A vehicle door control method, device, system and storage medium

Abstract

The application discloses a vehicle door control method, device, system and storage medium. The method comprises the following steps: acquiring a first signal for representing a vehicle door unlocking result when a vehicle door unlocking operation is performed; determining whether the current of an unlocking motor reaches a locked-rotor threshold when the first signal is not acquired or the vehicle door unlocking result represented by the first signal is not unlocking success; determining whether a vehicle collision occurs when the current of the unlocking motor does not reach the locked-rotor threshold; and performing an ice-breaking operation and controlling the unlocking motor to keep an unlocking state when it is determined that the vehicle collision occurs. The method provided by the application can take corresponding vehicle door control strategies in the case of unlocking failure due to vehicle collision, thereby improving the safety of vehicle use.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a door control method, device, system and storage medium. Background Technology

[0002] As the automotive industry continues its transformation towards electrification and intelligentization, the application of electric side doors is increasing. However, situations such as motor failure or vehicle collisions can cause electric side doors to fail to unlock. Currently, existing technology does not analyze the cause of the unlocking failure or take appropriate door control measures. This is especially problematic in cases of collision-related unlocking failures, as such failures can delay rescue efforts and compromise vehicle safety.

[0003] Therefore, how to provide a door control method that can take corresponding door control strategies in the event of unlocking failure due to a vehicle collision, so as to improve the safety of vehicle use, has become an urgent technical problem to be solved. Summary of the Invention

[0004] This application provides a vehicle door control method, device, system, and storage medium for adopting corresponding vehicle door control strategies in the event of unlocking failure due to a vehicle collision, thereby improving the safety of vehicle use.

[0005] This application provides a door control method, including: When performing the door unlocking operation, a first signal is acquired to characterize the door unlocking result; When the first signal is not obtained or the door unlocking result represented by the first signal is not successful, determine whether the current of the unlocking motor has reached the stall threshold. If the current of the unlocking motor does not reach the stall threshold, determine whether the vehicle has been involved in a collision. When a vehicle collision is confirmed, an ice-breaking operation is performed, and the unlocking motor is kept unlocked.

[0006] The beneficial effects of this application are as follows: When performing the door unlocking operation, a first signal is first acquired to characterize the door unlocking result to determine the unlocking result; when the first signal is not acquired or the door unlocking result characterized by the first signal is not successful, the current of the unlocking motor is judged to determine whether the unlocking motor has malfunctioned; when the current of the unlocking motor does not reach the stall threshold, it indicates that the unlocking motor is operating normally, and then it is determined whether the vehicle has been in a collision; when it is determined that the vehicle has been in a collision, an ice-breaking operation is performed to open the door as much as possible and control the unlocking motor to keep it in the unlocked state, so as to avoid difficulties for external rescue due to the door being locked, thereby improving the safety of vehicle use.

[0007] In one embodiment, the method further includes: When the first signal is received and the door unlocking result represented by the first signal is successful, the door is controlled to open.

[0008] In one embodiment, the method further includes: When the current of the unlocking motor reaches the stall threshold, it is determined that the first signal display is incorrect, and the door is opened.

[0009] In one embodiment, the method further includes: When no collision occurs, obtain the status of the full lock switch and half lock switch of the vehicle door; The door unlocking operation is performed based on the status of the full lock switch and the half lock switch.

[0010] In one embodiment, performing the door unlocking operation based on the states of the full lock switch and the half lock switch includes: When both the full lock switch and the half lock switch of the door are in the closed state, the unlocking motor is controlled to remain in the unlocked state.

[0011] In one embodiment, performing the door unlocking operation based on the states of the full lock switch and the half lock switch includes: When the full lock switch of the car door is in the unlocked state and both half lock switches are in the closed state, the ambient temperature is obtained; When the ambient temperature is lower than the preset temperature, the ice-breaking operation is performed, and the unlocking motor is controlled to remain unlocked. When the ambient temperature is higher than the preset temperature, the unlocking motor is kept unlocked.

[0012] In one embodiment, performing the ice-breaking operation includes: Control the suction motor to reverse from the middle range and leave the middle range to reach the ice breaking range, so as to control the suction motor to continuously apply the force in the direction of door opening to the door; When the duration of the suction motor in the ice-breaking range reaches the preset duration, the suction motor is controlled to reset to the middle range.

[0013] This application also provides a door control device, including: The first acquisition module is used to acquire a first signal that characterizes the door unlocking result when performing the door unlocking operation; The first judgment module is used to determine whether the current of the unlocking motor has reached the stall threshold when the first signal is not obtained or the door unlocking result represented by the first signal is not successful unlocking. The second judgment module is used to determine whether a collision has occurred when the current of the unlocking motor does not reach the stall threshold. The first execution module is used to perform ice-breaking operations when a vehicle collision is determined, and to control the unlocking motor to remain unlocked.

[0014] In one embodiment, the apparatus further includes: The first control module is used to control the door to open when a first signal is received and the door unlocking result represented by the first signal is successful.

[0015] In one embodiment, the apparatus further includes: The second control module is used to determine that the first signal display is incorrect and control the door to open when the current of the unlocking motor reaches the stall threshold.

[0016] In one embodiment, the apparatus further includes: The second acquisition module is used to acquire the status of the full lock switch and half lock switch of the vehicle door when no collision occurs; The second execution module is used to perform door unlocking operations based on the state of the door full lock switch and half lock switch.

[0017] In one embodiment, the second execution module includes: The first control submodule is used to control the unlocking motor to remain unlocked when both the full lock switch and the half lock switch of the door are in the closed state.

[0018] In one embodiment, the second execution module includes: The acquisition submodule is used to acquire the ambient temperature when the full lock switch of the car door is in the unlocked state and the half lock switches are in the closed state. The second control submodule is used to perform ice-breaking operation when the ambient temperature is lower than the preset temperature, and to control the unlocking motor to remain in the unlocked state. The third control submodule is used to control the unlocking motor to remain unlocked when the ambient temperature is higher than the preset temperature.

[0019] In one embodiment, performing the ice-breaking operation includes: Control the suction motor to reverse from the middle range and leave the middle range to reach the ice breaking range, so as to control the suction motor to continuously apply the force in the direction of door opening to the door; When the duration of the suction motor in the ice-breaking range reaches the preset duration, the suction motor is controlled to reset to the middle range.

[0020] This application also provides a door control system, including: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to implement the door control method described in any of the above embodiments.

[0021] This application also provides a computer-readable storage medium, characterized in that when the instructions in the storage medium are executed by a processor corresponding to the door control system, the door control system is able to implement the door control method described in any of the above embodiments.

[0022] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0023] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the embodiments of the present application to explain the application and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a door control method according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an electric side door device for automobiles in one embodiment of this application; Figure 3 This is a schematic diagram of the operating stroke of the suction motor and the state of the reset switch in one embodiment of this application; Figure 4 This application also provides a schematic diagram of the structure of a door control device in one embodiment; Figure 5 This is a schematic diagram of the hardware structure of a door control system according to one embodiment of this application. Detailed Implementation

[0025] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0026] Figure 1 This is a flowchart of a door control method according to an embodiment of this application, such as... Figure 1 As shown, the method can be implemented as follows: S101-S104: In step S101, when performing the door unlocking operation, a first signal is acquired to characterize the door unlocking result; In step S102, when the first signal is not obtained or the door unlocking result represented by the first signal is not successful, it is determined whether the current of the unlocking motor reaches the stall threshold. In step S103, if the current of the unlocking motor does not reach the stall threshold, it is determined whether the vehicle has been involved in a collision. In step S104, when it is determined that a vehicle collision has occurred, an ice-breaking operation is performed, and the unlocking motor is controlled to remain in the unlocked state.

[0027] The method provided in this application can be applied to, for example... Figure 2 The electric side door device shown is a car, such as Figure 2 As shown, the automotive electric side door device includes a controller, an electric side door actuator, and a door lock. The controller receives external signals and user control commands, such as vehicle collision signals and ambient temperature, via a LIN bus and sends operation commands to the electric side door actuator and the door lock. The electric side door actuator drives the side door to open or close electrically according to the control commands. The door lock consists of an unlocking motor, a closing motor, a half-lock switch, a full-lock switch, and a reset switch. It drives the door lock to close or unlock according to the operation commands. Furthermore, the door lock status can be determined based on the full-lock switch and the reset switch. For example, when both the half-lock and full-lock switches are closed, the door lock is in the unlocked state; when the half-lock switch is open and the full-lock switch is closed, the door lock is in the half-locked state; and when both the half-lock and full-lock switches are open, the door lock is in the fully locked state. Figure 3 This is a schematic diagram of the operating stroke of the suction motor and the state of the reset switch in one embodiment of this application, as shown below. Figure 3 As shown, when the suction motor is in the middle position range, the reset switch is open; when the suction motor leaves the middle position range, the reset switch is closed. Specifically, when the suction motor rotates forward from the middle position range to leave the middle position range, a locking operation is performed, and after the locking operation is completed, the motor rotates in reverse to reset back to the middle position range; when the suction motor rotates in reverse from the middle position range to leave the middle position range, an ice-breaking operation is performed, and after the ice-breaking operation is completed, the motor rotates forward to reset back to the middle position range.

[0028] When performing a door unlocking operation, a first signal is acquired to characterize the door unlocking result. Specifically, when both the half-lock switch and the full-lock switch are detected to be closed, it indicates that the door has been successfully unlocked. Of course, this first signal characterizing the door unlocking result can also be other detection signals obtained by sensors. This application does not limit the specific form or method of acquiring the signal.

[0029] Then, the system determines whether the door has been successfully unlocked based on the acquired first signal. When the first signal indicates successful door unlocking, the controller sends a control command to the electric side door actuator to open the door. Furthermore, in this embodiment, after a preset time has elapsed since the first signal indicates successful door unlocking, the reset switch is reset to its neutral position.

[0030] In this application, when the first signal is not obtained, or the door unlocking result represented by the first signal is not successful (e.g., detecting a half-lock switch closed and a full-lock switch open), it indicates a signal abnormality. The system then continues to determine whether the current of the unlocking motor has reached the stall threshold. When the current of the unlocking motor reaches the stall threshold, it is determined that the first signal is erroneous. The controller then sends a control command to the electric side door actuator to control the door to open. Furthermore, when the electric side door actuator controls the door to open for a period of time equal to a second preset time (where the second preset time is greater than the first preset time, e.g., 8 seconds), or when the electric side door actuator detects that the door has opened a certain distance after opening, the reset switch is controlled to reset to the neutral position.

[0031] When the current of the unlocking motor does not reach the stall threshold, it indicates that the first signal is normal, thus determining whether a collision has occurred. Specifically, there are various methods to determine whether a collision has occurred, such as detecting the pressure exerted on the door by a door sensor or using images captured by an onboard camera; this application does not limit the methods used. When a collision is confirmed, to prevent the doors from remaining locked and trapping occupants inside, an ice-breaking operation is performed. Furthermore, to avoid delays in rescue time due to locked doors during a collision, the unlocking motor is kept unlocked, thereby improving vehicle safety.

[0032] When no collision occurs, to avoid damage to the door locks, the ice-breaking operation is not performed directly. Instead, the states of the full lock and half lock switches of the doors are obtained, and the door unlocking operation is performed based on these states. For example, when both the full lock and half lock switches are closed, the unlocking motor is kept unlocked to allow manual opening of the door. Alternatively, when the full lock switch is unlocked and both half lock switches are closed, the ambient temperature is obtained. In one embodiment of this application, if the ambient temperature is below a preset temperature (below freezing point), the ice-breaking operation is performed, and the unlocking motor is kept unlocked to allow manual opening of the door. If the ambient temperature is above the preset temperature, only the unlocking motor needs to be kept unlocked.

[0033] The beneficial effects of this application are as follows: When performing the door unlocking operation, a first signal is first acquired to characterize the door unlocking result to determine the unlocking result; when the first signal is not acquired or the door unlocking result characterized by the first signal is not successful, the current of the unlocking motor is judged to determine whether the unlocking motor has malfunctioned; when the current of the unlocking motor does not reach the stall threshold, it indicates that the unlocking motor is operating normally, and then it is determined whether the vehicle has been in a collision; when it is determined that the vehicle has been in a collision, an ice-breaking operation is performed to open the door as much as possible and control the unlocking motor to keep it in the unlocked state, so as to avoid difficulties for external rescue due to the door being locked, thereby improving the safety of vehicle use.

[0034] In one embodiment, the method may also be implemented as step A1: In step A1, when the first signal is obtained and the door unlocking result represented by the first signal is successful, the door is controlled to open.

[0035] In this embodiment, the system determines whether the door has been successfully unlocked based on the first signal received. When the first signal indicates successful door unlocking, the controller sends a control command to the electric side door actuator to open the door. Furthermore, in this embodiment, after the time it takes for the first signal to indicate successful door unlocking reaches a first preset time, for example, 100ms, the reset switch is reset to the middle position.

[0036] In one embodiment, the method may also be implemented as step A2: In step A2, when the current of the unlocking motor reaches the stall threshold, it is determined that the first signal display is incorrect, and the door is controlled to open.

[0037] In this embodiment, when the current of the unlocking motor reaches the stall threshold, it is determined that the first signal display is incorrect, and the controller sends a control command to the electric side door actuator to control the door to open. In this embodiment, when the electric side door actuator controls the door to open for a period of time equal to a second preset time (where the second preset time is greater than the first preset time, for example, 8 seconds), or when the electric side door actuator detects that the door has opened a certain distance after controlling the door to open, the reset switch is controlled to reset to the middle position range.

[0038] In one embodiment, the method may also be implemented as steps A3-A4: In step A3, when no collision occurs, the status of the full lock switch and the half lock switch of the vehicle door is obtained; In step A4, the door unlocking operation is performed according to the state of the full lock switch and the half lock switch.

[0039] In this embodiment, when the vehicle is not in a collision, to avoid damage to the door locks, the ice-breaking operation is not performed directly. Instead, the states of the full lock and half lock switches of the doors are obtained, and the door unlocking operation is performed based on these states. For example, when both the full lock and half lock switches are closed, the unlocking motor is kept unlocked to allow personnel to manually open the door. As another example, when the full lock switch is unlocked and both half lock switches are closed, the ambient temperature is obtained. In one embodiment of this application, when the ambient temperature is below the freezing point, the ice-breaking operation is performed, and the unlocking motor is kept unlocked to allow personnel to manually open the door. When the ambient temperature is above the preset temperature, only the unlocking motor needs to be kept unlocked.

[0040] In one embodiment, step A4 above can also be implemented as step A41: In step A41, when both the full lock switch and the half lock switch of the door are in the closed state, the unlocking motor is controlled to remain in the unlocked state.

[0041] In one embodiment, step A4 above can also be implemented as steps A42-A44: In step A42, when the full lock switch of the vehicle door is in the unlocked state and both half lock switches are in the closed state, the ambient temperature is obtained; In step A43, when the ambient temperature is lower than the preset temperature, the ice-breaking operation is performed, and the unlocking motor is controlled to remain in the unlocked state. In step A44, when the ambient temperature is higher than the preset temperature, the unlocking motor is controlled to remain in the unlocked state.

[0042] In one embodiment, the ice-breaking operation described in step S104 or step A44 above can also be implemented as steps B1-B2: In step B1, the suction motor is controlled to reverse from the middle range and leave the middle range to reach the ice breaking range, so as to control the suction motor to continuously apply the force in the opening direction of the door to the door. In step B2, when the duration of the suction motor in the ice-breaking range reaches a preset duration, the suction motor is controlled to reset to the middle range.

[0043] Figure 4 This application also provides a schematic diagram of the structure of a door control device in one embodiment, as shown below. Figure 4 As shown, the device includes: The first acquisition module 401 is used to acquire a first signal that characterizes the door unlocking result when performing the door unlocking operation; The first judgment module 402 is used to determine whether the current of the unlocking motor has reached the stall threshold when the first signal is not obtained or the door unlocking result represented by the first signal is not successful unlocking. The second judgment module 403 is used to determine whether a collision has occurred when the current of the unlocking motor does not reach the stall threshold. The first execution module 404 is used to perform an ice-breaking operation when it is determined that a vehicle collision has occurred, and to control the unlocking motor to remain in the unlocked state.

[0044] In one embodiment, the apparatus further includes: The first control module is used to control the door to open when a first signal is received and the door unlocking result represented by the first signal is successful.

[0045] In one embodiment, the apparatus further includes: The second control module is used to determine that the first signal display is incorrect and control the door to open when the current of the unlocking motor reaches the stall threshold.

[0046] In one embodiment, the apparatus further includes: The second acquisition module is used to acquire the status of the full lock switch and half lock switch of the vehicle door when the vehicle has not been involved in a collision. The second execution module is used to perform door unlocking operations based on the state of the door full lock switch and half lock switch.

[0047] In one embodiment, the second execution module includes: The first control submodule is used to control the unlocking motor to remain unlocked when both the full lock switch and the half lock switch of the door are in the closed state.

[0048] In one embodiment, the second execution module includes: The acquisition submodule is used to acquire the ambient temperature when the full lock switch of the car door is in the unlocked state and the half lock switches are in the closed state. The second control submodule is used to perform ice-breaking operation when the ambient temperature is lower than the preset temperature, and to control the unlocking motor to remain in the unlocked state. The third control submodule is used to control the unlocking motor to remain unlocked when the ambient temperature is higher than the preset temperature.

[0049] In one embodiment, performing the ice-breaking operation includes: Control the suction motor to reverse from the middle range and leave the middle range to reach the ice breaking range, so as to control the suction motor to continuously apply the force in the direction of door opening to the door; When the duration of the suction motor in the ice-breaking range reaches the preset duration, the suction motor is controlled to reset to the middle range.

[0050] Figure 5 This is a schematic diagram of the hardware structure of a door control system according to one embodiment of this application, as shown below. Figure 5 As shown, the door control system includes: At least one processor 520; and, Memory 504 communicatively connected to the at least one processor 520; wherein, The memory 504 stores instructions that can be executed by the at least one processor 520 to implement the door control method described in any of the above embodiments.

[0051] Reference Figure 5 The door control system 500 may include one or more of the following components: a processing component 502, a memory 504, a power supply component 506, a multimedia component 508, an audio component 510, an input / output (I / O) interface 512, a sensor component 514, and a communication component 516.

[0052] Processing component 502 typically controls the overall operation of the door control system 500. Processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0053] Memory 504 is configured to store various types of data to support the operation of the door control system 500. Examples of this data include instructions for any application or method operating on the door control system 500, such as text, images, videos, etc. Memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0054] The power supply assembly 506 provides power to various components of the door control system 500. The power supply assembly 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the vehicle control system 500.

[0055] The multimedia component 508 includes a screen that provides an output interface between the door control system 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 508 may also include a front-facing camera and / or a rear-facing camera. When the door control system 500 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0056] Audio component 510 is configured to output and / or input audio signals. For example, audio component 510 includes a microphone (MIC) configured to receive external audio signals when the door control system 500 is in an operating mode, such as alarm mode, recording mode, voice recognition mode, and voice output mode. The received audio signals may be further stored in memory 504 or transmitted via communication component 516. In some embodiments, audio component 510 also includes a speaker for outputting audio signals.

[0057] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0058] Sensor assembly 514 includes one or more sensors for providing status assessments of various aspects of the door control system 500. For example, sensor assembly 514 may include a sound sensor. Additionally, sensor assembly 514 may detect the open / closed state of the door control system 500, the relative positioning of components (e.g., the display and keypad of the door control system 500), the operating state of the door control system 500 or a component of the door control system 500, the orientation or acceleration / deceleration of the door control system 500, and temperature changes of the door control system 500. Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 514 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, a material buildup thickness sensor, or a temperature sensor.

[0059] Communication component 516 is configured to enable the door control system 500 to provide wired or wireless communication capabilities with other devices and a cloud platform. The door control system 500 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 516 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 516 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0060] In an exemplary embodiment, the door control system 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the door control method described in any of the above embodiments.

[0061] This application also provides a computer-readable storage medium, characterized in that when the instructions in the storage medium are executed by a processor corresponding to the door control system, the door control system is able to implement the door control method described in any of the above embodiments.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A door control method, characterized in that, include: When performing the door unlocking operation, a first signal is acquired to characterize the door unlocking result; When the first signal is not obtained or the door unlocking result represented by the first signal is not successful, determine whether the current of the unlocking motor has reached the stall threshold. If the current of the unlocking motor does not reach the stall threshold, determine whether the vehicle has been involved in a collision. When a vehicle collision is confirmed, an ice-breaking operation is performed, and the unlocking motor is kept unlocked. The method further includes: When the current of the unlocking motor reaches the stall threshold, it is determined that the first signal is displayed incorrectly, and the controller sends a control command to the electric side door actuator to control the door to open. The ice-breaking operation includes: Control the suction motor to reverse from the middle range and leave the middle range to reach the ice breaking range, so as to control the suction motor to continuously apply the force in the direction of door opening to the door; When the duration of the suction motor in the ice-breaking range reaches the preset duration, the suction motor is controlled to reset to the middle range.

2. The method as described in claim 1, characterized in that, The method further includes: When the first signal is received and the door unlocking result represented by the first signal is successful, the door is controlled to open.

3. The method as described in claim 1, characterized in that, The method further includes: When no collision occurs, obtain the status of the full lock switch and half lock switch of the vehicle door; The door unlocking operation is performed based on the status of the full lock switch and the half lock switch.

4. The method as described in claim 3, characterized in that, The process of unlocking the vehicle door based on the state of the full lock switch and the half lock switch includes: When both the full lock switch and the half lock switch of the door are in the closed state, the unlocking motor is controlled to remain in the unlocked state.

5. The method as described in claim 3, characterized in that, The process of unlocking the vehicle door based on the state of the full lock switch and the half lock switch includes: When the full lock switch of the car door is in the unlocked state and the half lock switch is in the closed state, the ambient temperature is obtained; When the ambient temperature is lower than the preset temperature, the ice-breaking operation is performed, and the unlocking motor is controlled to remain unlocked. When the ambient temperature is higher than the preset temperature, the unlocking motor is kept unlocked.

6. A door control device, used in the door control method as described in any one of claims 1-5, characterized in that, include: The first acquisition module is used to acquire a first signal that characterizes the door unlocking result when performing the door unlocking operation; The first judgment module is used to determine whether the current of the unlocking motor has reached the stall threshold when the first signal is not obtained or the door unlocking result represented by the first signal is not successful unlocking. The second judgment module is used to determine whether a collision has occurred when the current of the unlocking motor does not reach the stall threshold. The first execution module is used to perform ice-breaking operations when a vehicle collision is determined, and to control the unlocking motor to remain unlocked.

7. A vehicle door control system, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to implement the door control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor corresponding to the door control system, the door control system is able to implement the door control method as described in any one of claims 1-5.

Images