A control method, terminal device, and storage medium for a vehicle door actuator.

Abstract

This application relates to the field of vehicle control technology, and proposes a control method, terminal device, and storage medium for a vehicle door actuator. The method includes: when the opening of a vehicle door is detected, acquiring the inertia of the door's window glass and / or the inertia of the door's map pocket storage space during door rotation; calculating the overall inertia of the door based on the inertia of the window glass and / or the map pocket storage space; calculating the required power for door rotation based on the overall inertia; and controlling the output power of the door actuator according to the required power for door rotation. This method can improve the accuracy of calculating the overall inertia of the door, thereby improving the control precision of the door actuator.

Description

Technical Field

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

[0002] A door actuator controls the rotation of a vehicle's doors to achieve electric opening and closing, a function that requires the interaction of numerous parameters. Existing door actuator control methods primarily obtain the door's center of gravity position through calibration, then calculate the door's inertia based on its weight, and finally determine the actuator's output power to achieve control. However, in real-world scenarios, the door's center of gravity position is not constant, which reduces the accuracy of inertia calculations and affects the actuator's control precision. Summary of the Invention

[0003] In view of this, embodiments of this application provide a control method, terminal device, and storage medium for a car door actuator, which can improve the accuracy of car door inertia calculation and thus improve the control precision of the car door actuator.

[0004] A first aspect of this application provides a method for controlling a vehicle door actuator, including:

[0005] When the vehicle door is detected to be open, the moment of inertia of the door window glass and / or the moment of inertia of the door's map pocket storage space are obtained when the door rotates.

[0006] The overall inertia of the vehicle door is calculated based on the inertia of the window glass and / or the inertia of the map pocket storage space.

[0007] The required power for the door to rotate is calculated based on the overall inertia.

[0008] The output power of the door actuator is controlled according to the required power for door rotation. In this embodiment, when the opening of the vehicle door is detected, the inertia of the window glass and / or the inertia of the map pocket storage space during door rotation are acquired. Then, the overall inertia of the door is calculated based on the inertia of the window glass and / or the inertia of the map pocket storage space. Next, the required power for door rotation is calculated based on the overall inertia. Finally, the output power of the door actuator is controlled according to this required power. In calculating the overall inertia of the door, this embodiment can consider the inertia of the window glass alone, the inertia of the map pocket storage space alone, or a combination of both. This fully considers the influence of the items stored in the window glass and / or the map pocket storage space on the overall inertia of the door, thus effectively improving the calculation accuracy of the overall door inertia and thereby improving the control precision of the door actuator.

[0009] In one implementation of this application, the inertia of the vehicle window glass can be obtained in the following way:

[0010] Identify the opening degree of the vehicle window glass;

[0011] The center of gravity of the vehicle window glass is determined based on the opening range.

[0012] The moment of inertia of the vehicle window is calculated based on the center of gravity of the window and the weight of the window.

[0013] In one implementation of this application, the inertia of the map pocket storage space can be obtained in the following way:

[0014] Detect the weight of items stored in the map bag storage space;

[0015] The moment of inertia of the map bag storage space is calculated based on the center of gravity and weight of the stored items.

[0016] In one implementation of this application, calculating the overall inertia of the vehicle door based on the inertia of the window glass and / or the inertia of the map pocket storage space may include:

[0017] Obtain the center of gravity and weight of each fixed component of the vehicle door;

[0018] Based on the center of gravity and weight of each fixed component, the total moment of inertia of each fixed component when the door rotates is calculated.

[0019] The overall inertia of the car door is calculated based on the inertia of the car window glass, the inertia of the map pocket storage space, and the total inertia of each of the fixed components.

[0020] In one implementation of this application, controlling the output power of the door actuator according to the power required for door rotation may include:

[0021] Based on the opening range, determine the windward area and the point of application of air resistance of the car door;

[0022] By combining the frontal area and the point of application of the air resistance, the power required for the door to overcome wind resistance can be calculated.

[0023] The total power required for the door actuator is calculated based on the power required for the door to rotate and the power required for the door to overcome wind resistance.

[0024] The output power of the door actuator is controlled according to the total power demand.

[0025] Furthermore, determining the windward area and the point of application of air resistance of the car door based on the opening degree may include:

[0026] Based on the opening range, determine the total area of ​​the car door plus the currently extended window glass;

[0027] The total area is defined as the windward area;

[0028] The point of application of air resistance is determined based on the geometry of the vehicle door and its total area.

[0029] Furthermore, calculating the total power demand of the vehicle door based on the power demand for rotating the door and the power demand for overcoming wind resistance can include:

[0030] Obtain the hinge axis tilt angle parameters of the door and the vehicle gyroscope parameters of the vehicle.

[0031] Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter, the required power for the door to overcome gravity is calculated.

[0032] The total required power is calculated based on the power required for the door to rotate, the power required for the door to overcome wind resistance, and the power required for the door to overcome gravity.

[0033] Furthermore, calculating the power required for the door to overcome gravity based on the hinge axis tilt angle parameter and the vehicle gyroscope parameters may include:

[0034] Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter, the vertical component of the gravity of the door is calculated, as well as the vertical displacement of the center of gravity of the door is calculated.

[0035] The required power for the door to overcome gravity is calculated based on the vertical component of the door's weight and the vertical displacement of the door's center of gravity.

[0036] A second aspect of this application provides a control device for a vehicle door actuator, comprising:

[0037] An inertia acquisition module is used to acquire the inertia of the car door window glass and / or the inertia of the car door's map pocket storage space when the car door is detected to be open.

[0038] The overall inertia calculation module for the vehicle door is used to calculate the overall inertia of the vehicle door based on the inertia of the window glass and / or the inertia of the map pocket storage space.

[0039] The rotational power demand calculation module is used to calculate the power demand for the rotation of the door based on the overall inertia.

[0040] The door drive control module is used to control the output power of the door drive according to the power required for the door to rotate.

[0041] A third aspect of this application provides a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the door drive control method provided in the first aspect of this application.

[0042] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the door drive control method provided in the first aspect of this application.

[0043] The fifth aspect of this application provides a computer program product that, when run on a terminal device, causes the terminal device to execute the door drive control method provided in the first aspect of this application.

[0044] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0045] Figure 1 This is a flowchart of a door drive control method provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram showing the center of gravity positions of various components of the car door provided in the embodiments of this application;

[0047] Figure 3 This is a schematic diagram of the operation flow of the door drive control method provided in this application embodiment in a real-world scenario;

[0048] Figure 4 This is a structural framework diagram of a door drive control device provided in an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0050] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail. Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0051] A door actuator is a device in a vehicle used to electrically open and close the doors. By adjusting its output power, the rotational angular velocity of the door can be controlled. Currently, the conventional method for controlling door actuators mainly involves obtaining the door's center of gravity position through calibration, then calculating the door's inertia based on the door's weight, and finally determining the actuator's output power based on this inertia to achieve control. However, in real-world scenarios, the door's center of gravity position often changes with the opening degree of the window glass and the weight of objects stored in the door's storage space. This can lead to a decrease in the accuracy of the door inertia calculation, affecting the control precision and performance stability of the door actuator.

[0052] To address this issue, this application provides a control method, terminal device, and storage medium for a vehicle door actuator, which can improve the accuracy of door inertia calculation and thus improve the control precision of the vehicle door actuator. For more specific technical details regarding the implementation of this application, please refer to the method embodiments described below.

[0053] It should be understood that the execution subject of the various method embodiments of this application can be various types of terminal devices or servers, such as mobile phones, tablets, wearable devices, vehicle controllers, vehicle terminals, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), personal digital assistants (PDAs), etc. The embodiments of this application do not impose any restrictions on the specific type of terminal device and server.

[0054] Please see Figure 1 This application illustrates a control method for a door actuator provided in an embodiment of the present application, comprising:

[0055] 101. When the vehicle door is detected to be open, obtain the inertia of the door window glass and / or the inertia of the door's map pocket storage space when the door rotates.

[0056] The execution subject of this application embodiment can be a vehicle-mounted terminal or vehicle-mounted controller, which is communicatively connected to the vehicle's door drive, window glass controller, and various sensors and other devices installed in the vehicle.

[0057] When any door of the vehicle is opened, the door lock signal can detect that the door is open. At this time, the door actuator starts to work, first acquiring the inertia of the door's window glass and / or the inertia of the door's map pocket storage space when the door rotates. There are three feasible methods: the first is to acquire only the inertia of the window glass, the second is to acquire only the inertia of the map pocket storage space, and the third is to acquire both the inertia of the window glass and the inertia of the map pocket storage space simultaneously.

[0058] In one implementation of this application, the inertia of the vehicle window glass can be obtained in the following way:

[0059] (1) Identify the opening degree of the car window glass;

[0060] (2) Determine the center of gravity of the car window glass based on the opening range;

[0061] (3) The moment of inertia of the car window is calculated based on the center of gravity of the car window and the weight of the car window.

[0062] To more accurately determine the center of gravity of the car window, it is first necessary to identify the current opening degree of the window. Specifically, the corresponding Hall effect signal can be obtained through the window regulator. By analyzing the signal frequency and quantity of the Hall effect signal, the current position (lifting height) of the window can be determined, which in turn determines the opening degree of the window. The specific method for determining the window opening degree based on the Hall effect signal can refer to existing technology and will not be elaborated here. After obtaining the opening degree of the window, the center of gravity of the window can be determined based on the opening degree. In actual operation, the correspondence between different window opening degrees and the center of gravity of the window can be pre-calibrated and recorded. For example, the center of gravity position of the window can be detected for different window opening degrees through experiments, and the corresponding relationship can be recorded. For example, a 10% window opening degree corresponds to the center of gravity position A, a 30% window opening degree corresponds to the center of gravity position B, a 50% window opening degree corresponds to the center of gravity position C, and so on. After obtaining the current window opening angle, the corresponding center of gravity of the window can be retrieved via query. Since the weight of the window is a known fixed quantity, the moment of inertia of the window when the door rotates can be calculated based on the determined center of gravity and the weight of the window. Specifically, since the window is mounted on the door, and the door rotates around the door hinge axis, the distance between the window's center of gravity and the door hinge axis can be calculated first, and then the moment of inertia of the window can be calculated based on this distance and the weight of the window. Let's assume the weight of the window is M. g The distance between the center of gravity of the car window and the axis of the door hinge is r. g Then the moment of inertia J of the car window glass g =M g *r g 2 .

[0063] In one implementation of this application, the inertia of the map pocket storage space can be obtained in the following way:

[0064] (1) Detect the weight of items stored in the map bag storage space;

[0065] (2) The inertia of the map bag storage space is calculated based on the center of gravity of the stored items and the weight of the stored items.

[0066] In real-world scenarios, items stored in the map pocket storage space of a car door (i.e., the storage space below the inner door handle) also affect the overall center of gravity of the car door. Therefore, this embodiment considers the inertia of the map pocket storage space when the car door rotates to further improve the accuracy of calculating the overall inertia of the car door. In practice, pressure sensors or other devices can be installed in the map pocket storage space to obtain the weight of the stored items. Furthermore, the center of gravity of the stored item can be estimated based on its location within the map pocket storage space. Combined with the weight of the stored item, the inertia of the stored item can be calculated as the inertia of the map pocket storage space. The determined center of gravity of the stored item can be an estimate; for example, for items like water bottles, the center of gravity can be estimated based on the height of an equivalent cylinder. To improve the accuracy of the center of gravity estimation, a camera or distance sensor can be added to the map pocket storage space to detect the spatial shape and dimensions of the item, achieving a more precise center of gravity estimation. Assume the weight of the items stored in the map pocket storage space is M. s The distance between the center of gravity of the stored item and the axis of the door hinge is r. s Then the inertia J of the map bag storage space s =M s *r s 2 .

[0067] 102. Calculate the overall inertia of the car door based on the inertia of the car window glass and / or the inertia of the map pocket storage space;

[0068] After obtaining the inertia of the car window glass and / or the map pocket storage space, the overall inertia of the car door can be calculated based on these inertias. There are three calculation methods: the first calculates the overall inertia of the car door based solely on the inertia of the car window glass; the second calculates it based solely on the inertia of the map pocket storage space; and the third combines the inertia of both the car window glass and the map pocket storage space. For example, for the first method, the overall inertia of the car door can be set to the sum of the inertia of the car window glass and the inertia of other parts of the car door, which can be obtained beforehand through calibration. For the second method, the overall inertia of the car door can be set to the sum of the inertia of the map pocket storage space and the inertia of other parts of the car door. For the third method, the overall inertia of the car door can be set to the sum of the inertia of the car window glass, the inertia of the map pocket storage space, and the inertia of other parts of the car door.

[0069] In one implementation of this application, calculating the overall inertia of the car door based on the inertia of the car window glass and / or the inertia of the map pocket storage space may include:

[0070] (1) Obtain the center of gravity and weight of each fixed component of the door;

[0071] (2) Calculate the total moment of inertia of each fixed component when the door rotates based on the center of gravity and weight of each fixed component;

[0072] (3) The overall inertia of the car door is calculated based on the inertia of the car window glass, the inertia of the map pocket storage space and the total inertia of each fixed component.

[0073] In some scenarios, besides the window glass and map pocket storage space, a car door may have more than one other fixed component. During the door's rotation, these fixed components also generate inertia. Incorporating the total inertia of these fixed components when calculating the overall inertia of the door can further improve the accuracy of the calculation. Since the weight and center of gravity of each fixed component are known, their total inertia can be easily calculated. Assuming the car door has n fixed components, the total inertia of these n fixed components can be expressed as:

[0074]

[0075] Among them, J i M represents the moment of inertia of the i-th fixed component. i Let r represent the weight of the i-th fixed component. i This represents the distance between the center of gravity of the i-th fixed component and the axis of the door hinge.

[0076] Finally, by combining the inertia of the car window glass, the inertia of the map pocket storage space, and the total inertia of all fixed components, the overall inertia of the car door can be calculated. This can be done using a summation method or a weighted summation method. For example, the overall inertia of the car door can be calculated using the following formula:

[0077]

[0078] Where J represents the overall inertia of the car door, J s J represents the inertia of the map bag storage space. i Let represent the inertia of the i-th fixed component.

[0079] like Figure 2 The diagram shown is a schematic representation of the center of gravity of each component of the car door provided in an embodiment of this application. Figure 2The diagram shows the center of gravity of the window glass at its current opening, the center of gravity of other fixed door components, and the center of gravity of the items stored in the map pocket. Each component rotates around the door hinge axis when the door opens and closes. Using the distance between the center of gravity of each component and the door hinge axis, as well as the weight of each component, the moment of inertia of each component can be easily calculated. Finally, adding the moments of inertia of each component together yields a relatively accurate overall moment of inertia of the door.

[0080] 103. Calculate the required power for the door to rotate based on the overall inertia;

[0081] After calculating the overall inertia of the car door, the required power for the door to rotate can be calculated based on this overall inertia.

[0082] In one implementation of this application, the step of calculating the required power for door rotation based on the overall inertia may include:

[0083] (1) Obtain the preset door rotation angular velocity and door rotation time;

[0084] (2) The required power for the door rotation is calculated based on the door rotation angular velocity, door rotation time and overall inertia.

[0085] During the control of the car door rotation, the door's rotation angular velocity and rotation time are both pre-set known quantities. Combining the door's rotation angular velocity, rotation time, and overall inertia, the required power for door rotation can be calculated using the following formula:

[0086]

[0087] Among them, P j J represents the power required for the door to rotate, W represents the overall inertia of the door, t represents the angular velocity of the door rotation, and t represents the time it takes for the door to rotate.

[0088] 104. Control the output power of the door drive according to the power required for door rotation.

[0089] After calculating the power required for the door to rotate, the output power of the door actuator can be controlled according to this power requirement. Specifically, the required power can be used as a target value, and the output power of the door actuator can be adjusted to approach this target value. For example, if the required power is high and the output power of the door actuator is low, the output power of the door actuator can be appropriately increased; if the required power is low and the output power of the door actuator is high, the output power of the door actuator can be appropriately decreased.

[0090] In one implementation of this application, controlling the output power of the door actuator according to the power required for door rotation may include:

[0091] (1) Determine the windward area of ​​the car door and the point of application of air resistance based on the opening range of the car window glass;

[0092] (2) The required power for the door to overcome wind resistance is calculated by combining the frontal area and the point of application of air resistance;

[0093] (3) The total power required for the door drive is calculated based on the power required for the door to rotate and the power required for the door to overcome wind resistance.

[0094] (4) Control the output power of the door drive according to the total power demand.

[0095] When calculating the power requirement of a car door actuator, considering only the power required for door rotation may be inaccurate. For example, the door also needs to overcome air resistance (wind resistance) when rotating, and overcoming wind resistance also consumes power from the door actuator; that is, there is a power requirement for the door to overcome wind resistance. In specific calculations, firstly, the frontal area of ​​the door and the point of application of air resistance can be determined based on the opening range of the car window. Then, combining the frontal area and the point of application of air resistance, the power requirement for the door to overcome wind resistance can be calculated. Finally, based on the power requirement for door rotation and the power requirement for overcoming wind resistance, the total power requirement of the door actuator can be calculated. When controlling the output power of the door actuator, this total power requirement is used as the target value.

[0096] Furthermore, determining the windward area and the point of application of air resistance of the car door based on the opening degree may include:

[0097] (1) Determine the total area of ​​the car door plus the currently extended window glass based on the opening range of the car window glass;

[0098] (2) Determine this total area as the windward area;

[0099] (3) Determine the point of application of air resistance based on the geometry of the car door and its total area.

[0100] Based on the opening range of the car window, the total area of ​​the car door plus the currently extended window glass can be determined. For example, assuming the area of ​​the car door excluding the window glass is S1, the maximum extendable area of ​​the window glass is S2, and the opening range of the window glass is x (%), then the calculated total area of ​​the car door is S = S1 + S2 * (1 - x), and this total area S can be used as the windward area of ​​the car door. Furthermore, based on the geometry of the car door and this total area, the point of application of air resistance can be estimated. Specific estimation methods can refer to existing technologies. After determining the point of application of air resistance, the distance between this point and the door hinge axis can be measured, and then the power required for the car door to overcome wind resistance can be calculated in conjunction with the windward area. Specifically, the following two formulas can be used to calculate the power required for the car door to overcome wind resistance:

[0101] P w =F*w*r

[0102]

[0103] Among them, P w The value represents the power required for the car door to overcome wind resistance, F represents the force of wind resistance, w represents the angular velocity of the car door relative to the air, that is, the angular velocity of the car door rotation, r represents the distance between the point of application of air resistance and the axis of the car door hinge, C represents the air resistance coefficient, ρ represents the air density, and S represents the frontal area of ​​the car door. w, C and ρ are all known values.

[0104] Furthermore, calculating the total power demand of the door based on the power required for door rotation and the power required for the door to overcome wind resistance can include:

[0105] (1) Obtain the hinge axis tilt angle parameters of the car door and the vehicle gyroscope parameters;

[0106] (2) The required power for the door to overcome gravity is calculated based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter;

[0107] (3) The total required power is calculated based on the power required for the door to rotate, the power required for the door to overcome wind resistance, and the power required for the door to overcome gravity.

[0108] When calculating the power required for the door actuator, the power required to overcome gravity can also be considered, further improving the accuracy of the total power requirement calculation. Specifically, the hinge axis tilt angle parameter of the door and the vehicle's gyroscope parameters can be obtained. The hinge axis tilt angle parameter is a known fixed value, while the vehicle gyroscope parameters can be used to determine the ground tilt angle at the vehicle's location. Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameters, the power required for the door to overcome gravity can be calculated. Finally, by combining the power required for door rotation, the power required for the door to overcome wind resistance, and the power required for the door to overcome gravity, the total power requirement can be calculated.

[0109] Furthermore, the step of calculating the power required for the door to overcome gravity based on the hinge axis tilt angle parameter and the vehicle gyroscope parameters may include:

[0110] (1) Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter, the vertical component of the door's gravity and the vertical displacement of the door's center of gravity are calculated.

[0111] (2) The power required for the door to overcome gravity is calculated based on the vertical component of the door's weight and the vertical displacement of the door's center of gravity.

[0112] By using the hinge axis tilt angle parameters and the vehicle gyroscope parameters, the actual tilt angle of the door relative to the horizontal direction can be determined. Combined with the known weight of the door, the vertical component of the door's gravity (Z-direction) and the vertical displacement of the door's center of gravity per unit time can be calculated. Finally, based on the vertical component of the door's gravity and the vertical displacement of the door's center of gravity, the power required for the door to overcome gravity can be calculated. Specifically, in this embodiment, the door can be divided into three parts: the window glass, the map pocket for storing items, and other fixed components. In this case, the vertical component of the door's gravity can be divided into: the vertical component of the window glass, the vertical component of the map pocket for storing items, and the vertical component of the other fixed components. Similarly, the vertical displacement of the door's center of gravity can also be divided into: the vertical displacement of the window glass, the vertical displacement of the map pocket for storing items, and the vertical displacement of the other fixed components. The power required for the car door to overcome gravity can be calculated using the following set of formulas:

[0113] P G =(G gz *ΔL g +G sz *ΔL s +G iz *ΔL i ) / t

[0114] ΔL g =f g (a x a y a z ,β x ,β y ,β z r g )

[0115] ΔL s =f g (a x α y a z ,β x ,β y ,β z r s )

[0116] ΔL i =f g (a x α y α z ,β x ,β y ,β z , t i )

[0117] Among them, P G G represents the power required for the car door to overcome gravity. gz G represents the vertical component of the weight of the car window glass. sz G represents the vertical component of the weight of the items stored in the map bag. iz ΔL represents the vertical component of the gravity of other fixed components. g ΔL represents the vertical displacement of the center of gravity of the car window glass. s ΔL represents the vertical displacement of the center of gravity of the items stored in the map bag. i a represents the vertical displacement of the center of gravity of other fixed components. x a y and a z Here are the hinge axis tilt angle parameters, representing the tilt angles of the door hinge axis in the X, Y, and Z directions, respectively, β. x ,β y and β z The parameters are those of the vehicle's gyroscope, representing the tilt angles of the ground at the vehicle's location in the X, Y, and Z directions, respectively, r. g The distance r represents the distance between the center of gravity of the car window and the axis of the door hinge. s r represents the distance between the center of gravity of the items stored in the map bag and the axis of the car door hinge. iThe distance between the center of gravity of other fixed components and the axis of the door hinge is represented by t, which represents the time of the door's rotational movement, and f is the distance between the center of gravity of other fixed components and the axis of the door hinge. g This represents the function for calculating displacement.

[0118] In the above formula, a x a y a z ,β x ,β y ,β z r g r s r i Since both t and t are known quantities, the actual tilt angle of the door relative to the horizontal direction can be determined based on the various tilt angle parameters. Then, by combining this with the weight of each part of the door, G can be calculated. gz G sz and G iz Furthermore, based on the various tilt angle and distance parameters, ΔL can be calculated using 3D geometric modeling by solving the geometry. g ΔL s and ΔL i Here, we can refer to the relevant content of calculating the vertical displacement using existing technologies that utilize 3D geometric modeling.

[0119] After determining the power required for the door to overcome gravity, the total power required is calculated by combining the power required for the door to rotate and the power required to overcome wind resistance. The specific calculation can be performed using the following formula:

[0120] P = P j +P w +P G

[0121] Where P represents the total power demand, P j P represents the power required for the door to rotate. w P represents the power required for the car door to overcome wind resistance. G This indicates the power required for the car door to overcome gravity.

[0122] The total power demand calculated by the above method can accurately reflect the actual power required by the door actuator. By using this total power demand as the target value and adjusting the output power of the door actuator to approach the target value, the control accuracy of the door actuator can be effectively improved.

[0123] like Figure 3The diagram illustrates the operation flow of the door actuator control method provided in this application embodiment in a real-world scenario. First, when the door is open, the door actuator starts working. At this time, the glass Hall effect signal is acquired through the controller of the door window regulator to identify the opening range of the glass and determine its position. Then, referring to the previously described method, the required power for door rotation, the required power to overcome wind resistance, and the required power to overcome gravity are calculated respectively, thereby calculating the actual required output power (total required power) of the door actuator. Next, it is determined whether the door opening and closing operation conforms to the settings, that is, whether the current output power of the door actuator matches the actual required output power. If they match, the operation ends; otherwise, the current output power of the door actuator is adjusted using the actual required output power as the target value, and then the process returns to the step of identifying the glass position, repeating the judgment.

[0124] In this embodiment, when the vehicle door is detected to be open, the inertia of the window glass and / or the map pocket storage space during door rotation is acquired. Then, the overall inertia of the door is calculated based on the inertia of the window glass and / or the map pocket storage space. Next, the required power for door rotation is calculated based on the overall inertia. Finally, the output power of the door actuator is controlled according to this required power. In calculating the overall inertia of the door, this embodiment can consider the inertia of the window glass alone, the inertia of the map pocket storage space alone, or a combination of both. This fully considers the impact of items stored in the window glass and / or the map pocket storage space on the overall inertia of the door, thus effectively improving the accuracy of the overall door inertia calculation and consequently improving the control precision of the door actuator.

[0125] In summary, the embodiments of this application, when calculating the overall inertia of the vehicle door, can combine the inertia of the currently opened window glass, the inertia of the map pocket storage space, and the total inertia of all other fixed components, which can effectively improve the accuracy of the overall door inertia calculation. Furthermore, when calculating the total power demand of the door actuator, combining the power demand for door rotation, the power demand for the door to overcome wind resistance, and the power demand for the door to overcome gravity is more consistent with reality, further improving the accuracy of the total power demand calculation and ultimately achieving high-precision control of the door actuator.

[0126] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0127] The above mainly describes a control method for a car door actuator. The following will describe a control device for a car door actuator.

[0128] Please see Figure 4 One embodiment of a door drive control device in this application includes:

[0129] The inertia acquisition module 401 is used to acquire the inertia of the car door window glass and / or the inertia of the car door's map pocket storage space when the car door is detected to be open.

[0130] The overall inertia calculation module 402 is used to calculate the overall inertia of the car door based on the inertia of the car window glass and / or the inertia of the map pocket storage space.

[0131] The rotational power demand calculation module 403 is used to calculate the power demand for the rotation of the door based on the overall inertia.

[0132] The door drive control module 404 is used to control the output power of the door drive according to the power required for the door to rotate.

[0133] In one implementation of this application, the inertia acquisition module may include:

[0134] A window opening degree recognition unit is used to recognize the opening degree of the window glass;

[0135] A window glass center of gravity determination unit is used to determine the center of gravity of the window glass based on the opening range;

[0136] The window glass inertia calculation unit is used to calculate the inertia of the window glass based on the center of gravity and the weight of the window glass.

[0137] In one implementation of this application, the inertia acquisition module may include:

[0138] The map bag item weight detection unit is used to detect the weight of items stored in the map bag storage space;

[0139] The map bag item inertia calculation unit is used to calculate the inertia of the map bag storage space based on the center of gravity of the stored item and the weight of the stored item.

[0140] In one implementation of this application, the overall inertia calculation module for the car door may include:

[0141] A fixed component parameter acquisition unit is used to acquire the center of gravity and weight of each fixed component provided with the door;

[0142] A fixed component inertia calculation unit is used to calculate the total inertia of each fixed component when the door rotates, based on the center of gravity and weight of each fixed component.

[0143] The overall inertia calculation unit for the vehicle door is used to calculate the overall inertia of the vehicle door by combining the inertia of the window glass, the inertia of the map pocket storage space, and the total inertia of each of the fixed components.

[0144] In one implementation of this application, the door drive control module may include:

[0145] The wind resistance parameter determination unit is used to determine the windward area and the point of application of air resistance of the vehicle door based on the opening range.

[0146] The wind resistance power calculation unit is used to calculate the required power for the door to overcome wind resistance by combining the frontal area and the point of application of the air resistance.

[0147] The total power demand calculation unit is used to calculate the total power demand of the door actuator based on the power demand for the door to rotate and the power demand for the door to overcome wind resistance.

[0148] A door drive control unit is used to control the output power of the door drive according to the total required power.

[0149] Furthermore, the wind resistance parameter determination unit may include:

[0150] The door area determination subunit is used to determine the total area of ​​the door plus the currently extended window glass based on the opening range;

[0151] The windward area determination subunit is used to determine the total area as the windward area;

[0152] The air resistance application point determination subunit is used to determine the air resistance application point based on the geometry of the door and the total area.

[0153] Furthermore, the total demand power calculation unit may include:

[0154] The tilt angle and gyroscope parameter acquisition subunit is used to acquire the tilt angle parameter of the hinge axis of the door and the whole vehicle gyroscope parameter of the vehicle.

[0155] The gravity-overcoming power calculation subunit is used to calculate the required power for the door to overcome gravity based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter.

[0156] The total power demand calculation subunit is used to calculate the total power demand based on the power demand for the door to rotate, the power demand for the door to overcome wind resistance, and the power demand for the door to overcome gravity.

[0157] Furthermore, the gravity-overcoming power calculation subunit may include:

[0158] The door longitudinal parameter calculation subunit is used to calculate the vertical component of the door's gravity and the vertical displacement of the door's center of gravity based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter.

[0159] The gravity demand power calculation subunit is used to calculate the power required for the door to overcome gravity based on the vertical component of the door's gravity and the vertical displacement of the door's center of gravity.

[0160] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the door drive control method as described in any of the above embodiments.

[0161] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute a control method for a door drive as described in any of the above embodiments.

[0162] Figure 5 This is a schematic diagram of a terminal device provided in an embodiment of this application. For example... Figure 5 As shown, the terminal device 5 in this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps in the embodiments of the various door drive control methods described above, for example... Figure 1 Steps 101 to 104 are shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of modules 401 to 404 are shown.

[0163] The computer program 52 can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 52 in the terminal device 5.

[0164] The processor 50 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0165] The memory 51 can be an internal storage unit of the terminal device 5, such as a hard disk or memory of the terminal device 5. The memory 51 can also be an external storage device of the terminal device 5, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal device 5. Furthermore, the memory 51 can include both internal and external storage units of the terminal device 5. The memory 51 is used to store the computer program and other programs and data required by the terminal device. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0166] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0167] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0168] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0169] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0170] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0171] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0172] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0173] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0174] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for a vehicle door actuator, characterized in that, include: When the vehicle door is detected to be open, the moment of inertia of the door window glass and / or the moment of inertia of the door's map pocket storage space are obtained when the door rotates. The overall inertia of the vehicle door is calculated based on the inertia of the window glass and / or the inertia of the map pocket storage space. The required power for the door to rotate is calculated based on the overall inertia. The output power of the door actuator is controlled according to the power required for the door to rotate. The step of calculating the overall inertia of the vehicle door based on the inertia of the window glass and / or the inertia of the map pocket storage space includes: Obtain the center of gravity and weight of each fixed component of the vehicle door; Based on the center of gravity and weight of each fixed component, the total moment of inertia of each fixed component when the door rotates is calculated. The overall inertia of the car door is calculated based on the inertia of the car window glass, the inertia of the map pocket storage space, and the total inertia of each of the fixed components. The step of calculating the required power for the door rotation based on the overall inertia includes: Obtain the preset door rotation angular velocity and door rotation time; Based on the door's rotational angular velocity, the door's rotational motion time, and the overall inertia, the required power for the door's rotation is calculated using the following formula; in, This indicates the power required for the door to rotate. This represents the overall inertia. This indicates the angular velocity of the door's rotation. This indicates the rotation time of the car door; The step of controlling the output power of the door actuator according to the power required for door rotation includes: The target power is determined based on the power required for the door to rotate, and the output power of the door actuator is controlled to change in a direction that approaches the target power.

2. The method as described in claim 1, characterized in that, The inertia of the vehicle window glass is obtained in the following way: Identify the opening degree of the vehicle window glass; The center of gravity of the vehicle window glass is determined based on the opening range. The moment of inertia of the vehicle window is calculated based on the center of gravity of the window and the weight of the window.

3. The method as described in claim 1, characterized in that, The inertia of the map pocket storage space is obtained in the following way: Detect the weight of items stored in the map bag storage space; The moment of inertia of the map bag storage space is calculated based on the center of gravity and weight of the stored items.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the target power based on the power required for the door to rotate includes: Based on the opening range of the vehicle window, determine the windward area and the point of application of air resistance of the vehicle door; By combining the frontal area and the point of application of the air resistance, the power required for the door to overcome wind resistance can be calculated. The total power required for the door actuator is calculated based on the power required for the door to rotate and the power required for the door to overcome wind resistance. The total required power is determined as the target power.

5. The method as described in claim 4, characterized in that, The step of determining the windward area and air resistance point of the vehicle door based on the opening degree of the vehicle window glass includes: Based on the opening range, determine the total area of ​​the car door plus the currently extended window glass; The total area is defined as the windward area; The point of application of air resistance is determined based on the geometry of the vehicle door and its total area.

6. The method as described in claim 4, characterized in that, The calculation of the total power requirement of the door actuator based on the power required for the door to rotate and the power required for the door to overcome wind resistance includes: Obtain the hinge axis tilt angle parameters of the door and the vehicle gyroscope parameters of the vehicle. Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter, the required power for the door to overcome gravity is calculated. The total required power is calculated based on the power required for the door to rotate, the power required for the door to overcome wind resistance, and the power required for the door to overcome gravity.

7. The method as described in claim 6, characterized in that, The step of calculating the required power for the door to overcome gravity based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter includes: Based on the hinge axis tilt angle parameter and the vehicle gyroscope parameter, the vertical component of the gravity of the door is calculated, as well as the vertical displacement of the center of gravity of the door is calculated. The required power for the door to overcome gravity is calculated based on the vertical component of the door's weight and the vertical displacement of the door's center of gravity.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the door drive control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the door drive control method as described in any one of claims 1 to 7.

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