Method and device for automatically adjusting door assist, and automobile

Abstract

The application discloses a method for automatically adjusting door assist force, comprising: determining a door operation passenger type of a current door of a current vehicle; determining a first assist force corresponding to the door operation passenger type of the current door according to the door operation passenger type and a preset relationship between door assist force and door operation passenger type; and determining a second assist force of the current door according to the first assist force and current vehicle information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle engineering, and in particular to a door assist automatic adjustment method and device and a vehicle. BACKGROUND

[0002] At present, the damping of an electric vehicle door (including an electric tailgate) is fixed and cannot be adjusted after calibration in the development process, and in order to ensure that the vehicle can be closed, opened and hovered in different conditions such as stopping on a road with different slopes, opening an air conditioner and external circulation causing high air pressure in the vehicle, the damping is generally set to be large. Due to the fixed and large damping of the electric vehicle door, it is inconvenient for passengers such as children, the elderly and women to open or close the door, or the passenger is clamped during getting on or off the vehicle. SUMMARY

[0003] The present application provides a door assist automatic adjustment method and device and a vehicle, which realizes automatic adjustment of door assist.

[0004] The present application provides a door assist automatic adjustment method, comprising:

[0005] determining a door operation passenger type of a current door of a current vehicle;

[0006] determining a first assist corresponding to the door operation passenger type of the current door according to the door operation passenger type, a preset relationship between door assist and a door operation passenger type, and

[0007] determining a second assist of the current door according to the first assist and current vehicle information.

[0008] In an exemplary embodiment, the determination of the door operation passenger type of the current door of the current vehicle comprises:

[0009] identifying an operation passenger of the current door according to a distance between the person and the current vehicle and a moving direction of the person;

[0010] determining the type of the operation passenger of the current door according to the body feature, the facial feature of the identified operation passenger of the current door, and a preset door operation member type model.

[0011] In an exemplary embodiment, the identification of the operation passenger of the current door according to the distance between the person and the current vehicle and the moving direction of the person comprises:

[0012] when the distance between the person and the current vehicle is less than a preset distance threshold and the moving direction of the person is within a preset direction range towards the current door, the person is identified as the operation passenger of the current door.

[0013] In an exemplary embodiment, the door operation occupant type includes child, teenager, adult female, adult male, and elderly;

[0014] The relationship between the preset door assist and the door operation occupant type includes:

[0015] When the door operation occupant type is child, the preset door assist is a first multiple of the preset opening and closing door force;

[0016] When the door operation occupant type is teenager, the preset door assist is a second multiple of the preset opening and closing door force;

[0017] When the door operation occupant type is adult female, the preset door assist is a third multiple of the preset opening and closing door force;

[0018] When the door operation occupant type is adult male, the preset door assist is a fourth multiple of the preset opening and closing door force;

[0019] When the door operation occupant type is elderly, the preset door assist is a fifth multiple of the preset opening and closing door force; wherein the first multiple is greater than the fifth multiple; the fifth multiple is greater than the second multiple; the second multiple is greater than the third multiple; the third multiple is greater than the fourth multiple.

[0020] In an exemplary embodiment, the vehicle information includes vehicle posture information and door weight information;

[0021] Determining the second assist of the current door according to the first assist and the current vehicle information includes:

[0022] Calculating a vehicle body posture correction value according to the vehicle posture information and the door weight information;

[0023] Determining the second assist of the current door according to the first assist and the vehicle body posture correction value.

[0024] In an exemplary embodiment, the vehicle information further includes air conditioner air volume information;

[0025] Determining an air conditioner air volume correction value according to the air conditioner air volume information of the current vehicle;

[0026] Determining the second assist of the current door according to the first assist and the current vehicle information includes:

[0027] Determining the second assist of the current door according to the first assist, the vehicle body posture correction value, and the air conditioner air volume correction value.

[0028] In an exemplary embodiment, the vehicle posture information is obtained in the following manner:

[0029] The IMU sensor detects the pitch angle in the forward and backward direction and the roll angle in the left and right direction of the current vehicle.

[0030] The pitch angle and roll angle are used as vehicle attitude information.

[0031] In one exemplary embodiment, calculating the vehicle body attitude correction value based on vehicle attitude information and door weight information includes:

[0032] The corresponding rotation angle of the vehicle around the longitudinal axis is determined based on the rotation angle of the axis detected by the IMU sensor; wherein, the X-axis is the axis in the front-rear direction of the vehicle; and the longitudinal axis is the axis in the left-right direction of the vehicle.

[0033] The component of the door in the opening direction is calculated based on the corresponding rotation angle of the vehicle around the longitudinal axis and the weight of the door; the component of the door in the opening direction is used as the body attitude correction value.

[0034] This application also discloses an automatic door assist adjustment device, including a memory and a processor.

[0035] The memory is used to store the program for automatic adjustment of the door assist;

[0036] The processor is used to read and execute the program for automatic door assist adjustment, and to execute the aforementioned automatic door assist adjustment method.

[0037] This application also discloses a car, including:

[0038] The drive worm gear, drive motor, and the aforementioned automatic door power assist adjustment device are connected to the door.

[0039] The drive motor is configured to adjust its own current duty cycle according to the second assistance adjustment device determined by the automatic door assistance adjustment device;

[0040] The drive worm gear is configured to apply a door opening and closing force to the door under the action of the drive motor.

[0041] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0042] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0043] Figure 1 This is a schematic diagram of the automatic door assist adjustment method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the automatic door assist adjustment device according to an embodiment of this application. Detailed Implementation

[0045] Figure 1 This is a schematic diagram of an automatic door assist adjustment method according to an embodiment of this application, as shown below. Figure 1 As shown, the automatic door assist adjustment method of this embodiment includes steps S11-S13:

[0046] S11. Determine the occupant type of the current door of the current vehicle;

[0047] S12. Determine the first assistance corresponding to the current door operator type based on the relationship between the door operator type, the preset door assistance, and the door operator type.

[0048] S13. Determine the second assistance for the current door based on the first assistance and the current vehicle information.

[0049] The first and second assists refer to the forces applied to the door actuator.

[0050] In one exemplary embodiment, determining the occupant type of the current door of the current vehicle includes:

[0051] The occupant operating the current door is identified based on the distance between the person and the current vehicle, as well as the direction of the person's movement;

[0052] The type of the current door operator is determined based on the identified physical and facial features of the current door operator and a preset door operator type model.

[0053] In one exemplary embodiment, identifying the occupant operating the current door based on the distance between the person and the current vehicle, and the direction of the person's movement, includes:

[0054] When the distance between a person and the current vehicle is less than a preset distance threshold, and the person's movement direction is within a preset direction range toward the current vehicle door, the person is identified as the operator of the current vehicle door.

[0055] For example, a video signal around the vehicle can be collected by a camera. The camera can be a surround-view camera, a side-view camera, or the like. Whether the person is a door operation passenger is determined by two conditions, whether the distance range between the passenger and the door is less than a distance threshold, and whether the moving direction of the passenger is toward the door range threshold. If the distance range between the person and the vehicle is less than the distance threshold, and the moving direction is toward the door range threshold, it is determined that the person has a door opening intention, and the person is identified as a door operation passenger. Then, the door operation passenger type is determined according to the body feature, the facial feature of the door operation passenger, and the preset door operation member type model.

[0056] In an exemplary embodiment, the preset door operation passenger type model can be determined in the following manner:

[0057] The images of the person are collected in advance by the camera, and each image is manually labeled. The labeled images are divided into a training set and a verification set;

[0058] The preset deep learning model is trained by the training set;

[0059] The trained deep learning model is verified by the verification set;

[0060] The deep learning model that meets the preset verification condition after training is complete is used as the door operation passenger type model.

[0061] The deep learning model can include a neural network model.

[0062] In an exemplary embodiment, the door operation passenger type includes children, adolescents, adult women, adult men, and the elderly.

[0063] The relationship between the preset door assistance and the door operation passenger type includes:

[0064] When the door operation member type is a child, the preset door assistance is a first multiple of the preset door opening and closing force;

[0065] When the door operation member type is an adolescent, the preset door assistance is a second multiple of the preset door opening and closing force;

[0066] When the door operation member type is an adult woman, the preset door assistance is a third multiple of the preset door opening and closing force;

[0067] When the door operation member type is an adult man, the preset door assistance is a fourth multiple of the preset door opening and closing force;

[0068] When the door operation member type is an elderly person, the preset door assistance is a fifth multiple of the preset door opening and closing force.

[0069] The preset door opening and closing force is the door opening and closing force set by each manufacturer.

[0070] Wherein, the first multiple is greater than the fifth multiple; the fifth multiple is greater than the second multiple; the second multiple is greater than the third multiple; the third multiple is greater than the fourth multiple. The first multiple, the second multiple, the third multiple, the fourth multiple and the fifth multiple can also be set by the user according to the actual situation. The above multiples are integers, which can be considered as correction coefficients.

[0071] In an exemplary embodiment, the occupant type of the door operation further comprises a door key holder;

[0072] When the occupant of the door operation is identified, it can also be determined whether a signal emitted by the vehicle key is received, and when it is determined that the signal emitted by the vehicle key is received, the current occupant type of the door operation is determined as a door key holder;

[0073] When the occupant type of the door operation is a door key holder, the preset door assist is a sixth multiple of the preset opening and closing force.

[0074] Since, for example, the vehicle is on a slope with the left side low and the right side high, the right side door needs to be opened in the closed state, so more assist is required, and therefore, the vehicle body posture needs to be corrected.

[0075] In an exemplary embodiment, the vehicle information comprises vehicle posture information and door weight information;

[0076] The second assist of the current door is determined according to the first assist and the current vehicle information, comprising:

[0077] The vehicle body posture correction value is calculated according to the vehicle posture information and the door weight information;

[0078] The second assist of the current door is determined according to the first assist and the vehicle body posture correction value.

[0079] In an exemplary embodiment, the vehicle posture information is obtained in the following manner:

[0080] The pitch angle in the front-rear direction and the roll angle in the left-right direction of the current vehicle are detected by an IMU sensor;

[0081] The pitch angle and the roll angle are taken as the vehicle posture information.

[0082] Wherein, IMU in the IMU sensor is Inertial Measurement Unit, which is used to measure the three-axis attitude angle (or angular velocity) and acceleration of the object.

[0083] In an exemplary embodiment, the vehicle body posture correction value is calculated according to the vehicle posture information and the door weight information, including:

[0084] The corresponding rotation angle of the vehicle around the longitudinal axis is determined according to the rotation angle of the X-axis detected by the IMU sensor; wherein the X-axis is the axis of the front-rear direction of the vehicle; and the longitudinal axis is the axis of the left-right direction of the vehicle.

[0085] The component of the door in the opening direction is calculated according to the corresponding rotation angle of the vehicle around the longitudinal axis and according to the door weight; and the component of the door in the opening direction is taken as the vehicle body posture correction value.

[0086] In an exemplary embodiment, the direction of the X-axis can be determined in the following way:

[0087] After the vehicle accelerates linearly and then decelerates for a distance, the acceleration direction measured by the IMU is taken as the direction of the X-axis.

[0088] In an exemplary embodiment, the component of the door in the opening direction is calculated according to the door weight, for example, if the vehicle tilts 5 degrees to the left, the component of the right door weight in the opening direction is the door weight x tan 5°.

[0089] In an exemplary embodiment, the vehicle body posture correction value is calculated according to the vehicle posture information and the door weight, which can include calculating the torque generated by the door weight on the door hinge according to the position of the door center of gravity and the distance of the door hinge, and calculating the vehicle body posture correction value according to the torque. The torque is the resistance of the door opening, and if the resistance is large, more assistance is required.

[0090] In an exemplary embodiment, the vehicle information further includes air conditioner air volume information;

[0091] The air conditioner air volume correction value is determined according to the current vehicle air conditioner air volume information;

[0092] The second assistance of the current door is determined according to the first assistance and the current vehicle information, including:

[0093] The second assistance of the current door is determined according to the first assistance, the vehicle body posture correction value, and the air conditioner air volume correction value.

[0094] The air conditioner air volume correction value is determined according to the vehicle air conditioner air volume information, which can be obtained by statistically analyzing the resistance value of the actual air pressure when the vehicle door is closed under different air conditioner blower air volume conditions.

[0095] The door assistance automatic adjustment device of the embodiments of the present application can be a separate device, or can be integrated with a camera or other vehicle device.

[0096] The embodiment of the application determines the door operation passenger type, determines different door assists according to different door operation passenger types, realizes automatic adjustment of the door assist, and solves the problem that the current fixed door damping causes the passenger such as children, the elderly and women to be inconvenient to use when opening or closing the door, for example, the door cannot be opened or cannot be suspended, or the person is clamped during getting on or off the vehicle.

[0097] Figure 2 A schematic view of the door assist automatic adjustment device of the embodiment of the application is shown in FIG. 1. Figure 2 The door assist automatic adjustment device of the embodiment of the application includes a memory and a processor.

[0098] The memory is configured to store a program for door assist automatic adjustment.

[0099] The processor is configured to read and execute the program for door assist automatic adjustment to perform the following operations.

[0100] Determine the door operation passenger type of the current door of the current vehicle.

[0101] According to the relationship between the door operation passenger type, the preset door assist and the door operation passenger type, determine the first assist corresponding to the door operation passenger type of the current door.

[0102] According to the first assist and the current vehicle information, determine the second assist of the current door.

[0103] In an exemplary embodiment, the determination of the door operation passenger type of the current door of the current vehicle includes:

[0104] According to the distance between the person and the current vehicle and the moving direction of the person, identify the operation passenger of the current door.

[0105] According to the body feature, the facial feature of the identified operation passenger of the current door and the preset door operation member type model, determine the type of the operation passenger of the current door.

[0106] In an exemplary embodiment, according to the distance between the person and the current vehicle and the moving direction of the person, identifying the operation passenger of the current door includes:

[0107] When the distance between the person and the current vehicle is less than a preset distance threshold, and the moving direction of the person is within a preset direction range towards the current door, the person is identified as the operation passenger of the current door.

[0108] In an exemplary embodiment, the door operation passenger type includes children, teenagers, adult women, adult men and the elderly.

[0109] The relationship between the preset door assist and the door operation occupant type includes:

[0110] When the door operation occupant type is a child, the preset door assist is a first multiple of the preset opening and closing door force;

[0111] When the door operation occupant type is a teenager, the preset door assist is a second multiple of the preset opening and closing door force;

[0112] When the door operation occupant type is an adult female, the preset door assist is a third multiple of the preset opening and closing door force;

[0113] When the door operation occupant type is an adult male, the preset door assist is a fourth multiple of the preset opening and closing door force;

[0114] When the door operation occupant type is an old person, the preset door assist is a fifth multiple of the preset opening and closing door force; wherein the first multiple is greater than the fifth multiple; the fifth multiple is greater than the second multiple; the second multiple is greater than the third multiple; the third multiple is greater than the fourth multiple.

[0115] In an exemplary embodiment, the vehicle information includes vehicle posture information, door weight information;

[0116] Determining the second assist of the current door according to the first assist and the current vehicle information includes:

[0117] Calculating a vehicle body posture correction value according to the vehicle posture information and the door weight information;

[0118] Determining the second assist of the current door according to the first assist and the vehicle body posture correction value.

[0119] In an exemplary embodiment, the vehicle information further includes air conditioner air volume information;

[0120] Determining an air conditioner air volume correction value according to the air conditioner air volume information of the current vehicle;

[0121] Determining the second assist of the current door according to the first assist and the current vehicle information includes:

[0122] Determining the second assist of the current door according to the first assist, the vehicle body posture correction value, and the air conditioner air volume correction value.

[0123] In an exemplary embodiment, the vehicle posture information is obtained in the following manner:

[0124] Detecting the pitch angle in the front-rear direction and the roll angle in the left-right direction of the current vehicle through an IMU sensor;

[0125] The pitch angle and the roll angle are taken as vehicle posture information.

[0126] In an exemplary embodiment, the vehicle body posture correction value is calculated according to the vehicle posture information and the door weight information, comprising:

[0127] A corresponding rotation angle of the vehicle around a longitudinal axis is determined according to a rotation angle of an axis detected by the IMU sensor; wherein the X-axis is an axis in the front-rear direction of the vehicle; and the longitudinal axis is an axis in the left-right direction of the vehicle;

[0128] A component of the door in the opening direction is calculated according to the corresponding rotation angle of the vehicle around the longitudinal axis and the door weight; and the component of the door in the opening direction is taken as the vehicle body posture correction value.

[0129] The application also discloses an automobile, comprising:

[0130] A driving worm connected with the door, a driving motor, and the door power-assisted automatic adjusting device described above;

[0131] The driving motor is arranged to adjust the duty cycle of its current according to the second power assistance determined by the door power-assisted automatic adjusting device.

[0132] The driving worm is arranged to exert an opening / closing door force on the door under the action of the driving motor.

[0133] The application describes a plurality of embodiments, but the description is exemplary rather than limiting, and it will be apparent to those of ordinary skill in the art that there can be more embodiments and implementation solutions within the scope of the embodiments described in the application. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Unless specifically limited, any feature or element of any embodiment can be used in combination with any other feature or element of any other embodiment, or can replace any other feature or element of any other embodiment.

[0134] Any feature shown and / or discussed in the application can be implemented alone or in any appropriate combination.

[0135] Furthermore, in describing representative embodiments, the specification can have presented the method and / or process as a particular sequence of steps. However, to the extent that the method or process depends on the particular order of steps, the method or process should not be limited to the particular sequence of steps presented in this specification. Other sequences of steps can be possible, as would be understood by one of ordinary skill in the art.

[0136] Those of ordinary skill in the art will realize and understand that all or some of the steps in the methods disclosed above and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the components can be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, it is common and well understood by those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and can include any information delivery media.

Claims

1. A method for automatically adjusting door assist, characterized in that, include: Determine the occupant type of the current door operator for the current vehicle; The first assistance corresponding to the current door operator occupant type is determined based on the relationship between the door operator occupant type, the preset door assistance, and the door operator occupant type. Determining the second assistance for the current door based on the first assistance and current vehicle information includes: The vehicle information includes vehicle posture information and door weight information; the vehicle posture information includes the rotation angle of the X-axis; the X-axis is the axis in the forward and backward direction of the vehicle; The vehicle attitude correction value is calculated based on the vehicle attitude information and door weight information, including: The rotation angle of the vehicle around the longitudinal axis is determined based on the rotation angle of the X-axis detected by the IMU sensor; the longitudinal axis is the axis in the left-right direction of the vehicle. The component of the door in the opening direction is calculated based on the corresponding rotation angle of the vehicle around the longitudinal axis and the weight of the door; the component of the door in the opening direction is used as the vehicle body attitude correction value. The second assistance for the current door is determined based on the first assistance and the vehicle body posture correction value.

2. The method as described in claim 1, characterized in that, Determining the occupant type of the current door operation for the current vehicle includes: The occupant operating the current door is identified based on the distance between the person and the current vehicle, as well as the direction of the person's movement; The type of the current door operator is determined based on the identified physical and facial features of the current door operator and a preset door operator type model.

3. The method as described in claim 2, characterized in that, Identifying the occupant operating the current door based on the distance between the person and the current vehicle, and the direction of the person's movement, includes: When the distance between a person and the current vehicle is less than a preset distance threshold, and the person's movement direction is within a preset direction range toward the current vehicle door, the person is identified as the operator of the current vehicle door.

4. The method as described in claim 1, characterized in that, The types of passengers who operate the doors include children, teenagers, adult women, adult men, and the elderly; The relationship between the preset door assistance and the occupant type of door operation includes: When the door operator is a child, the preset door assist is the first multiple of the preset door opening and closing force; When the door operator type is a teenager, the preset door assist is the second multiple of the preset door opening and closing force; When the door operator is an adult female, the preset door assistance is the third multiple of the preset door opening and closing force; When the door operator is an adult male, the preset door assistance is the fourth multiple of the preset door opening and closing force; When the door operator is an elderly person, the preset door assistance is a fifth multiple of the preset door opening and closing force; wherein, the first multiple is greater than the fifth multiple; the fifth multiple is greater than the second multiple; the second multiple is greater than the third multiple; and the third multiple is greater than the fourth multiple.

5. The method as described in claim 1, characterized in that, The vehicle information also includes air conditioning fan speed information; Determine the air conditioning airflow correction value based on the current air conditioning airflow information of the vehicle; Determining the second assistance for the current door based on the first assistance and current vehicle information includes: The second assistance for the current door is determined based on the first assistance, the vehicle body posture correction value, and the air conditioning air volume correction value.

6. An automatic door assist adjustment device, comprising a memory and a processor, characterized in that: The memory is used to store the program for automatic adjustment of the door assist; The processor is configured to read and execute the program for automatic adjustment of door assist, and to execute the method as described in any one of claims 1-5.

7. A car, characterized in that, include: The drive worm gear, drive motor, and automatic door assist adjustment device as described in claim 6 are connected to the door. The drive motor is configured to adjust its own current duty cycle according to the second assistance adjustment device determined by the automatic door assistance adjustment device; The drive worm gear is configured to apply a door opening and closing force to the door under the action of the drive motor.

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