Vehicle door control method and device, vehicle and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle door control method and device, a vehicle and a computer readable storage medium. The method comprises the steps that in the vehicle door opening / closing process, when it is detected that the output voltage of a driving motor of a vehicle door is converted from being smaller than a preset suppression voltage to being larger than the preset suppression voltage, the vehicle door is opened or closed; acquiring the output current of the driving motor; according to the output current and a first preset anti-pinch current, whether the vehicle executes an anti-pinch suppression strategy or not is controlled, the first preset anti-pinch current is larger than a second preset anti-pinch current, and the second preset anti-pinch current is a judgment current which is triggered by opening / closing of a barrier stopping vehicle door and is used for judging whether the anti-pinch suppression strategy is executed or not. According to the technical scheme, mistaken touch of a vehicle door anti-pinch strategy under the working conditions that the vehicle door is pushed by external force and the like can be avoided.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and more particularly to a door control method, device, vehicle, and computer-readable storage medium. Background Art

[0002] During the use of the vehicle, some anti-pinch strategies are often formulated to prevent people from being pinched when the doors are opened and closed, so as to improve the user experience and safety of the vehicle.

[0003] A common anti-pinch protection strategy is that when the door encounters an obstacle during closing, the door closing speed is reduced. In order to maintain the door speed, the voltage of the door drive motor is increased, and its current also increases accordingly. When the current threshold is exceeded, the anti-pinch function is triggered to achieve anti-pinch protection.

[0004] However, the above method may result in false anti-pinch judgments such as false triggering under some working conditions such as when the car door is pushed by external force, affecting the safety and driving experience of the car. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention provide a door control method, device, vehicle and computer-readable storage medium, which are used to solve technical problems in the prior art such as avoiding accidental triggering of anti-pinch strategies under conditions such as external force pushing the door.

[0006] According to one aspect of an embodiment of the present invention, a vehicle door control method is provided, the method comprising:

[0007] During the process of opening / closing the door, when it is detected that the output voltage of the door driving motor changes from less than a preset suppression voltage to greater than the preset suppression voltage, the output current of the driving motor is acquired;

[0008] Based on the output current and the first preset anti-pinch current, the vehicle is controlled to determine whether to execute the anti-pinch suppression strategy. The first preset anti-pinch current is greater than the second preset anti-pinch current. The second preset anti-pinch current is a judgment current for determining whether to execute the anti-pinch suppression strategy when an obstacle blocks the door from opening / closing.

[0009] According to another aspect of an embodiment of the present invention, there is provided a vehicle door control device, comprising:

[0010] An acquisition module, configured to acquire an output current of a driving motor when it is detected that an output voltage of the driving motor of the door changes from less than a preset suppression voltage to greater than the preset suppression voltage during the process of opening / closing the door;

[0011] A control module is used to control whether the vehicle executes an anti-pinch suppression strategy based on the output current and a first preset anti-pinch current, wherein the first preset anti-pinch current is greater than a second preset anti-pinch current, and the second preset anti-pinch current is a judgment current for whether to execute the anti-pinch suppression strategy triggered by an obstacle blocking the opening / closing of the vehicle door.

[0012] According to another aspect of the embodiment of the present invention, a vehicle is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0013] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle door control method as described above.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored in the storage medium. When the executable instruction is executed on a vehicle / door control device, the vehicle / door control device performs the operation of the door control method as described above.

[0015] The embodiments of the present invention, through a door control method, device, vehicle and computer-readable storage medium, can, during the process of door opening / closing, convert the output voltage of the drive motor from less than a preset inhibition voltage to greater than a preset inhibition voltage to simulate the increase in output voltage after the door is pushed by an external force. When the door restores its original running speed, the output voltage increases rapidly, resulting in a higher increase in output current, which will trigger an increase in the judgment current for executing the anti-pinch inhibition strategy to avoid accidental triggering of the anti-pinch inhibition strategy, thereby improving the safety and user experience of the vehicle.

[0016] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0018] Figure 1 A schematic diagram of anti-pinch judgment under obstacle resistance provided by the prior art is shown;

[0019] Figure 2 It shows a schematic diagram of anti-pinch judgment under external force provided by the prior art;

[0020] Figure 3 A flow chart showing a first embodiment of a vehicle door control method provided by the present invention;

[0021] Figure 4 A flow chart showing a second embodiment of the vehicle door control method provided by the present invention;

[0022] Figure 5 A schematic diagram of a door control provided by an embodiment of the present invention is shown;

[0023] Figure 6 A flow chart showing a third embodiment of the vehicle door control method provided by the present invention;

[0024] Figure 7 A schematic structural diagram of an embodiment of a vehicle door control device of the present invention is shown;

[0025] Figure 8 A schematic structural diagram of an embodiment of a vehicle of the present invention is shown. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0027] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments provided herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the embodiments provided below are partial embodiments for implementing the present invention, rather than providing all embodiments for implementing the present invention. In the absence of conflict, the technical solutions recorded in the embodiments of the present invention can be implemented in any combination.

[0029] It should be noted that, in the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a method or apparatus including a series of elements includes not only the elements explicitly recorded, but also includes other elements not explicitly listed, or also includes elements inherent to the implementation of the method or apparatus. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other related elements (such as steps in a method or modules in an apparatus, such as a module that can be a part of a circuit, a part of a processor, a part of a program or software, etc.) in the method or apparatus including the element.

[0030] For example, the vehicle door control method provided by the embodiment of the present invention includes a series of steps, but the vehicle door control method provided by the embodiment of the present invention is not limited to the steps described in this document. Similarly, the vehicle door control device provided by the embodiment of the present invention includes a series of modules, but the vehicle door control device provided by the embodiment of the present invention is not limited to including the modules explicitly described, and may also include modules required to obtain relevant information or perform processing based on information.

[0031] Before introducing the vehicle door control method, the application background of the present invention is first explained.

[0032] In vehicles, the proportional-integral-derivative (PID) closed-loop control drive motors are often used in the vehicle's electric doors (including the doors for driving and passengers and the back door of the luggage storage area) and other body opening and closing systems. In addition to normal driving, anti-pinch protection strategies are added to prevent people from being pinched during the opening and closing of doors and back doors.

[0033] In commonly used technologies, anti-pinch judgment is made after calculating and comparing physical quantities such as current and voltage. In some scenarios, the anti-pinch suppression strategy can be triggered in time to avoid injuries.

[0034] Figure 1 FIG. 4 shows a schematic diagram of anti-pinch judgment under obstacle resistance provided by the prior art. Figure 1 As shown, PID drive and false touch are explained by taking the horizontal axis as time (T) and the vertical axis as the running speed of the car door (V), the output voltage of the drive motor (U), and the output current of the drive motor (I) as examples.

[0035] In one implementation, in a scenario where the door is closed, when the door hits an obstacle, at time T1, the door decelerates, and the corresponding point is the deceleration point. At this time, in order to allow the door to continue to be closed, the door drive motor increases the output voltage, and the output voltage rises. Correspondingly, the output current also continues to rise. When the output current gradually increases and finally reaches the current anti-pinch threshold (the second preset anti-pinch current in the embodiment of the present invention), that is, the current anti-pinch trigger point intersects with the current anti-pinch threshold, it can be judged that the obstacle seriously interferes with the closing of the door. For safety reasons, the output voltage cannot be forcibly increased, and an anti-pinch suppression strategy should be adopted.

[0036] Furthermore, an anti-pinch suppression strategy is implemented by reducing the output voltage so that the output current decreases accordingly.

[0037] However, in the above-mentioned prior art, when the car door is electrically opened and closed, if the car door is pushed forward by external force and the user immediately lets go, the above-mentioned implementation will trigger the execution of the anti-pinch suppression strategy, resulting in the door being unable to be closed and opened, which does not meet the functional requirements.

[0038] For example, Figure 2 The schematic diagram of anti-pinch judgment under external force provided by the prior art is shown. Figure 1 On the basis of Figure 2 As shown, at the starting point of pushing the door corresponding to time T2, the user pushes the door to run quickly, and releases it at the release point corresponding to time T3. During this period, due to the sudden increase in the running speed of the door, in order to avoid the door stalling, etc., the output voltage of the drive motor is reduced, and at this time, the output current is also reduced synchronously; when the operation of the door is reduced to the set speed, in order to complete the door closing operation, the output voltage of the drive motor needs to be increased to increase the driving force for closing the door. However, at this time, the current also increases significantly, and exceeds the above-mentioned current anti-pinch threshold. At this time, the vehicle adopts an anti-pinch suppression strategy, thereby stopping the closing of the door.

[0039] Based on the above technical problems, the technical concept of the present invention is as follows: in order to prevent the car door from losing control after being pushed by external force, the car door adjusts the output voltage in real time to reduce it, and increases the output voltage after the speed tends to be lower, resulting in an instantaneous increase in the output current. During the period when this event occurs, the current anti-pinch threshold can be increased to avoid false triggering of the execution of the anti-pinch suppression strategy. After a period of time, the current anti-pinch threshold is restored to the original current anti-pinch threshold, which can solve the above technical problems.

[0040] In addition, the increase in output voltage can be limited after the speed tends to be lower, and the increase in output current can be reduced so as not to trigger the current anti-pinch threshold, thereby avoiding false triggering of the execution of the anti-pinch suppression strategy.

[0041] The technical solution of the present invention is described in detail below through specific embodiments. The implementation subject of the present invention is a vehicle, specifically a controller in the vehicle, or a controller of a drive motor corresponding to a door in the vehicle.

[0042] It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0043] Figure 3 FIG. 1 is a flow chart showing a first embodiment of a vehicle door control method provided by the present invention, wherein the method is executed by a vehicle. Figure 3 As shown, the method comprises the following steps:

[0044] Step 31, when it is detected that the output voltage of the door driving motor changes from less than the preset suppression voltage to greater than the preset suppression voltage during the door opening / closing process, the output current of the driving motor is obtained;

[0045] In this step, during the process of opening or closing the car door, there will be various scenarios that hinder or push the operation of the car door. In the anti-pinch suppression strategy of the car door, the output current of the drive motor is used as the judgment standard, and it is obtained when it is detected that the output voltage of the drive motor of the car door changes from less than the preset suppression voltage to greater than the preset suppression voltage.

[0046] In this implementation, due to scenarios such as the car door being pushed by external force, for example, when the user quickly pushes the car door forward and then lets go immediately, the running speed of the drive motor (that is, the running speed of the car door) increases rapidly from the starting point of pushing the door, and reaches the maximum at the point of letting go. In this process, the actual speed of the drive motor is much higher than the set running speed, which results in the need to control the output voltage of the drive motor to be greatly reduced or even zero output under the PID algorithm.

[0047] When the hand is released, the door's own structural resistance causes the drive motor to run at a rapidly reduced speed and fall below the set speed. At this time, PID needs to increase the drive motor to compensate for the speed, which will rapidly increase the output voltage.

[0048] In the above implementation process, a preset suppression voltage can be set. When it is detected that the output voltage of the drive motor is lower than the preset suppression voltage, it indicates that the door is affected by external force. At this time, when the output voltage is converted to be greater than the preset suppression voltage, it indicates that the output voltage has started a rapid rise process, and the door running speed is compensated. At this time, the output current of the drive motor is obtained.

[0049] Exemplarily, the vehicle door may be an electric door, which is driven by a drive motor to open / close the vehicle door; the vehicle door is not limited to a door for people to enter and exit the vehicle, or a door for carrying objects to enter and exit the vehicle.

[0050] Optionally, the output voltage of the driving motor of the vehicle door may be detected by detecting the output voltage of the driving motor of the vehicle door when it is detected that the running speed of the vehicle door is greater than a preset speed threshold.

[0051] In this implementation, during the process of opening / closing the door, the operating speed of the door is generally a set operating speed. When the set operating speed is too high, it means that the door is affected by external force. At this time, the output voltage of the drive motor needs to be obtained.

[0052] In the above-mentioned determination of being too large, a preset speed threshold may be set for arbitration.

[0053] Optionally, as a parallel implementation, before obtaining the output current of the drive motor, the output voltage of the drive motor may be limited to be less than a preset voltage threshold within a second preset time period;

[0054] In this implementation, in order to prevent the output current of the drive motor from being too high, which would trigger the execution of the anti-pinch suppression strategy, when it is detected that the output voltage of the drive motor of the vehicle door changes from less than the preset suppression voltage to greater than the preset suppression voltage, the output voltage of the drive motor can be limited so that the output voltage is not higher than or equal to the preset voltage threshold. At this time, the output current will not be too high due to the low output voltage, and will reach the second preset anti-pinch current.

[0055] In order to ensure normal control of the vehicle door, the output voltage of the drive motor is limited during a second preset time period. After the second preset time period, the output voltage of the drive motor is no longer limited.

[0056] Further, after the output current of the driving motor is acquired, whether the vehicle executes the anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

[0057] In this implementation, if the output voltage of the drive motor is limited to be less than a preset voltage threshold within a second preset time period, after the output current is obtained, a second preset anti-pinch current can be used to control whether the vehicle executes the anti-pinch suppression strategy.

[0058] It should be understood that in the embodiment of the present invention, the collection of the output current is real-time, that is, the process of determining whether to execute the anti-pinch suppression strategy based on the second preset anti-pinch current or the first preset anti-pinch current is dynamic.

[0059] Step 32, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the first preset anti-pinch current;

[0060] The first preset anti-pinch current is greater than the second preset anti-pinch current, and the second preset anti-pinch current is a current for judging whether to execute the anti-pinch suppression strategy when an obstacle blocks the door from opening / closing.

[0061] In this step, when the output current of the driving motor is obtained, the output current and the first preset anti-pinch current are compared in real time to determine whether to execute the anti-pinch suppression strategy.

[0062] Optionally, the anti-pinch suppression strategy includes at least one of the following: reducing the output voltage to a preset voltage; controlling the door to open in reverse, or controlling the door to stop opening / closing; and issuing a reminder message.

[0063] In a possible implementation, when the door drive motor detects that the output current exceeds the first preset anti-pinch current, the vehicle reduces the closing force of the door by reducing the output voltage of the drive motor. For example, the motor voltage is reduced to 6V (preset voltage), thereby reducing the closing force of the door to reduce the risk of pinching;

[0064] In another possible implementation, if the output current is detected to exceed the set first preset anti-pinch current, the vehicle will immediately issue a command to stop the closing process of the door and open the door in the reverse direction. For example, when the door detects abnormal resistance during the closing process, the motor will be stopped immediately and the door will be opened in the reverse direction by a few centimeters to release the clamped object;

[0065] In another possible implementation, when it is detected that a door may catch an object, a warning message will pop up on the vehicle display screen or an audible alarm will sound. For example, when a door catches an object during closing, the dashboard will display "object caught in door" or a similar warning message, and a beep will sound to remind passengers or drivers to pay attention to safety.

[0066] Furthermore, the reminder information can be adjusted based on the real-time situation of the door being closed or opened. For example, when the door is open, a prompt "there is an obstacle outside the door" may be displayed.

[0067] The above anti-pinch suppression strategy is similar to the anti-pinch suppression strategy based on the second preset anti-pinch current described below, and will not be described in detail here.

[0068] In the embodiment of the present invention, the first preset anti-pinch current and the second preset anti-pinch current may be set based on the actual anti-pinch triggering situation.

[0069] The door control method provided by the embodiment of the present invention, when the vehicle detects that the output voltage of the door driving motor is converted from less than the preset inhibition voltage to greater than the preset inhibition voltage during the door opening / closing process, the output current of the driving motor is obtained, and then the vehicle is controlled whether to execute the anti-pinch inhibition strategy according to the output current and the first preset anti-pinch current; wherein the first preset anti-pinch current is greater than the second preset anti-pinch current, and the second preset anti-pinch current is a judgment current for whether to execute the anti-pinch inhibition strategy triggered by an obstacle blocking the door opening / closing. In this embodiment, it is possible to simulate the increase of the output voltage after the door is pushed by an external force in the process of the door opening / closing, based on the output voltage of the driving motor being converted from less than the preset inhibition voltage to greater than the preset inhibition voltage, so as to make the output current increase by a high amplitude due to the rapid increase of the output voltage when the door is in order to restore the original running speed, and the judgment current for triggering the execution of the anti-pinch inhibition strategy is increased to avoid the false triggering of the anti-pinch inhibition strategy, thereby improving the safety and user experience of the vehicle.

[0070] Based on the above embodiments, Figure 4 FIG. 2 is a flow chart showing a second embodiment of a vehicle door control method provided by the present invention, wherein the method is executed by a vehicle. Figure 4 As shown, step 32 may have the following possible implementations:

[0071] It should be understood that step 41 and step 42 are performed one by one based on the actual scenario; and Figure 5 A schematic diagram of a door control system according to an embodiment of the present invention is shown. Figure 5 ,right Figure 4 Provide an example.

[0072] Step 41: within a first preset time period, if the output current is greater than or equal to a first preset anti-pinch current, control the vehicle to execute an anti-pinch suppression strategy;

[0073] In this step, timing starts from the time when the output voltage of the driving motor changes from less than the preset suppression voltage to greater than the preset suppression voltage. At any time within the first preset time length, once it is determined that the output current is greater than or equal to the first preset anti-pinch current, it is considered that there is an obstacle in the door activity area, which hinders the closing or opening of the door (based on the implementation situation).

[0074] At this time, the vehicle is controlled to execute an anti-pinch suppression strategy to prevent the closing or opening of the door from affecting obstacles and causing damage to the door.

[0075] In a possible implementation, the first preset duration may be Figure 5 The duration corresponding to T5-T4 in , for example, 500ms.

[0076] Step 42: within a first preset time period, if the output current is less than a first preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0077] In this step, timing starts from the time when the output voltage of the drive motor changes from less than the preset suppression voltage to greater than the preset suppression voltage. At any time within the first preset time length, if the output current is less than the first preset anti-pinch current, it is considered that the vehicle is in a normally closed state and there is no obstacle preventing the door from closing or opening.

[0078] At this time, the vehicle does not implement the anti-pinch suppression strategy.

[0079] The door control method provided by the embodiment of the present invention controls the vehicle to execute the anti-pinch suppression strategy if the output current is greater than or equal to the first preset anti-pinch current within the first preset time, and controls the vehicle not to execute the anti-pinch suppression strategy if the output current is less than the first preset anti-pinch current within the first preset time. In this embodiment, the triggering of the anti-pinch suppression strategy can be executed in response to a higher preset anti-pinch current, so that even if the output current suddenly increases under conditions such as an external force pushing the door, the anti-pinch suppression strategy will not be mistakenly triggered, thereby improving the safety and user experience of the vehicle.

[0080] Based on the above embodiments, Figure 6FIG. 2 is a flow chart showing a third embodiment of a vehicle door control method provided by the present invention, wherein the method is executed by a vehicle. Figure 6 As shown, the method may also include:

[0081] It should be understood that step 61 and step 62 are performed selectively based on the actual scenario.

[0082] Step 61, after a first preset time, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and a second preset anti-pinch current;

[0083] In this step, after the first preset time period, it is considered that the external force on the vehicle door has been reduced or no longer affects the output current of the drive motor. At this time, whether the vehicle executes the anti-pinch suppression strategy can be controlled based on the second preset anti-pinch current.

[0084] Step 62: Before the output voltage changes from less than the preset suppression voltage to greater than the preset suppression voltage, control whether the vehicle executes the anti-pinch suppression strategy according to the output current and the second preset anti-pinch current.

[0085] In this step, before the output voltage is converted from less than the preset suppression voltage to greater than the preset suppression voltage, it is considered that there is an external force acting on the vehicle door, which has not yet affected the output current of the drive motor, or there is no external force acting on the vehicle door. The second preset anti-pinch current can be used to control whether the vehicle executes the anti-pinch suppression strategy.

[0086] Optionally, in step 62 or step 61, a possible implementation of controlling whether the vehicle executes the anti-pinch suppression strategy according to the output current and the second preset anti-pinch current may be as follows:

[0087] The first type is to control the vehicle to execute the anti-pinch suppression strategy if the output current is greater than or equal to the second preset anti-pinch current;

[0088] In this implementation, when judging whether the vehicle executes the anti-pinch suppression strategy based on the second preset anti-pinch current, if the output current is greater than or equal to the second preset anti-pinch current, it is considered that there is an obstacle in the active area of ​​the door, and the vehicle should be controlled to execute the anti-pinch suppression strategy.

[0089] The second type is that if the output current is less than the second preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0090] In this implementation, if the output current is less than the second preset anti-pinch current, it is considered that there is no obstacle in the active area of ​​the door, or it does not affect the safety of door closing, etc., and the vehicle can be controlled not to execute the anti-pinch suppression strategy.

[0091] The vehicle door control method provided by the embodiment of the present invention controls whether the vehicle executes the anti-pinch suppression strategy according to the output current and the second preset anti-pinch current after the first preset time period, and controls whether the vehicle executes the anti-pinch suppression strategy according to the output current and the second preset anti-pinch current before the output voltage changes from less than the preset suppression voltage to greater than the preset suppression voltage. In this embodiment, a scenario applied to the second preset anti-pinch current is provided to improve the activation of the anti-pinch suppression strategy of the vehicle door under all working conditions, thereby comprehensively covering the scope of use of the anti-pinch suppression strategy on the basis of the above embodiment.

[0092] Figure 7 FIG. 2 shows a schematic diagram of the structure of an embodiment of a vehicle door control device of the present invention. Figure 7 As shown, the device comprises:

[0093] An acquisition module 71 is used to acquire the output current of the drive motor when it is detected that the output voltage of the drive motor of the door changes from less than the preset suppression voltage to greater than the preset suppression voltage during the process of opening / closing the door;

[0094] The control module 72 is used to control whether the vehicle executes the anti-pinch suppression strategy based on the output current and the first preset anti-pinch current. The first preset anti-pinch current is greater than the second preset anti-pinch current. The second preset anti-pinch current is the judgment current for whether to execute the anti-pinch suppression strategy triggered by an obstacle blocking the opening / closing of the door.

[0095] In one or more embodiments, the control module 72 is specifically configured to:

[0096] Within a first preset time period, if the output current is greater than or equal to a first preset anti-pinch current, controlling the vehicle to execute an anti-pinch suppression strategy;

[0097] Within a first preset time period, if the output current is less than a first preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0098] In one or more embodiments, the control module 72 is further configured to:

[0099] After a first preset time, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and a second preset anti-pinch current;

[0100] or,

[0101] Before the output voltage changes from being less than the preset suppression voltage to being greater than the preset suppression voltage, whether the vehicle executes the anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

[0102] In one or more embodiments, before obtaining the output current of the driving motor, the control module 72 is further configured to:

[0103] Within a second preset time period, limiting the output voltage of the drive motor to be less than a preset voltage threshold;

[0104] Accordingly, after obtaining the output current of the driving motor, the control module 72 is further used to:

[0105] According to the output current and the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy.

[0106] In one or more embodiments, the control module 72 controls whether the vehicle executes the anti-pinch suppression strategy according to the output current and the second preset anti-pinch current, specifically for:

[0107] If the output current is greater than or equal to the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy;

[0108] If the output current is less than the second preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0109] In one or more embodiments, the acquisition module 71 detects the output voltage of the door driving motor, specifically for:

[0110] When it is detected that the running speed of the vehicle door is greater than a preset speed threshold, the output voltage of the driving motor of the vehicle door is detected.

[0111] In one or more embodiments, the anti-pinch suppression strategy includes at least one of the following:

[0112] Reduce the output voltage to a preset voltage;

[0113] Control the door to open in reverse, or control the door to stop opening / closing;

[0114] Send a reminder message.

[0115] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also be implemented in the form of hardware. Some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0116] From the above, it can be seen that the door control device provided by the embodiment of the present invention can, during the process of opening / closing the door, convert the output voltage of the drive motor from less than the preset suppression voltage to greater than the preset suppression voltage, so as to simulate the increase in output voltage after the door is pushed by external force. When the door restores its original running speed, the output voltage increases rapidly, resulting in a higher increase in output current, which will trigger the judgment current for executing the anti-pinch suppression strategy to increase, so as to avoid accidental triggering of the anti-pinch suppression strategy, thereby improving the safety and user experience of the vehicle.

[0117] Figure 8 A schematic structural diagram of an embodiment of a vehicle of the present invention is shown, and the specific embodiment of the present invention does not limit the specific implementation of the vehicle.

[0118] like Figure 8 As shown, the vehicle may include: a processor 802 , a communications interface 804 , a memory 806 , and a communications bus 808 .

[0119] The processor 802, the communication interface 804, and the memory 806 communicate with each other via a communication bus 808. The communication interface 804 is used to communicate with other devices such as a client or other server network elements. The processor 802 is used to execute a program 810, which can specifically execute the relevant steps in the above-mentioned embodiment of the vehicle door control method.

[0120] Specifically, the program 810 may include program code including computer executable instructions.

[0121] The processor 802 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle may be processors of the same type, such as one or more CPUs. They may also be processors of different types, such as one or more CPUs and one or more ASICs.

[0122] The memory 806 is used to store the program 810. The memory 806 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0123] Program 810 may be specifically called by processor 802 to enable the vehicle to perform the following operations:

[0124] During the process of opening / closing the door, when it is detected that the output voltage of the door driving motor changes from less than the preset suppression voltage to greater than the preset suppression voltage, the output current of the driving motor is obtained;

[0125] Based on the output current and the first preset anti-pinch current, the vehicle is controlled to determine whether to execute the anti-pinch suppression strategy. The first preset anti-pinch current is greater than the second preset anti-pinch current. The second preset anti-pinch current is the judgment current for determining whether to execute the anti-pinch suppression strategy when an obstacle blocks the door from opening / closing.

[0126] In one or more embodiments, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the first preset anti-pinch current includes:

[0127] Within a first preset time period, if the output current is greater than or equal to a first preset anti-pinch current, controlling the vehicle to execute an anti-pinch suppression strategy;

[0128] Within a first preset time period, if the output current is less than a first preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0129] In one or more embodiments, the following is also performed:

[0130] After a first preset time, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and a second preset anti-pinch current;

[0131] or,

[0132] Before the output voltage changes from being less than the preset suppression voltage to being greater than the preset suppression voltage, whether the vehicle executes the anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

[0133] In one or more embodiments, before obtaining the output current of the driving motor, the following steps are further performed:

[0134] Within a second preset time period, limiting the output voltage of the drive motor to be less than a preset voltage threshold;

[0135] Correspondingly, after obtaining the output current of the driving motor, the following steps are also performed:

[0136] According to the output current and the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy.

[0137] In one or more embodiments, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the second preset anti-pinch current includes:

[0138] If the output current is greater than or equal to the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy;

[0139] If the output current is less than the second preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0140] In one or more embodiments, detecting the output voltage of the driving motor of the vehicle door includes:

[0141] When it is detected that the running speed of the vehicle door is greater than a preset speed threshold, the output voltage of the driving motor of the vehicle door is detected.

[0142] In one or more embodiments, the anti-pinch suppression strategy includes at least one of the following:

[0143] Reduce the output voltage to a preset voltage;

[0144] Control the door to open in reverse, or control the door to stop opening / closing;

[0145] Send a reminder message.

[0146] From the above, it can be seen that the vehicle provided by the embodiment of the present invention can, during the process of opening / closing the door, convert the output voltage of the drive motor from less than the preset suppression voltage to greater than the preset suppression voltage, so as to simulate the increase in output voltage after the door is pushed by external force. When the door restores its original running speed, the output voltage increases rapidly, resulting in a higher increase in output current, which will trigger the judgment current for executing the anti-pinch suppression strategy to increase, so as to avoid accidental triggering of the anti-pinch suppression strategy, thereby improving the safety and user experience of the vehicle.

[0147] An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on a door control device / vehicle, the door control device / vehicle executes the door control method in any of the above method embodiments.

[0148] The executable instructions may be specifically used to enable the door control device / vehicle to perform the following operations:

[0149] During the process of opening / closing the door, when it is detected that the output voltage of the door driving motor changes from less than the preset suppression voltage to greater than the preset suppression voltage, the output current of the driving motor is obtained;

[0150] Based on the output current and the first preset anti-pinch current, the vehicle is controlled to determine whether to execute the anti-pinch suppression strategy. The first preset anti-pinch current is greater than the second preset anti-pinch current. The second preset anti-pinch current is the judgment current for determining whether to execute the anti-pinch suppression strategy when an obstacle blocks the door from opening / closing.

[0151] In one or more embodiments, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the first preset anti-pinch current includes:

[0152] Within a first preset time period, if the output current is greater than or equal to a first preset anti-pinch current, controlling the vehicle to execute an anti-pinch suppression strategy;

[0153] Within a first preset time period, if the output current is less than a first preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0154] In one or more embodiments, the following is also performed:

[0155] After a first preset time, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and a second preset anti-pinch current;

[0156] or,

[0157] Before the output voltage changes from being less than the preset suppression voltage to being greater than the preset suppression voltage, whether the vehicle executes the anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

[0158] In one or more embodiments, before obtaining the output current of the driving motor, the following steps are further performed:

[0159] Within a second preset time period, limiting the output voltage of the drive motor to be less than a preset voltage threshold;

[0160] Correspondingly, after obtaining the output current of the driving motor, the following steps are also performed:

[0161] According to the output current and the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy.

[0162] In one or more embodiments, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the second preset anti-pinch current includes:

[0163] If the output current is greater than or equal to the second preset anti-pinch current, the vehicle is controlled to execute the anti-pinch suppression strategy;

[0164] If the output current is less than the second preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

[0165] In one or more embodiments, detecting the output voltage of the driving motor of the vehicle door includes:

[0166] When it is detected that the running speed of the vehicle door is greater than a preset speed threshold, the output voltage of the driving motor of the vehicle door is detected.

[0167] In one or more embodiments, the anti-pinch suppression strategy includes at least one of the following:

[0168] Reduce the output voltage to a preset voltage;

[0169] Control the door to open in reverse, or control the door to stop opening / closing;

[0170] Send a reminder message.

[0171] From the above, it can be seen that the execution instructions in the computer-readable storage medium provided in the embodiment of the present invention can be specifically used in the process of opening / closing the vehicle door, based on the output voltage of the drive motor being converted from less than the preset inhibition voltage to greater than the preset inhibition voltage, so as to simulate the increase in output voltage after the vehicle door is pushed by external force, so that when the vehicle door tries to restore the original running speed, the output voltage increases rapidly, resulting in a higher increase in output current, which will trigger the judgment current for executing the anti-pinch inhibition strategy to increase, so as to avoid accidental triggering of the anti-pinch inhibition strategy, thereby improving the safety and user experience of the vehicle.

[0172] An embodiment of the present invention provides a computer program product, including a computer program, which implements the operations of the above-mentioned vehicle door control method when executed by a processor.

[0173] Its implementation principle and technical effects are shown in the above disclosure.

[0174] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0175] The methods disclosed in the various method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0176] The features disclosed in the various product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0177] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0178] It should be noted that the computer-readable storage medium may be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM). It may also be various vehicles including one or any combination of the above memories.

[0179] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0180] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0181] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus necessary general hardware nodes, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, vehicle terminal or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0182] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, apparatuses, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0183] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0184] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0185] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A door control method, characterized in that: The method comprises: During the process of opening / closing the door, when it is detected that the output voltage of the door driving motor changes from less than a preset suppression voltage to greater than the preset suppression voltage, the output current of the driving motor is acquired; Based on the output current and the first preset anti-pinch current, the vehicle is controlled to determine whether to execute the anti-pinch suppression strategy. The first preset anti-pinch current is greater than the second preset anti-pinch current. The second preset anti-pinch current is a judgment current for determining whether to execute the anti-pinch suppression strategy when an obstacle blocks the door from opening / closing.

2. The method according to claim 1, characterized in that The controlling whether the vehicle executes the anti-pinch suppression strategy according to the output current and the first preset anti-pinch current includes: Within a first preset time period, if the output current is greater than or equal to the first preset anti-pinch current, controlling the vehicle to execute the anti-pinch suppression strategy; Within the first preset time period, if the output current is less than the first preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

3. The method according to claim 2, characterized in that The method further comprises: After the first preset time period, controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the second preset anti-pinch current; or, Before the output voltage is converted from being less than the preset suppression voltage to being greater than the preset suppression voltage, whether the vehicle executes an anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

4. The method according to claim 1, characterized in that: Before obtaining the output current of the driving motor, the method further includes: Within a second preset time period, limiting the output voltage of the drive motor to be less than a preset voltage threshold; Accordingly, after obtaining the output current of the driving motor, the method further includes: Whether the vehicle executes an anti-pinch suppression strategy is controlled according to the output current and the second preset anti-pinch current.

5. The method according to claim 3 or 4, characterized in that: The controlling whether the vehicle executes an anti-pinch suppression strategy according to the output current and the second preset anti-pinch current includes: If the output current is greater than or equal to the second preset anti-pinch current, controlling the vehicle to execute the anti-pinch suppression strategy; If the output current is less than the second preset anti-pinch current, the vehicle is controlled not to execute the anti-pinch suppression strategy.

6. The method according to any one of claims 1 to 4, characterized in that: Detecting the output voltage of the driving motor of the vehicle door includes: When it is detected that the running speed of the vehicle door is greater than a preset speed threshold, the output voltage of the driving motor of the vehicle door is detected.

7. The method according to any one of claims 1 to 4, characterized in that: The anti-pinch suppression strategy includes at least one of the following: reducing the output voltage to a preset voltage; Controlling the vehicle door to open in the reverse direction, or controlling the vehicle door to stop opening / closing; Send a reminder message.

8. A door control device, characterized in that: The device comprises: An acquisition module, configured to acquire an output current of a driving motor when it is detected that an output voltage of the driving motor of the door changes from less than a preset suppression voltage to greater than the preset suppression voltage during the process of opening / closing the door; A control module is used to control whether the vehicle executes an anti-pinch suppression strategy based on the output current and a first preset anti-pinch current, wherein the first preset anti-pinch current is greater than a second preset anti-pinch current, and the second preset anti-pinch current is a judgment current for whether to execute the anti-pinch suppression strategy triggered by an obstacle blocking the door from opening / closing.

9. A vehicle, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle door control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the vehicle / door control device, the vehicle / door control device executes the operation of the door control method according to any one of claims 1 to 7.

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