Control methods, devices, systems, and vehicles for electric doors

Abstract

This application relates to a control method, device, system, and vehicle for electric doors. The method includes acquiring real-time motion monitoring data of the electric door when it is in motion; determining whether preset control logic is triggered based on the real-time motion monitoring data; when the preset control logic is triggered, determining a target electrical parameter corresponding to the current motor speed based on preset relationship information and the current motor speed; and generating and outputting an adjustment signal to indicate the target electrical parameter. This application provides a more accurate and effective control scheme for electric doors. The acquisition of real-time motion monitoring data provides a reliable basis for more accurately distinguishing different motion states. The triggering and execution of the preset control logic facilitates the normal opening and closing of the electric door.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a control method, device, system, and vehicle for electric doors. Background Technology

[0002] Traditional car doors are manually unlocked and closed, relying on users to push or pull the door to control its opening. However, with technological advancements and continuous improvements in vehicles, electric doors are becoming increasingly common, controlled by users touching switches or central locking systems. Yet, differences exist between the various states of motion of the electric door, which can affect its proper opening and closing. Therefore, a more accurate and effective control solution for electric doors is needed. Summary of the Invention

[0003] To address at least one of the aforementioned technical problems, this application provides a control method, apparatus, system, and vehicle for electric doors:

[0004] According to a first aspect of this application, a control method for an electric vehicle door is provided, applied to a door controller, the method comprising:

[0005] When the electric door is in motion, acquire real-time motion monitoring data of the electric door;

[0006] Determine whether to trigger preset control logic based on the real-time motion monitoring data;

[0007] When the preset control logic is triggered, the target electrical parameters corresponding to the current speed of the motor are determined according to the preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameters. The electrical parameters are voltage or current.

[0008] Generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor idles.

[0009] According to a second aspect of this application, a control device for an electric door is provided, configured in a door controller, the device comprising:

[0010] Acquisition module: used to acquire real-time motion monitoring data of the electric door when the electric door is in motion;

[0011] Judgment module: used to determine whether to trigger preset control logic based on the real-time motion monitoring data;

[0012] Determination module: When a preset control logic is triggered, it determines the target electrical parameters corresponding to the current speed of the motor based on preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameters, where the electrical parameters are voltage or current.

[0013] Signal output module: used to generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor can idle.

[0014] According to a third aspect of this application, a control system for an electric door is provided, the system comprising:

[0015] Monitoring device: used to monitor the electric vehicle door and generate real-time motion monitoring data of the electric vehicle door;

[0016] And, as described in the second aspect, a control device for electric doors.

[0017] According to a fourth aspect of this application, a vehicle is provided, characterized in that it includes a control device for an electric door as described in the second aspect, or a control system for an electric door as described in the third aspect.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0019] Implementing this application will have the following beneficial effects:

[0020] This application provides a more accurate and effective control scheme for electric doors. It determines whether preset control logic is triggered based on real-time motion monitoring data of the electric door. If the preset control logic is triggered, it generates and outputs an adjustment signal to indicate target electrical parameters, causing the motor to idle. The acquisition of real-time motion monitoring data provides a reliable basis for more accurately distinguishing different motion states. The triggering and execution of the preset control logic facilitates the normal opening and closing of the electric door. This application is applicable when the electric door is in motion and subjected to external forces (such as those applied by a user). By adjusting the signal to allow the motor to idle, it avoids the feedback resistance provided by the motor affecting the normal opening and closing of the electric door.

[0021] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating a control method for an electric vehicle door according to an embodiment of this application is shown.

[0024] Figure 2 An electrical schematic diagram according to an embodiment of this application is shown;

[0025] Figure 3 This diagram illustrates information interaction according to an embodiment of this application.

[0026] Figure 4 A schematic diagram showing the motor characteristic curves according to an embodiment of this application;

[0027] Figure 5 This diagram illustrates an application of triggering conditions related to the speed of an electric vehicle door according to an embodiment of this application.

[0028] Figure 6 This illustration shows an application diagram relating to the rotation distance and electric door speed triggering conditions according to an embodiment of this application;

[0029] Figure 7 A schematic diagram illustrating the generation of a rollback command related to an electric vehicle door lock body according to an embodiment of this application is shown;

[0030] Figure 8 A schematic diagram illustrating the generation of rollback instructions related to the main control module according to an embodiment of this application is shown;

[0031] Figure 9 This diagram illustrates a device block diagram according to an embodiment of the present application;

[0032] Figure 10 A system block diagram according to an embodiment of this application is shown. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0035] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0036] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0037] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0038] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed description. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0039] Figure 1 This diagram illustrates a flow chart of a control method for an electric vehicle door according to an embodiment of this application. Figure 1 As shown, the method includes:

[0040] S101: When the electric door is in motion, acquire real-time motion monitoring data of the electric door;

[0041] In this embodiment, when the electric door is in motion, the door controller acquires real-time motion monitoring data of the electric door. The electric door is in motion, meaning it is not stationary. The motion of the electric door can be linear motion or curvilinear motion (such as rotation along an axis). The door controller can acquire real-time motion monitoring data of the electric door from a monitoring device with which it is electrically connected. The monitoring device is used to monitor the electric door and generate real-time motion monitoring data of the electric door. The monitoring device includes at least one of the following: a gyroscope and a Hall effect sensor.

[0042] In practical applications, the door controller (corresponding to...) Figure 2 , 3 The electrical connection relationship between the "electric door module" and related modules can be found in the reference section. Figure 2 For information interaction with related modules, please refer to [reference needed]. Figure 3 .like Figure 2 , 3 As shown, the electric door module is electrically connected to the drive motor. The electric door module can control the drive motor via signals to control the opening and closing of the electric door. The electric door module processes information transmitted from various sensors, and after comprehensive judgment and analysis, controls the drive motor to achieve the opening and closing of the electric door. The electric door module can also directly or indirectly obtain information about the current and voltage of the drive motor. These sensors include gyroscopes and Hall effect sensors. Correspondingly, the drive motor, controlled by the electric door module, drives the door, thus achieving the opening and closing of the electric door.

[0043] The electric door module is also electrically connected to the lock body module and the main control module. The lock body module senses the position of the lock body and transmits this information to the electric door module via the communication bus. The main control module is responsible for main logic processing and calculation, sending electric door open / close / pause commands to the electric door module.

[0044] The electric door module is also electrically connected to a gyroscope and a Hall sensor. The gyroscope directly monitors the electric door to generate the first type of real-time motion monitoring data. The Hall sensor indirectly monitors the electric door, that is, directly monitors the drive motor to generate the second type of real-time motion monitoring data. This second type of real-time motion monitoring data can be related data of the electric door indicating the state of the drive motor, or it can be the processing result of this related data, which indicates the state of the electric door. Taking the electric door's trajectory and the projection of its two endpoints (i.e., the starting and ending points of movement) forming a fan shape as an example, the gyroscope can be used to sense the opening degree of the electric door (corresponding to the door's posture, which can be quantified using displacement angle), rotational angular velocity, and rotational angular acceleration. The Hall sensor can be used to sense the rotation of rotating components in the drive motor, such as the rotation distance from a stationary state and the direction of rotation. By performing a relational conversion on this rotation distance, the corresponding rotation angle can be obtained. If the rotation distance (or rotation angle) and rotation direction are considered as the aforementioned related data, then the presence or absence of the electric door in motion can be determined through this related data. It should be noted that while a change in the displacement angle of an electric door may not necessarily be accompanied by a change in the Hall pulse square wave, the presence of a change in the Hall pulse square wave always indicates a change in displacement angle. Because the door may have some play in its movement, a change in displacement angle may occur, but the drive motor may not be rotating. The speed of the drive motor can be determined based on the number of Hall pulse square waves.

[0045] S102: Determine whether to trigger preset control logic based on the real-time motion monitoring data;

[0046] In this embodiment, the door controller determines whether to trigger preset control logic based on real-time motion monitoring data. That is, it determines whether the real-time motion monitoring data meets the triggering conditions of the preset control logic. The real-time motion monitoring data can involve multiple data points, and there can be multiple triggering conditions. Generally, if there is relevant data that meets the requirements of any one of the triggering conditions, the preset control logic is triggered. For example, multiple data points include data 1-5. Triggering condition 1 applies to the data items to which data 1 and 2 belong, triggering condition 2 applies to the data items to which data 1, 3, and 5 belong, and triggering condition 3 applies to the data item to which data 4 belongs. If data 1 and 2 meet the requirements of triggering condition 1, then the preset control logic is triggered. Even if data 1, 3, and 5 do not meet the requirements of triggering condition 2, and data 4 does not meet the requirements of triggering condition 3, the preset control logic is still triggered.

[0047] Real-time motion monitoring data meeting the trigger conditions of the preset control logic indicates a change in the electric door's motion state that exceeds expectations. This section primarily focuses on situations where external factors cause this change. External factors can indicate the force applied by the user to the electric door. Generally, the presence of external factors will trigger the motor to provide feedback resistance. The preset control logic aims to adjust the signal to allow the motor to idle, thereby adapting to the corresponding external factors.

[0048] The triggering judgment of the preset control logic will be introduced below:

[0049] (i) Triggering conditions involve electric door displacement and electric door speed:

[0050] The real-time motion monitoring data includes the displacement and speed of the electric door as it moves from a stationary position. The step of determining whether to trigger preset control logic based on the real-time motion monitoring data may include the following steps: First, determining whether the displacement is greater than a displacement threshold; then, when the displacement is greater than the displacement threshold, determining whether the speed of the electric door is greater than a first speed threshold; furthermore, when the speed of the electric door is greater than the first speed threshold, determining that the preset control logic is triggered.

[0051] The electric door displacement and speed indicators here can represent the displacement angle and rotational angular velocity of the electric door as monitored by the gyroscope. Correspondingly, the displacement threshold can indicate the displacement angle threshold, such as 3 degrees. The first speed threshold can be set to 5 degrees per second. Of course, the threshold settings can be flexibly adjusted based on historical feedback and business scenario requirements.

[0052] If the displacement angle is greater than the displacement angle threshold and the rotational angular velocity is greater than the first velocity threshold, then the preset control logic is triggered. The displacement condition is assessed first, and only if the displacement meets the requirements is the velocity condition assessed. Combining the displacement and velocity assessments improves the accuracy of determining whether the preset control logic is triggered. Relying solely on displacement assessment may lead to misjudgments due to displacement swaying caused by strong winds. Here, fine-grained definition of changes in motion state is achieved through the electric door's displacement and velocity.

[0053] (ii) Triggering conditions involve the speed of the electric door:

[0054] In conjunction with the relevant content in section (a) above, the step of determining whether to trigger the preset control logic based on the real-time motion monitoring data may further include the following steps: First, determining whether the speed of the electric vehicle door is greater than a second speed threshold; the second speed threshold is greater than the first speed threshold; then, when the speed of the electric vehicle door is greater than the second speed threshold, determining that the preset control logic is triggered.

[0055] like Figure 5 As shown, the second speed threshold here needs to be greater than the first speed threshold in section (a) above. Taking a first speed threshold of 5 degrees per second as an example, the second speed threshold needs to be greater than 5 degrees per second, such as 12 degrees per second. Compared to the first speed threshold in section (a) above serving as one of the judgment criteria, the second speed threshold serves as the sole judgment criterion. For cases where the electric door speed is greater than the second speed threshold, fewer parameters need to be compared, which can reduce the computational workload and thus increase the speed at which the preset control logic is triggered.

[0056] (iii) Triggering conditions involve rotation distance and electric door speed:

[0057] In conjunction with the relevant content in section (a) above, the real-time motion monitoring data also includes a description of the rotation distance of the rotating component in the motor from a stationary state. The step of determining whether to trigger preset control logic based on the real-time motion monitoring data may include the following steps: First, determining whether the rotation distance is greater than a distance threshold; then, when the rotation distance is greater than the distance threshold, determining whether the speed of the electric vehicle door is greater than a third speed threshold; the third speed threshold is less than the first speed threshold; furthermore, when the speed of the electric vehicle door is greater than the third speed threshold, determining that the preset control logic has been triggered.

[0058] like Figure 6 As shown, the rotation distance here is monitored by the Hall sensor and can be obtained by processing the square wave number of the Hall pulse. Correspondingly, the distance threshold can indicate the square wave number threshold, such as 3. The third velocity threshold here generally needs to be less than the first velocity threshold in (a) above, for example, 3 degrees per second.

[0059] If the Hall pulse square wave number is greater than the square wave number threshold and the rotational angular velocity is greater than the third speed threshold, then the preset control logic is triggered. The motor rotation status is assessed first; only if the motor rotation meets the requirements is the speed of the electric door assessed. Combining the assessment of motor rotation status with the assessment of electric door speed, and adaptively lowering the third speed threshold used as the judgment benchmark, can improve both the accuracy and flexibility of determining whether to trigger the preset control logic.

[0060] It should be noted that 1) the "real-time motion monitoring data" mentioned here, which includes the electric door displacement and electric door speed describing the electric door's movement from a stationary position, and "the real-time motion monitoring data also includes the rotation distance describing the rotation of the rotating component in the motor from a stationary state," can be obtained by the monitoring device processing the raw monitoring data and transmitting it to the door controller, or it can be obtained by the door controller processing the raw or intermediate monitoring data obtained from the monitoring device. 2) The above 1)-3) can be regarded as three independent activation events that trigger the preset control logic. Any activation event can activate the preset control logic to provide assistance.

[0061] S103: When the preset control logic is triggered, the target electrical parameter corresponding to the current speed of the motor is determined according to the preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameter. The electrical parameter is voltage or current.

[0062] In this embodiment, when a preset control logic is triggered, the door controller determines the target electrical parameters corresponding to the motor's current speed based on preset relationship information and the motor's current speed. The door controller is electrically connected to the motor, which drives the opening and closing of the electric door. The door controller can control the motor via signals to achieve opening and closing control of the electric door. The determination of the target electrical parameters uses the motor's current speed and preset relationship information, which describes the correspondence between the motor's idle speed and the electrical parameters. The electrical parameters are voltage or current, and the current speed originates from real-time motion monitoring data.

[0063] Because the preset control logic aims to achieve motor idling by adjusting signals, thereby adapting to corresponding external factors, it is necessary to determine the target voltage or target current corresponding to the idling speed. This idling speed is under the target voltage or target current. The preset relationship information clarifies the correspondence between voltage x or current x and idling speed x. In the calculation, the current speed is taken as the idling speed x, and the value of voltage x is determined based on the correspondence to obtain the target electrical parameters, or the value of current x is determined based on the correspondence to obtain the target electrical parameters. If the current speed is the idling speed x and the external factor is the force applied by the user to the electric door, ideally, the motor should be in an idling state following the user's pushing and pulling speed. Accordingly, the motor speed when the user pushes and pulls the electric door (corresponding to the current speed mentioned above) is taken as the motor idling speed (the speed when the motor output torque is 0 is the idling speed, i.e., as shown above). Figure 4 (The intersection of the motor characteristic curve and the Y-axis) Based on the motor characteristic curve, the door controller can adjust the motor voltage to the corresponding voltage.

[0064] S104: Generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor idles.

[0065] In this embodiment, the door controller generates and outputs an adjustment signal indicating a target electrical parameter. The adjustment signal instructs the motor's current electrical parameters to be adjusted to the target electrical parameter, allowing the motor to idle. Providing the target electrical parameter to the motor typically involves providing a target voltage or current in its direction of motion. Taking an external force applied to the electric door by the user as an example, the electric door opens or closes based on this force while the motor is idling.

[0066] After the preset control logic is triggered, the following will explain in detail whether the motor should continue to idle:

[0067] 1) Maintaining idling:

[0068] After the motor is idling via an adjustment command, if the motor continues to run and the Hall refresh interval is less than the first time threshold (i.e., the Hall pulse square wave updates quickly), then a command to maintain motor idling is generated. This is because the electric door is currently in motion and still needs to provide the motor with the target voltage or target current (corresponding to the aforementioned target electrical parameters).

[0069] (ii) Situation where idling is not maintained:

[0070] 1) After generating and outputting the adjustment signal for indicating the target electrical parameters, the following steps may be included: First, in response to the closing driving force of the first object acting on the electric vehicle door, the engaging state of the electric vehicle door lock body is obtained, the electric vehicle door lock body being used to provide the engaging force for closing the electric vehicle door; then, when the engaging state is a half-locked engaging state, a retraction command is generated for the motor, the half-locked engaging state indicating that the engaging force is independently responsible for closing the electric vehicle door, and the retraction command indicating that the additional driving force applied to the motor by the adjustment command is suspended.

[0071] refer to Figure 7The electric door moves towards the closing direction. The electric door lock body is in a partially engaged state, meaning it is not fully open. The electric door lock body provides the closing force for the electric door; the "not fully open state" can be considered a specific position of the lock body. During the closing process, when the lock body is in this position, the closing of the electric door relies on the closing force provided by the lock body. It can be understood that without external factors affecting the electric door, when the lock body is in this position, the closing of the electric door no longer requires the motor to provide closing force. Conversely, when external factors affect the electric door, it is not necessary to continue providing the target voltage or target current (corresponding to the aforementioned target electrical parameters) to the motor; instead, the motor responds to its original control logic, meaning the motor no longer needs to provide closing force. This combination with the original closing logic involving the lock body improves the adaptability of the preset control logic and avoids wasting the assistance provided by the preset control logic triggering execution.

[0072] 2) After generating and outputting the adjustment signal for indicating the target electrical parameters, the following steps may be included: in response to the control command received by the main control module, generating a reversal command for the motor; wherein the control command is generated by the second object, the control command instructs to use the motor to open the electric vehicle door, close the electric vehicle door, or pause the opening and closing of the electric vehicle door, and the reversal command instructs to pause the drive of the motor additionally applied by the adjustment command.

[0073] refer to Figure 8 After the motor is idling via adjustment commands, if the main control module receives a control command triggered by a second object, it will notify the door controller of this notification. In response to the main control module receiving the control command, the door controller generates a reversal command, as it is no longer necessary to provide the motor with the target voltage or target current (corresponding to the aforementioned target electrical parameters). Simultaneously, it controls the motor according to the control command, opening or closing the electric door, or pausing the ongoing opening or closing process. The appearance of the control command indicates that the user is actively participating in the closing control of the electric door. This, combined with the existing electric door control logic involving the main control module, establishes a hierarchy between this control logic and the preset control logic, improving the granularity of the electric door control.

[0074] 3) After the motor is idling via the adjustment command, if the Hall refresh interrupt times out (i.e., no Hall pulse square wave is updated after the second time threshold), a rollback command is generated to stop the motor idling. This is because the motor stops running at this time, and there is no need to continue providing the target voltage or target current (corresponding to the target electrical parameters mentioned above) to the motor, thus avoiding the waste of the assistance provided by the preset control logic trigger execution.

[0075] 4) After the motor is idling via adjustment commands, when the detected door movement speed within a preset time interval is less than the fourth speed threshold (e.g., 9 degrees per second), a reversal command is generated to discontinue motor idling. This is because at this point, it is determined that external factors are no longer acting on the electric door (e.g., the user no longer pushes or pulls the electric door), and it is not necessary to continue providing the target voltage or target current (corresponding to the aforementioned target electrical parameters) to the motor, thus promptly restoring the motor's original active drive function.

[0076] 5) After adjusting the command to make the motor idle, the following steps can be performed: First, obtain the real-time current of the motor; then, determine whether the real-time current is greater than the current threshold (e.g., 10A); furthermore, when the real-time current is greater than the current threshold, generate a reversal command to stop the motor from idling. This is because at this time, it is determined that the electric door has stopped moving during the opening or closing process, and the reason for stopping may be a change in the original external factors or the appearance of new external factors. For example, the electric door stops moving due to encountering an obstacle during the opening or closing process, or the electric door is manually stopped during the opening or closing process. Accordingly, it is not necessary to continue to provide the target voltage or target current (corresponding to the above target electrical parameters) to the motor, thereby avoiding the waste of the assistance provided by the preset control logic trigger execution.

[0077] It should be noted that the above 1)-5) can be regarded as five independent exit events for the execution of the preset control logic. Any exit event can exit the execution of the preset control logic and no longer provide assistance.

[0078] In practical applications, motor-driven electric vehicle doors offer convenient operation. Taking the force applied to the electric vehicle door by the user as an example, when the user applies force, the motor provides feedback resistance. The control scheme for the electric vehicle door provided in this application embodiment can provide assistance for the manual opening and closing of the door, with timely intervention. When the user stops applying force, the control scheme also stops providing assistance promptly. This makes manually opening and closing the electric vehicle door more convenient, approaching the ease of manually opening and closing a regular mechanical door. This assistance scheme can be implemented without adding components by adding software algorithms to the door controller. When the electric vehicle door is manually operated by the user, the motor voltage or current is adjusted to make the motor nearly idle to assist the user, thus preventing back electromotive force from hindering manual operation.

[0079] When a user pushes or pulls an electric door, the control scheme for electric doors provided in this application can appropriately and in real-time control the motor, providing it with a certain amount of power in the same direction as the user's movement. This compensates for resistance, making it easier for the user to push or pull, approaching the control effect of a typical mechanical door. PID control (proportional-integral-derivative control) can be used for motor control to improve reliability and stability.

[0080] As can be seen from the technical solutions provided in the above embodiments of this application, the embodiments of this application provide a more accurate and effective control scheme for electric vehicle doors. This application determines whether a preset control logic is triggered based on real-time motion monitoring data of the electric vehicle door. If the preset control logic is triggered, an adjustment signal is generated and output to indicate the target electrical parameters, causing the motor to idle. The acquisition of real-time motion monitoring data provides a reliable basis for more accurately distinguishing different motion states. The triggering and execution of the preset control logic facilitates the normal opening and closing of the electric vehicle door. This application is applicable to situations where the electric vehicle door is in motion and subjected to external forces (such as those applied by a user). By adjusting the signal to allow the motor to idle, the normal opening and closing of the electric vehicle door can be avoided due to feedback resistance provided by the motor.

[0081] This application also provides a control device for electric vehicle doors, such as... Figure 9 As shown, the control device 90 for the electric door is disposed in the door controller, and the control device 90 for the electric door includes:

[0082] Acquisition module 901: used to acquire real-time motion monitoring data of the electric vehicle door when the electric vehicle door is in motion;

[0083] Judgment module 902: used to determine whether to trigger preset control logic based on the real-time motion monitoring data;

[0084] Determining module 903: When a preset control logic is triggered, it determines the target electrical parameters corresponding to the current speed of the motor based on preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameters. The electrical parameters are voltage or current.

[0085] Signal output module 904: used to generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor can idle.

[0086] It should be noted that the apparatus and method embodiments described in the device embodiments are based on the same inventive concept.

[0087] This application also provides a control system for electric vehicle doors, such as... Figure 10 As shown, the control system 100 for electric doors includes: a monitoring device for monitoring the electric door and generating real-time motion monitoring data of the electric door; and a control device 90 for the electric door as described above.

[0088] In one embodiment, the monitoring device includes at least one of the following: a gyroscope and a Hall sensor.

[0089] It should be noted that the systems and methods described in the system embodiments are based on the same inventive concept.

[0090] This application also provides a vehicle that includes the aforementioned control device 90 for electric doors, or the aforementioned control system 100 for electric doors.

[0091] It should be noted that the vehicles in the vehicle embodiments and the method embodiments are based on the same inventive concept.

[0092] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and systems according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which includes one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions specified in the blocks may occur in a different order than those specified in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0094] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control method for electric vehicle doors, characterized in that, Applied to a vehicle door controller, the method includes: When the electric door is in motion, acquire real-time motion monitoring data of the electric door; Determine whether to trigger preset control logic based on the real-time motion monitoring data; When the preset control logic is triggered, the target electrical parameters corresponding to the current speed of the motor are determined according to the preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameters. The electrical parameters are voltage or current. Generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor idles; The step of generating and outputting an adjustment signal to indicate the target electrical parameter includes: In response to the closing driving force of the first object acting on the electric vehicle door, the closing state of the electric vehicle door lock body is obtained, wherein the electric vehicle door lock body is used to provide the closing force of the electric vehicle door; When the engagement state is a half-lock engagement state, a retraction command is generated for the motor. The half-lock engagement state indicates that the closing of the electric vehicle door is independently controlled by the engagement force, and the retraction command indicates that the driving of the motor additionally applied by the adjustment signal is suspended.

2. The method according to claim 1, characterized in that, The real-time motion monitoring data includes the displacement and speed of the electric door as it moves from a stationary position. The step of determining whether to trigger preset control logic based on the real-time motion monitoring data includes: Determine whether the displacement of the electric vehicle door is greater than a displacement threshold; When the displacement of the electric vehicle door is greater than the displacement threshold, it is determined whether the speed of the electric vehicle door is greater than the first speed threshold. When the speed of the electric vehicle door exceeds the first speed threshold, a preset control logic is triggered.

3. The method according to claim 2, characterized in that, The step of determining whether to trigger preset control logic based on the real-time motion monitoring data further includes: Determine whether the speed of the electric vehicle door is greater than a second speed threshold; the second speed threshold is greater than the first speed threshold. When the speed of the electric vehicle door exceeds the second speed threshold, a preset control logic is triggered.

4. The method according to claim 2, characterized in that, The real-time motion monitoring data also includes a description of the rotation distance of the rotating component in the motor from a stationary state. The step of determining whether to trigger preset control logic based on the real-time motion monitoring data includes: Determine whether the rotation distance is greater than a distance threshold; When the rotation distance is greater than the distance threshold, it is determined whether the speed of the electric door is greater than a third speed threshold; the third speed threshold is less than the first speed threshold. When the speed of the electric vehicle door is greater than the third speed threshold, the preset control logic is triggered.

5. The method according to any one of claims 1-4, characterized in that, After generating and outputting the adjustment signal for indicating the target electrical parameter, the process includes: In response to the control command received by the main control module, a reversal command is generated for the motor; The control command is generated by the second object and instructs the motor to open or close the electric vehicle door, or to pause the opening or closing of the motor. The reversal command instructs the pausing of the additional driving of the motor caused by the adjustment signal.

6. A control device for electric vehicle doors, characterized in that, The device, configured in the door controller, includes: Acquisition module: used to acquire real-time motion monitoring data of the electric door when the electric door is in motion; Judgment module: used to determine whether to trigger preset control logic based on the real-time motion monitoring data; Determination module: When a preset control logic is triggered, it determines the target electrical parameters corresponding to the current speed of the motor based on preset relationship information and the current speed of the motor. The motor is used to drive the opening and closing of the electric vehicle door. The preset relationship information describes the correspondence between the idle speed of the motor and the electrical parameters, where the electrical parameters are voltage or current. Signal output module: used to generate and output an adjustment signal for indicating the target electrical parameter, the adjustment signal for indicating the adjustment of the current electrical parameter of the motor to the target electrical parameter so that the motor can idle; The device is further configured to: after generating and outputting an adjustment signal for indicating the target electrical parameters, in response to the closing driving force of the first object acting on the electric vehicle door, obtain the closing state of the electric vehicle door lock body, wherein the electric vehicle door lock body is used to provide the closing force of the electric vehicle door; When the engagement state is a half-lock engagement state, a retraction command is generated for the motor. The half-lock engagement state indicates that the closing of the electric vehicle door is independently controlled by the engagement force, and the retraction command indicates that the driving of the motor additionally applied by the adjustment signal is suspended.

7. A control system for electric vehicle doors, characterized in that, The system includes: Monitoring device: used to monitor the electric vehicle door and generate real-time motion monitoring data of the electric vehicle door; And, the control device for electric vehicle doors as described in claim 6.

8. The system according to claim 7, characterized in that, The monitoring device includes at least one of the following: a gyroscope and a Hall sensor.

9. A vehicle, characterized in that, This includes the control device for electric doors as described in claim 6, or the control system for electric doors as described in claim 7 or 8.

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