Electric vehicle door closing method, device, vehicle-mounted terminal and vehicle

Abstract

The present application proposes a method, device, vehicle-mounted terminal and vehicle for closing an electric vehicle door. The method includes: determining the door release speed through the startup state of the door switch device, the door opening angle to be detected of the electric vehicle door and the angle change value of the electric vehicle door, the angle change value including the difference between the door opening angles at two consecutive moments, determining the door closing speed through the door release speed, and controlling the electric vehicle door to close according to the door closing speed. In the scenario of manual door closing, the door can still be electronically driven to close, and the corresponding door release speed is calculated based on different angle change values, and then the corresponding door closing speed is determined through different door release speeds. It can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards and improving user experience.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicles, and in particular to a method and device for closing doors of electric vehicles, an on-board terminal and a vehicle. Background Art

[0002] Modern electric door systems are usually equipped with intelligent functions, which can be opened and closed through simple button, touch or sensing operations, improving the convenience of use.

[0003] However, there are some special scenarios. For example, when the electric door encounters an obstacle during the opening or closing process, the door closing may be interrupted, and the passengers need to manually close the door. However, during the manual closing process, due to wind resistance or insufficient force, the door may not be completely closed, which can easily cause driving safety hazards. Summary of the Invention

[0004] The present application provides an electric vehicle door closing method, device and vehicle-mounted terminal to solve the above-mentioned technical problems.

[0005] An embodiment of the present application provides a method for closing an electric vehicle door, characterized in that the method includes: obtaining the startup state of a door switch device and a door opening angle to be detected of the electric vehicle door, and periodically obtaining the door opening angle of the electric vehicle door at preset time intervals; if the door opening angle to be detected is greater than the preset door opening angle, the startup state of the door switch device is not started, then determining the door release speed through the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments; determining the door closing speed through the door release speed, and controlling the electric vehicle door to close according to the door closing speed.

[0006] In one embodiment of the present application, if the angle change value includes a first angle change value, the door release speed is determined by the angle change value, including: calculating the difference between the door opening angle at the current moment and the door opening angle at the previous moment, recorded as the first angle change value; if the first angle change value is greater than the minimum angle change value and less than or equal to the first angle threshold, the preset initial door running speed is used as the door release speed; if the first angle change value is greater than the first angle threshold, the door running speed at the current moment is calculated by the first angle change value, and the door release speed is determined based on the door running speed at the current moment; the first angle threshold is obtained based on the initial door running speed.

[0007] In one embodiment of the present application, if the angle change value includes a second angle change value, the door release speed is determined based on the door running speed at the current moment, including: calculating the difference between the door opening angle at the current moment and the door opening angle at the next moment, recorded as the second angle change value; if the second angle change value is greater than the minimum angle change value and less than or equal to the second angle threshold, the door running speed at the current moment is used as the door release speed; if the second angle change value is greater than the second angle threshold, the door running speed at the next moment is calculated according to the second angle change value, and the door release speed is determined based on the door running speed at the next moment; the second angle threshold is obtained based on the door running speed at the current moment.

[0008] In one embodiment of the present application, the door release speed is determined based on the door running speed at the next moment, including: extracting the angle change value between the door opening angles at two consecutive moments, recorded as a third angle change value, the consecutive moments include the next moment and the latest moment; if the third angle change value is greater than the minimum angle change value and less than or equal to the third angle threshold, the door running speed at the next moment is used as the target door release speed; if the third angle change value is greater than the third angle threshold, the door running speed at the latest moment is calculated based on the third angle change value, and the door release speed is determined based on the door running speed at the latest moment, until the angle change value between the door opening angles at two consecutive moments is less than the target angle threshold; wherein the third angle threshold is obtained based on the door running speed at the next moment, and the target angle threshold is obtained based on the door running speed at the latest moment.

[0009] In one embodiment of the present application, the door closing speed is determined by the door release speed, including: if the door release speed is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, the electric vehicle door is controlled to close according to the preset first vehicle door closing speed; if the door release speed is greater than or equal to the second vehicle speed threshold and less than the third vehicle speed threshold, the electric vehicle door is controlled to close according to the preset second vehicle door closing speed; if the door release speed is greater than or equal to the third vehicle speed threshold and less than the fourth vehicle speed threshold, the electric vehicle door is controlled to close according to the preset third vehicle door closing speed; wherein, the first vehicle speed threshold is less than the second vehicle speed threshold, the second vehicle speed threshold is the third vehicle speed threshold, and the third vehicle speed threshold is less than the fourth vehicle speed threshold.

[0010] In one embodiment of the present application, the door closing speed is determined by the door release speed, and the method further includes: when the door release speed is less than the first vehicle speed threshold, after the electric door stops, identifying the distance between the current electric door position and the electric door closing position, and recording it as the farthest distance; if the farthest distance is less than the electric door stroke, calculating the difference between the electric door stroke and the farthest distance, and recording it as the supplementary distance, the electric door stroke represents the distance from the electric door fully open position to the tightly closed position with the vehicle body; inputting the supplementary distance into a pre-trained door closing speed prediction model to obtain a fourth door closing speed; and controlling the electric door to close according to the fourth door closing speed.

[0011] In one embodiment of the present application, the training process of the vehicle door closing speed prediction model includes: when the electric door is not closed, obtaining an electric door sample data set, the electric door sample data set including the maximum distance and the electric door closing speed corresponding to the maximum distance; dividing the electric door sample data set according to a preset division ratio to obtain a training data set and a test data set; inputting the training data set into the initial vehicle door closing speed prediction model for training, and testing the trained initial vehicle door closing speed prediction model through the test data set to obtain a vehicle door closing speed prediction model.

[0012] The electric vehicle door closing device provided in an embodiment of the present application is characterized in that the device includes: an acquisition module, used to acquire the startup state of the door switch device and the door opening angle to be detected of the electric vehicle door, and periodically acquire the door opening angle of the electric vehicle door at preset time intervals; a determination module, used to determine the door release speed through the angle change value if the door opening angle to be detected is greater than the preset door opening angle and the startup state of the door switch device is not started, and the angle change value includes the difference between the door opening angles at two consecutive moments; a control module, used to determine the door closing speed through the door release speed, and control the electric vehicle door to close according to the door closing speed.

[0013] An embodiment of the present application provides a vehicle-mounted terminal, including a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the above-mentioned electric vehicle door closing method.

[0014] An embodiment of the present application provides a vehicle, comprising the vehicle-mounted terminal as described above.

[0015] The beneficial effects of the present application are as follows: by obtaining the startup state of the door switch device and the door opening angle to be detected of the electric vehicle door, the angle change value of the electric vehicle door is periodically obtained at intervals of a preset time period; if the startup state of the door switch device is not started and the door opening angle is detected to be greater than the preset door opening angle, the door release speed is determined by the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments; the door release speed is determined by the startup state of the door switch device, the door opening angle to be detected of the electric vehicle door and the angle change value of the electric vehicle door, the door closing speed is determined by the door release speed, and the electric vehicle door is controlled to close according to the door closing speed. In the scenario of manual door closing, the door can still be electronically driven to close, and the corresponding door release speed is calculated based on different angle change values, and then the corresponding door closing speed is determined by different door release speeds. It can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards and improving user experience.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0018] Figure 1 is a flow chart of a method for closing an electric vehicle door shown in an exemplary embodiment of the present application;

[0019] Figure 2 is a block diagram of an electric vehicle door closing device shown in an exemplary embodiment of the present application;

[0020] Figure 3 It is a structural diagram of a vehicle-mounted terminal shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0022] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0023] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0024] The embodiments of the present application respectively provide a method for closing an electric vehicle door, a device for closing an electric vehicle door, a vehicle-mounted terminal, and a vehicle. These embodiments will be described in detail below.

[0025] See also Figure 1 , Figure 1 FIG1 shows a flow chart of a method for closing an electric vehicle door according to an embodiment of the present application. Figure 1 As shown, the method includes at least steps S110 to S130, which are described in detail as follows:

[0026] Step S110 , obtaining the activation state of the door switch device and the door opening angle to be detected of the electric vehicle door, and periodically obtaining the door opening angle of the electric vehicle door at intervals of a preset time period.

[0027] In one embodiment of the present application, one cycle is 3 seconds, the preset time period is 0.1 second, the door opening angle of the electric door is obtained at intervals of 0.1 second within 3 seconds, and the difference between the door opening angles at two consecutive moments is determined as the angle change value.

[0028] In one embodiment of the present application, the door switch device is a door button, which is arranged on the door handle of the electric door. According to the design and function of the vehicle, the door handle of the electric door includes a variety of styles and types, such as hidden door handles, traditional outward pull door handles, electric telescopic door handles, etc.

[0029] Step S120: If the door opening angle to be detected is greater than the preset door opening angle and the activation state of the door switch device is not activated, the door release speed is determined by the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments.

[0030] In one embodiment of the present application, if the door switch device does not receive a door opening / closing command, the activation state of the door switch device is inactive. If the door switch device receives a door opening / closing command, the activation state of the door switch device is active, and a door control signal is sent to the door controller, which controls the opening or closing of the electric door.

[0031] Step S130: determining the door closing speed according to the door release speed, and controlling the electric vehicle door to close according to the door closing speed.

[0032] exist Figure 1 In the technical solution shown, by obtaining the startup state of the door switch device and the door opening angle to be detected of the electric vehicle door, the angle change value of the electric vehicle door is periodically obtained at intervals of a preset time period. If the startup state of the door switch device is not started, and the door opening angle to be detected is detected to be greater than the preset door opening angle, the door release speed is determined by the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments; the door release speed is determined by the startup state of the door switch device, the door opening angle to be detected of the electric vehicle door and the angle change value of the electric vehicle door, the door closing speed is determined by the door release speed, and the electric vehicle door is controlled to close according to the door closing speed. In the scenario of manual door closing, the door can still be electronically driven to close, and the corresponding door release speed is calculated based on different angle change values, and then the corresponding door closing speed is determined by different door release speeds. It can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards and improving user experience.

[0033] In one embodiment of the present application, if the angle change value includes a first angle change value, determining the door release speed based on the angle change value includes: calculating the difference between the door opening angle at the current moment and the door opening angle at the previous moment, recording it as the first angle change value; if the first angle change value is greater than the minimum angle change value and less than or equal to a first angle threshold, using a preset initial door operating speed as the door release speed; if the first angle change value is greater than the first angle threshold, calculating the current door operating speed based on the first angle change value, and determining the door release speed based on the current door operating speed; the first angle threshold is obtained based on the initial door operating speed. By monitoring changes in the door opening angle, the system can sense door operation in real time. Calculating corresponding door release speeds based on different angle change values, and then determining corresponding door closing speeds based on different door release speeds, can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards, and improving the user experience.

[0034] As an example, the initial door speed is V0, the preset door opening angle is α degrees, and the minimum angle change value is β degrees. When the door opening angle to be detected is greater than the preset door opening angle "α degrees", the calculated first angle change value is γ degrees, where γ is greater than β. The first angle threshold is calculated based on the initial door speed:

[0035] θ1=0.1*V0

[0036] Where θ1 is the first angle threshold, V0 is the initial door running speed, and the calculated first angle threshold is 0.1V1. If γ is equal to 0.1V0, that is, the first angle change value Δθ1 "γ degrees" is greater than the minimum angle change value "β degrees" and equal to the first angle threshold θ1 "0.1V0", the preset initial door running speed "V1" is used as the door release speed. If the first angle change value Δθ1 is 0.1V0+θ e ,θ e The angle of the external forward force, that is, the first angle change value Δθ1 "0.1V0+θ e " is greater than the first angle threshold θ1 "0.1V0", the door running speed at the current moment is calculated by the first angle change value Δθ1:

[0037] V t1 =Δθ1 / 0.1

[0038] Among them, Δθ1 is the first angle change value, V t1The current door operating speed is used to determine the door release speed based on the current door operating speed. The corresponding door release speed is calculated based on different angle changes, and the corresponding door closing speed is determined based on different door release speeds. This can adapt to different usage scenarios and user needs, allowing the door to be safely closed in different scenarios, avoiding driving safety hazards and improving the user experience.

[0039] As a specific example, the initial door running speed V0 is 40 degrees / second, the preset door opening angle is 20 degrees, and the minimum angle change value is 2 degrees. When the door opening angle to be detected is greater than the preset door opening angle "20 degrees", the first angle change value is calculated to be 4 degrees. The first angle threshold is calculated based on the initial door running speed:

[0040] θ1=0.1*V0

[0041] Where θ1 is the first angle threshold, and V0 is the initial door speed. Given an initial door speed of 10 degrees / second, the calculated first angle threshold is 4 degrees. Since the first angle change value of 4 degrees is greater than the minimum angle change value of 2 degrees and equal to the first angle threshold of 4 degrees, the preset initial door speed is used as the door release speed. The system calculates the corresponding door release speed based on different angle change values, and then determines the corresponding door closing speed based on these different door release speeds. This system can adapt to different usage scenarios and user needs, allowing for safe door closing in different scenarios, avoiding driving safety hazards and improving the user experience.

[0042] As a specific example, if the first angle change value is 5 degrees and the second angle change value is 4 degrees, since the first angle change value "5 degrees" is greater than the first angle threshold "4 degrees", the current door running speed is calculated using the first angle change value:

[0043] V t1 =Δθ1 / 0.1

[0044] Among them, Δθ1 is the first angle change value, V t1 is the door running speed at the current moment. Given that Δθ1 is 5 degrees, calculate the door running speed V at the current moment. t1 The system calculates the door release speed based on the current door speed and calculates the corresponding door release speed based on the angle change value. This system can adapt to different usage scenarios and user needs, allowing the door to be safely closed in different scenarios, avoiding driving safety hazards and improving the user experience.

[0045] In one embodiment of the present application, if the angle change value includes a second angle change value, determining the door release speed based on the current door operating speed includes the following steps: calculating the difference between the door opening angle at the current moment and the door opening angle at the next moment, recording it as the second angle change value; if the second angle change value is greater than the minimum angle change value and less than or equal to a second angle threshold, using the current door operating speed as the door release speed; if the second angle change value is greater than the second angle threshold, calculating the door operating speed at the next moment using the second angle change value, and determining the door release speed based on the door operating speed at the next moment; the second angle threshold is obtained based on the current door operating speed. Calculating the corresponding door release speed based on different angle change values, and then determining the corresponding door closing speed based on the different door release speeds, can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards, and improving the user experience.

[0046] As an example, V t1 The second angle threshold is calculated based on the current door speed:

[0047] θ2=0.1*V t1

[0048] Where θ2 is the second angle threshold, V t1 is the door speed at the current moment, and the second angle threshold is calculated to be 0.1V t1 , if δ is less than 0.1V t1 , that is, the second angle change value Δθ2 "δ degrees" is greater than the minimum angle change value "β degrees" and less than the second angle threshold θ2 "0.1V t1 ", then the door running speed at the current moment "V t1 " is used as the door release speed. If the second angle change value Δθ2 is 0.1V t1 +θ e ,θ e The angle of the external forward force, that is, the second angle change value Δθ2 "0.1V t1 +θ e " is greater than the second angle threshold θ1 "0.1*V t1 ", then the door running speed at the next moment is calculated by the second angle change value Δθ2:

[0049] V t2 =Δθ2 / 0.1

[0050] Among them, Δθ2 is the second angle change value, V t2The system calculates the door's operating speed at the next moment and determines the target door release speed based on the door's operating speed at the next moment. The corresponding door release speeds are calculated based on different angle changes, and the corresponding door closing speeds are determined based on different door release speeds. This adapts to different usage scenarios and user needs, allowing the door to be safely closed in different scenarios, avoiding driving safety hazards and improving the user experience.

[0051] As a specific example, the current door speed is 50 degrees / second, the preset door opening angle is 20 degrees, the minimum angle change value is 2 degrees, and the second angle change value is 3 degrees. The second angle threshold is calculated based on the current door speed:

[0052] θ2=0.1*V t1

[0053] Where θ2 is the second angle threshold, V t1 The current door speed is 50 degrees per second, so the second angle threshold is calculated to be 5 degrees. Since the second angle change value of 3 degrees is greater than the minimum angle change value of 2 degrees and less than the first angle threshold θ2 of 5 degrees, the current door speed is used as the door release speed. Calculating the corresponding door release speed based on different angle change values, and then determining the corresponding door closing speed based on different door release speeds, can adapt to different usage scenarios and user needs, allowing for safe door closing in different scenarios, avoiding driving safety hazards, and improving the user experience.

[0054] As a specific example, if the second angle change value is 6 degrees and the second angle threshold is 5 degrees, since the second angle change value "6 degrees" is greater than the second angle threshold "5 degrees", the current door running speed is calculated based on the second angle change value.

[0055] V t2 =Δθ2 / 0.1

[0056] Among them, Δθ2 is the second angle change value, V t2 The door speed at the next moment is calculated. If the second angle change value Δθ2 is 6 degrees, the door speed at the current moment V is calculated. t2 The door release speed is 60 degrees per second and is determined based on the current door speed. The corresponding door release speed is calculated based on different angle changes, and the corresponding door closing speed is determined based on different door release speeds. This can adapt to different usage scenarios and user needs, allowing for safe door closing in different scenarios, avoiding driving safety hazards and improving the user experience.

[0057] In one embodiment of the present application, determining a door release speed based on the door operating speed at a next moment includes: extracting the angle change between the door opening angles at two consecutive moments, recorded as a third angle change value, where the consecutive moments include the next moment and the latest moment; if the third angle change value is greater than the minimum angle change value and less than or equal to a third angle threshold, using the door operating speed at the next moment as a target door release speed; if the third angle change value is greater than the third angle threshold, calculating the door operating speed at the latest moment based on the third angle change value, and determining the door release speed based on the door operating speed at the latest moment, until the angle change between the door opening angles at two consecutive moments is less than the target angle threshold; wherein the third angle threshold is determined based on the door operating speed at the next moment, and the target angle threshold is determined based on the door operating speed at the latest moment. Calculating corresponding door release speeds based on different angle change values, and then determining corresponding door closing speeds based on different door release speeds, can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards, and improving user experience.

[0058] As an example, V t2 The third angle threshold is calculated by the door speed at the next moment:

[0059] θ3=0.1*V t2

[0060] Where θ3 is the third angle threshold, V t2 The door speed at the next moment is calculated, and the third angle threshold is 0.1V. t2 , if ε is greater than 0.1V t2 , that is, the third angle change value Δθ3 "ε degrees" is greater than the minimum angle change value "β degrees" and less than the third angle threshold θ3 "0.1V t2 ", then the door running speed at the next moment "V t2 " is used as the target door release speed. If the second angle change value Δθ3 is 0.1V t2 +θ e ,θ e The angle of the external forward force, that is, the second angle change value Δθ3 "0.1V t2 +θ e " is greater than the third angle threshold θ3 "0.1V t2 ", then the door running speed at the latest moment is calculated by the third angle change value Δθ3:

[0061] V t3 =Δθ3 / 0.1

[0062] Among them, Δθ3 is the third angle change value, V t3 The system uses the latest door operating speed as the basis for determining the door release speed, until the change in door opening angle between two consecutive moments falls below the target angle threshold. The system calculates the corresponding door release speed based on the different angle changes, and then determines the corresponding door closing speed based on the different door release speeds. This adapts to different usage scenarios and user needs, allowing for safe door closing in various scenarios, avoiding driving safety hazards and improving the user experience.

[0063] As a specific example, the door speed V at the next moment t2 The speed is 60 degrees / second, the preset door opening angle is 20 degrees, the minimum angle change value is 2 degrees, the third angle change value is 5 degrees, and the third angle threshold is calculated according to the door running speed at the next moment:

[0064] θ3=0.1*V t2

[0065] Where θ3 is the third angle threshold, V t2 The third angle threshold is calculated as 6 degrees, given that the door speed at the next moment is 60 degrees / second. Since the third angle change value of 5 degrees is greater than the minimum angle change value of 2 degrees and less than the first angle threshold of 6 degrees, the door speed at the next moment is used as the door release speed. Calculating the corresponding door release speed based on different angle change values, and then determining the corresponding door closing speed based on different door release speeds, can adapt to different usage scenarios and user needs, allowing for safe door closing in different scenarios, avoiding driving safety hazards, and improving the user experience.

[0066] As a specific example, if the third angle change value is 7 degrees and the third angle threshold is 6 degrees, since the third angle change value "7 degrees" is greater than the third angle threshold "6 degrees", the latest door running speed is calculated using the third angle change value:

[0067] V t3 =Δθ3 / 0.1

[0068] Among them, Δθ3 is the third angle change value, V t3 is the latest door running speed. Given that the third angle change value Δθ3 is 7 degrees, the latest door running speed V is calculated. t3The system calculates the door release speed based on the door angle change, which is 70 degrees per second, until the change in door opening angle between two consecutive moments is less than a target angle threshold. The target angle threshold is determined based on the door's most recent operating speed. This system then determines the corresponding door closing speed based on the door release speed, adapting to different usage scenarios and user needs. This allows for safe door closing in various scenarios, avoiding potential driving safety hazards and improving the user experience.

[0069] In one embodiment of the present application, if the door release speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the electric vehicle door is controlled to close at a preset first door closing speed; if the door release speed is greater than or equal to a second vehicle speed threshold and less than a third vehicle speed threshold, the electric vehicle door is controlled to close at a preset second door closing speed; if the door release speed is greater than or equal to a third vehicle speed threshold and less than a fourth vehicle speed threshold, the electric vehicle door is controlled to close at a preset third door closing speed; wherein the first vehicle speed threshold is less than the second vehicle speed threshold, the second speed threshold is greater than the third vehicle speed threshold, and the third speed threshold is less than the fourth speed threshold. In the above embodiment, if the door release speed is greater than the fourth vehicle speed threshold, electric closing is not performed. By setting different door closing speed intervals, the follow-up closing speed requirements of different users under different door closing intentions can be effectively met, which not only improves the operational flexibility of the door, but also greatly enhances the user experience.

[0070] As an example, the first vehicle speed threshold is V c1 , the second speed threshold is V c2 , the third speed threshold is V c3 , the fourth speed threshold is V c4 , the closing speed of the first door is V1, the closing speed of the second door is V2, and the closing speed of the third door is V3. When the door release speed is less than the first speed threshold "V c1 ", if the door release speed is greater than or equal to the first vehicle speed threshold "V c1 " and is less than the second vehicle speed threshold "V c2 ", the electric vehicle door is controlled to close according to the preset first door closing speed "V1"; if the door release speed is greater than or equal to the second speed threshold "V c2 " and is less than the third vehicle speed threshold "V c3 ", the electric vehicle door is controlled to close at the preset second door closing speed "V2"; if the door release speed is greater than or equal to the third vehicle speed threshold "V c3 " and is less than the fourth vehicle speed threshold "V c4 ", the electric vehicle door is controlled to close at the preset third door closing speed "V3", and the door release speed is greater than the fourth vehicle speed threshold "V c4", no electric closing is performed; wherein, the first vehicle speed threshold is less than the second vehicle speed threshold, the second speed threshold is greater than the third speed threshold, and the third speed threshold is less than the fourth speed threshold. By setting different door closing speed intervals, the follow-up closing speed requirements of different users under different door closing intentions can be effectively met, which not only improves the operational flexibility of the door, but also greatly enhances the user experience.

[0071] In one embodiment of the present application, the door closing speed is determined by the door release speed, and the method further includes: when the door release speed is less than a first vehicle speed threshold, then after the electric door stops, identifying the distance between the current electric door position and the electric door closing position, and recording it as the farthest distance; if the farthest distance is less than the electric door stroke, calculating the difference between the electric door stroke and the farthest distance, and recording it as the supplementary distance, the door stroke represents the distance from the electric door fully open position to the tightly closed position with the vehicle body; inputting the supplementary distance into a pre-trained door closing speed prediction model to obtain a fourth door closing speed; and controlling the electric door to close according to the fourth door closing speed. In the process of closing the car door, due to environmental factors, such as wind resistance, or the passenger pushing the door with less force, the car door will be released at a low speed, causing the car door to stay in place or even rebound. In this case, the angle change value cannot be identified, and it is difficult to calculate the car door closing speed. Therefore, when it is identified that the car door release speed is less than the first vehicle speed threshold, the distance between the current electric door position and the electric door closed position is identified, and the car door closing speed is obtained based on the distance. Therefore, when the door is closed manually, the car door can still be electronically driven to close in the scenario where the car door release speed is too low, thereby meeting the different door closing needs of different users and improving the user experience.

[0072] In one embodiment of the present application, the training process of the vehicle door closing speed prediction model includes: when the electric door is not closed, obtaining an electric door sample data set, the electric door sample data set including the longest distance and the electric door closing speed corresponding to the longest distance; dividing the electric door sample data set according to a preset division ratio to obtain a training data set and a test data set; inputting the training data set into the initial vehicle door closing speed prediction model for training, and testing the trained initial vehicle door closing speed prediction model through the test data set to obtain a vehicle door closing speed prediction model.

[0073] Figure 2 FIG2 shows a block diagram of an electric vehicle door closing device according to an exemplary embodiment of the present application. Figure 2As shown, an electric vehicle door closing device 200 according to an embodiment of the present application includes: an acquisition module 210, a determination module 220, and a control module 230. The acquisition module is used to acquire the activation state of the door switch device and the door opening angle to be detected of the electric vehicle door, and periodically acquire the door opening angle of the electric vehicle door at preset time intervals; the determination module is used to determine the door release speed based on the angle change value if the door opening angle to be detected is greater than the preset door opening angle and the activation state of the door switch device is not activated. The angle change value includes the difference between the door opening angles at two consecutive moments; the control module is used to determine the door closing speed based on the door release speed and control the electric vehicle door to close according to the door closing speed. By obtaining the startup state of the door switch device and the door opening angle to be detected of the electric vehicle door, the angle change value of the electric vehicle door is periodically obtained at intervals of a preset time period. If the startup state of the door switch device is not started and the door opening angle is detected to be greater than the preset door opening angle, the door release speed is determined by the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments; the door release speed is determined by the startup state of the door switch device, the door opening angle to be detected of the electric vehicle door and the angle change value of the electric vehicle door, the door closing speed is determined by the door release speed, and the electric vehicle door is controlled to close according to the door closing speed. In the scenario of manual door closing, the door can still be electronically driven to close, and the corresponding door release speed is calculated based on different angle change values, and then the corresponding door closing speed is determined by different door release speeds. It can adapt to different usage scenarios and user needs, thereby safely closing the door in different scenarios, avoiding driving safety hazards and improving user experience.

[0074] In one embodiment of the present application, the determination module is used to calculate the difference between the door opening angle at the current moment and the door opening angle at the previous moment, which is recorded as the first angle change value; if the first angle change value is greater than the minimum angle change value and less than or equal to the first angle threshold, the preset initial door running speed is used as the door release speed; if the first angle change value is greater than the first angle threshold, the door running speed at the current moment is calculated according to the first angle change value, and the door release speed is determined based on the door running speed at the current moment; the first angle threshold is obtained based on the initial door running speed.

[0075] In one embodiment of the present application, the determination module is used to calculate the difference between the door opening angle at the current moment and the door opening angle at the next moment, which is recorded as the second angle change value; if the second angle change value is greater than the minimum angle change value and less than or equal to the second angle threshold, the door running speed at the current moment is used as the door release speed; if the second angle change value is greater than the second angle threshold, the door running speed at the next moment is calculated according to the second angle change value, and the door release speed is determined based on the door running speed at the next moment; the second angle threshold is obtained based on the door running speed at the current moment.

[0076] In one embodiment of the present application, a determination module is used to determine the door release speed based on the door running speed at the next moment, including: extracting the angle change value between the door opening angles at two consecutive moments, recorded as a third angle change value, and the consecutive moments include the next moment and the latest moment; if the third angle change value is greater than the minimum angle change value and less than or equal to the third angle threshold, the door running speed at the next moment is used as the target door release speed; if the third angle change value is greater than the third angle threshold, the door running speed at the latest moment is calculated based on the third angle change value, and the door release speed is determined based on the door running speed at the latest moment, until the angle change value between the door opening angles at two consecutive moments is less than the target angle threshold; wherein, the third angle threshold is obtained based on the door running speed at the next moment, and the target angle threshold is obtained based on the door running speed at the latest moment.

[0077] In one embodiment of the present application, the control module is used to determine the door closing speed through the door release speed, including: if the door release speed is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, then the electric vehicle door is controlled to close according to the preset first vehicle door closing speed; if the door release speed is greater than or equal to the second vehicle speed threshold and less than the third vehicle speed threshold, then the electric vehicle door is controlled to close according to the preset second door closing speed; if the door release speed is greater than or equal to the third vehicle speed threshold and less than the fourth vehicle speed threshold, then the electric vehicle door is controlled to close according to the preset third door closing speed; wherein, the first vehicle speed threshold is less than the second vehicle speed threshold, the second vehicle speed threshold is the third vehicle speed threshold, and the third vehicle speed threshold is less than the fourth vehicle speed threshold.

[0078] In one embodiment of the present application, the determination module is used to identify the distance between the current electric door position and the electric door closed position after the electric door stops when the door release speed is less than a first vehicle speed threshold, and record it as the farthest distance; if the farthest distance is less than the electric door stroke, the difference between the electric door stroke and the farthest distance is calculated, and recorded as the supplementary distance, and the door stroke represents the distance from the electric door fully open position to the tightly closed position with the vehicle body; the supplementary distance is input into a pre-trained door closing speed prediction model to obtain a fourth door closing speed; and the electric door is controlled to close according to the fourth door closing speed.

[0079] In one embodiment of the present application, the electric vehicle door closing device also includes a model training module, which is used to obtain an electric door sample data set when the electric door is not closed, the electric door sample data set including the farthest distance and the electric door closing speed corresponding to the farthest distance; divide the electric door sample data set according to a preset division ratio to obtain a training data set and a test data set; input the training data set into the initial door closing speed prediction model for training, and test the trained initial door closing speed prediction model through the test data set to obtain a door closing speed prediction model.

[0080] It should be noted that the apparatus provided in the above embodiments and the methods provided in the above embodiments are based on the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the apparatus provided in the above embodiments can, as needed, allocate the above functions to different functional modules, i.e., divide the internal structure of the apparatus into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0081] See also Figure 3 , Figure 3 This is a structural diagram of a vehicle-mounted terminal shown in an exemplary embodiment of the present application. It should be noted that, Figure 3 The vehicle-mounted terminal 300 shown is only an example and should not impose any limitations on the functions and usage area of ​​the embodiments of the present application.

[0082] like Figure 3 As shown, the vehicle terminal 300 includes a processor 301, a memory 302 and a communication bus 303; the communication bus 303 is used to connect the processor 301 and the memory 302; the processor 301 is used to execute the computer program stored in the memory 302 to implement one or more methods as in the above embodiments.

[0083] The vehicle-mounted terminal provided in this application includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used for communication, and the processor and the transceiver are used to run computer programs so that the electronic device executes the various steps of the above method.

[0084] In this embodiment, the memory may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0085] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0086] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, any equivalent modifications or alterations accomplished by a person of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A method for closing an electric vehicle door, characterized in that: The method comprises: Acquire the activation state of the door switch device and the door opening angle to be detected of the electric vehicle door, and periodically acquire the door opening angle of the electric vehicle door at a preset time interval; If the door opening angle to be detected is greater than the preset door opening angle and the activation state of the door switch device is not activated, the door release speed is determined by the angle change value, and the angle change value includes the difference between the door opening angles at two consecutive moments; Determining a door closing speed according to the door release speed, and controlling the electric vehicle door to close according to the door closing speed; Among them, the process of determining the door release speed through the angle change value includes: calculating the difference between the door opening angle at the current moment and the door opening angle at the previous moment, recorded as the first angle change value; if the first angle change value is greater than the minimum angle change value and less than or equal to the first angle threshold, then the preset initial door running speed is used as the door release speed; if the first angle change value is greater than the first angle threshold, the door running speed at the current moment is calculated through the first angle change value, and the door release speed is determined based on the door running speed at the current moment; the first angle threshold is obtained based on the initial door running speed.

2. The electric vehicle door closing method according to claim 1, characterized in that: If the angle change value includes the second angle change value, determining the door release speed based on the door operation speed at the current moment includes: Calculate the difference between the door opening angle at the current moment and the door opening angle at the next moment, and record it as the second angle change value; If the second angle change value is greater than the minimum angle change value and less than or equal to the second angle threshold, the door running speed at the current moment is used as the door release speed; If the second angle change value is greater than the second angle threshold, the door running speed at the next moment is calculated using the second angle change value, and the door release speed is determined based on the door running speed at the next moment; the second angle threshold is obtained based on the door running speed at the current moment.

3. The electric vehicle door closing method according to claim 2, characterized in that: The door release speed is determined based on the door operation speed at the next moment, including: Extracting the angle change value between the door opening angles at two consecutive moments, which is recorded as the third angle change value, wherein the consecutive moments include the next moment and the latest moment; If the third angle change value is greater than the minimum angle change value and less than or equal to the third angle threshold, the door running speed at the next moment is used as the door release speed; If the third angle change value is greater than a third angle threshold, calculating the door operating speed at the latest moment based on the third angle change value, and determining the door release speed based on the door operating speed at the latest moment, until the angle change value between the door opening angles at two consecutive moments is less than a target angle threshold; The third angle threshold is obtained based on the door running speed at the next moment, and the target angle threshold is obtained based on the door running speed at the latest moment.

4. The electric vehicle door closing method according to any one of claims 1 to 3, characterized in that: Determining the door closing speed according to the door release speed includes: If the door release speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, controlling the electric vehicle door to close at a preset first door closing speed; If the door release speed is greater than or equal to the second vehicle speed threshold and less than the third vehicle speed threshold, controlling the electric vehicle door to close at a preset second door closing speed; If the door release speed is greater than or equal to a third vehicle speed threshold and less than a fourth vehicle speed threshold, controlling the electric vehicle door to close at a preset third door closing speed; The first vehicle speed threshold is smaller than the second vehicle speed threshold, the second vehicle speed threshold is smaller than the third vehicle speed threshold, and the third vehicle speed threshold is smaller than the fourth vehicle speed threshold.

5. The electric vehicle door closing method according to claim 4, characterized in that: Determining the door closing speed by the door release speed also includes: When the door release speed is less than the first vehicle speed threshold, after the electric door stops, the distance between the current electric door position and the electric door closed position is identified and recorded as the farthest distance; If the maximum distance is less than the electric door stroke, the difference between the electric door stroke and the maximum distance is calculated and recorded as the supplementary distance, where the electric door stroke represents the distance from the electric door being fully opened to being tightly closed with the vehicle body; Inputting the supplementary distance into a pre-trained door closing speed prediction model to obtain a fourth door closing speed; The electric door is controlled to close at the fourth door closing speed.

6. The electric vehicle door closing method according to claim 5, characterized in that: The training process of the door closing speed prediction model includes: When the electric door is not closed, obtaining an electric door sample data set, wherein the electric door sample data set includes the farthest distance and the electric door closing speed corresponding to the farthest distance; Divide the electric door sample data set according to a preset division ratio to obtain a training data set and a test data set; The training data set is input into an initial vehicle door closing speed prediction model for training, and the trained initial vehicle door closing speed prediction model is tested using the test data set to obtain a vehicle door closing speed prediction model.

7. An electric vehicle door closing device, characterized in that: The device comprises: An acquisition module is used to acquire the activation state of the door switch device and the door opening angle to be detected of the electric vehicle door, and periodically acquire the door opening angle of the electric vehicle door at intervals of a preset time period; a determination module configured to determine the door release speed based on an angle change value if the door opening angle to be detected is greater than a preset door opening angle and the activation state of the door switch device is not activated, wherein the angle change value includes a difference between the door opening angles at two consecutive moments; a control module, configured to determine a door closing speed according to the door release speed, and control the electric vehicle door to close according to the door closing speed; Among them, the process of the determination module determining the door release speed through the angle change value includes: calculating the difference between the door opening angle at the current moment and the door opening angle at the previous moment, recorded as the first angle change value; if the first angle change value is greater than the minimum angle change value and less than or equal to the first angle threshold, then the preset initial door running speed is used as the door release speed; if the first angle change value is greater than the first angle threshold, the door running speed at the current moment is calculated through the first angle change value, and the door release speed is determined based on the door running speed at the current moment; the first angle threshold is obtained based on the initial door running speed.

8. A vehicle-mounted terminal, characterized in that: It comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the electric vehicle door closing method as described in any one of claims 1 to 6.

9. A vehicle, characterized in that: Comprising the vehicle-mounted terminal as claimed in claim 8.

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