anti-drop protection mode, if an obstacle is encountered during the door opening process, the sensor 140 will feedback the detected obstacle signal to the controller 150 and remind the user of the obstacle information. If an obstacle is encountered during the door closing process and anti-pinch is triggered, the controller 150 detects the signal of a large current in the motor and reminds the user of the obstacle information.

[0131] The normal switching mode 3.3 is for the vehicle door to switch from the hover state to the manual trend door closing mode, and its triggering conditions include:

[0132] (1) The manual trend door closing mode in the vehicle door system is on, the manual assist mode is set to off, and the vehicle door 110 is in the hover state or the maximum opening state;

[0133] (2) When the door system detects that the acceleration of the door is greater than a certain threshold and the edge wrapping speed of the door is less than a certain threshold, it is considered that the user intends to close the door. At this time, the door closes automatically, and the controller 150 controls the actuator 120 to perform the door closing action. When detecting the signal change of the door lock 130 from fully open to half locked, the drive door lock 130 automatically sucks and closes to complete locking. Exemplarily, if a very small angle is formed between the door and the position of the door lock, the actuator 120 may not be triggered either. Instead, the controller 150 detects the signal change of the door lock 130 from fully open to half locked and drives the door lock 130 to automatically suck and close to complete locking.

[0134] The normal switching mode 4 is for the door to switch from the live manual mode to the hovering mode, which specifically includes the following types:

[0135] The normal switching mode 4.1 is for the door to switch from the manual assist mode to the hovering mode, and its triggering conditions include: in the manual assist mode, when the door does not detect an external operating force, it enters the hovering mode;

[0136] The normal switching mode 4.2 is for the door to switch from the manual anti-fall protection mode to the hovering mode, and its triggering conditions include any one of the following: (1) in the door anti-fall protection mode, the door decelerates and stops moving; (2) during the opening and closing process of the door, an obstacle prevents the door from moving;

[0137] The normal switching mode 4.3 is for the door to switch from the manual closing trend mode to the hovering mode, and its triggering conditions include: during the closing process of the door, an obstacle triggers anti-pinch.

[0138] The normal switching mode 5 is for the door to switch from the electric mode to the live manual mode. Among them, when the door system detects an external input force in the same direction as the door movement direction, it can determine whether the door system switches to the manual assist mode or the manual anti-fall protection mode according to the initial acceleration of the door: if the initial acceleration of the door is greater than or equal to a certain threshold and the edge wrapping speed of the door is less than a certain threshold, it enters the manual interference mode; if the initial acceleration of the door is greater than a certain threshold and the edge wrapping speed of the door is greater than or equal to a certain threshold, it enters the manual anti-fall protection mode. When the door system detects an external input force in the opposite direction to the door movement direction, if the force value is less than the anti-pinch force, it enters the manual interference mode.

[0139] The normal switching mode 6 is for the door to switch from the live manual mode to the electric mode, which specifically includes the following two types:

[0140] The normal switching mode 6.1 is for the door to switch from the manual interference mode to the electric mode, and its triggering conditions include: the external interference operating force disappears, the acceleration of the door changes, and the door system returns to the electric mode.

[0141] The normal switching mode 6.2 is for the door to switch from the manual - trending closing mode to the electric mode, and its triggering conditions include: the disappearance of the external interference operating force, the change in the door acceleration, the controller 150 driving the actuator 120 to drive the door to perform the closing action, and the door system reverting to the electric mode.

[0142] The normal switching mode 7 is for the door to switch from the electric mode to the power - off manual mode, and its triggering conditions include that the vehicle system is powered off and the door system has no backup power supply.

[0143] The normal switching mode 8 is for the door to switch from the hovering mode to the power - off manual mode, and the triggering conditions include that the vehicle system is powered off and the door system has no backup power supply.

[0144] The normal switching mode 9 is for the door to switch from the powered manual mode to the power - off manual mode, and the triggering conditions include that the vehicle system is powered off and the door system has no backup power supply.

[0145] The normal switching mode 10 is for the door to switch from the power - off manual mode to the electric mode, and its triggering conditions include: the vehicle system is powered on, or the door system has a backup power supply; the door system obtains the door opening and closing signal.

[0146] The normal switching mode 11 is for the door to switch from the power - off manual mode to the hovering mode, and its triggering conditions include: the vehicle system is powered on, or the door system has a backup power supply.

[0147] The normal switching mode 12 is for the door to switch from the power - off manual mode to the powered manual mode, and its triggering conditions include: the vehicle system is powered on, or the door system has a backup power supply.

[0148] Based on the above description, the embodiments of the present invention divide the door system into different working modes, clarify the inputs and outputs of different working modes, and the triggering conditions for switching between different working modes. In the algorithm programming stage, the algorithm programming can be directly implemented in blocks for different working modes on the basis of the above - mentioned working modes, and then integrated with each other. Compared with the non - modular design, the content is more convenient to organize, thus improving the efficiency.

[0149] The embodiments of the present invention also provide a vehicle, including a vehicle body and the door system as described above. Exemplarily, the vehicle body is mechanically coupled to the door of the door system. Since the vehicle of the embodiments of the present invention includes the door system as described above, it also has similar advantages.

[0150] Although the exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above - mentioned exemplary embodiments are merely exemplary and are not intended to limit the scope of the present invention. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

[0151] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0152] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0153] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0154] Similarly, it should be understood that, in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be construed as reflecting the intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point lies in that the corresponding technical problems can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, where each claim itself serves as a separate embodiment of the present invention.

[0155] Those skilled in the art can understand that, except for features that are mutually exclusive, any combination can be adopted for all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0156] In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0157] Each component embodiment of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some of the modules according to the embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0158] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

Claims

1. A vehicle door system, characterized in that, It includes a car door, an actuator, and a controller, where: The car door is mechanically coupled to the vehicle body; The actuator is connected to the car door and is used to control the state of the car door; The controller is used to control the actuator to control the state of the car door according to the current working mode of the car door system; Among them, the working mode at least includes: Electric mode. In the electric mode, the controller controls the actuator to drive the car door to open or close; Hover mode. In the hover mode, the controller controls the actuator to keep the car door hovering; Manual mode: In the manual mode, the controller controls the actuator to drive the car door to move according to the external force acting on the car door; The manual mode includes at least one of the following: manual assist mode, manual interference mode, and manual tendency to close the door mode. The triggering conditions for the manual assist mode, the manual interference mode, and the manual tendency to close the door mode include car door acceleration information and hemming speed information; among them, In the manual assist mode, the controller controls the actuator to provide a driving force in the same direction as the movement direction of the car door for the car door, and the driving force is determined according to the preset door opening and closing habits; In the manual interference mode, the controller controls the car door driving mechanism to drive the car door to open or close at a preset speed according to the external force applied to the car door; In the manual tendency to close the door mode, the controller controls the actuator to drive the car door to close according to the manual closing tendency information; The door opening and closing habit is a preset parameter, and the parameter is used to indicate the distribution ratio of the human force provided by the user for the car door and the driving force provided by the actuator for the car door. Among them, the door opening and closing habit is divided into three levels: light, medium, and heavy. When the door opening and closing habit is light, the human force provided by the user for the car door is less than the driving force provided by the actuator for the car door; when the door opening and closing habit is medium, the human force provided by the user for the car door is equal to the driving force provided by the actuator for the car door; when the door opening and closing habit is heavy, the human force provided by the user for the car door is greater than the driving force provided by the actuator for the car door; the sum of the human force provided by the user for the car door and the driving force provided by the actuator for the car door is the external force required for the car to open and close the door.

2. The door system according to claim 1, characterized in that, The manual mode also includes a manual anti-fall protection mode; among them, In the manual anti-fall protection mode, the controller controls the actuator to provide a driving force in the opposite direction to the movement direction of the car door for the car door.

3. The door system according to claim 2, wherein, The manual assist mode includes: When the manual assist mode is in the on state, the controller obtains the initial acceleration and hemming speed of the car door; When the initial acceleration is greater than or equal to the first acceleration threshold and the hemming speed of the car door is less than the first speed threshold, the controller controls the actuator to provide a driving force in the same direction as the movement direction of the car door for the car door.

4. The door system according to claim 3, wherein, The manual assist mode also includes: When the car door moves in the door opening direction, the controller obtains the environmental information on the movement path of the car door in real time; If it is determined according to the environmental information that there is an obstacle on the movement path of the vehicle door, the controller controls the actuator to stop providing driving force.

5. The door system according to claim 3, characterized in that, The manual assistance mode further includes: When the vehicle door moves in the door-closing direction, the controller real-time obtains the force information of the vehicle door; If it is determined according to the force information that the vehicle door is subjected to a force that prevents the movement of the vehicle door, the controller controls the actuator to stop providing driving force.

6. The door system according to claim 2, characterized in that, The manual anti-fall protection mode includes: When the manual anti-fall protection mode is in the on state, the controller obtains the initial acceleration and hemming speed of the vehicle door; When the initial acceleration is greater than or equal to the second acceleration threshold and the hemming speed of the vehicle door is greater than or equal to the second speed threshold, the controller controls the actuator to provide a driving force in the direction opposite to the movement direction of the vehicle door for the vehicle door.

7. The door system according to claim 6, characterized in that The manual anti-fall protection mode further includes: When the vehicle door moves in the door-opening direction, the controller real-time obtains the environmental information on the movement path of the vehicle door, and if it is determined according to the environmental information that there is an obstacle on the movement path of the vehicle door, a prompt message is output; When the vehicle door moves in the door-closing direction, the controller real-time obtains the force information of the vehicle door, and if it is determined according to the force information that the vehicle door is subjected to a force that prevents the movement of the vehicle door, a prompt message is output.

8. The door system according to claim 2, wherein The manual interference mode further includes: When the actuator drives the vehicle door to open or close, the controller real-time obtains the hemming speed information of the vehicle door; If it is confirmed according to the hemming speed information that the hemming speed is not equal to the third speed threshold, the controller controls the actuator to drive the vehicle door to move at the third speed threshold.

9. The door system according to claim 3, characterized in that, The manual trend door-closing mode includes: When the manual trend door-closing mode is in the on state, the manual assistance mode is in the off state, and the vehicle door is in the open or hovering state, the controller obtains the vehicle door acceleration information and hemming speed information; If it is confirmed according to the acceleration information that the initial acceleration is greater than or equal to the fourth acceleration threshold and the hemming speed is less than the fourth speed threshold, the controller controls the actuator to drive the vehicle door to close.

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

11. The vehicle door system according to claim 10, characterized in that, The automatic door-opening mode includes: When the vehicle door is closed, the controller obtains an opening command, controls the vehicle door lock to unlock, and controls the actuator to drive the vehicle door to open.

12. The door system according to claim 11, characterized in that, The automatic door-opening mode further includes: Before controlling the vehicle door lock to unlock, the controller obtains the environmental information of the movement path of the vehicle door, and confirms according to the environmental information that there is no obstacle on the movement path of the vehicle door.

13. The door system according to claim 12, characterized in that, The actuator driving the vehicle door to open further includes: If the controller confirms according to the environmental information that there is an obstacle on the movement path of the vehicle door, the vehicle door is controlled to be in a hovering state.

14. The vehicle door system according to claim 12, wherein, The actuator driving the vehicle door to open further includes: The controller obtains the force information of the vehicle door. If it is confirmed according to the force information that the vehicle door is subject to a first resistance and the first resistance is greater than or equal to a first resistance value, the controller controls the vehicle door to be in a hovering state.

15. The door system according to claim 10, characterized in that, The automatic door closing mode includes: When the vehicle door is in an open state or a hovering state, the controller obtains a door closing instruction, controls the actuator to drive the vehicle door to close, and controls the door lock of the vehicle door to lock.

16. The door system according to claim 15, wherein The actuator driving the vehicle door to close includes: The controller obtains the force information of the vehicle door. If it is confirmed according to the force information that the vehicle door is subject to a second resistance and the second resistance is greater than or equal to a second resistance value, the controller controls the vehicle door to be in a hovering state.

17. The door system according to claim 1, characterized in that, The hovering mode includes: When the vehicle door moves in the door opening direction or the door closing direction, if the controller receives a hovering instruction, the controller controls the vehicle door to be in a hovering state.

18. A vehicle, characterized in that, The vehicle includes a vehicle door system according to any one of claims 1-17.

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