Method, device and medium for controlling attraction of vehicle door

Abstract

The application discloses a door closing control method and device and a medium, wherein the method comprises: if it is detected that the door switches to an automatic closing state, obtaining a distance to be closed; wherein the distance to be closed comprises a distance between a sealing assembly arranged on the door and a door frame body of a vehicle; based on the distance to be closed, determining a closing control strategy; wherein the closing control strategy at least comprises an operation condition of the door performing a door closing operation; at least based on the operation condition in the closing control strategy, controlling the door to perform the door closing operation; wherein the door closing operation at least comprises a continuous closing operation and a suspended closing operation.

Description

Technical Field

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

[0002] In practical applications, the automatic closing stroke of electric doors is relatively short, and electric doors are not equipped with anti-pinch functions, which will lead to a certain risk of pinching injuries. Summary of the Invention

[0003] Based on the above problems, this application provides a method, device, and medium for controlling the closing of a vehicle door.

[0004] The technical solution provided in this application is as follows:

[0005] This application first provides a method for controlling the closing of a vehicle door, the method comprising:

[0006] If the door is detected to switch to automatic closing state, the closing distance is obtained; wherein, the closing distance includes the distance between the sealing component installed on the door and the door frame of the vehicle;

[0007] Based on the distance to be closed, a closing control strategy is determined; wherein, the closing control strategy includes at least the operating conditions for the door to perform a door closing operation;

[0008] Based at least on the operating conditions in the aforementioned suction control strategy, the door is controlled to perform the door suction operation; wherein, the door suction operation includes at least a continuous suction operation and a paused suction operation.

[0009] In some embodiments, the operating conditions include attraction force control conditions associated with the distance to be attracted; determining the attraction control strategy based on the distance to be attracted includes:

[0010] Determine the distance threshold;

[0011] The attraction force control conditions are determined based on the relationship between the distance threshold and the distance to be attracted.

[0012] The step of controlling the door to perform the door closing operation based at least on the operating conditions in the closing control strategy includes:

[0013] Based on the aforementioned attraction force control conditions, determine the attraction force corresponding to the distance to be attracted;

[0014] Based on the suction force corresponding to the distance to be suctioned, the door is controlled to perform the continuous suction operation within the distance range corresponding to the distance threshold.

[0015] In some embodiments, the distance threshold includes a k-th threshold and a (k+1)-th threshold; and the k-th threshold is greater than the (k+1)-th threshold; k is an integer greater than or equal to 1 and less than K; K is the number of suction links included in the door closing operation; the k-th suction link is associated with the k-th threshold and the (k+1)-th threshold; determining the suction force control condition based on the relationship between the distance threshold and the distance to be closed includes:

[0016] If the distance to be attracted is less than or equal to the kth threshold and greater than the (k+1)th threshold, the attraction force control condition is determined as follows: the attraction force corresponding to the distance to be attracted is determined as the kth attraction force;

[0017] If the distance to be attracted is less than or equal to the (k+1)th threshold and greater than the (k+2)th threshold, the attraction force control condition is determined as follows: the attraction force corresponding to the distance to be attracted is determined as the (k+1)th attraction force; wherein the (k)th attraction force is less than the (k+1)th attraction force.

[0018] In some embodiments, the operating conditions include a suction time control condition for the k-th suction time corresponding to the k-th continuous suction operation; the k-th suction stage includes the k-th continuous suction operation; k is an integer greater than or equal to 1 and less than K; K is the number of suction stages included in the door suction operation; determining the suction control strategy based on the suction distance includes:

[0019] Determine a distance threshold; wherein the distance threshold includes a k-th threshold and a (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold;

[0020] If the distance to be attracted is less than or equal to the kth threshold and greater than the (k+1)th threshold, the attraction time control condition is determined as follows: the kth attraction time is determined at least based on the kth attraction force corresponding to the kth attraction link; wherein the kth attraction link is associated with the kth threshold and the (k+1)th threshold.

[0021] In some embodiments, determining the attraction control strategy based on the distance to be attracted further includes:

[0022] If the distance to be attracted is less than or equal to the Kth threshold, the attraction time control condition is determined as follows: the Kth attraction time is adjusted to the target time; wherein the target time is less than the (K-1)th attraction time.

[0023] In some embodiments, the operating conditions include at least a trigger condition for pausing the door closing operation in the kth closing stage; k is an integer greater than or equal to 1 and less than K; K is the number of closing stages included in the door closing operation; controlling the door to perform the door closing operation based at least on the operating conditions in the closing control strategy includes:

[0024] Determine a distance threshold; wherein the distance threshold includes a k-th threshold and a (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold;

[0025] After the k-th continuous engagement operation in the k-th engagement stage ends, if the distance to be engaged is less than or equal to the k-th threshold and greater than the k+1-th threshold, it is determined that the trigger condition for the k-th pause engagement operation is met, and the door is controlled to perform the k-th pause engagement operation; wherein, the k-th engagement stage is associated with the k-th threshold and the k+1-th threshold.

[0026] In some embodiments, determining the distance threshold includes:

[0027] Obtain the object characteristics of the target object associated with the vehicle;

[0028] The distance threshold is determined based on the object characteristics.

[0029] In some embodiments, controlling the door to perform the door closing operation based at least on the operating conditions in the closing control strategy includes:

[0030] Before the door closing operation is triggered, the initial drive parameters of the drive device associated with the door closing operation are obtained;

[0031] The target driving parameters are determined based on the aforementioned attraction control strategy;

[0032] Based on the target driving parameters, the driving device is controlled to drive the door to perform the door closing operation;

[0033] The method further includes:

[0034] After the door closing operation is completed, the driving parameters of the driving device are set to the initial driving parameters.

[0035] This application embodiment also provides a door closing control device, the device comprising:

[0036] The acquisition module is used to acquire the closing distance if the door is detected to switch to the automatic closing state; wherein, the closing distance includes the distance between the sealing component installed on the door and the door frame of the vehicle;

[0037] The determination module is used to determine the suction control strategy based on the distance to be suctioned; wherein, the suction control strategy includes at least the operating conditions for the door to perform the door suction operation;

[0038] A control module is configured to control the door to perform the door closing operation based at least on the operating conditions in the closing control strategy; wherein the door closing operation includes at least a continuous closing operation and a paused closing operation.

[0039] This application also provides a computer-readable storage medium, the storage medium including a computer program; when the computer program is executed by a processor of an electronic device, it can implement the door closing control method as described above.

[0040] The door closing control method provided in this application, when detecting that the door has switched to an automatic closing state, acquires the distance between the sealing component on the door and the door frame, as well as the closing distance. Thus, the closing distance accurately reflects the relative position of the door's sealing component or door edge relative to the door frame. Furthermore, based on the closing distance, a closing control strategy is determined that includes at least the operating conditions for the door to perform a closing operation. On the one hand, the closing control strategy is associated with the closing distance, thereby allowing for flexible adjustment of the closing control according to changes in the closing distance. On the other hand, since the suction control strategy includes the operating conditions for the door to perform the suction operation, the door suction operation can be flexibly, automatically, and intelligently adjusted and controlled according to the distance to be suctioned. Based on this, at least based on the operating conditions in the suction control strategy, the door can be controlled to perform continuous suction operation and pause suction operation. This not only enables segmented control of the distance dimension of the automatic suction process, but also segmented control of the suction state in the distance dimension, thereby effectively reducing the probability of foreign objects such as children's fingers being caught in the door during the automatic suction process. Attached Figure Description

[0041] Figure 1 A schematic flowchart illustrating the door closing control method provided in this application embodiment;

[0042] Figure 2 A timing diagram of the door closing operation provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the door closing control device provided in an embodiment of this application. Detailed Implementation

[0044] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0045] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0046] Currently, electric door locks have a short closing stroke when automatically closing in the lock area, and lack anti-pinch functionality. Therefore, there is a risk of children's fingers getting pinched during the automatic closing process.

[0047] Based on the above problems, this application provides a method, device and medium for controlling the closing of a vehicle door.

[0048] The door closing control method provided in this application embodiment can be implemented by the vehicle's processor. The processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Micro Controller Unit (MCU), or Microprocessor.

[0049] Figure 1 This is a flowchart illustrating the door closing control method provided in an embodiment of this application, as shown below. Figure 1 As shown, the process may include the following steps:

[0050] Step 101: If the door is detected to switch to automatic closing mode, obtain the closing distance.

[0051] The distance to be engaged includes the distance between the sealing components installed on the door and the door frame of the vehicle.

[0052] For example, if the door is not detected to switch to the automatic closing state, the operation of obtaining the closing distance can be omitted.

[0053] In one embodiment, the sealing assembly may include a component disposed at the edge of the door for isolating air, water, and sound; exemplaryly, the sealing assembly may be made of an elastic material; exemplaryly, the elastic material may be a rubber material.

[0054] In one embodiment, the door frame may include a frame in the vehicle body for accommodating the door.

[0055] In one embodiment, after the door is locked or fully closed, the door's sealing component can be in a preset deformation state, and the sealing component in the preset deformation state makes sealing contact with the door frame.

[0056] In one implementation, the automatic closing state can be automatically triggered under specified conditions; for example, the specified conditions may include the distance between the sealing component and the door frame being less than a preset distance.

[0057] In one embodiment, the automatic closing state may include triggering the door to rotate and generate displacement when a continuous suction force is applied to the door, thereby causing the door to switch from an open state to a closed or locked state.

[0058] In one implementation, the distance to be attracted can be less than or equal to a preset distance.

[0059] In one implementation, the attraction distance can be obtained in any of the following ways:

[0060] The vehicle's processor controls the data acquisition device to continuously collect data at specified time intervals and analyzes the collected data to determine the attraction distance; for example, the data acquisition device may include a distance sensor, an angle sensor, or an image acquisition device, etc.

[0061] The vehicle's processor calculates the closing distance based on the real-time angle sent by the angle sensor, combined with the door size, the thickness of the sealing component, and the door frame size; the real-time angle may include the angle of rotation of the door relative to the door frame around the door pivot.

[0062] Step 102: Determine the attraction control strategy based on the distance to be attracted.

[0063] The suction control strategy includes at least the operating conditions for the door to perform a suction operation.

[0064] In one embodiment, the operating conditions may include conditions for the door closing operation to continue, conditions for the closing operation to be paused, and conditions for the door closing operation to resume.

[0065] In one embodiment, the suction control strategy may further include the environmental conditions when the door suction operation is performed; for example, the environmental conditions may include the wind force and / or wind direction conditions in the environment where the vehicle is located, and may also include the slope of the vehicle's location, etc.; for example, under the first wind force and / or first wind direction conditions, the door is controlled to perform a continuous suction operation, while under the second wind force and / or second wind force conditions, the door is controlled to suspend the continuous suction operation; wherein, based on the wind force and / or wind direction in the environment where the vehicle is located, the action force or reaction force of the aforementioned wind force and / or wind direction on the door suction direction can be determined.

[0066] In one implementation, the attraction control strategy is determined based on the distance to be attracted, which can be achieved in any of the following ways:

[0067] The operating conditions are determined based on the distance to be closed and environmental conditions; for example, the force exerted by wind force and / or wind direction on the closing direction of the door is determined based on wind force and / or wind direction conditions, and then the closing control strategy for controlling how the door closing operation is executed is determined based on the influence of the above force on the distance to be closed.

[0068] Based on the distance to be closed and the state of obstacles on the door closing trajectory, the operating conditions are determined. The state of obstacles may include whether there are obstacles on the door closing trajectory and the size of the obstacles. The door closing trajectory may include the rotation trajectory of the door when performing the door closing operation. For example, if there are obstacles on the door closing trajectory and the distance to be closed is greater than the size of the obstacles, the door can be controlled to stop the continuous closing operation when the distance to be closed indicates that the door is close to the obstacles.

[0069] Step 103: Based at least on the operating conditions in the suction control strategy, control the door to perform a door suction operation.

[0070] The door closing operation includes at least a continuous closing operation and a paused closing operation.

[0071] In one embodiment, the continuous suction operation may include continuously applying a suction force to the door for at least a first time period to cause the door to rotate and approach the door frame.

[0072] In one implementation, pausing the suction operation may include stopping the application of suction force to the door to pause the door rotation for at least a second time period.

[0073] In one embodiment, the door closing operation may further include an operation to resume continuous closing operation after pausing the closing operation.

[0074] In one implementation, the door is controlled to perform a door closing operation based at least on the operating conditions in the closing control strategy, which can be achieved in any of the following ways:

[0075] When the execution conditions for the continuous closing operation in the operating conditions are met, the door is controlled to perform the continuous closing operation; when the execution conditions for the pause closing operation in the operating conditions are met, the door is controlled to temporarily stop the continuous closing operation; when the execution conditions for the continuous closing operation in the operating conditions are met again, the door is controlled to continue performing the continuous closing operation, and so on, until the door switches to the closed state or the locked state.

[0076] Based on the execution conditions of continuous closing operation and paused closing operation in the operation conditions, and combined with the obstacle status, it is determined whether to control the door to perform continuous closing operation; for example, if the obstacle status indicates that there is an obstacle on the door closing trajectory, in order to reduce the probability of being clamped by the obstacle, even if the execution conditions of continuous closing operation are met, the door is controlled to switch to paused closing state.

[0077] As can be seen from the above, the door closing control method provided in this application, if it detects that the door has switched to an automatic closing state, obtains the distance between the sealing component on the door and the door frame of the vehicle, as well as the closing distance. Thus, the closing distance accurately reflects the relative position of the sealing component or the edge of the door relative to the door frame. Furthermore, based on the closing distance, a closing control strategy is determined that includes at least the operating conditions for the door to perform a closing operation. On the one hand, the closing control strategy is associated with the closing distance, thereby allowing for flexible adjustment of the closing operation according to changes in the closing distance. On the one hand, the suction control strategy includes the operating conditions for the door to perform the suction operation, thus enabling the door suction operation to be flexibly, automatically, and intelligently adjusted and controlled according to the distance to be suctioned. On this basis, at least based on the operating conditions in the suction control strategy, the door can be controlled to perform continuous suction operation and pause suction operation. This not only enables segmented control of the distance dimension of the automatic suction process, but also segmented control of the suction state in the distance dimension, thereby effectively reducing the probability of foreign objects such as children's fingers being caught in the door during the automatic suction process.

[0078] Based on the foregoing embodiments, the door closing control method provided in this application includes a closing force control condition associated with the closing distance.

[0079] In one embodiment, the attraction force control conditions may include adjustment conditions for the drive power of the drive device for the door; wherein, the adjustment of the drive power of the drive device can be achieved by adjusting the operating current or operating voltage of the drive device.

[0080] In one implementation, the suction force control conditions may include conditions for adjusting the suction force based on the magnitude of the distance to be suctioned.

[0081] Accordingly, based on the distance to be attracted, the attraction control strategy can be determined in the following ways:

[0082] Determine the distance threshold; based on the relationship between the distance threshold and the distance to be attracted, determine the attraction force control conditions.

[0083] In one implementation, the distance threshold can be predetermined or determined based on the environmental conditions of the vehicle's surroundings.

[0084] In one implementation, the suction force control conditions may include conditions for adjusting or controlling the suction force of the door over a certain period of time.

[0085] In one implementation, the suction force control conditions may include conditions for real-time adjustment of the suction force of the door, that is, when the suction distance changes, the suction force included in the suction control strategy may change accordingly.

[0086] In one implementation, the attraction force control conditions can be determined in the following way:

[0087] Based on the wind force and / or wind direction in the environmental conditions, determine the degree of negative or positive influence of wind force and / or wind direction on the suction force. If the distance to be suctioned is greater than the distance threshold and the degree of influence is less than the first degree, the suction force control condition can be determined as follows: the first power control drive device outputs a first force to suction the door. If the distance to be suctioned is greater than the distance threshold and the degree of influence is greater than the second degree, the suction force control condition can be determined as follows: the second power control drive device outputs a second force to suction the door. Wherein, the first degree can be less than the second degree, and the first force can be less than the second force.

[0088] Accordingly, based at least on the operating conditions in the door closing control strategy, controlling the door to perform a door closing operation can be achieved in the following ways:

[0089] Based on the suction force control conditions, the suction force corresponding to the distance to be suctioned is determined; based on the suction force corresponding to the distance to be suctioned, the door is controlled to perform continuous suction operation within the distance range corresponding to the distance threshold.

[0090] In one embodiment, the attraction force corresponding to the distance to be attracted may include the attraction force corresponding to the distance range in which the distance to be attracted is located. For example, if the distance to be attracted is within a first distance range, then according to the attraction force control conditions, the attraction force corresponding to the distance to be attracted can be the first attraction force. If the distance to be attracted is within a second distance range, then according to the attraction force control conditions, the attraction force corresponding to the distance to be attracted can be the second attraction force. The boundary endpoint of the first distance range may be greater than the boundary endpoint of the second distance range, and the first attraction force may be less than the second attraction force. The first distance range and the second distance range may be preset.

[0091] Accordingly, based on the attraction force corresponding to the distance to be attracted, controlling the door to perform a continuous attraction operation within the distance range corresponding to the distance threshold can be achieved in the following way:

[0092] If the distance to be attracted is within the first distance range, the door is controlled to perform a continuous attracting operation within the first distance range using a first attracting force; if the distance to be attracted is within the second distance range, the door is controlled to perform a continuous attracting operation within the second distance range using a second attracting force.

[0093] As can be seen from the above, in the door closing control method provided in this application embodiment, after determining the distance threshold, the closing force control condition can be determined based on the relationship between the distance threshold and the closing distance, thus associating the closing force control condition with the actual closing distance of the door; and, by adjusting the distance threshold, the closing force control condition associated with the actual closing distance of the door can be determined under various conditions, thereby enabling the closing force control condition to meet the door closing requirements under various conditions; at the same time, the closing force corresponding to the closing distance is determined based on the closing force control condition, so that the closing force can be directly associated with the closing distance, thus, when the door is controlled to perform a continuous closing operation within the distance range corresponding to the distance threshold based on the closing force corresponding to the closing distance, the door closing requirements within the distance range corresponding to the distance threshold can be met.

[0094] Based on the foregoing embodiments, in the door closing control method provided in this application, the distance threshold includes the kth threshold and the (k+1)th threshold, and the kth threshold is greater than the (k+1)th threshold; k is an integer greater than or equal to 1 and less than K; K is the number of closing links included in the door closing operation; the kth closing link is associated with the kth threshold and the (k+1)th threshold.

[0095] In one embodiment, the door closing operation may include K closing stages; for example, in the kth closing stage, the door may perform at least a continuous closing operation; for example, in the kth closing stage, the door may also perform a pause closing operation.

[0096] In one implementation, since the k-th closing joint is associated with the k-th threshold and the (k+1)-th threshold, the continuous engagement operation, or the continuous engagement operation and the pause engagement operation in the k-th engagement step can be performed within the distance range between the k-th threshold and the (k+1)-th threshold. In other words, the k-th engagement step can be directly associated with the actual engagement distance.

[0097] Accordingly, based on the relationship between the distance threshold and the distance to be attracted, the attraction force control conditions can be determined in the following ways:

[0098] If the distance to be attracted is less than or equal to the kth threshold and greater than the (k+1)th threshold, the attraction force control condition is determined as follows: the attraction force corresponding to the distance to be attracted is determined as the kth attraction force; if the distance to be attracted is less than or equal to the (k+1)th threshold and greater than the (k+2)th threshold, the attraction force control condition is determined as follows: the attraction force corresponding to the distance to be attracted is determined as the (k+1)th attraction force.

[0099] Among them, the k-th attraction force is less than the (k+1)-th attraction force.

[0100] For example, if the distance to be attracted is greater than the first threshold, the attraction force control condition can be determined as follows: the attraction force corresponding to the distance to be attracted is determined to be a preset attraction force, and the preset attraction force can be less than the first attraction force.

[0101] For example, if the distance to be attracted is greater than the Kth threshold, the attraction force control condition can be determined as follows: the attraction force corresponding to the distance to be attracted is determined to be the Kth attraction force, and the Kth attraction force can be greater than the (K-1)th attraction force.

[0102] In one implementation, the difference between the kth threshold and the (k+1)th threshold, and the difference between the (k+1)th threshold and the (k+2)th threshold, can be the distance range of the kth threshold and the distance range of the (k+1)th threshold, respectively. For example, since the kth threshold is greater than the (k+1)th threshold, the (k+1)th threshold is greater than the (k+2)th threshold, and the kth attraction force is less than the (k+1)th attraction force, in this embodiment, the attraction force for the car door can change with the change of the threshold distance range of the distance to be attracted, and the attraction force for the car door can increase as the distance to be attracted decreases.

[0103] In practical applications, as the door closing process progresses, the distance between the sealing component on the door and the door frame to be closed decreases. Simultaneously, as this closing distance gradually decreases, the probability of a clamping event occurring between the sealing component and the door frame decreases. Therefore, in the door closing control method provided in this application embodiment, the closing force corresponding to the closing distance is controlled by a closing force control condition, increasing as the closing distance decreases. This allows for a shorter door closing process and improved door closing efficiency while reducing the probability of clamping events.

[0104] Based on the foregoing embodiments, the door closing control method provided in this application includes a closing time control condition for the kth closing time corresponding to the kth continuous closing operation; the kth closing step includes the kth continuous closing operation; k is an integer greater than or equal to 1 and less than K; K is the number of closing steps included in the door closing operation.

[0105] In one implementation, the pull-in time control condition may include a condition for relative adjustment between the k-th pull-in time and the (k+1)-th pull-in time, for example, adjusting the (k+1)-th pull-in time to be less than the k-th pull-in time.

[0106] In one implementation, the pull-in time control conditions may include conditions that maintain consistency in each pull-in time.

[0107] Accordingly, based on the distance to be attracted, the attraction control strategy can be determined in the following ways:

[0108] Determine the distance threshold; if the distance to be attracted is less than or equal to the kth threshold and greater than the (k+1)th threshold, the attraction time control condition is determined as follows: the kth attraction time is determined at least based on the kth attraction force corresponding to the kth attraction link.

[0109] The distance threshold includes the k-th threshold and the (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold. The k-th attraction link is associated with the k-th threshold and the (k+1)-th threshold.

[0110] For example, if the distance to be attracted is greater than the first threshold, the attraction time control condition can be determined as follows: the attraction time corresponding to the distance to be attracted is determined based on the difference between the distance to be attracted and the first threshold, and the attraction force corresponding to the distance to be attracted.

[0111] In one implementation, the k-th attraction time can be determined in the following way:

[0112] The k-th attraction time is determined based on the k-th threshold distance range and the k-th attraction force corresponding to the k-th attraction stage. For example, the k-th attraction speed of the k-th attraction stage can be determined based on the k-th attraction force, and the k-th attraction time can be determined based on the k-th threshold distance range and the k-th attraction speed.

[0113] If the distance to be attracted is within the range of the kth threshold distance, the kth attraction time is determined based on the real-time changing distance to be attracted and the kth attraction force. In the above process, the real-time changing distance to be attracted can be linear or non-linear.

[0114] As can be seen from the above, the door closing control method provided in this application, since the distance threshold includes the k-th threshold and the (k+1)-th threshold, and the k-th closing element is associated with both the k-th threshold and the (k+1)-th threshold, allows the k-th closing element to be associated with the threshold range where the door's closing distance is located. Thus, when the closing distance is less than or equal to the k-th threshold and greater than the (k+1)-th threshold, the closing time control condition for determining the k-th closing time of the k-th closing element is: determined at least based on the k-th closing force corresponding to the k-th closing element. The k-th attraction time is determined by associating it with the k-th threshold and the (k+1)-th threshold. This means that the k-th attraction time is associated with the distance to be attracted within the range represented by the adjacent thresholds, thus enabling flexible adjustment of the k-th attraction time in the distance range dimension. At the same time, since the k-th attraction time is determined at least based on the k-th attraction force, it is also associated with the k-th attraction force. This achieves dual determination of the k-th attraction time in both the distance and attraction force dimensions, improving the accuracy of the k-th attraction time.

[0115] Based on the foregoing embodiments, the door closing control method provided in this application, which determines the closing control strategy based on the distance to be closed, can also be implemented in the following ways:

[0116] If the distance to be attracted is less than or equal to the Kth threshold, the condition for determining the attraction time control is: the Kth attraction time is determined as the target time.

[0117] The target time is less than the (K-1)th adsorption time.

[0118] For example, if the distance to be attracted is greater than the Kth threshold, the kth attraction time can be determined by the method provided in the foregoing embodiments.

[0119] In one implementation, the difference between the Kth threshold and the thickness of the sealing component can be less than the size threshold; for example, the Kth threshold can be less than the (K-1)th threshold.

[0120] In one implementation, if the distance to be closed is less than or equal to the Kth threshold, it indicates that the door closing operation has progressed to the Kth closing stage. At this time, the distance between the sealing component and the door frame is small, thereby reducing the probability of other objects being clamped during the door closing process. In this case, completing the continuous closing operation of the Kth closing stage within the target time can improve the efficiency of the automatic door closing and shorten the automatic door closing time. For example, the Kth closing stage can be the last closing stage before the door switches to the closed or locked state.

[0121] In one implementation, if the distance to be attracted is less than or equal to the Kth threshold, it can be determined that the Kth attraction force corresponding to the distance to be attracted is greater than the (K-1)th attraction force, and the target time can be determined based on the distance to be attracted and the Kth attraction force.

[0122] As can be seen from the above, in the door closing control method provided in this application embodiment, if the distance to be closed is less than or equal to the Kth threshold, the closing time control condition is determined as follows: the Kth closing time is determined to be a target time that is less than the (K-1)th closing time. Thus, when the distance to be closed is less than or equal to the Kth threshold, the automatic closing process of the door can be shortened and the automatic closing efficiency of the door can be improved by using the closing time control condition.

[0123] Based on the foregoing embodiments, in the door closing control method provided in this application, the operating conditions include at least the triggering condition for the kth pause closing operation in the kth closing stage; k is an integer greater than or equal to 1 and less than K; K is the number of closing stages included in the door closing operation.

[0124] In one implementation, the k-th pause engagement operation may include temporarily stopping the automatic engagement process for a certain period of time.

[0125] In one embodiment, the door closing operation may include at least one pause closing operation.

[0126] In one embodiment, the k-th pause engagement operation may include the operation of the drive unit stopping the output of driving force or engagement force to the door.

[0127] Accordingly, based at least on the operating conditions in the door closing control strategy, controlling the door to perform a door closing operation can be achieved in the following ways:

[0128] Determine the distance threshold; after the end of the k-th continuous engagement operation contained in the k-th engagement stage, if the distance to be engaged is less than or equal to the k-th threshold and greater than the k+1-th threshold, determine that the trigger condition for the k-th pause engagement operation is met, and control the door to perform the k-th pause engagement operation.

[0129] The distance threshold includes the k-th threshold and the (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold; the k-th attraction link is associated with the k-th threshold and the (k+1)-th threshold.

[0130] In one implementation, the kth continuous attraction operation can be performed within the time period corresponding to the kth attraction time determined in the foregoing embodiments.

[0131] In one implementation, after the kth continuous suction operation ends, if the door moves toward or away from the door frame due to the force of the environmental state of the vehicle's environment, the suction distance can be detected and obtained in real time after the kth continuous suction operation ends.

[0132] In one implementation, when the kth continuous closing operation ends and the triggering condition is determined to be met, the door can be controlled to perform the kth pause closing operation.

[0133] In one implementation, the execution time of the k-th pause-and-engage operation and the (k+1)-th pause-and-engage operation may be the same or different.

[0134] In one implementation, during the duration of the kth pause engagement operation, the vehicle's processor can determine the (k+1)th engagement force and the (k+1)th engagement time, thereby laying the foundation for the execution of the (k+1)th engagement phase.

[0135] As can be seen from the above, in the door closing control method provided in this application embodiment, after the end of the k-th continuous closing operation in the k-th closing stage, if the closing distance is less than or equal to the k-th threshold and greater than the k+1-th threshold, then the trigger condition for the k-th pause closing operation is determined to be met, and the door is controlled to perform the k-th pause closing operation. Thus, after the end of the k-th continuous closing operation in the k-th closing stage, by performing the k-th pause closing operation, the risk of clamping caused by the continuous execution of the k-th continuous closing operation can be reduced; furthermore, since each closing stage includes both continuous closing and pause closing operations, the probability of clamping events can be reduced while the automatic closing process is gradually progressing.

[0136] Based on the foregoing embodiments, the door closing control method of this application embodiment determines the distance threshold in the following ways:

[0137] Obtain the object characteristics of the target object associated with the vehicle; determine the distance threshold based on the object characteristics.

[0138] In one embodiment, the target object associated with the vehicle may include an object whose distance from the vehicle door or door frame is less than a preset distance; for example, the target object may include a dynamic object or a static object; for example, a dynamic object may include an object with mobility or mobility characteristics; for example, a static object may include an object that is stationary relative to the door frame or door.

[0139] In one implementation, the target object may include the vehicle's passengers.

[0140] In one implementation, the target object may include at least part of the body of a vehicle passenger, such as the fingers of a vehicle passenger.

[0141] In one implementation, object data of the target object can be collected by a vehicle-associated data acquisition device, and feature extraction can be performed on the object data to obtain object features.

[0142] In one implementation, object characteristics may include the shape, size, quantity of the target object, and the position of the target object relative to the door frame or the door.

[0143] In one implementation, a distance threshold can be determined as N times the size of the target object; where N can be an integer greater than or equal to 1; for example, when N is greater than 2, the first threshold can be N times the size of the target object, and the k-th threshold can be N-k+1 times the size of the target object.

[0144] In one implementation, when there are multiple target objects, a distance threshold can be determined based on the distribution status of each target object; for example, the distribution status may include the distribution location of each target object.

[0145] As can be seen from the above, in the door closing control method provided in this application embodiment, after collecting the object features of the target object associated with the vehicle, a distance threshold is determined based on the object features. Thus, on the one hand, since the distance threshold is associated with the object features of the target object, the accuracy of the distance threshold can be improved; on the other hand, when the number, type, and distribution state of the target object change, the distance threshold can also be changed and adjusted accordingly, thereby flexibly determining and adjusting the distance threshold in multiple ways.

[0146] Based on the foregoing embodiments, the door closing control method provided in this application, which controls the door to perform a door closing operation based at least on the operating conditions in the closing control strategy, can be implemented in the following ways:

[0147] Before the door closing operation is triggered, the initial drive parameters of the drive device associated with the door closing operation are obtained; the target drive parameters are determined based on the closing control strategy; and the drive device is controlled to drive the door closing operation based on the target drive parameters.

[0148] In one embodiment, the door closing operation may include a continuous closing operation and a pause closing operation during the process from the door switching to an automatic closing state to the door being fully closed or locked.

[0149] In one implementation, the initial drive parameters may include the default drive parameters of the drive device.

[0150] In one implementation, the target driving parameter can be associated with the k-th engagement element. That is, the target driving parameter can include the k-th engagement force and the k-th engagement time in the foregoing embodiments, or the target driving parameter can include the input voltage, current or power of the driving device corresponding to the k-th engagement force, and the k-th engagement time.

[0151] In one implementation, controlling the drive unit to drive the door closing operation based on target drive parameters can be achieved in the following way:

[0152] Based on the relationship between the distance to be attracted and the kth and (k+1)th thresholds, the attraction stage corresponding to the distance to be attracted is determined. For example, if the distance to be attracted corresponds to the kth attraction stage, the kth attraction force and the kth attraction time in the kth attraction stage can be determined. The kth attraction force and the kth attraction time are used to control the door to perform the kth continuous attraction operation through the drive device. After the kth continuous attraction time operation ends, the door is controlled by the drive device to perform the kth pause attraction operation.

[0153] For example, after the Kth continuous closing operation ends, the door can be in a closed or locked state. At this time, the pause closing operation can be stopped, and the door closing operation can be switched to the end state.

[0154] Accordingly, the door closing control method provided in this application embodiment may further include the following steps:

[0155] After the door closing operation is completed, set the drive parameters of the drive unit to the initial drive parameters.

[0156] Figure 2 This is a timing diagram of the door closing operation provided in an embodiment of this application. Figure 2 In this paper, the closing sequence of a car door is explained using the door closing operation, which includes three closing stages, as an example.

[0157] exist Figure 2 In the diagram, the horizontal axis of the two coordinate systems represents the average time, and the vertical axis represents the voltage.

[0158] In this embodiment, the distance-segmented closing control strategy associated with the closing process, provided in the aforementioned embodiment, is adopted for the entire process from the door switching to the automatic closing state to the door locking.

[0159] like Figure 2 As shown, when the car door switches to the automatic closing state, the closing distance between the sealing component of the car door and the door frame can be 10mm-7mm. At this time, the first closing time corresponding to the first closing link can be determined as Δta based on the closing distance, and the first closing force corresponding to the first closing link is the closing force output when the input voltage of the drive device is the first voltage V1 is 5V. The first continuous closing operation is performed during the Δta period. After the first continuous closing operation ends, if there is a potential clamped object between the sealing component and the door frame during the first pause closing time Δtb, the potential clamped object can be removed during the first pause closing time to reduce the clamping probability.

[0160] For the second attraction stage, the attraction distance can be between 7mm and 4mm, which reduces the probability of the object being clamped. At this time, the second attraction force can be increased while the second attraction time can be shortened. For example, the input voltage of the drive device can be set to 7V V2 and the attraction force output by the drive device at this time can be determined as the second attraction force. During the second attraction time Δtc, the second continuous attraction operation can be performed by using the second attraction force. Alternatively, after the second continuous attraction operation ends, the drive device can be controlled to pause the attraction operation within the duration Δtd.

[0161] For the third engagement stage, the engagement distance is 4mm-0mm. The risk of being locked is further reduced at this time. Therefore, a high voltage such as 12V V3 can be used to drive the door lock engagement, so as to engage the door and switch to the fully locked position within the shortest time △te.

[0162] After the third engagement phase ends, the door lock engagement reset can be controlled within △tf, that is, the drive parameters of the drive device are set to the initial drive parameters to complete the door closing process.

[0163] For example, after the door closing process is completed, the change of the detection signal switch can be monitored at the same time. If the door opening operation is detected, the input voltage of the drive device can be controlled to V4 during the Δtg period and V5 during the Δth period to assist the door opening.

[0164] As can be seen from the above, the door closing control method provided in this application obtains the initial drive parameters of the drive device associated with the door closing operation before the door closing operation is triggered, thereby providing conditions for setting the drive parameters of the drive device as the initial drive parameters after the door closing operation ends. Furthermore, setting the drive parameters of the drive device as the initial drive parameters after the door closing operation ends can also reduce the impact on the drive state of the drive device. At the same time, during the execution of the door closing operation, the target drive parameters are determined based on the closing control strategy, and the drive device is controlled to drive the door closing operation based on the target drive parameters, thereby improving the accuracy of the drive device in driving the door closing operation and reducing the probability of door clamping events.

[0165] Based on the foregoing embodiments, this application also provides a door closing control device. Figure 3 This is a schematic diagram of the structure of the door closing control device provided in the embodiments of this application, as shown below. Figure 3 As shown, the device may include:

[0166] The acquisition module 301 is used to acquire the closing distance if the door is detected to switch to the automatic closing state; wherein, the closing distance includes the distance between the sealing component installed on the door and the door frame of the vehicle.

[0167] The determining module 302 is used to determine a suction control strategy based on the distance to be suctioned; wherein, the suction control strategy includes at least the operating conditions for the door to perform a door suction operation;

[0168] The control module 303 is used to control the door to perform a door closing operation based at least on the operating conditions in the closing control strategy; wherein the door closing operation includes at least a continuous closing operation and a paused closing operation.

[0169] In some embodiments, the operating conditions include suction force control conditions associated with the distance to be attracted;

[0170] The determination module 302 is used to determine the distance threshold; based on the relationship between the distance threshold and the distance to be attracted, the attraction force control conditions are determined.

[0171] The determining module 302 is used to determine the attraction force corresponding to the distance to be attracted based on the attraction force control conditions;

[0172] The control module 303 is used to control the door to perform a continuous suction operation within a distance range corresponding to a distance threshold, based on the suction force corresponding to the distance to be suctioned.

[0173] In some embodiments, the distance threshold includes a k-th threshold and a (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold; k is an integer greater than or equal to 1 and less than K; K is the number of suction links included in the door closing operation; the k-th suction link is associated with the k-th threshold and the (k+1)-th threshold;

[0174] The determination module 302 is used to determine the attraction force control condition as follows if the distance to be attracted is less than or equal to the kth threshold and greater than the (k+1)th threshold: the attraction force corresponding to the distance to be attracted is determined to be the kth attraction force; if the distance to be attracted is less than or equal to the (k+1)th threshold and greater than the (k+2)th threshold, the attraction force control condition is determined as follows: the attraction force corresponding to the distance to be attracted is determined to be the (k+1)th attraction force; wherein, the kth attraction force is less than the (k+1)th attraction force.

[0175] In some embodiments, the operating conditions include a suction time control condition for the k-th suction time corresponding to the k-th continuous suction operation; the k-th suction step includes the k-th continuous suction operation; k is an integer greater than or equal to 1 and less than K; K is the number of suction steps included in the door suction operation.

[0176] The determining module 302 is used to determine the distance threshold; wherein the distance threshold includes the k-th threshold and the (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold;

[0177] The determination module 302 is used to determine the attraction time control condition if the attraction distance is less than or equal to the kth threshold and greater than the k+1th threshold: the attraction time is determined at least based on the kth attraction force corresponding to the kth attraction link; wherein the kth attraction link is associated with the kth threshold and the k+1th threshold.

[0178] In some embodiments, the determining module 302 is used to determine the attraction time control condition as follows if the attraction distance to be attracted is less than or equal to the Kth threshold: the Kth attraction time is determined as the target time; wherein the target time is less than the (K-1)th attraction time.

[0179] In some embodiments, the operating conditions include at least the triggering condition for the k-th pause in the door closing operation in the k-th closing stage; k is an integer greater than or equal to 1 and less than K; K is the number of closing stages included in the door closing operation.

[0180] The determining module 302 is used to determine a distance threshold; wherein the distance threshold includes a k-th threshold and a (k+1)-th threshold, and the k-th threshold is greater than the (k+1)-th threshold;

[0181] The determining module 302 is used to determine that the triggering condition for the k-th paused engagement operation is met after the end of the k-th continuous engagement operation contained in the k-th engagement stage, if the distance to be engaged is less than or equal to the k-th threshold and greater than the k+1-th threshold, and control the door to perform the k-th paused engagement operation; wherein, the k-th engagement stage is associated with the k-th threshold and the k+1-th threshold.

[0182] In some embodiments, the acquisition module 301 is used to acquire object features of a target object associated with a vehicle;

[0183] The determination module 302 is used to determine the distance threshold based on object characteristics.

[0184] In some embodiments, the acquisition module 301 is used to acquire the initial drive parameters of the drive device associated with the door closing operation before the door closing operation is triggered.

[0185] The determination module 302 is used to determine the target driving parameters based on the engagement control strategy;

[0186] Control module 303 is used to control the drive device to drive the door to perform a door closing operation based on the target drive parameters;

[0187] The determination module 302 is also used to set the drive parameters of the drive device to the initial drive parameters after the door closing operation is completed.

[0188] The door closing control device provided in this application, when detecting that the door has switched to an automatic closing state, acquires the distance between the sealing component on the door and the door frame, as well as the closing distance. Thus, the closing distance accurately reflects the relative position of the door's sealing component or door edge relative to the door frame. Furthermore, based on the closing distance, a closing control strategy is determined that includes at least the operating conditions for the door to perform a closing operation. On the one hand, the closing control strategy is associated with the closing distance, thereby allowing for flexible adjustment of the closing control according to changes in the closing distance. On the other hand, since the suction control strategy includes the operating conditions for the door to perform the suction operation, the door suction operation can be flexibly, automatically, and intelligently adjusted and controlled according to the distance to be suctioned. Based on this, at least based on the operating conditions in the suction control strategy, the door can be controlled to perform continuous suction operation and pause suction operation. This not only enables segmented control of the distance dimension of the automatic suction process, but also segmented control of the suction state in the distance dimension, thereby effectively reducing the probability of foreign objects such as children's fingers being caught in the door during the automatic suction process.

[0189] Based on the foregoing embodiments, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor of an electronic device, can implement the door closing control method provided in any of the preceding embodiments.

[0190] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0191] The methods disclosed in the various method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict.

[0192] The features disclosed in the various product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0193] The features disclosed in the various method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0194] It should be noted that the aforementioned computer-readable storage media can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various electronic devices that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0195] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0196] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0197] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A latching control method of a vehicle door, characterized by, The method comprises: if it is detected that the vehicle door switches to an automatic suction state, obtaining a distance to be suctioned; wherein the distance to be suctioned comprises a distance between a sealing assembly arranged on the vehicle door and a door frame body of the vehicle; based on the distance to be suctioned, determining a suction control strategy; wherein the suction control strategy at least comprises an operation condition for the vehicle door to perform a vehicle door suction operation; based on at least the operation condition in the suction control strategy, controlling the vehicle door to perform the vehicle door suction operation; wherein the vehicle door suction operation at least comprises a continuous suction operation and a suspended suction operation.

2. The method of claim 1, wherein, The operation condition comprises a suction force control condition associated with the distance to be suctioned; the determination of the suction control strategy based on the distance to be suctioned comprises: determining a distance threshold value; based on a size relationship between the distance threshold value and the distance to be suctioned, determining the suction force control condition; The control of the vehicle door to perform the vehicle door suction operation based on at least the operation condition in the suction control strategy comprises: based on the suction force control condition, determining a suction force corresponding to the distance to be suctioned; based on the suction force corresponding to the distance to be suctioned, controlling the vehicle door to perform the continuous suction operation within a distance range corresponding to the distance threshold value.

3. The method of claim 2, wherein, The distance threshold value comprises a kth threshold value and a k+1th threshold value, and the kth threshold value is greater than the k+1th threshold value; k is an integer greater than or equal to 1 and less than K; K is the number of suction links included in the vehicle door suction operation; the kth suction link is associated with the kth threshold value and the k+1th threshold value; the determination of the suction force control condition based on the size relationship between the distance threshold value and the distance to be suctioned comprises: if the distance to be suctioned is less than or equal to the kth threshold value and greater than the k+1th threshold value, it is determined that the suction force control condition is that the suction force corresponding to the distance to be suctioned is the kth suction force; if the distance to be suctioned is less than or equal to the k+1th threshold value and greater than the k+2th threshold value, it is determined that the suction force control condition is that the suction force corresponding to the distance to be suctioned is the k+1th suction force; wherein the kth suction force is less than the k+1th suction force.

4. The method of claim 1, wherein, The operation condition comprises a suction time control condition for a kth suction time corresponding to a kth continuous suction operation; the kth suction link comprises the kth continuous suction operation; k is an integer greater than or equal to 1 and less than K; K is the number of suction links included in the vehicle door suction operation; the determination of the suction control strategy based on the distance to be suctioned comprises: determining a distance threshold value; wherein the distance threshold value comprises a kth threshold value and a k+1th threshold value, and the kth threshold value is greater than the k+1th threshold value; if the distance to be suctioned is less than or equal to the kth threshold value and greater than the k+1th threshold value, it is determined that the suction time control condition is that the kth suction time is determined based on at least a kth suction force corresponding to the kth suction link; wherein the kth suction link is associated with the kth threshold value and the k+1th threshold value.

5. The method of claim 4, wherein, The determination of the suction control strategy based on the distance to be suctioned further comprises: If the distance to be sucked is less than or equal to the Kth threshold, it is determined that the suction time control condition is that the Kth suction time is determined as a target time; wherein the target time is less than the K-1th suction time.

6. The method of claim 1, wherein, The operation condition at least includes a triggering condition of the kth pause suction operation in the kth suction link; k is an integer greater than or equal to 1 and less than K; K is the number of suction links included in the door suction operation; The at least based on the operation condition in the suction control strategy, controlling the door to execute the door suction operation, includes: determining a distance threshold; wherein the distance threshold includes the kth threshold and the k+1th threshold, and the kth threshold is greater than the k+1th threshold; After the kth continuous suction operation included in the kth suction link ends, if the distance to be sucked is less than or equal to the kth threshold and greater than the k+1th threshold, it is determined that the triggering condition of the kth pause suction operation is met, and the door is controlled to execute the kth pause suction operation; wherein the kth suction link is associated with the kth threshold and the k+1th threshold.

7. The method according to any of claims 2, 4 and 6, characterized by, The determination of the distance threshold includes: obtaining an object feature of a target object associated with the vehicle; determining the distance threshold based on the object feature.

8. The method of claim 1, wherein, The at least based on the operation condition in the suction control strategy, controlling the door to execute the door suction operation, includes: Before the door suction operation is triggered, obtaining an initial driving parameter of a driving device associated with the door suction operation; determining a target driving parameter based on the suction control strategy; controlling the driving device to drive the door to execute the door suction operation based on the target driving parameter; The method further includes: After the door suction operation ends, setting the driving parameter of the driving device to the initial driving parameter.

9. A latching control device for a vehicle door, characterized by comprising: The device includes: an acquisition module, configured to, if it is detected that the door switches to an automatic suction state, acquire a distance to be sucked; wherein the distance to be sucked includes a distance between a sealing assembly arranged on the door and a door frame body of the vehicle; a determination module, configured to determine a suction control strategy based on the distance to be sucked; wherein the suction control strategy at least includes an operation condition of the door executing a door suction operation; a control module, configured to at least based on the operation condition in the suction control strategy, control the door to execute the door suction operation; wherein the door suction operation at least includes a continuous suction operation and a pause suction operation.

10. A computer-readable storage medium, characterized in that, The storage medium includes a computer program; when the computer program is executed by a processor of an electronic device, the door suction control method of any one of claims 1 to 8 can be implemented.

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