Vehicle door assisted rotation method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle door assisted rotation method and device, electronic equipment and a storage medium. According to the specific implementation scheme, the vehicle door assisted rotation method comprises the steps that in response to induced electromotive force generated by passive rotation of a target motor when a vehicle door is pushed, the actual value of the induced electromotive force is determined, and the target motor is used for driving the vehicle door to rotate; under the condition that the actual numerical value meets a first threshold value, power-assisted operation parameters of the target motor are determined according to the induced electromotive force; and according to the power-assisted operation parameters, the target motor is controlled to be powered on, so that the target motor starts to actively rotate, and rotation assistance is provided for the pushed vehicle door. According to the scheme, based on the relevant parameters of the target motor for driving the vehicle door to rotate, the vehicle door assisted rotation function can be achieved, and additional sensors do not need to be arranged on the vehicle door for assisting in implementation.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a method, device, electronic device and storage medium for power-assisted rotation of a vehicle door. Background Art

[0002] The car smart door is also called the electric opening system for the car side door. It can open and close the car door electrically or remotely by installing a drive mechanism on the car door, without the need for manual pushing and pulling. In addition to the electric or remote door opening method, the car smart door also retains the traditional manual door opening and closing mode, which can ensure manual operation to open and close the door even when the whole car is powered off. Summary of the invention

[0003] The present disclosure provides a method, device, electronic device and storage medium for power-assisted rotation of a vehicle door, so as to solve or alleviate one or more technical problems in the prior art.

[0004] In one aspect, the present disclosure provides a method for power-assisted rotation of a vehicle door, comprising:

[0005] determining an actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the door is pushed, wherein the target motor is used to drive the door to rotate;

[0006] When the actual value satisfies the first threshold, determining the power-assisted operation parameters of the target motor according to the induced electromotive force; and

[0007] According to the power-assisting operation parameters, the target motor is controlled to be powered on so that the target motor starts to actively rotate to provide rotational assistance for the pushed door.

[0008] On the other hand, the present disclosure provides a device for assisting the rotation of a vehicle door, comprising:

[0009] A first determination module is used to determine an actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the door is pushed, wherein the target motor is used to drive the door to rotate;

[0010] a second determination module, configured to determine the power-assisted operation parameters of the target motor according to the induced electromotive force when the actual value satisfies the first threshold; and

[0011] The control module is used to control the target motor to be powered on according to the power-assisting operation parameters, so that the target motor starts to rotate actively and provides rotation assistance for the pushed door.

[0012] In another aspect, the present disclosure provides an electronic device, comprising:

[0013] At least one processor. And

[0014] A memory in communication with the at least one processor.

[0015] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of any embodiment of the present disclosure.

[0016] On the other hand, the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method according to any embodiment of the present disclosure.

[0017] On the other hand, the present disclosure provides a computer program product, including a computer program, which implements the method according to any embodiment of the present disclosure when executed by a processor.

[0018] According to the solution disclosed in the present invention, the door power-assisted rotation function can be realized based on the relevant parameters of the target motor that drives the door to rotate, without the need to configure additional sensors on the door to assist in the realization.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments provided according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0021] Figure 1 It is a flow chart of a method for power-assisted rotation of a vehicle door according to an embodiment of the present disclosure.

[0022] Figure 2 2 is a schematic diagram of a device for assisting the rotation of a vehicle door according to an embodiment of the present disclosure.

[0023] Figure 3 It is a block diagram of an electronic device used to implement the method for power-assisted door rotation according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] The present disclosure will be further described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0025] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present disclosure.

[0026] like Figure 1 As shown, the embodiment of the present disclosure provides a method for power-assisted rotation of a vehicle door, comprising:

[0027] Step S101: determining an actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of a target motor when the door is pushed, wherein the target motor is used to drive the door to rotate.

[0028] Step S102: When the actual value meets the first threshold, the power-assisted operation parameters of the target motor are determined according to the induced electromotive force.

[0029] Step S103: According to the power-assisting operation parameters, the target motor is controlled to be powered on, so that the target motor starts to actively rotate to provide rotation assistance for the pushed door.

[0030] According to the embodiments of the present disclosure, it should be noted that:

[0031] The method for power-assisted door rotation of any embodiment of the present disclosure may be executed by any electronic controller in the vehicle, including but not limited to a door electronic controller in the vehicle or a domain controller in the vehicle.

[0032] The vehicle door of any embodiment of the present disclosure can be understood as a smart vehicle door that can automatically open and close the vehicle door through a driving mechanism. The driving mechanism includes a target motor, and the output end of the target motor can realize forward and reverse rotation, and the vehicle door is opened or closed by the forward and reverse rotation of the output end of the target motor.

[0033] The door is pushed, which can be understood as the door is not driven to rotate by the target motor being powered on, but the door is driven to rotate by an external force. The external force can be understood as the force generated by the driver or passenger of the vehicle pushing the door with his hands, feet or any part of his body.

[0034] The target motor passively rotates, which can be understood as when the door is pushed by an external force, the output end of the target motor that rotates together with the door will be linked with the door, so that the output end of the target motor passively rotates.

[0035] When the target motor rotates passively, the target motor converts mechanical energy into electrical energy. At this time, the voltage generated by the passive rotation of the target motor is called induced electromotive force. In other words, the induced electromotive force is generated when the target motor rotates passively. By monitoring the induced electromotive force in real time, it can be known whether there is an external force pushing the door. The magnitude and direction of the induced electromotive force can be known by the obtained induced electromotive force. Among them, the magnitude of the induced electromotive force indicates the strength of the external force pushing the door, and the direction of the induced electromotive force indicates the direction of the external force pushing the door (opening or closing the door).

[0036] The first threshold value can be understood as a preset value of the induced electromotive force. The first threshold value can be used to determine whether the door has reached the minimum threshold value requiring the target motor to provide power assistance for rotation, so as to exclude the induced electromotive force generated by non-human factors such as the shaking of the door.

[0037] The power-assisted operation parameters of the target motor may include the power-assisted speed of the target motor and the rotation direction of the target motor (the rotation direction of the output end). The rotation direction of the target motor is consistent with the direction of the external force of pushing the door. The power-assisted speed of the target motor is the active speed added to the target motor by powering on the target motor on the basis of the passive rotation of the target motor. That is to say, the actual speed of the target motor after providing power assistance = the power-assisted speed + the speed of the passive rotation of the drive motor when the external force pushes the door.

[0038] The power-assisted motion parameters can be sent to the target motor in the form of a PWM (Pulse width modulation) signal, so that the target motor is powered on and actively works.

[0039] Since the driving mechanism of the smart door of the car is provided with a reduction gear, when the door is pushed manually without powering on the target motor, a certain resistance to pushing the door will be felt, and it is not easy to push the door open or close easily. According to the technology of the embodiment of the present disclosure, only based on the relevant parameters of the target motor that drives the door to rotate, it is possible to monitor whether the door is pushed manually, and to provide rotation assistance when the door is pushed manually, thereby realizing the door follow-up function when the door is pushed manually, making the process of users opening and closing the smart door of the car easier and smoother. The method of power-assisted door rotation of the embodiment of the present disclosure can be realized by only utilizing the existing target motor in the smart door of the car, without adding additional sensors for detecting artificial thrust on the door, which reduces the cost and the complexity of realizing the power-assisted door rotation function. By obtaining the induced electromotive force generated by the target motor, the current state of the door can be monitored in real time and accurately, making the implementation process of the power-assisted door rotation smoother and the response more accurate and immediate.

[0040] In one embodiment, the method for assisting the rotation of a vehicle door according to the embodiment of the present disclosure includes steps S101 to S103, wherein step S101: determining the actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the vehicle door is pushed, includes:

[0041] In response to the induced electromotive force generated by the passive rotation of the target motor when the door is pushed, a raw value of the induced electromotive force is determined.

[0042] The original value is filtered to obtain the actual value of the induced electromotive force.

[0043] According to the embodiments of the present disclosure, it should be noted that:

[0044] Filtering the original value can be understood as filtering the collected induced electromotive force signal to remove noise interference in the signal. The specific method of filtering is not specifically limited here, and any signal processing method in the prior art can be used.

[0045] According to the technology of the embodiment of the present disclosure, the obtained induced electromotive force can be made more accurate, so as to further accurately judge whether it is necessary to power on the target motor to provide rotation assistance for the vehicle door.

[0046] In one embodiment, the method for power-assisted door rotation of the embodiment of the present disclosure includes steps S101 to S103, wherein step S102: when the actual value meets the first threshold, determining the power-assisted operation parameter of the target motor according to the induced electromotive force, includes:

[0047] When the actual value meets the first threshold, the thrust direction and thrust magnitude when the door is pushed are determined according to the induced electromotive force.

[0048] According to the thrust direction and thrust magnitude, the power-assisted operation parameters of the target motor are determined, wherein the power-assisted operation parameters include the power-assisted rotation speed of the target motor and the rotation direction of the target motor.

[0049] According to the embodiments of the present disclosure, it should be noted that:

[0050] The rotation direction of the target motor is consistent with the thrust direction.

[0051] The assist speed of the target motor can be adjusted according to the thrust, so that the resistance of the user pushing the door is reduced, making it easier to push the door.

[0052] When the actual value does not meet the first threshold, step S101 is executed again to restart detecting the induced electromotive force generated by the target motor.

[0053] According to the technology of the embodiments of the present disclosure, based on the thrust direction and thrust magnitude obtained from the induced electromotive force, the power-assisting operating parameters of the corresponding target motor can be provided.

[0054] In one embodiment, the method for power-assisted door rotation of the embodiment of the present disclosure includes steps S101 to S103, wherein after step S103, it further includes:

[0055] Get the current motor speed of the target motor.

[0056] When the power-assisting operation parameters remain unchanged and the current motor speed does not meet the second threshold, the target motor is controlled to be powered off so that the target motor stops actively rotating and stops providing rotation assistance for the vehicle door.

[0057] According to the embodiments of the present disclosure, it should be noted that:

[0058] The current motor speed of the target motor can be obtained in real time or periodically, which is not specifically limited here. The current motor speed can be understood as the actual speed of the target motor, that is, the speed at which the drive motor passively rotates when the power assist speed plus the external force pushes the door.

[0059] The second threshold is used to determine whether to continue to use the target motor to actively rotate to provide rotation assistance for the vehicle door.

[0060] When the door is continuously pushed by humans and the door rotation assistance is provided, the actual speed of the target motor should be greater than the second threshold in theory, that is, the door rotation assistance is continuously provided by the target motor. If the current speed of the target motor does not meet the second threshold while the door rotation assistance is continuously provided (that is, the assistance operation parameters remain unchanged), it means that the force of the human pushing the door disappears, and the door is no longer provided with assistance.

[0061] When the power-assisted operation parameters remain unchanged and the current motor speed meets the second threshold, the target motor continues to be used to achieve power-assisted rotation of the door.

[0062] According to the technology of the embodiment of the present disclosure, by monitoring the motor speed of the target motor, the door can be moved and stopped in cooperation with the user. If the user stops pushing the door, the power is stopped to make the door slowly stop rotating, and the door is controlled and powered in real time in accordance with the user's intention. When the door stops, if the target motor is detected to generate an induced electromotive force again, the steps of the embodiment of the present disclosure are re-executed.

[0063] In one embodiment, the method for power-assisted door rotation of the embodiment of the present disclosure includes steps S101 to S103, wherein after step S103, it further includes:

[0064] Step S104: when it is determined that the vehicle door is currently in the target door position, a target rotation speed of the target motor is determined.

[0065] Step S105: According to the target speed, the target motor is controlled to actively rotate, so that the target motor drives the vehicle door to close automatically at the target speed.

[0066] According to the embodiments of the present disclosure, it should be noted that:

[0067] The target door position can be set as needed, and the corresponding target door position can be set when the door is opened or closed.

[0068] The target rotation speed is used to determine whether the door still has a tendency to continue rotating when the door rotates to the target door position, so as to judge whether the user has the intention to continue rotating the door.

[0069] According to the technology of the embodiment of the present disclosure, the conversion of the door from the rotation assist mode to the automatic door rotation mode is realized. When the door rotates in the door closing direction, the target door position may be a position where the angle between the door and the door frame is less than a certain angle. When the door is located at the target door position, even if the user does not push the door manually, the door will automatically complete the door closing action under the drive of the target motor. When the door rotates in the door opening direction, the target door position may be a position where the angle between the door and the door frame is greater than a certain angle. When the door is located at the target door position, even if the user does not push the door manually, the door will automatically complete the door opening action under the drive of the target motor.

[0070] In one embodiment, the method for power-assisted door rotation of the embodiment of the present disclosure includes steps S101 to S105, wherein step S104: determining a target speed of a target motor when determining that the door is currently in a target door position includes:

[0071] When it is determined that the door is currently in the target door position, the total number of rotations of the target motor is determined.

[0072] When the total number of rotations meets the third threshold, the current rotation speed of the target motor is determined.

[0073] When the current rotation speed meets the fourth threshold, a target rotation speed of the target motor is determined.

[0074] According to the embodiments of the present disclosure, it should be noted that:

[0075] The total number of rotations can be calculated from the time when the door is closed to the time when it is opened, so as to determine the current position of the door relative to the door frame.

[0076] The total number of rotations and the current speed of the target motor can be detected by the Hall sensor corresponding to the target motor.

[0077] According to the technology of the embodiment of the present disclosure, the current position of the vehicle door can be accurately known, so as to facilitate the subsequent conversion of the vehicle door from the rotation power-assist mode to the vehicle door automatic rotation mode.

[0078] like Figure 2 As shown, the embodiment of the present disclosure provides a device for assisting the rotation of a vehicle door, comprising:

[0079] The first determination module 210 is used to determine an actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the door is pushed, wherein the target motor is used to drive the door to rotate.

[0080] The second determination module 220 is used to determine the power-assisted operation parameters of the target motor according to the induced electromotive force when the actual value meets the first threshold.

[0081] The control module 230 is used to control the target motor to be powered on according to the power-assisting operation parameters, so that the target motor starts to actively rotate to provide rotation assistance for the pushed door.

[0082] In one implementation, the first determining module 210 includes:

[0083] The first determination submodule is used to determine an original value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the vehicle door is pushed.

[0084] The processing submodule is used to filter the original value to obtain the actual value of the induced electromotive force.

[0085] In one implementation, the second determining module 220 includes:

[0086] When the actual value meets the first threshold, the thrust direction and thrust magnitude when the door is pushed are determined according to the induced electromotive force.

[0087] According to the thrust direction and thrust magnitude, the power-assisted operation parameters of the target motor are determined, wherein the power-assisted operation parameters include the power-assisted rotation speed of the target motor and the rotation direction of the target motor.

[0088] In one embodiment, the door power-assisted rotation device of the embodiment of the present disclosure further includes:

[0089] The acquisition module is used to obtain the current motor speed of the target motor.

[0090] The first control module is used to control the target motor to power off when the power-assisting operation parameters remain unchanged and the current motor speed does not meet the second threshold value, so that the target motor stops actively rotating and stops providing rotation assistance for the vehicle door.

[0091] In one embodiment, the door power-assisted rotation device of the embodiment of the present disclosure further includes:

[0092] The third determination module is used to determine a target rotation speed of the target motor when it is determined that the vehicle door is currently in a target door position.

[0093] The second control module is used to control the target motor to actively rotate according to the target speed, so that the target motor drives the door to close automatically at the target speed.

[0094] In one implementation, the third determination module includes:

[0095] The second determination submodule is used to determine the total number of rotations of the target motor when it is determined that the vehicle door is currently in the target door position.

[0096] The third determination submodule is used to determine the current rotation speed of the target motor when the total number of rotations meets a third threshold.

[0097] The fourth determination submodule is used to determine a target rotation speed of the target motor when the current rotation speed meets a fourth threshold.

[0098] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0099] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0100] Figure 3 FIG. 1 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 3 As shown, the electronic device includes: a memory 310 and a processor 320, and the memory 310 stores a computer program that can be run on the processor 320. The number of memories 310 and processors 320 can be one or more. The memory 310 can store one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device executes the method provided by the above method embodiment. The electronic device may also include: a communication interface 330, which is used to communicate with external devices and perform data exchange transmission.

[0101] If the memory 310, the processor 320 and the communication interface 330 are implemented independently, the memory 310, the processor 320 and the communication interface 330 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] Optionally, in a specific implementation, if the memory 310, the processor 320 and the communication interface 330 are integrated on a chip, the memory 310, the processor 320 and the communication interface 330 can communicate with each other through an internal interface.

[0103] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0104] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM).

[0105] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the process or function according to the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (for example: coaxial cable, optical fiber, data subscriber line (Digital Subscriber Line, DSL)) or wireless (for example: infrared, Bluetooth, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that can be accessed by the computer, or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)), etc. It is worth noting that the computer-readable storage medium mentioned in the present disclosure may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0106] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0107] In the description of the embodiments of the present disclosure, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0108] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0109] In the description of the embodiments of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0110] The above description is only an exemplary embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for power-assisted rotation of a vehicle door, comprising: determining an actual value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the vehicle door is pushed, wherein the target motor is used to drive the vehicle door to rotate; When the actual value satisfies a first threshold, determining a power-assisted operation parameter of the target motor according to the induced electromotive force; and According to the power-assisting operation parameters, the target motor is controlled to be powered on so that the target motor starts to actively rotate to provide rotational assistance for the pushed vehicle door.

2. The method according to claim 1, wherein: In response to the induced electromotive force generated by the passive rotation of the target motor when the vehicle door is pushed, determining an actual value of the induced electromotive force includes: determining a raw value of the induced electromotive force in response to the induced electromotive force generated by the passive rotation of the target motor when the door is pushed; The original value is filtered to obtain the actual value of the induced electromotive force.

3. The method according to claim 1, wherein: When the actual value satisfies the first threshold, determining the power-assisted operation parameter of the target motor according to the induced electromotive force includes: When the actual value satisfies the first threshold, determining the thrust direction and thrust magnitude when the door is pushed according to the induced electromotive force; According to the thrust direction and the thrust magnitude, the power-assisted operation parameters of the target motor are determined, wherein the power-assisted operation parameters include the power-assisted rotation speed of the target motor and the rotation direction of the target motor.

4. The method according to any one of claims 1 to 3, wherein: After controlling the target motor to be powered on according to the power-assisted operation parameters, the method further includes: Obtaining the current motor speed of the target motor; When the power-assisting operation parameters remain unchanged and the current motor speed does not meet the second threshold, the target motor is controlled to be powered off so that the target motor stops actively rotating and stops providing rotation assistance to the vehicle door.

5. The method according to any one of claims 1 to 3, wherein: After controlling the target motor to be powered on according to the power-assisted operation parameters, the method further includes: When it is determined that the vehicle door is currently in a target door position, determining a target rotation speed of the target motor; According to the target speed, the target motor is controlled to actively rotate, so that the target motor drives the vehicle door to close automatically at the target speed.

6. The method according to claim 5, wherein: In the case where it is determined that the vehicle door is currently at a target door position, determining a target rotation speed of the target motor includes: When it is determined that the vehicle door is currently at the target door position, determining the total number of rotations of the target motor; When the total number of rotations meets a third threshold, determining a current rotation speed of the target motor; When the current rotation speed satisfies a fourth threshold, a target rotation speed of the target motor is determined.

7. A device for assisting the rotation of a vehicle door, comprising: A first determination module, configured to determine an actual value of the induced electromotive force in response to an induced electromotive force generated by passive rotation of a target motor when the door is pushed, wherein the target motor is used to drive the door to rotate; a second determination module, configured to determine, when the actual value satisfies a first threshold, a power-assisted operation parameter of the target motor according to the induced electromotive force; and The control module is used to control the target motor to be powered on according to the power-assisting operation parameters, so that the target motor starts to rotate actively to provide rotation assistance for the pushed vehicle door.

8. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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