Vehicle door control system and control method and vehicle

Abstract

The present disclosure proposes a vehicle and a door control system and control method thereof and a vehicle, wherein the system comprises: a motor, the motor is used to apply a rotational torque to the door; a controller, when the vehicle is located on a slope, the controller is used to control the motor to apply a rotational torque to the door during the door opening and closing process, and the rotational torque is opposite to the torque applied to the door by the gravity of the door. The method of the present disclosure can control the motor to output a rotational torque to drive the door when the vehicle is located on a slope, provide assistance for the user to open the door, thereby saving the user's physical strength and improving the user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle door control system, a vehicle door control method, and a vehicle. Background Art

[0002] Vehicles usually have at least two or more doors to enable passengers to enter and exit the vehicle. The doors are designed to be easy to open or close when the vehicle is stopped or parked on a horizontal surface. However, when the vehicle is parked on a slope, passengers often need to apply additional force in the opposite direction of gravity to open or close the door. In daily life, when the vehicle is parked on a slope, the process of closing and closing the door is more laborious, and sometimes it is difficult to open the door, resulting in a poor user experience. Summary of the invention

[0003] The present disclosure aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present disclosure is to provide a vehicle door control system, which can control the motor to output a rotation torque to drive the door when the vehicle is on a slope, and provide assistance for the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0004] A second objective of the present disclosure is to provide a vehicle door control method.

[0005] A third object of the present disclosure is to provide a vehicle.

[0006] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present disclosure proposes a vehicle door control system, comprising: a motor, which is used to apply a rotational torque to the door; and a controller, which is used to control the motor to apply a rotational torque to the door during the door opening and closing process when the vehicle is on a slope, and the rotational torque is opposite to the torque applied to the door by the gravity of the door.

[0007] According to the vehicle door control system of the embodiment of the present disclosure, when the vehicle is located on a slope, the controller controls the motor to apply a rotational torque opposite to the torque applied by the door in the direction of gravity, so as to assist the user in opening and closing the door and overcome the torque in the direction of gravity, thereby saving the user's physical strength. Thus, when the vehicle is located on a slope, the system can control the motor to output a rotational torque to drive the door, providing assistance for the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0008] In addition, the vehicle door control system according to the above embodiment of the present disclosure may also have the following additional technical features:

[0009] According to one embodiment of the present disclosure, the vehicle door control system also includes an angular velocity sensor and a slope sensor. The angular velocity sensor is used to collect the angular velocity of the motor, and the slope sensor is used to collect the slope of the slope. The controller is used to determine the rotational torque of the motor according to the angular velocity and slope of the motor to assist the vehicle door in turning.

[0010] According to another embodiment of the present disclosure, the vehicle door control system also includes an angular velocity sensor and a slope sensor. The vehicle door drives the motor to rotate. The angular velocity sensor is used to collect the rotational angular velocity of the vehicle door. The slope sensor is used to collect the slope of the slope. The controller is used to determine the rotational torque of the motor according to the rotational angular velocity and the slope to assist the rotation of the vehicle door.

[0011] According to one embodiment of the present disclosure, the controller is further used to obtain the angular velocity of the motor according to the rotation angular velocity, and determine the rotational torque of the motor according to the angular velocity and slope of the motor.

[0012] According to one embodiment of the present disclosure, the slope of the slope includes: a horizontal slope of the road and a side inclination slope. The controller determines the rotational torque of the motor based on the angular velocity and slope of the motor, and is specifically used to: obtain a first correspondence between the angular velocity of the motor, the horizontal slope of the road, the side inclination slope and the motor torque value; and determine the motor rotational torque based on the first correspondence.

[0013] According to one embodiment of the present disclosure, the controller assists the vehicle door in turning, specifically for: determining a current set value based on the motor torque, and determining the motor output voltage based on the current set value and the actual current value of the motor; determining a duty cycle based on the motor output voltage and the bus voltage; and controlling the vehicle door based on the duty cycle.

[0014] According to one embodiment of the present disclosure, the controller is further configured to: determine a duty cycle according to a ratio of a motor output voltage to a bus voltage.

[0015] According to one embodiment of the present disclosure, the controller is further used to: obtain a second corresponding relationship between the motor torque and the current value; and determine a current set value according to the second corresponding relationship.

[0016] According to one embodiment of the present disclosure, the controller is further used to: obtain the current difference between the current set value and the actual current value; and use PI (Proportional Integral) regulation to process the current difference to determine the motor output voltage.

[0017] According to one embodiment of the present disclosure, after determining the motor output voltage, the controller is further used to: determine a feedforward compensation voltage according to the motor angular velocity; and compensate the motor output voltage value according to the feedforward compensation voltage.

[0018] To achieve the above-mentioned purpose, an embodiment of the second aspect of the present disclosure proposes a vehicle door control method, wherein the vehicle includes a motor, which is used to apply a torque to the door. The method includes: when the vehicle is located on a slope, controlling the motor to apply a first torque to the rotating door during the process of turning the door switch, and the first torque is opposite in direction to the second torque applied to the rotating door by the gravity of the rotating door.

[0019] According to the vehicle door control method of the embodiment of the present disclosure, when the vehicle is on a slope, the method controls the motor to output a rotation torque to drive the door, providing assistance for the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0020] In addition, the vehicle door control method according to the above embodiment of the present disclosure may also have the following additional technical features:

[0021] According to one embodiment of the present disclosure, before controlling the motor to apply a first rotational torque to the rotating door during the process of rotating the door switch, the door control method also includes: obtaining the angular velocity of the motor and the slope of the slope; determining the rotational torque of the motor based on the angular velocity and slope of the motor to assist the rotation of the door.

[0022] According to one embodiment of the present disclosure, before controlling the motor to apply a first rotational torque to the rotating door during the process of turning the door switch, the door control method also includes: obtaining the rotational angular velocity of the door; determining the angular velocity of the motor according to the rotational angular velocity of the door; and determining the rotational torque of the motor according to the angular velocity and slope of the motor to assist the rotation of the door.

[0023] According to one embodiment of the present disclosure, the slope of the slope includes: a horizontal slope of the road and a side inclination slope, and the rotational torque of the motor is determined according to the angular velocity and slope of the motor, including: obtaining a first correspondence between the angular velocity of the motor, the horizontal slope of the road, the side inclination slope and the motor torque value; and determining the motor rotational torque according to the first correspondence.

[0024] According to one embodiment of the present disclosure, assisting the rotation of a vehicle door includes: determining a current given value according to a motor rotational torque, and determining a motor output voltage according to the current given value and an actual current value of the motor; determining a duty cycle according to the motor output voltage and a bus voltage; and controlling the vehicle door according to the duty cycle.

[0025] According to an embodiment of the present disclosure, determining the duty cycle according to the motor output voltage and the bus voltage includes: determining the duty cycle according to the ratio of the motor output voltage to the bus voltage.

[0026] According to an embodiment of the present disclosure, determining a current given value according to a motor torque includes: acquiring a second corresponding relationship between the motor torque and the current value; and determining the current given value according to the second corresponding relationship.

[0027] According to an embodiment of the present disclosure, the motor output voltage is determined according to the current given value and the actual current value of the motor, including: obtaining the current difference between the current given value and the actual current value; and using PI regulation to process the current difference to determine the motor output voltage.

[0028] According to an embodiment of the present disclosure, after determining the motor output voltage, the above-mentioned vehicle door control method further includes: determining a feedforward compensation voltage according to the motor angular velocity; and compensating the motor output voltage value according to the feedforward compensation voltage.

[0029] To achieve the above-mentioned objectives, the third aspect embodiment of the present disclosure proposes a vehicle, including a memory, a processor, and a vehicle door control program stored in the memory and executable on the processor. When the processor executes the vehicle door control program, the above-mentioned vehicle door control method is implemented.

[0030] According to the vehicle of the embodiment of the present disclosure, by executing the above-mentioned vehicle door control method, it is possible to control the motor to output rotational torque to drive the door when the vehicle is on a slope, thereby providing assistance to the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0031] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a block diagram of a door control system of a vehicle according to an embodiment of the present disclosure;

[0033] Figure 2 is a block diagram of a door control system of a vehicle according to an embodiment of the present disclosure;

[0034] Figure 3 is a coordinate diagram of motor torque and current according to an embodiment of the present disclosure;

[0035] Figure 4 A logic diagram of door control of a vehicle according to an embodiment of the present disclosure;

[0036] Figure 5 is a topology diagram of a motor control circuit of a vehicle according to an embodiment of the present disclosure;

[0037] Figure 6 is a flow chart of a vehicle door control method according to an embodiment of the present disclosure;

[0038] Figure 7 is a flow chart of a vehicle door control method according to an embodiment of the present disclosure;

[0039] Figure 8 It is a block diagram of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0041] The following describes a vehicle door control system, a vehicle door control method and a vehicle proposed in embodiments of the present disclosure with reference to the accompanying drawings.

[0042] Figure 1 FIG. 4 is a block diagram of a door control system of a vehicle according to an embodiment of the present invention.

[0043] like Figure 1 As shown, the vehicle door control system 100 of the embodiment of the present invention may include: a motor 110 and a controller 120

[0044] The motor 110 is used to apply a rotational torque to the door. When the vehicle is on a slope, the controller 120 is used to control the motor 110 to apply a rotational torque to the door during the door opening and closing process, and the rotational torque is opposite to the torque applied to the door by the gravity of the door.

[0045] Specifically, the vehicle is provided with a motor 110, the rotor of the motor 110 is connected to the door via a mechanical connection device, and the motor 110 can apply a rotational torque to the door. When the vehicle is parked on a slope, when the user opens and closes the door, the door is affected by gravity, causing a greater force to be applied to open and close the door. At this time, the controller 120 controls the motor 110 to apply a rotational torque opposite to the torque applied by the door in the direction of gravity, so as to assist the user in opening and closing the door and offset the torque in the direction of gravity, thereby saving the user's physical strength.

[0046] For example, when the vehicle is parked on an uphill slope, that is, the front bumper of the vehicle is higher than the rear bumper, it is more difficult for the user to open the door due to gravity. When the user opens the door, the controller 120 controls the motor 110 to apply a torque to assist the user in opening the door; when the vehicle is parked on a downhill slope, that is, the front bumper of the vehicle is lower than the rear bumper, it is more difficult for the user to close the door. When the user closes the door, the controller 120 controls the motor 110 to apply a torque to assist the user in closing the door.

[0047] Therefore, the door control system of the vehicle in the embodiment of the present invention can control the motor to output rotational torque to drive the door when the vehicle is on a slope, providing assistance to the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0048] According to one embodiment of the present disclosure, Figure 2 As shown, the door control system also includes an angular velocity sensor 130 and a slope sensor 140. The angular velocity sensor 130 is used to collect the angular velocity of the motor 110, and the slope sensor 140 is used to collect the slope of the slope. The controller 120 is used to determine the rotational torque of the motor 110 according to the angular velocity and slope of the motor 110 to assist the door in turning.

[0049] Specifically, the rotor of the motor 110 is connected to the door via a mechanical connection device. When the user opens or closes the door, the rotor of the motor 110 moves with the door and rotates forward and reversely via the mechanical connection device. Two Hall position sensors with a 90° electrical angle difference are installed on the motor 110. During the movement of the motor 110, four Hall states are switched in sequence in one electrical cycle, and one Hall state corresponds to a 90° electrical angle. Then, when the motor 110 rotates, the duration of one Hall state is the time required for the rotor to rotate 90°. Assuming that the number of times the Hall state is maintained in one electrical cycle of 100us is n, the time T for the Hall state to be maintained is ω The calculation formula is: ω =0.001×n, therefore, the angular velocity ω of the motor 110 is: ω=90° / T ω The angular velocity sensor 130 collects the angular velocity of the motor 110 by collecting the change of the Hall state. The slope sensor 140 provided on the vehicle can obtain the slope of the slope on which the vehicle is located, and can transmit it to the controller 120 through the vehicle bus.

[0050] The controller 120 calculates the rotational torque of the motor 110 according to the angular velocity of the motor 110 and the slope of the slope on which the vehicle is located, and controls the motor 110 to output the rotational torque to drive the door to assist the user in opening or closing the door.

[0051] According to another embodiment of the present disclosure, the vehicle door control system also includes an angular velocity sensor 130 and a slope sensor 140. The vehicle door drives the motor 110 to rotate. The angular velocity sensor 130 is used to collect the rotational angular velocity of the vehicle door. The slope sensor 140 is used to collect the slope of the slope. The controller 120 is used to determine the rotational torque of the motor 110 according to the rotational angular velocity and the slope to assist the vehicle door in rotating.

[0052] According to an embodiment of the present disclosure, the controller 120 is further configured to obtain the angular velocity of the motor 110 according to the rotational angular velocity, and determine the rotational torque of the motor 110 according to the angular velocity and the slope of the motor 110 .

[0053] Specifically, when the user opens or closes the door, the door drives the motor 110 to rotate, the angular velocity sensor 130 can collect the rotational angular velocity of the door, and the slope sensor 140 can collect the slope of the slope on which the vehicle is located. Since the motor 110 and the door are connected through a mechanical device, the controller 120 can calculate the angular velocity of the motor 110 according to the rotational angular velocity of the door, and calculate the rotational torque of the motor 110 according to the angular velocity and slope of the motor 110. After determining the rotational torque of the motor 110, the controller 120 can control the motor 110 to output the rotational torque to drive the door, so as to assist the user in opening or closing the door.

[0054] According to one embodiment of the present disclosure, the slope of the slope includes: a horizontal slope of the road and a side tilt slope. The controller 120 determines the rotational torque of the motor 110 based on the angular velocity and slope of the motor 110, and is specifically used to: obtain a first correspondence between the angular velocity of the motor 110, the horizontal slope of the road, the side tilt slope and the motor torque value; and determine the motor torque based on the first correspondence.

[0055] Specifically, when the vehicle is parked on the road, the slope sensor 140 of the vehicle can detect the horizontal slope and the side tilt slope of the road. It should be noted that when it is detected that the vehicle is on a horizontal slope, it means that the front bumper of the vehicle is higher or lower than the rear bumper at this time; when it is detected that the vehicle is on a side tilt slope, it means that the driving side of the vehicle is higher or lower than the co-pilot side at this time. In one embodiment of the present disclosure, the vehicle can be calibrated by a bench test to be within the range of ±20% of the horizontal slope and ±20% of the side tilt slope, and the motor angular velocity is adjusted in turn, and the torque value output by the motor 110 is tested to obtain test data that can reflect the corresponding relationship between the motor angular velocity, the horizontal slope of the road, the side tilt slope and the motor torque value under different conditions, and the test data is made into a data table, which is the first corresponding relationship between the motor angular velocity, the horizontal slope of the road, the side tilt slope and the motor torque value. The data table is stored in the controller 120 for query. Among them, the data table is a three-dimensional table, and the three dimensions are the motor angular velocity, the horizontal slope of the road, and the side tilt slope.

[0056] When the controller 120 detects that the user opens or closes the door, the angular velocity, the horizontal slope of the road, and the side tilt slope of the motor 110 are obtained respectively, and a data table is queried according to the angular velocity, the horizontal slope of the road, and the side tilt slope of the motor 110 to obtain a first correspondence between the motor angular velocity, the horizontal slope of the road, the side tilt slope, and the motor torque value at this time, so as to determine the motor torque. According to the motor torque, the controller 120 controls the motor 110 to output the torque to drive the door, so as to assist the user to open or close the door.

[0057] According to one embodiment of the present disclosure, the controller 120 assists the vehicle door in turning, specifically for: determining a current set value based on the motor torque, and determining the output voltage of the motor 110 based on the current set value and the actual current value of the motor 110; determining a duty cycle based on the output voltage of the motor 110 and the bus voltage; and controlling the vehicle door based on the duty cycle.

[0058] According to an embodiment of the present disclosure, the controller 120 is further configured to: obtain a second corresponding relationship between the motor torque and the current value; and determine a current given value according to the second corresponding relationship.

[0059] Specifically, the corresponding relationship between motor torque and current is as follows: Figure 3 As shown by Figure 3 It can be seen that when the motor angular velocity is determined, the output torque range of the motor 110 is 0~T max , the range can be equally divided according to the required accuracy. The corresponding relationship between the motor torque and the current value of the motor 110 at the current angular velocity can be measured by the dynamometer. The specific process is: set the angular velocity of the motor 110 to be tested, and input different current values ​​to the motor 110 to be tested, poll the equally divided torque values, and record the current data corresponding to different motor torques, and make the test data into a data table. This data table is the second corresponding relationship between the motor torque and the current value, and the data table is stored in the controller 120 for query.

[0060] After the motor torque is determined according to the motor angular velocity and the road slope information, a table can be looked up according to the motor torque to obtain a second corresponding relationship between the motor torque and the current value, and a given value of the motor 110 current under the current motor torque can be determined.

[0061] According to an embodiment of the present disclosure, the controller 120 is further used to: obtain a current difference between a given current value and an actual current value; and process the current difference using PI regulation to determine an output voltage of the motor 110 .

[0062] Specifically, the actual current value i of the motor 110 during operation is aIt can be collected by the analog-to-digital converter in the controller 120. In order to improve the accuracy of the collected current, it is necessary to avoid the time period of current fluctuation and select the time point when the current waveform is relatively stable for sampling, so as to obtain the accurate actual current value i a .

[0063] like Figure 4 As shown, the controller 120 can determine the motor torque value T by looking up the motor angular velocity ω, the road horizontal slope, and the side inclination slope. e , by the motor torque value T e By looking up the table, the current given value of the motor 110 can be determined Set the current to a given value The actual current value i a The difference between the two currents is taken as the input item, and after the PI regulator is input for PI regulation, the output item is the output voltage U of the motor 110. a .

[0064] According to an embodiment of the present disclosure, after determining the output voltage of the motor 110 , the controller 120 is further configured to: determine a feedforward compensation voltage according to the motor angular velocity; and compensate the output voltage value of the motor 110 according to the feedforward compensation voltage.

[0065] Specifically, continue to refer to Figure 4 After determining the output voltage of the motor 110, the motor angular velocity ω is used as the input item of the feedforward compensation link for feedforward compensation, and the feedforward compensation voltage K can be obtained. E ω, where K E is the feedforward compensation coefficient. E ω and the output voltage U of the motor 110 output by the PI regulator a The sum is calculated so that the motor 110 can output a voltage value U a Thus, the influence of interference on the output voltage of the motor 110 can be effectively suppressed.

[0066] According to one embodiment of the present disclosure, the controller 120 is further configured to determine a duty cycle according to a ratio of an output voltage of the motor 110 to a bus voltage.

[0067] Specifically, the bus voltage U m The output voltage U of the motor 110 can be obtained by sampling the bus current through a sampling resistor set on the bus side and calculating, or by directly obtaining the bus voltage signal. a With bus voltage U m The ratio is the duty cycle of the PWM (Pulse Width Modulation) signal that controls the motor 110.

[0068] Continue to refer Figure 4 After obtaining the duty cycle of the PWM signal for controlling the motor 110, the PWM signal can be transmitted to the H bridge, and the motor 110 is driven by the H bridge. The specific control circuit is as follows Figure 5 As shown, it includes four switch tubes M1, M2, M3 and M4, and the signal interfaces P1-P4 corresponding to the switch tubes receive PWM signals to control the on or off of the switch tubes. In one embodiment of the present disclosure, it can be defined that when the door is pushed, the motor 110 rotates forward and the flag position is 1; when the door is pulled, the motor 110 is reversed and the flag position is -1. When the user opens or closes the door, the controller 120 determines the forward or reverse rotation of the motor 110 according to the direction of the motor angular velocity, and sets the flag position to the corresponding value, outputs a control signal to the H bridge, and controls the motor 110 to rotate forward and reverse: when the signal received by the P1 port is a PWM signal and the signal received by the P4 port is a high level, the motor 110 rotates forward; when the signal received by the P2 port is a PWM signal and the signal received by the P3 port is a high level, the motor 110 reverses. Thus, the door is driven by the motor to provide assistance to the user to open the door, thereby improving the user experience.

[0069] In summary, according to the vehicle door control system of the embodiment of the present disclosure, when the vehicle is on a slope, the controller controls the motor to apply a rotational torque opposite to the torque applied by the door in the direction of gravity, so as to assist the user in opening and closing the door and offset the torque in the direction of gravity, thereby saving the user's physical strength. As a result, the system can control the motor to output a rotational torque to drive the door when the vehicle is on a slope, providing assistance for the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0070] Corresponding to the above embodiment, the present invention also proposes a vehicle door control method.

[0071] Figure 6 The present invention is a flow chart of a vehicle door control method according to an embodiment of the present disclosure.

[0072] like Figure 6 As shown, the vehicle door control method of the vehicle of the embodiment of the present disclosure, the vehicle includes a motor, the motor is used to apply a rotational torque to the door, and the method may include the following steps:

[0073] Step S1, when the vehicle is located on a slope, the control motor applies a rotational torque to the rotating door during the process of rotating the door switch, and the rotational torque is opposite to the torque applied to the rotating door by the gravity of the rotating door.

[0074] Specifically, the vehicle is provided with a motor, the rotor of which is connected to the door through a mechanical connection device, and the motor can apply a rotational torque to the door. When the vehicle is parked on a slope, when the user opens or closes the door, the door is affected by gravity, causing a greater force to be applied to open or close the door. At this time, the controller controls the motor to apply a rotational torque opposite to the torque applied by the door in the direction of gravity, so as to assist the user in opening or closing the door and offset the torque in the direction of gravity, thereby saving the user's physical strength.

[0075] For example, when the vehicle is parked on an uphill ramp, that is, the front bumper of the vehicle is higher than the rear bumper, it is more difficult for the user to open the door at this time. The controller controls the motor to apply torque to assist the user in opening the door when the user opens the door; when the vehicle is parked on a downhill ramp, that is, the front bumper of the vehicle is lower than the rear bumper, it is more difficult for the user to close the door at this time. The controller controls the motor to apply torque to assist the user in closing the door when the user closes the door.

[0076] According to one embodiment of the present disclosure, before controlling the motor to apply a first rotational torque to the rotating door during the process of rotating the door switch, the door control method also includes: obtaining the angular velocity of the motor and the slope of the slope; determining the rotational torque of the motor based on the angular velocity and slope of the motor to assist the rotation of the door.

[0077] According to one embodiment of the present disclosure, before controlling the motor to apply a first rotational torque to the rotating door during the process of turning the door switch, the door control method also includes: obtaining the rotational angular velocity of the door; determining the angular velocity of the motor according to the rotational angular velocity of the door; and determining the rotational torque of the motor according to the angular velocity and slope of the motor to assist the rotation of the door.

[0078] According to one embodiment of the present disclosure, the slope of the slope includes: a horizontal slope of the road and a side inclination slope, and the rotational torque of the motor is determined according to the angular velocity and slope of the motor, including: obtaining a first correspondence between the angular velocity of the motor, the horizontal slope of the road, the side inclination slope and the motor torque value; and determining the motor rotational torque according to the first correspondence.

[0079] Specifically, when the vehicle is parked on the road, the slope sensor of the vehicle can detect the horizontal slope and the side tilt slope of the road. It should be noted that when it is detected that the vehicle is on a horizontal slope, it means that the front bumper of the vehicle is higher or lower than the rear bumper at this time; when it is detected that the vehicle is on a side tilt slope, it means that the driving side of the vehicle is higher or lower than the co-pilot side at this time. In one embodiment of the present disclosure, the vehicle can be calibrated by a bench test to be within the range of ±20% of the horizontal slope and ±20% of the side tilt slope, and the motor angular velocity is adjusted in turn, and the torque value output by the motor is tested to obtain test data that can reflect the corresponding relationship between the motor angular velocity, the horizontal slope of the road, the side tilt slope and the motor torque value under different conditions, and the test data is made into a data table, which is the first corresponding relationship between the motor angular velocity, the horizontal slope of the road, the side tilt slope and the motor torque value. The data table is stored in the controller for query. Among them, the data table is a three-dimensional table, and the three dimensions are the motor angular velocity, the horizontal slope of the road, and the side tilt slope.

[0080] When the controller detects that the user opens or closes the door, the controller obtains the motor angular velocity, the horizontal slope of the road, and the side tilt slope respectively, and queries the data table according to the motor angular velocity, the horizontal slope of the road, and the side tilt slope to obtain the first corresponding relationship between the motor angular velocity, the horizontal slope of the road, the side tilt slope, and the motor torque value at this time, so as to determine the motor torque value. According to the motor torque value, the controller controls the motor to output the torque value to drive the door to assist the user in opening the door.

[0081] According to one embodiment of the present disclosure, Figure 7 As shown, the door is assisted in turning, including the following steps:

[0082] Step S101, determining a current given value according to the motor rotation torque.

[0083] According to an embodiment of the present disclosure, determining a current given value according to a motor torque includes: acquiring a second corresponding relationship between the motor torque and the current value; and determining the current given value according to the second corresponding relationship.

[0084] Specifically, the corresponding relationship between motor torque and current is as follows: Figure 3 As shown by Figure 3 It can be seen that when the motor angular velocity is determined, the output torque range of the motor is 0~T max, the range can be divided equally according to the required accuracy. The dynamometer can measure the correspondence between the motor torque and the current value at the current angular velocity of the motor. The specific process is: set the angular velocity of the motor to be tested, input different current values ​​to the motor to be tested, poll the equally divided torque values, and record the current data corresponding to different motor torques, and make the test data into a data table. This data table is the second correspondence between the motor torque and the current value, and the data table is stored in the controller for query.

[0085] After the motor torque is determined according to the motor angular velocity and the slope of the ramp, a table can be looked up according to the motor torque to obtain a second corresponding relationship between the motor torque and the current value, and determine a given value of the motor current under the current motor torque.

[0086] Step S102, determining the motor output voltage according to the current given value and the actual current value of the motor.

[0087] According to an embodiment of the present disclosure, the motor output voltage is determined according to the current given value and the actual current value of the motor, including: obtaining the current difference between the current given value and the actual current value; and using PI regulation to process the current difference to determine the motor output voltage.

[0088] Specifically, the actual current value i of the motor during operation a It can be collected by the analog-to-digital converter in the controller. In order to improve the accuracy of the collected current, it is necessary to avoid the time period of current fluctuation and select the time point when the current waveform is relatively stable for sampling, so as to obtain the accurate actual current value i a .

[0089] like Figure 4 As shown, the motor torque value T can be determined by looking up the motor angular velocity ω, the road horizontal slope, and the side inclination slope. e , by the motor torque value T e By looking up the table, the current setpoint of the motor can be determined Set the current to a given value The actual current value i a The difference between the two currents is taken as the input item, and after the PI regulator is input for PI regulation, the output item is the motor output voltage U a .

[0090] According to an embodiment of the present disclosure, after determining the motor output voltage, the above-mentioned vehicle door control method further includes: determining a feedforward compensation voltage according to the motor angular velocity; and compensating the motor output voltage value according to the feedforward compensation voltage.

[0091] Specifically, continue to refer to Figure 4 After determining the motor output voltage, the motor angular velocity ω is used as the input item of the feedforward compensation link for feedforward compensation, and the feedforward compensation voltage K can be obtained. E ω, where K E is the feedforward compensation coefficient. E ω and the motor output voltage U output by the PI regulator a The sum is calculated to obtain the motor output voltage U a In this way, the influence of interference on the motor output voltage can be effectively suppressed.

[0092] Step S103, determining the duty cycle according to the motor output voltage and the bus voltage.

[0093] According to an embodiment of the present disclosure, determining the duty cycle according to the motor output voltage and the bus voltage includes: determining the duty cycle according to the ratio of the motor output voltage to the bus voltage.

[0094] Specifically, the bus voltage U m The output voltage of the motor can be obtained by sampling the bus current through the sampling resistor set on the bus side and calculating it, or by directly obtaining the bus voltage signal. a With bus voltage U m The ratio is the duty cycle of the PWM (Pulse Width Modulation) signal that controls the motor.

[0095] Step S104, controlling the vehicle door according to the duty cycle.

[0096] Specifically, continue to refer to Figure 4 After obtaining the duty cycle of the PWM signal that controls the motor, the PWM signal can be transmitted to the H-bridge to drive the motor. The specific control circuit is as follows: Figure 5 As shown, it includes four switch tubes M1, M2, M3 and M4, and the signal interfaces P1-P4 corresponding to the switch tubes receive PWM signals to control the on or off of the switch tubes. In one embodiment of the present disclosure, it can be defined that when the door is pushed, the motor rotates forward and the flag position is set to 1; when the door is pulled, the motor is reversed and the flag position is -1. When the user opens or closes the door, the controller determines the forward or reverse rotation of the motor according to the direction of the motor angular velocity, and sets the flag position to the corresponding value, outputs a control signal to the H-bridge, and controls the motor to rotate forward or reverse: when the signal received by the P1 port is a PWM signal and the signal received by the P4 port is a high level, the motor rotates forward; when the signal received by the P2 port is a PWM signal and the signal received by the P3 port is a high level, the motor reverses. In this way, the door is driven by the motor to provide assistance to the user to open the door, thereby improving the user experience.

[0097] It should be noted that for details not disclosed in the vehicle door control method of the embodiment of the present disclosure, please refer to the details disclosed in the vehicle door control system of the embodiment of the present disclosure, and the details will not be repeated here.

[0098] In summary, according to the vehicle door control method of the embodiment of the present disclosure, the method can control the motor to output a rotation torque to drive the door when the vehicle is on a slope, providing assistance to the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0099] Corresponding to the above embodiments, the present disclosure also proposes a vehicle.

[0100] Figure 8 It is a block diagram of a vehicle according to an embodiment of the present disclosure.

[0101] like Figure 8 As shown, the vehicle 200 of the embodiment of the present disclosure includes a memory 210, a processor 220, and a vehicle door control program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the vehicle door control program, the above-mentioned vehicle door control method is implemented.

[0102] According to the vehicle of the embodiment of the present disclosure, by executing the above-mentioned vehicle door control method, it is possible to control the motor to output rotational torque to drive the door when the vehicle is on a slope, thereby providing assistance to the user to open or close the door, thereby saving the user's physical strength and improving the user experience.

[0103] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0104] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0106] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0107] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0108] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle door control system, characterized in that: include: A motor, the motor being used to apply a rotational torque to the vehicle door; a controller, when the vehicle is located on a slope, the controller is used to control the motor to apply a rotational torque to the door during the door opening and closing process, wherein the rotational torque is opposite in direction to the torque applied to the door by the gravity of the door; The door control system further includes an angular velocity sensor and a slope sensor, the door drives the motor to rotate, the angular velocity sensor is used to collect the rotational angular velocity of the door, the slope sensor is used to collect the slope of the slope, and the controller is used to determine the rotational torque of the motor according to the rotational angular velocity and the slope to assist the door in rotating; The controller is further used to obtain the angular velocity of the motor according to the rotation angular velocity, and determine the rotation torque of the motor according to the angular velocity of the motor and the slope; The slope of the slope includes: a road horizontal slope and a side tilt slope. The controller determines the rotational torque of the motor according to the angular velocity of the motor and the slope, and is specifically used to: obtain a first corresponding relationship between the angular velocity of the motor, the road horizontal slope, the side tilt slope and the motor torque value; and determine the motor rotational torque according to the first corresponding relationship; The controller assists the vehicle door in turning, and is specifically used to: determine a current set value based on the motor torque, and determine the motor output voltage based on the current set value and the actual current value of the motor; determine a duty cycle based on the motor output voltage and the bus voltage; and control the vehicle door based on the duty cycle.

2. The door control system according to claim 1, characterized in that: The door control system also includes an angular velocity sensor and a slope sensor. The angular velocity sensor is used to collect the angular velocity of the motor, and the slope sensor is used to collect the slope of the slope. The controller is used to determine the rotational torque of the motor according to the angular velocity and the slope of the motor to assist the rotation of the door.

3. The door control system according to claim 1, characterized in that: The controller is also used for: The duty cycle is determined according to the ratio of the motor output voltage to the bus voltage.

4. The door control system according to claim 1, characterized in that: The controller is also used for: Acquire a second corresponding relationship between the motor rotation torque and the current value; The current set value is determined according to the second corresponding relationship.

5. The door control system according to claim 1, characterized in that: The controller is also used for: Obtaining a current difference between the current set value and the actual current value; The current difference is processed by PI regulation to determine the motor output voltage.

6. The door control system according to claim 5, characterized in that: After determining the motor output voltage, the controller is further configured to: Determining a feedforward compensation voltage according to the motor angular velocity; The motor output voltage value is compensated according to the feedforward compensation voltage.

7. A vehicle door control method, characterized in that: The vehicle includes a motor, the motor is used to apply a rotational torque to the door, the method is applied to a door control system according to any one of claims 1 to 6, the method includes: When the vehicle is located on a slope, controlling the motor to apply a rotational torque to the door during the door opening and closing process, wherein the rotational torque is opposite in direction to the torque applied to the door by the gravity of the door; Before controlling the motor to apply a rotational torque to the door during the door opening and closing process, the door control method further includes: acquiring a rotational angular velocity of the door; determining an angular velocity of the motor according to the rotational angular velocity of the door; determining a rotational torque of the motor according to the angular velocity of the motor and the slope to assist the door in rotation; The slope of the slope includes: a horizontal slope of the road and a side tilt slope. The rotational torque of the motor is determined according to the angular velocity of the motor and the slope, including: obtaining a first correspondence between the angular velocity of the motor, the horizontal slope of the road, the side tilt slope and the motor torque value; determining the motor rotational torque according to the first correspondence; assisting the vehicle door in turning, including: determining a current set value according to the motor rotational torque, and determining the motor output voltage according to the current set value and the actual current value of the motor; determining a duty cycle according to the motor output voltage and the bus voltage; and controlling the vehicle door according to the duty cycle.

8. The vehicle door control method according to claim 7, characterized in that: Before controlling the motor to apply a rotational torque to the door during the door opening and closing process, the door control method further includes: Obtaining the angular velocity of the motor and the slope of the ramp; The rotational torque of the motor is determined according to the angular velocity of the motor and the slope to assist the vehicle door in turning.

9. The vehicle door control method according to claim 7, characterized in that: Determining a duty cycle according to the motor output voltage and the bus voltage includes: The duty cycle is determined according to the ratio of the motor output voltage to the bus voltage.

10. The vehicle door control method according to claim 7, characterized in that: Determining a current given value according to the motor rotation torque includes: Acquire a second corresponding relationship between the motor rotation torque and the current value; The current set value is determined according to the second corresponding relationship.

11. The vehicle door control method according to claim 7, characterized in that: Determining the motor output voltage according to the current given value and the actual current value of the motor includes: Obtaining a current difference between the current set value and the actual current value; The current difference is processed by PI regulation to determine the motor output voltage.

12. The vehicle door control method according to claim 11, characterized in that: After determining the motor output voltage, the method further includes: Determining a feedforward compensation voltage according to the motor angular velocity; The motor output voltage value is compensated according to the feedforward compensation voltage.

13. A vehicle, characterized in that: It includes a memory, a processor, and a vehicle door control program stored in the memory and executable on the processor. When the processor executes the vehicle door control program, it implements the vehicle door control method according to any one of claims 7 to 12.

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