A method and device for opening a vehicle door, a vehicle controller, and a storage medium

Abstract

This application relates to the field of automotive technology and provides a method, apparatus, vehicle controller, and storage medium for opening a vehicle door. The method includes: when a vehicle door is detected to be frozen, driving a door lock motor on the door; when the door lock motor is detected to be stalled for a first predetermined time, activating a strut motor located on the vehicle door; after a second predetermined time, deactivating the door lock motor; when the strut motor is detected to be stalled for a third predetermined time, deactivating the strut motor, and returning to the step of driving the door lock motor and subsequent steps until the door is opened. Compared with existing technologies that simply control the door lock motor to continuously reverse, the method provided in this application can control the door lock to operate cyclically via the door lock motor and control the strut motor to operate cyclically via the strut motor, thereby achieving the purpose of cyclically breaking ice on the door and opening the door, improving the success rate of opening the door.

Description

Technical Field

[0001] This application belongs to the field of automotive technology, and in particular relates to a method, device, vehicle controller and computer-readable storage medium for opening a vehicle door. Background Technology

[0002] In low-temperature environments, especially in icy and snowy weather, car doors (such as power side doors and tailgates) can freeze, making them impossible to open.

[0003] To address this issue, existing technologies typically only control the door lock motor located at the door to continuously reverse in order to open the door. This approach is not comprehensive enough, resulting in a low success rate for opening the door. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle controller, and computer-readable storage medium for opening vehicle doors, which can improve the success rate of opening vehicle doors.

[0005] In a first aspect, embodiments of this application provide a method for opening a vehicle door, including:

[0006] When a vehicle door is detected to be frozen, the door lock motor on the door is activated.

[0007] When the door lock motor is detected to be in a stalled state within a first set time, the strut motor of the vehicle door is activated;

[0008] The door lock motor is turned off after a second set time.

[0009] When the strut motor is detected to be stalled within a third set time period, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the vehicle door and subsequent steps until the vehicle door is opened.

[0010] Optionally, before actuating the door lock motor on the vehicle door when it is detected that the vehicle door is frozen, the method further includes:

[0011] When an opening command is received, the current of the door lock, the ratchet signal, and the pawl signal are detected.

[0012] When the ratchet signal and the pawl signal are detected, and the current is greater than the set current within a fourth set time period, it is determined that the car door is not frozen;

[0013] When the pawl signal is detected but the ratchet signal is not detected, and the current is greater than the set current within a fifth set time period, it is determined that the door is frozen; wherein, the fifth set time period is greater than the fourth set time period.

[0014] Optionally, after determining that the vehicle door is not frozen, the method further includes:

[0015] Drive the door lock motor and the strut motor to open the vehicle door.

[0016] Optionally, the step of driving the door lock motor on the vehicle door when it is detected that the vehicle door is frozen includes:

[0017] When the door is detected to be frozen, the strut motor is activated;

[0018] The target time when the strut motor is in a stalled state and the opening range of the vehicle door are obtained;

[0019] When the target time is detected to be greater than or equal to the sixth set time, and the amplitude is within the set range, the strut motor is turned off and the door lock motor is driven.

[0020] Optionally, after obtaining the target time when the strut motor is in a stall state and the opening range of the door, the method further includes:

[0021] When the target time is detected to be less than the sixth preset time, the strut motor is controlled to remain on.

[0022] Optionally, after detecting that a vehicle door is frozen and actuating the door lock motor on the door, the method further includes:

[0023] The door lock motor is driven by a first drive signal with a duty cycle greater than or equal to a set duty cycle.

[0024] Accordingly, after the door lock motor is detected to be stalled within a first set time, and the strut motor located on the vehicle door is activated, the following steps are also included:

[0025] The strut motor is driven using a second drive signal with a duty cycle greater than or equal to the set value.

[0026] Optionally, when it is detected that the strut motor is in a stalled state within a third predetermined time period, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the vehicle door and subsequent steps until the vehicle door is opened, including:

[0027] When the strut motor is detected to be stalled within the third preset time period, the execution count is increased by one.

[0028] When the number of executions is less than the set number, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the car door and subsequent steps to open the car door;

[0029] When the number of executions is greater than or equal to the set number, the strut motor is turned off, and a prompt message indicating that the door has failed to open is output.

[0030] Secondly, embodiments of this application provide a device for opening a vehicle door, comprising:

[0031] The first opening unit is used to drive the door lock motor on the vehicle door when it is detected that the vehicle door is frozen.

[0032] The second opening unit is used to open the strut motor located on the vehicle door when the door lock motor is detected to be in a stalled state for a first set time.

[0033] The first closing unit is used to close the door lock motor after a second set time.

[0034] The first execution unit is used to shut down the strut motor and return to the step of driving the door lock motor on the vehicle door and subsequent steps when it is detected that the strut motor is in a stall state within a third set time period, until the vehicle door is opened.

[0035] Thirdly, embodiments of this application provide a vehicle controller, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for opening a vehicle door as described in any of the first aspects above.

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for opening a vehicle door as described in any one of the first aspects above.

[0037] Fifthly, embodiments of this application provide a computer program product that, when run on an in-vehicle controller, enables the in-vehicle controller to execute the method for opening a vehicle door as described in any of the first aspects above.

[0038] The beneficial effects of the embodiments of this application compared with the prior art are:

[0039] This application provides a method for opening a vehicle door. When a frozen vehicle door is detected, a door lock motor on the door is activated. When the door lock motor is detected to be stalled for a first set time, a strut motor on the vehicle door is activated. After a second set time, the door lock motor is deactivated. When the strut motor is detected to be stalled for a third set time, the strut motor is deactivated, and the process returns to the step of activating the door lock motor and subsequent steps until the door is opened. Compared to existing technologies that simply control the door lock motor to continuously reverse, the method provided in this application can control the door lock to operate cyclically via the door lock motor and control the strut motor to operate cyclically via the strut motor, thereby achieving the purpose of cyclically breaking the ice on the vehicle door and opening the door, thus improving the success rate of opening the vehicle door. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, 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.

[0041] Figure 1 This is a flowchart illustrating the implementation of a method for opening a car door according to an embodiment of this application;

[0042] Figure 2 This is a flowchart illustrating the implementation of a method for opening a car door according to another embodiment of this application;

[0043] Figure 3 This is a flowchart illustrating the implementation of a method for opening a car door according to another embodiment of this application;

[0044] Figure 4 This is a flowchart illustrating the implementation of a method for opening a car door according to another embodiment of this application;

[0045] Figure 5 This is a schematic diagram of the structure of a device for opening a car door according to an embodiment of this application;

[0046] Figure 6 This is a schematic diagram of the structure of an on-board controller provided in one embodiment of this application. Detailed Implementation

[0047] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0048] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0049] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0050] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0051] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0052] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0053] Please see Figure 1 , Figure 1 This is a flowchart illustrating an implementation of a method for opening a vehicle door according to an embodiment of this application. In this embodiment, the vehicle controller is the executing entity of the method for opening the vehicle door.

[0054] like Figure 1 As shown, a method for opening a vehicle door provided in one embodiment of this application may include S101 to S104, which are described in detail below:

[0055] In S101, when it is detected that the vehicle door is frozen, the door lock motor on the door is activated.

[0056] In practical applications, in low-temperature environments, especially in icy and snowy weather, car doors (such as electric side doors and tailgates) can freeze (e.g., due to ice and snow), making them impossible to open and preventing users from using the vehicle. Therefore, in this embodiment, the vehicle controller needs to activate the door lock motor on the door when it detects that the vehicle door is frozen.

[0057] In one embodiment of this application, the vehicle controller can specifically be configured as follows: Figure 2 Steps S201 to S203, which show the determination of whether the vehicle doors are frozen, are detailed below:

[0058] In S201, when an opening command is received, the current of the door lock, the ratchet signal, and the pawl signal are detected.

[0059] In this embodiment, when a user needs to use the vehicle, they can send a door opening command to the vehicle controller. The vehicle controller detects the door opening command by detecting a preset operation on the vehicle door. This preset operation can be set according to actual needs and is not limited here. For example, the preset operation could be detecting that a switch button on the door is triggered; alternatively, it could be detecting that a switch button on the vehicle key associated with the vehicle is triggered. Based on this, when the vehicle controller detects a preset operation on the vehicle door, it can determine that it has detected a door opening command sent by the user.

[0060] Based on this, when the vehicle controller detects an opening command, it can detect the door lock current, ratchet signal, and pawl signal.

[0061] In one embodiment of this application, when the vehicle controller detects both the ratchet signal and the pawl signal, and the door lock current exceeds a set current within a fourth set time period, it can execute step S202. The fourth set time and the set current can be set according to actual needs and are not limited here. For example, the fourth set time can be set to any value within [50ms, 100ms], and the set current can be 5A.

[0062] In another embodiment of this application, when the vehicle controller detects a pawl signal but not a ratchet signal, and the door lock current is greater than a set current within a fifth set time period, step S203 can be executed. The fifth set time period can be set according to actual needs and is not limited here.

[0063] It should be noted that the fifth setting time is longer than the fourth setting time.

[0064] For example, the fifth setting time can be set to 300ms.

[0065] In another embodiment of this application, when the vehicle controller detects other situations besides the two mentioned above, such as not detecting ratchet signals and pawl signals, it indicates that the door lock has malfunctioned, causing the door lock to fail to unlock. Therefore, the vehicle controller can output information to indicate that the door lock has failed to unlock.

[0066] In S202, when the ratchet signal and the pawl signal are detected, and the current is greater than the set current within a fourth set time period, it is determined that the door is not frozen.

[0067] In this embodiment, when the vehicle controller detects the ratchet signal and the pawl signal, and the current of the door lock is greater than the set current within the fourth set time, it indicates that the door lock has been successfully unlocked. Therefore, the vehicle controller can determine that the door has not been frozen.

[0068] In one embodiment of this application, when the vehicle controller detects that the door is not frozen, it indicates that the door can be opened normally. Therefore, the vehicle controller can drive the door lock motor on the door to unlock the door. At the same time, the vehicle controller can activate the door strut motor to open the door.

[0069] In S203, when the pawl signal is detected but the ratchet signal is not detected, and the current is greater than the set current within a fifth set time period, it is determined that the door is frozen; wherein, the fifth set time period is greater than the fourth set time period.

[0070] In this embodiment, when the vehicle controller detects a pawl signal but not a ratchet signal, and the current of the door lock is greater than the set current within the fifth set time, it indicates that the door lock has been successfully unlocked. However, the door cannot be opened normally. Therefore, the vehicle controller can determine that the door is frozen.

[0071] In one embodiment of this application, since the car door is partially frozen, step S101 can be specifically performed as follows: Figure 3 The implementations of S301 to S303 shown are described in detail below:

[0072] In S301, when the door is detected to be frozen, the strut motor is activated.

[0073] In this embodiment, in order to determine whether the door is completely frozen or partially frozen, the vehicle controller can activate the door support motor when it detects that the door is frozen.

[0074] In this embodiment, after the vehicle controller activates the door strut motor, it can detect the working status and working time of the strut motor in real time, and also detect the opening range of the door in real time.

[0075] It should be noted that the operating states of the strut motor include, but are not limited to, locked state and normal state. Among them, locked state refers to a situation where the strut motor continues to output torque even when its speed is 0 revolutions per minute.

[0076] In S302, the target time when the strut motor is in a stalled state and the opening range of the door are obtained.

[0077] In this embodiment, after obtaining the target time when the strut motor is in a stall state and the door opening range, the vehicle controller can compare the target time with a sixth preset time and the door opening range with a preset range. The sixth preset time and the preset range can be set according to actual needs and are not limited here. For example, the sixth preset time can be set to 1 second, and the preset range can be set to [0%, 5%].

[0078] In one embodiment of this application, the vehicle controller can execute step S303 when it detects that the target time is greater than or equal to a sixth preset time and the opening range of the vehicle door is within the preset range.

[0079] In another embodiment of this application, when the vehicle controller detects that the target time is less than the sixth set time, it indicates that the time during which the strut motor is in a stalled state is less than the sixth set time. In other words, the door is only partially frozen. Therefore, the vehicle controller can control the strut motor to remain open in order to open the door.

[0080] In another embodiment of this application, when the vehicle controller detects that the opening range of the door is greater than the upper limit of the set range, it indicates that the door can be opened normally. Therefore, the vehicle controller can obtain the current of the strut motor in real time and determine whether the door triggers the anti-pinch operation based on the current.

[0081] In some possible embodiments, the vehicle controller can also acquire the current of the strut motor and compare it with a preset current. The preset current can be set according to actual needs and is not limited here. For example, the preset current can be set to 10A.

[0082] Based on this, in this embodiment, when the vehicle controller detects that the target time is greater than or equal to the sixth set time, the current of the strut motor is greater than or equal to the preset current, and the opening range of the car door is within the set range, it indicates that the car door is completely frozen. Therefore, the vehicle controller can execute step S303.

[0083] When the vehicle controller detects that the target time is less than the sixth set time and the current of the strut motor is greater than or equal to the preset current, it means that the strut motor has been in a stall state for less than the sixth set time. In other words, the door is only partially frozen. Therefore, the vehicle controller can control the strut motor to remain open in order to open the door.

[0084] In S303, when the target time is detected to be greater than or equal to the sixth set time and the amplitude is within the set range, the strut motor is turned off and the door lock motor is driven.

[0085] In this embodiment, when the vehicle controller detects that the target time is greater than or equal to the sixth set time and the opening range of the door is within the set range, it indicates that the door is completely frozen. In other words, the door needs to be de-iced. Therefore, the vehicle controller needs to turn off the strut motor and drive the door lock motor.

[0086] In this embodiment of the application, after the vehicle controller drives the door lock motor, it can detect the working status and working time of the door lock motor in real time.

[0087] The operating states of the door lock motor include, but are not limited to, stalled state and normal operating state.

[0088] In one embodiment of this application, to improve the success rate of opening the vehicle door, after driving the door lock motor, the vehicle controller can use a first drive signal with a duty cycle greater than or equal to a set value to drive the door lock motor, thereby increasing the suction force generated by the door lock motor. The set duty cycle can be set according to actual needs and is not limited here; for example, the set duty cycle can be set to 50%.

[0089] In S102, when it is detected that the door lock motor is in a stalled state for a first set time, the strut motor of the vehicle door is activated.

[0090] In this embodiment, when the vehicle controller detects that the door lock motor is stalled within a first set time, it indicates that the door lock motor is unable to break the ice on the door. Therefore, the vehicle controller needs to activate the door strut motor so that both the strut motor and the door lock motor are operating simultaneously. The first set time can be set according to actual needs and is not limited here. For example, the first set time can be set to 50ms.

[0091] In one embodiment of this application, to improve the success rate of opening the vehicle door, after activating the strut motor, the vehicle controller can drive the strut motor with a second drive signal having a duty cycle greater than or equal to a set value, thereby increasing the pulling force generated by the strut motor. The set duty cycle can be set according to actual needs and is not limited here; for example, the set duty cycle can be set to 50%.

[0092] In S103, the door lock motor is turned off after a second set time.

[0093] In this embodiment, to prevent the door lock motor from being damaged due to prolonged stalling, the vehicle controller can shut off the door lock motor after a second preset time. The second preset time can be set according to actual needs and is not limited here. For example, the second preset time can be set to 50ms.

[0094] In this embodiment of the application, after the vehicle controller turns off the door lock motor, it can detect the working status and working time of the strut motor in real time.

[0095] In one embodiment of this application, when the vehicle controller detects that the strut motor is in a stalled state for a third preset time period, it can execute step S104. The third preset time period can be set according to actual needs and is not limited here. For example, the third preset time period can be set to 50ms.

[0096] In one embodiment of this application, when the vehicle controller detects that the strut motor is not in a stalled state, it indicates that the door has successfully broken the ice, meaning that the door can be opened normally. Therefore, the vehicle controller can control the strut motor to ensure that the door is open.

[0097] In S104, when it is detected that the strut motor is in a stalled state within a third set time, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the car door and subsequent steps until the car door is opened.

[0098] In this embodiment of the application, in order to avoid damage to the strut motor due to prolonged stalling, the vehicle controller can shut down the strut motor after a third set time. At the same time, if the strut motor is stalled for the third set time, it means that the door is still frozen, i.e., the door ice breaking has failed. Therefore, in order to open the door, the vehicle controller can return to the execution steps S101 to S104 until the door is opened.

[0099] In one embodiment of this application, step S104 can be specifically performed as follows: Figure 4 The implementations of S401 to S403 shown are described in detail below:

[0100] In S401, when it is detected that the strut motor is in a stalled state within the third set time period, the execution count is increased by one.

[0101] In this embodiment, to avoid the door lock motor and strut motor performing meaningless work and to improve the working efficiency of the vehicle controller, the vehicle controller increases the execution count by one when it detects that the strut motor is in a stalled state within a third set time period. Specifically, the execution count refers to the number of times the vehicle controller executes steps S101 to S104.

[0102] After each execution increment, the vehicle controller can compare that increment with a preset count. The preset count can be set according to actual needs and is not limited here. For example, the preset count can be set to 20 times.

[0103] In one embodiment of this application, when the vehicle controller detects that the number of executions is less than a set number, it may execute step S402.

[0104] In another embodiment of this application, when the vehicle controller detects that the number of executions is greater than or equal to a set number, it may execute step S403.

[0105] In S402, when the number of executions is less than the set number, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the door and subsequent steps to open the door.

[0106] In this embodiment, when the vehicle controller detects that the number of executions is less than the set number, it indicates that the number of times the vehicle controller executes steps S101 to S104 has not reached the set value, that is, the number of times the ice is broken on the car door has not reached the set value. Therefore, the vehicle controller can turn off the strut motor and continue to execute steps S101 to S104 to open the car door.

[0107] In S403, when the number of executions is greater than or equal to the set number of executions, the strut motor is turned off, and a prompt message is output to indicate that the door has failed to open.

[0108] In this embodiment, when the vehicle controller detects that the number of executions is greater than or equal to the set number, it indicates that the number of times the vehicle controller executes steps S101 to S104 has reached the set value, that is, the number of times the ice-breaking operation on the car door has reached the set value. In other words, the car door has failed to open. Therefore, the vehicle controller can turn off the strut motor, stop the above-mentioned ice-breaking operation on the car door, and output a prompt message to indicate that the car door has failed to open.

[0109] As can be seen from the above, the method for opening a car door provided in this application involves driving the door lock motor when the vehicle door is detected to be frozen; activating the door lock motor when it is detected to be stalled for a first set time; deactivating the door lock motor after a second set time; and deactivating the door lock motor when it is detected to be stalled for a third set time, and then returning to the steps of driving the door lock motor and subsequent steps until the door is opened. Compared with the prior art, which simply controls the door lock motor to continuously reverse, the method provided in this application can control the door lock to work cyclically through the door lock motor and the door lock motor to work cyclically through the door lock motor, thereby achieving the purpose of cyclically breaking the ice on the car door and opening the car door, thus improving the success rate of opening the car door.

[0110] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0111] Corresponding to the method for opening a car door described in the above embodiments, Figure 5 This diagram illustrates a structural block diagram of a device for opening a vehicle door according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. (Refer to...) Figure 5 The door-opening device 500 includes: a first opening unit 51, a second opening unit 52, a first closing unit 53, and a first actuation unit 54. Wherein:

[0112] The first opening unit 51 is used to drive the door lock motor on the vehicle door when it is detected that the vehicle door is frozen.

[0113] The second opening unit 52 is used to open the strut motor of the vehicle door when it is detected that the door lock motor is in a stalled state for a first set time.

[0114] The first closing unit 53 is used to close the door lock motor after a second set time.

[0115] The first execution unit 54 is used to shut down the strut motor and return to the step of driving the door lock motor on the vehicle door and subsequent steps when it is detected that the strut motor is in a stall state within a third set time period, until the vehicle door is opened.

[0116] In one embodiment of this application, the door-opening device 500 further includes: a detection unit, a first determining unit, and a second determining unit. Wherein:

[0117] The detection unit is used to detect the current, ratchet signal, and pawl signal of the door lock when an opening command is received.

[0118] The first determining unit is used to determine that the car door is not frozen when the ratchet signal and the pawl signal are detected, and the current is greater than the set current within a fourth set time period.

[0119] The second determining unit is used to determine that the door is frozen when the pawl signal is detected, the ratchet signal is not detected, and the current is greater than the set current within a fifth set time period; wherein the fifth set time period is greater than the fourth set time period.

[0120] In one embodiment of this application, the device 500 for opening the vehicle door further includes a third opening unit.

[0121] The third opening unit is used to drive the door lock motor and the strut motor to open the vehicle door.

[0122] In one embodiment of this application, the first opening unit 51 specifically includes: a fourth opening unit, an acquisition unit, and a second closing unit. Wherein:

[0123] The fourth opening unit is used to open the strut motor when the door is detected to be frozen.

[0124] The acquisition unit is used to acquire the target time when the strut motor is in a stalled state and the opening range of the car door.

[0125] The second shut-off unit is used to shut off the strut motor and drive the door lock motor when the target time is detected to be greater than or equal to a sixth preset time and the amplitude is within the preset range.

[0126] In one embodiment of this application, the device 500 for opening the vehicle door further includes a control unit.

[0127] The control unit is used to keep the strut motor on when the target time is detected to be less than the sixth preset time.

[0128] In one embodiment of this application, the door-opening device 500 further includes: a first drive unit and a second drive unit. Wherein:

[0129] The first drive unit is used to drive the door lock motor using a first drive signal with a duty cycle greater than or equal to a set value.

[0130] The second drive unit is used to drive the strut motor using a second drive signal with a duty cycle greater than or equal to the set duty cycle.

[0131] In one embodiment of this application, the first execution unit 54 specifically includes: a statistics unit, a second execution unit, and an output unit. Wherein:

[0132] The statistics unit is used to increase the execution count by one when it detects that the strut motor is in a stalled state within the third set time period.

[0133] The second execution unit is used to shut down the strut motor and return to the step of driving the door lock motor on the car door and subsequent steps when the number of executions is less than the set number of times, so as to open the car door.

[0134] The output unit is used to shut down the strut motor and output a prompt message indicating that the door opening has failed when the number of executions is greater than or equal to the set number of executions.

[0135] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] Figure 6 This is a schematic diagram of the structure of an on-board controller provided in one embodiment of this application. Figure 6 As shown, the vehicle controller 6 in this embodiment includes: at least one processor 60 ( Figure 6 (Only one is shown) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, which, when executing the computer program 62, implements the steps in any of the above-described methods for opening the vehicle door.

[0138] The vehicle controller may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6The vehicle controller 6 is merely an example and does not constitute a limitation on it. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0139] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0140] In some embodiments, the memory 61 may be an internal storage unit of the vehicle controller 6, such as the RAM of the vehicle controller 6. In other embodiments, the memory 61 may be an external storage device of the vehicle controller 6, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the vehicle controller 6. Furthermore, the memory 61 may include both internal storage units and external storage devices of the vehicle controller 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0141] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0142] This application provides a computer program product that, when run on an in-vehicle controller, enables the in-vehicle controller to perform the steps described in the above-described method embodiments.

[0143] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the vehicle controller, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0144] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0145] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for opening a car door, characterized in that, include: When a vehicle door is detected to be frozen, the door lock motor on the door is activated. When the door lock motor is detected to be in a stalled state within a first set time, the strut motor of the vehicle door is activated; The door lock motor is turned off after a second set time. When the strut motor is detected to be stalled within a third set time period, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the vehicle door and subsequent steps until the vehicle door is opened.

2. The method for opening a car door as described in claim 1, characterized in that, Before actuating the door lock motor on the vehicle door when it is detected that the vehicle door is frozen, the following steps are also included: When an opening command is received, the current of the door lock, the ratchet signal, and the pawl signal are detected. When the ratchet signal and the pawl signal are detected, and the current is greater than the set current within a fourth set time period, it is determined that the car door is not frozen; When the pawl signal is detected but the ratchet signal is not detected, and the current is greater than the set current within a fifth set time period, it is determined that the door is frozen; wherein, the fifth set time period is greater than the fourth set time period.

3. The method for opening a car door as described in claim 2, characterized in that, After confirming that the car door is not frozen, the process also includes: Drive the door lock motor and the strut motor to open the vehicle door.

4. The method for opening a car door as described in claim 1, characterized in that, The step of driving the door lock motor on the vehicle door when it is detected that the vehicle door is frozen includes: When the door is detected to be frozen, the strut motor is activated; The target time when the strut motor is in a stalled state and the opening range of the vehicle door are obtained; When the target time is detected to be greater than or equal to the sixth set time, and the amplitude is within the set range, the strut motor is turned off and the door lock motor is driven.

5. The method for opening a car door as described in claim 4, characterized in that, After obtaining the target time when the strut motor is in a stall state and the opening range of the door, the method further includes: When the target time is detected to be less than the sixth preset time, the strut motor is controlled to remain on.

6. The method for opening a car door as described in claim 1, characterized in that, After detecting that a vehicle door is frozen and actuating the door lock motor on the door, the process also includes: The door lock motor is driven by a first drive signal with a duty cycle greater than or equal to a set duty cycle. Accordingly, after the door lock motor is detected to be stalled within a first set time, and the strut motor located on the vehicle door is activated, the following steps are also included: The strut motor is driven using a second drive signal with a duty cycle greater than or equal to the set value.

7. The method for opening a vehicle door as described in any one of claims 1-6, characterized in that, When it is detected that the strut motor is in a stalled state within a third predetermined time period, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the vehicle door and subsequent steps until the vehicle door is opened, including: When the strut motor is detected to be stalled within the third preset time period, the execution count is increased by one. When the number of executions is less than the set number, the strut motor is turned off, and the process returns to the step of driving the door lock motor on the car door and subsequent steps to open the car door; When the number of executions is greater than or equal to the set number, the strut motor is turned off, and a prompt message indicating that the door has failed to open is output.

8. A device for opening a vehicle door, characterized in that, include: The first opening unit is used to drive the door lock motor on the vehicle door when it is detected that the vehicle door is frozen. The second opening unit is used to open the strut motor located on the vehicle door when the door lock motor is detected to be in a stalled state within a first set time. The first closing unit is used to close the door lock motor after a second set time. The first execution unit is used to shut down the strut motor and return to the step of driving the door lock motor on the vehicle door and subsequent steps when it is detected that the strut motor is in a stall state within a third set time period, until the vehicle door is opened.

9. An on-board controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for opening the vehicle door as described in any one of claims 1 to 7.

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

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