Vehicle door control method, device and system, vehicle and storage medium

Abstract

The invention provides a vehicle door control method, device and system, a vehicle and a storage medium. Specifically, after a vehicle door active control instruction for controlling a target vehicle door to be opened or closed is received, position parameters of the target vehicle door can be obtained firstly. And then controlling a target motor to move the target vehicle door according to the position parameter of the target vehicle door. Along with the movement of the target vehicle door, the position parameter of the target vehicle door can meet the first switching condition. After it is determined that the first switching condition is met, the moving speed parameter of the target vehicle door can be calculated according to the position parameter of the target vehicle door, and the target motor is controlled to move the target vehicle door according to the moving speed parameter of the target vehicle door. Therefore, closed-loop control is carried out based on the position when the speed of the motor is low, and closed-loop control is carried out based on the speed when the speed of the motor is high, so that the problem that closed-loop control based on the speed is unstable at a low-speed section is solved. In this way, the target vehicle door can be stably controlled to be opened or closed.

Description

Technical Field

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

[0002] With the development of technology, many vehicles are equipped with the function of automatic door opening and closing. Automatic door opening and closing refers to moving the position of the door through the motor and drive mechanism to achieve the effect of automatic door opening or closing. Specifically, the driver or passenger can trigger a specific command to instruct the vehicle to open or close the door, without manual pushing and pulling, to achieve the effect of automatic door opening and closing.

[0003] At present, the automatic opening and closing of car doors is mainly based on the closed-loop control of the moving speed of the car door. During the process of opening or closing the car door, the controller can monitor the position of the car door through the sensor and calculate the moving speed of the car door, and then adjust the input of the motor according to the moving speed of the car door. In this way, the movement of the car door is controlled based on the moving speed, and the effect of automatic opening and closing of the car door can be achieved.

[0004] However, the above control method has poor stability. Summary of the invention

[0005] In view of this, the present application provides a door control method, device, system, vehicle and storage medium, aiming to stably control the opening and closing of the door.

[0006] In a first aspect, the present application provides a vehicle door control method, the method comprising:

[0007] In response to an active door control instruction for a target door, obtaining a position parameter of the target door;

[0008] Controlling a target motor to move the target door according to the position parameter of the target door;

[0009] In response to the position parameter of the target door satisfying a first switching condition, calculating a moving speed parameter of the target door according to the position parameter of the target door;

[0010] The target motor is controlled to move the target door according to the moving speed parameter of the target door.

[0011] In some possible implementations, after controlling the target motor according to the moving speed parameter,

[0012] The method comprises:

[0013] In response to the position parameter of the target door satisfying a second switching condition, the target motor is controlled to move the target door according to the position parameter of the target door.

[0014] In some possible implementations, controlling the target motor to move the target door based on the position parameter of the target door includes:

[0015] Controlling the output power of the target motor to be a first power;

[0016] In response to a change in the position parameter of the target door, the output power of the target motor is controlled to decrease from the first power to a second power, where the second power is less than the first power.

[0017] In some possible implementations, controlling the target motor to move the target door based on the position parameter of the target door includes:

[0018] In response to the position parameter of the target door not changing, the output power of the target motor is controlled to increase from the first power to a third power, where the third power is greater than the first power.

[0019] In some possible implementations, the method further includes:

[0020] In response to the door auxiliary control instruction, the target motor is controlled to move the target door based on preset target control related parameters, and the control parameters are recorded;

[0021] Acquire the door active control instruction, and determine the target control parameter according to the recorded control parameter;

[0022] The target control parameter is used to control the target motor to move the target door.

[0023] In a second aspect, the present application provides a vehicle door control device, the device comprising:

[0024] an acquisition unit, configured to acquire a position parameter of a target door in response to an active door control instruction for the target door;

[0025] A first control unit, configured to control a target motor to move the target door according to a position parameter of the target door;

[0026] a moving speed calculation unit, configured to calculate a moving speed parameter of the target door according to the position parameter of the target door in response to the position parameter of the target door satisfying a first switching condition;

[0027] The second control unit is used to control the target motor to move the target door according to the moving speed parameter of the target door.

[0028] In some possible implementations, the first control unit is further configured to, in response to the position parameter of the target door satisfying a second switching condition, control the target motor to move the target door according to the position parameter of the target door.

[0029] In some possible implementations, the first control unit is specifically used to control the output power of the target motor to be a first power; in response to a change in the position parameter of the target door, the output power of the target motor is controlled to be reduced from the first power to a second power, and the second power is less than the first power.

[0030] In some possible implementations, the first control unit is specifically configured to control the output power of the target motor to increase from the first power to a third power in response to the position parameter of the target door not changing, and the third power is greater than the first power.

[0031] In some possible implementations, the device also includes a switching control unit, which is used to respond to the door auxiliary control instruction, control the target motor to move the target door based on preset target control-related parameters, and record the control parameters; obtain the door active control instruction, determine the target control parameters according to the recorded control parameters; and use the target control parameters to control the target motor to move the target door.

[0032] In a third aspect, the present application provides a door control system, which includes a position sensor, a target motor and a control module; the position sensor is used to collect position parameters of the target door; the target motor is used to move the position of the target door; and the control module is used to implement the method described in any one of the first aspects above.

[0033] In a fourth aspect, the present application provides a vehicle comprising at least one door and a door control system as described in the third aspect above.

[0034] In a fifth aspect, the present application provides a device comprising a memory and a processor, wherein the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the vehicle door control method described in any one of the first aspects above.

[0035] In a sixth aspect, the present application provides a computer storage medium, wherein the computer storage medium stores a code. When the code is executed, a device executing the code implements the method described in any one of the first aspects above.

[0036] In a seventh aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect.

[0037] The present application provides a door control method, device, system, vehicle and storage medium, which can stably control the opening and closing of the door. Specifically, after receiving an active door control instruction for controlling the opening or closing of a target door, the position parameter of the target door can be obtained first. Then, the target motor can be controlled to move the target door according to the position parameter of the target door. As the target door moves, the position parameter of the target door will meet the first switching condition. After determining that the first switching condition is met, the moving speed parameter of the target door can be calculated according to the position parameter of the target door, and the target motor can be controlled to move the target door according to the moving speed parameter of the target door. That is, when the target door is about to start moving, the running speed of the target motor is low, and the target motor can be controlled according to the position of the target door; and after the position parameter of the target door meets the first switching condition, it can be considered that the running speed of the target motor is relatively high, so the target motor can be controlled according to the moving speed parameter of the target door. In this way, closed-loop control is performed based on position when the motor speed is low, and closed-loop control is performed based on speed when the motor speed is high, which solves the problem of instability in the low-speed section in the closed-loop control based on speed. In this way, the target door can be stably controlled to be opened or closed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic flow chart of a door control method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a valve control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] Automatic door opening and closing technology has been applied in many vehicles because it is convenient and quick without requiring passengers or drivers to push and pull the doors manually. In order to realize automatic opening or closing of the doors, motors and drive mechanisms can be deployed on the vehicle, and control devices for controlling the automatic opening and closing of the doors can be deployed in the vehicle's control system.

[0042] Taking the automatic opening of the car door as an example, after receiving the command to automatically open the car door, the control device can start the motor. After the motor is started, the position of the car door can be moved by the driving mechanism. During the movement of the car door, the control device can monitor the position of the car door through the position sensor and calculate the moving speed of the car door according to the position of the car door. According to the moving speed of the car door, the control device can adaptively adjust the input voltage of the motor. The motor speed is different under different input voltages, resulting in different moving speeds of the car door. In this way, closed-loop control based on the moving speed of the car door can control the moving speed of the car door within a reasonable range, and to a certain extent, stable control of the automatic opening and closing of the car door can be achieved.

[0043] The inventors have found through research that although the closed-loop control based on the moving speed can control the speed within a reasonable range, the moving speed of the door in this control method is calculated based on the door position, so it is only suitable for scenes where the door moves faster. If the door moves slower, due to the accuracy of the position sensor, the door moving speed calculated based on the door position may be significantly different from the actual door moving speed, affecting the control accuracy. In some scenes, even non-continuous door speeds may be calculated, resulting in control disorders and system oscillations.

[0044] Although the above problems can be solved by deploying speed sensors, the deployment of speed sensors is labor-intensive and requires the entire vehicle to be redesigned, which makes it difficult to apply in actual production.

[0045] In order to solve the above problems, an embodiment of the present application provides a door control method. The door control method can be applied to a vehicle without a speed sensor to achieve accurate control of the door position. Specifically, the door control method can be applied to a door control device in a vehicle. The door control device can be a control chip or other physical device with control capabilities, or it can be a software module integrated in a vehicle controller or other controllers of the vehicle. The vehicle also includes at least one door, at least one motor, at least one position sensor and at least one drive mechanism. The motor is used to move the position of the door through the drive mechanism, and the position sensor can be used to detect the position of the door.

[0046] The door control method provided by the embodiment of the present application is described below from the perspective of the door control device. Obviously, the described embodiment is only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0047] See also Figure 1 , Figure 1A method flow chart of a door control method provided in an embodiment of the present application includes:

[0048] S101: In response to an active door control instruction for a target door, obtaining position parameters of the target door.

[0049] If a passenger or driver of a vehicle (hereinafter collectively referred to as a user) wants to use the function of automatically opening and closing a door, the door active control operation can be triggered first. According to the door active control operation triggered by the user, the door control device can obtain the door active control instruction. According to the door active control instruction, the door control device can obtain the position parameters of the target door.

[0050] Optionally, if the vehicle has multiple doors, the door active control operation may be triggered for a certain door among the multiple doors. Accordingly, the door targeted by the door active control operation may be referred to as a target door. The door active control instruction is also a control instruction for the target door, used to indicate the position of the target door to be moved. Alternatively, the door active control operation may also be an operation triggered for all doors. Accordingly, the door active control instruction may be used to indicate the position of all doors to be moved. Each door on the vehicle may be regarded as a target door.

[0051] In the embodiment of the present application, the vehicle door may be a mechanism on the vehicle for accommodating the passage of people or other objects. Optionally, the vehicle door in the embodiment of the present application may include a vehicle door used for passengers or drivers to enter in the traditional sense, and may also include a vehicle door in a broad sense such as a trunk door and a front trunk door.

[0052] In some scenarios, the target door may include two states: an open state and a closed state. Accordingly, the door active control instruction may be used to instruct the door control device to switch the target door from one state to another state, for example, it may be used to instruct the door control device to switch the target door from an open state to a closed state, or it may be used to instruct the door control device to switch the target door from a closed state to an open state.

[0053] In some other scenarios, the target door may include three or more states, and accordingly, the door active control instruction may be used to instruct the door control device to switch the target door from one of the multiple states to another state. For example, the target door may include closed, half-open, and fully-open states, and the door active control instruction may be used to instruct the door control device to switch the target door from the closed state to the half-open state, etc.

[0054] In the embodiment of the present application, the position parameter of the target door can be detected by a position sensor corresponding to the target door. After detecting and obtaining the position parameter of the target door, the position sensor corresponding to the target door can send a signal to the door control device so that the door control device obtains the position parameter of the target door. Optionally, the position sensor can be a Hall sensor for detecting the position of the target door.

[0055] In the embodiment of the present application, in order to better control the movement of the target door, the door control device may periodically collect the position parameters of the target door. Optionally, the collection period of the door control device may be, for example, 10 milliseconds.

[0056] S102: Controlling a target motor to move the target door according to the position parameter of the target door.

[0057] After acquiring the position parameters of the target door, the door control device can control the target motor to move the target door according to the position parameters of the target door. During the process of the target motor moving the target door, the door control device can periodically (or non-periodically) acquire the position parameters of the target door through the position sensor.

[0058] In the embodiment of the present application, "controlling the target motor according to the position parameter of the target door" includes using the position parameter of the target door as feedback to determine the control-related parameters of the target motor. The control-related parameters of the target motor can be used to control the output power of the target motor, for example, can include parameters such as the input voltage of the target motor.

[0059] Specifically, assuming that the door control device controls the target motor by controlling the input voltage of the target motor, in the process of controlling the target motor according to the position parameters of the target door, the door control device can first obtain the position parameters of the target door, then calculate the input voltage of the target motor according to the position parameters of the target door, and then use the calculated voltage as the input voltage of the target motor. Optionally, the position parameters of the target door can be used to perform negative feedback control on the target motor.

[0060] In the process of moving the target door, the power required to convert the target door from a stationary state to a moving state may be relatively large. After the target door enters the moving state, the power required to control the target door to perform acceleration, deceleration, and translational motion may be relatively small. For example, if there is a fixed structure between the target door and the vehicle body, a larger output torque may be required to control the target door to separate from the fixed structure, which requires the target motor to output a larger output power.

[0061] That is to say, after the target door starts to move, on the one hand, the position parameters of the target door will change, and on the other hand, the output power required by the target motor will also decrease accordingly. In this way, if the door control device does not actively reduce the output power of the target motor, and only relies on the position parameters of the target door for feedback adjustment, then the target door may move quickly for a distance after starting and then slow down to a normal moving speed. In this way, there is a problem of unstable door movement.

[0062] In order to solve this problem, in an embodiment of the present application, the output power of the target motor can be reduced after the target door starts to move. Specifically, the door control device can determine whether the target door starts to move based on the position parameters of the target door. After starting to control the target motor to move the target door, the door control device can control the output power of the target motor to be the first power. That is, the initial output power of the target motor is the first power. Optionally, the door control device can control the output power of the target motor by controlling the input voltage of the target motor.

[0063] In the process of controlling the target motor to move the target door, the door control device can collect the position parameters of the target door for multiple times, and after collecting the position parameters of the target door, determine whether the position parameters of the target door are the same as the position parameters collected last time. If the position parameters of the target door collected this time are different from the position parameters collected last time, it means that the position parameters of the target door have changed, and the target door starts to move. After determining that the position parameters of the target door have changed, the output power of the target motor can be reduced, for example, the output power of the target motor can be reduced from the first power to the second power. The second power is less than the first power, for example, it can be a pre-set output power of the target motor used to move the target door during the startup phase. In this way, before the target door starts to move, the target door is converted from a stationary state to a moving state with a larger output power, and after the target door starts to move, the target door continues to be moved with a smaller output power. In this way, the speed of the target door can be stabilized, thereby avoiding the problem of unstable door movement.

[0064] Optionally, after controlling the output power of the target motor to be the second power, the door control device may continue to collect the position parameters of the target door, and use the position parameters of the target door to feedback and adjust the output power of the target motor. Optionally, the door control device may input the position parameters of the target door into a preset control function. The output of the control function is a relevant parameter for controlling the output power of the target motor, such as the input voltage of the target motor.

[0065] Optionally, the control function may include at least one of a proportion (P) calculation link, an integral (I) calculation link, and a derivative (D) calculation link. In an embodiment of the present application, a parameter in the control function that is not related to the independent variable may be referred to as a control parameter.

[0066] In some possible implementations, the preset first power may not be able to start the target door. For example, if the vehicle is parked on a slope, gravity may cause a large torque to be required to convert the target door from a stationary state to a moving state, and the first power may not be able to meet the torque requirement, resulting in the door being unable to open normally.

[0067] To this end, in some possible implementations, if the first power cannot move the target door, the door control device can increase the output power of the target motor. Specifically, the door control device can determine whether the position parameters collected this time are the same as the position parameters collected last time. If they are the same, it means that the position parameters of the target door have not changed and the target door has not started to move. Then the door control device can control the output power of the target motor to increase, for example, the output power of the target motor can be controlled to increase from the first power to the third power. The third power is greater than the first power. Optionally, the third power can be a pre-set power. Alternatively, the door control device can also linearly (or nonlinearly) increase the output power of the target motor. In this way, when the original output power cannot open the door immediately, the output power of the motor can be increased in time to ensure that the target door can be opened normally.

[0068] S103: In response to the position parameter of the target door satisfying the first switching condition, calculating the moving speed parameter of the target door according to the position parameter of the target door.

[0069] In the process of controlling the target motor to move the target door according to the position parameters of the target door, the door control device can collect the position parameters of the target door for multiple times and determine whether the position parameters of the target door meet the first switching condition. If the position parameters of the target door meet the first switching condition, the moving speed parameters of the target door can be calculated according to the position parameters of the target door, so as to control the target motor according to the moving speed parameters of the target door.

[0070] Among them, the first switching condition is a pre-set condition for switching the control method of the target motor from position-based control to movement-based control. That is, before the first switching condition is met, the door control device controls the target motor based on the position parameter of the target door. After the first switching condition is met, the door control device controls the target motor based on the movement speed parameter of the target door. In the embodiment of the present application, the position parameter of the target door satisfies the first preset condition, indicating that the rotation speed of the target motor is relatively high and can meet the demand for control according to the movement speed parameter. Therefore, there will be no instability problem when controlling the target motor according to the movement speed parameter of the target door.

[0071] Optionally, the first switching condition may include a position condition. The position condition indicates that the target door moves to a preset position. That is, before the target door moves to the preset position, the door control device may control the target door based on the position parameter of the target door; after the target door moves to the preset position, the door control device may control the target door based on the moving speed parameter of the target door.

[0072] Alternatively, the first switching condition may also include a distance condition. The distance condition indicates that the distance between the current position of the target door and the starting position reaches a preset distance. That is, before the target door moves the preset distance, the door control device may control the target door based on the position parameter of the target door; after the target door moves the preset distance, the door control device may control the target door based on the moving speed parameter of the target door.

[0073] In the embodiment of the present application, the moving speed parameter of the target door can be calculated based on the position parameter of the target door and time. Specifically, if the position sensor periodically collects the position parameter of the target door, then between the i-th collection of the position parameter of the target door and the i+1-th collection of the position parameter of the target door, the speed of the target door can be obtained based on the difference between the position parameter of the target door collected at the i+1-th collection and the position parameter of the target door collected at the i-th collection, and the collection period of the collection position parameter.

[0074] S104: Controlling the target motor to move the target door according to the moving speed parameter of the target door.

[0075] After the moving speed parameter of the target door is determined, the target motor can be controlled according to the moving speed parameter of the target door. Similar to the control method of controlling the target motor according to the position parameter of the target door, when controlling the target motor according to the moving speed parameter of the target door, the door control device can periodically (or non-periodically) calculate the moving speed parameter of the target door, and use the moving speed parameter of the target door as feedback to determine the control-related parameters of the target motor.

[0076] Optionally, the door control device may input the moving speed parameter of the target door into a preset control function. The output of the control function is a relevant parameter for controlling the output power of the target motor, for example, the input voltage of the target motor. Optionally, the control function may include at least one calculation link among a proportional calculation link, an integral calculation link, and a differential calculation link.

[0077] The present application provides a door control method, which can stably control the opening and closing of a door. Specifically, after receiving an active door control instruction for controlling the opening or closing of a target door, the position parameter of the target door can be first obtained. Then, the target motor can be controlled to move the target door according to the position parameter of the target door. As the target door moves, the position parameter of the target door will meet the first switching condition. After determining that the first switching condition is met, the moving speed parameter of the target door can be calculated according to the position parameter of the target door, and the target motor can be controlled to move the target door according to the moving speed parameter of the target door. That is, when the target door is about to start moving, the running speed of the target motor is low, and the target motor can be controlled according to the position of the target door; and after the position parameter of the target door meets the first switching condition, it can be considered that the running speed of the target motor is relatively high, and the target motor can be controlled according to the moving speed parameter of the target door. In this way, closed-loop control is performed based on position when the motor speed is low, and closed-loop control is performed based on speed when the motor speed is high, which solves the problem of instability in the closed-loop control based on speed at low speeds. In this way, the opening or closing of the target door can be stably controlled.

[0078] As described above, control based on the moving speed parameters of the door may cause instability when the door moves at a low speed. In some possible scenarios, the door may be in a low-speed moving state not only during the start-up process of the target door, but also when the target door is about to reach the target position. Therefore, if the moving speed parameters of the target door are continuously used to control the target motor after the first switching condition is met, the target door may become unstable when it is about to move to the target position.

[0079] To this end, in some possible implementations, when the position parameter of the target door meets the second switching condition, the control method of the target motor can be switched from "control according to the moving speed parameter of the target door" back to "control according to the position parameter of the target door". Specifically, in the process of controlling the target motor to move the target door according to the moving speed parameter, it can be determined whether the position parameter of the target door meets the second switching condition. After determining that the target door meets the second switching condition, the door control device can control the target motor to move the target door according to the position parameter of the target door.

[0080] Among them, the second switching condition is a pre-set condition for switching the control method of the target motor from control based on moving speed to control based on position. That is to say, before the second switching condition is met, the door control device controls the target motor based on the moving speed parameter of the target door. After the second switching condition is met, the door control device controls the target motor based on the position parameter of the target door. In the embodiment of the present application, the position parameter of the target door satisfies the second preset condition, which indicates that the rotation speed of the target motor is relatively low and cannot meet the demand for control based on the moving speed parameter. Therefore, controlling the target motor based on the moving speed parameter of the target door may be unstable.

[0081] In the implementation described above, the user can instruct the door control device to move the target door through the door active control operation to achieve automatic movement of the door. However, in some actual usage scenarios, the user may manually move the target door. The force required to move the target door may be large.

[0082] To this end, in some implementations, there is also a function of assisting the opening and closing of the door. Specifically, if the user's manual pushing and pulling of the door is detected, the door auxiliary control instruction can be triggered. According to the door auxiliary control instruction, the door control device can control the motor to move the target door, and the speed at which the motor moves the target door matches the speed at which the user manually moves the target door. In this way, the motor assists the movement of the door, reducing the force required by the user to move the door, thereby improving the user experience.

[0083] In some possible implementations, the user may trigger the active door control command during the manual door movement. For example, when the user opens the door to a certain intermediate position, he may suddenly remember that he can use the automatic door opening function and trigger the vehicle active control operation. Figure 1 The implementation shown determines control-related parameters of the motor.

[0084] Accordingly, after monitoring the movement of the door from manual control to automatic control, the control parameters in the control function of controlling the motor can be determined according to the control parameters in the manual control process.

[0085] Specifically, after obtaining the door auxiliary control instruction, the door control device can control the target motor to move the target door according to the preset target control related parameters, and record the actual control related parameters of the target motor. For example, the input current of the target motor when assisting the door switch can be preset as the target current. Then, after obtaining the door auxiliary control instruction, the door control device can control the input current of the target motor to be the target current. In this process, the door control device can also record the control parameters, that is, record the values ​​of one or more links in the control function of the door control device.

[0086] If the door active control instruction is obtained, the target control parameter can be determined according to the control parameter recorded above, and the target control parameter can be used to control the target motor to move the target door. Among them, using the target control parameter to control the target motor to move the target door means using the target control parameter to determine the control function, and using the position parameter of the target door and / or the moving speed parameter of the target door to input the control function, and using the output of the control function as the control-related parameter for controlling the target motor.

[0087] Optionally, the door control device can control the input current of the target motor to the target current through integration during the auxiliary door opening and closing process. Then, during the auxiliary door opening and closing process, the door control device can record the value of the integral link. After obtaining the door active control instruction, the accumulated amount of the integral link can be calculated according to the recorded value of the integral link, and the accumulated amount can be used as the control parameter of the integral link in the new control function. In this way, the control parameters in the auxiliary door opening and closing process are used to ensure the smooth switching between the auxiliary door opening and closing and the automatic door opening and closing.

[0088] The above are some specific implementations of the door control method provided in the embodiment of the present application. Based on this, the present application also provides a corresponding door control device. The door control device provided in the embodiment of the present application will be introduced from the perspective of functional modularization.

[0089] See also Figure 2 , Figure 2 A schematic diagram of the structure of a door control device provided in an embodiment of the present application. Specifically, Figure 2 The door control device 200 shown includes:

[0090] An acquisition unit 210, configured to acquire a position parameter of a target door in response to an active door control instruction for the target door;

[0091] A first control unit 220, configured to control a target motor to move the target door according to a position parameter of the target door;

[0092] A moving speed calculation unit 230, configured to calculate a moving speed parameter of the target door according to the position parameter of the target door in response to the position parameter of the target door satisfying a first switching condition;

[0093] The second control unit 240 is used to control the target motor to move the target door according to the moving speed parameter of the target door.

[0094] In some possible implementations, the first control unit 210 is further configured to, in response to the position parameter of the target door satisfying a second switching condition, control the target motor to move the target door according to the position parameter of the target door.

[0095] In some possible implementations, the first control unit 210 is specifically used to control the output power of the target motor to be a first power; in response to changes in the position parameters of the target door, the output power of the target motor is controlled to be reduced from the first power to a second power, and the second power is less than the first power.

[0096] In some possible implementations, the first control unit 210 is specifically configured to control the output power of the target motor to increase from the first power to a third power in response to the position parameter of the target door not changing, and the third power is greater than the first power.

[0097] In some possible implementations, the device also includes a switching control unit, which is used to respond to the door auxiliary control instruction, control the target motor to move the target door based on preset target control-related parameters, and record the control parameters; obtain the door active control instruction, determine the target control parameters according to the recorded control parameters; and use the target control parameters to control the target motor to move the target door.

[0098] The embodiments of the present application also provide corresponding door control systems, vehicles, equipment, computer storage media and computer program products for implementing the technical solutions provided in the embodiments of the present application.

[0099] Among them, in the third aspect, the present application provides a door control system, which includes a position sensor, a target motor and a control module; the position sensor is used to collect the position parameters of the target door; the target motor is used to move the position of the target door; the control module is used to implement the method described in any embodiment of the present application.

[0100] The vehicle comprises at least one door and a door control system as described in any of the aforementioned embodiments of the present application.

[0101] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the door control method described in any embodiment of the present application.

[0102] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the vehicle door control method described in any embodiment of the present application.

[0103] The computer program product includes instructions. When the computer program product is run on a computer, the computer is enabled to execute the vehicle door control method described in any embodiment of the present application.

[0104] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0105] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as a read-only memory (ROM) / ROM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0106] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0107] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A door control method, characterized in that: The method comprises: In response to an active door control instruction for a target door, obtaining a position parameter of the target door; Controlling a target motor to move the target door according to the position parameter of the target door; In response to the position parameter of the target door satisfying a first switching condition, calculating a moving speed parameter of the target door according to the position parameter of the target door; The target motor is controlled to move the target door according to the moving speed parameter of the target door.

2. The method according to claim 1, characterized in that After controlling the target motor according to the moving speed parameter, The method comprises: In response to the position parameter of the target door satisfying a second switching condition, the target motor is controlled to move the target door according to the position parameter of the target door.

3. The method according to claim 1, characterized in that The controlling the target motor to move the target door based on the position parameter of the target door comprises: Controlling the output power of the target motor to be a first power; In response to a change in the position parameter of the target door, the output power of the target motor is controlled to decrease from the first power to a second power, where the second power is less than the first power.

4. The method according to claim 3, characterized in that The controlling the target motor to move the target door based on the position parameter of the target door comprises: In response to the position parameter of the target door not changing, the output power of the target motor is controlled to increase from the first power to a third power, where the third power is greater than the first power.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: In response to the door auxiliary control instruction, the target motor is controlled to move the target door based on preset target control related parameters, and the control parameters are recorded; Acquire the door active control instruction, and determine the target control parameter according to the recorded control parameter; The target control parameter is used to control the target motor to move the target door.

6. A door control device, characterized in that: The device comprises: an acquisition unit, configured to acquire a position parameter of a target door in response to an active door control instruction for the target door; A first control unit, configured to control a target motor to move the target door according to a position parameter of the target door; a moving speed calculation unit, configured to calculate a moving speed parameter of the target door according to the position parameter of the target door in response to the position parameter of the target door satisfying a first switching condition; The second control unit is used to control the target motor to move the target door according to the moving speed parameter of the target door.

7. The device according to claim 6, characterized in that The first control unit is further configured to control the target motor to move the target door according to the position parameters of the target door in response to the position parameters of the target door satisfying a second switching condition.

8. A door control system, characterized in that: The control system includes a position sensor, a target motor and a control module; The position sensor is used to collect the position parameters of the target door; The target motor is used to move the position of the target door; The control module is used to execute the method according to any one of claims 1 to 5 to control the target motor to move the position of the target door.

9. A vehicle, characterized in that: The vehicle includes at least one door and the door control system as claimed in claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor performs the method according to any one of claims 1 to 5.

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