Vehicle door control method, vehicle-mounted controller, electric vehicle door and vehicle

Abstract

The invention discloses a vehicle door control method, a vehicle-mounted controller, a vehicle door and a vehicle. The method comprises the steps of obtaining first environment data in response to a first vehicle door opening instruction; when the first environment data meets the safety evaluation condition, a vehicle door lock is controlled to be unlocked, a vehicle door driving mechanism is controlled to work, and a vehicle door is opened to a first target angle; in response to a second vehicle door opening instruction, obtaining second environment data; and when the second environment data meet the safety evaluation condition, a vehicle door driving mechanism is controlled to work, the vehicle door is opened to a second target angle, and the second target angle is larger than the first target angle. According to the method, the safety of the passenger in the vehicle door opening process is improved, and the getting-on convenience and safety of the passenger are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle door control, and in particular to a vehicle door control method, a vehicle-mounted controller, a vehicle door and a vehicle. Background Art

[0002] With the advancement of intelligent vehicles, car doors are becoming increasingly electric and intelligent. The current power door control process is as follows: After receiving the door unlock command, the power door collects current environmental information using vehicle sensors or door radar to determine whether the door can be opened safely based on this information. If it can be opened safely, the power door lock is automatically unlocked, and then the door drive mechanism automatically opens the door. Due to the complex real-world traffic environment, door radars and vehicle sensors are prone to failure or detection blind spots due to environmental interference. If these fail or miss detection, opening the door could cause damage to the vehicle itself, pedestrians, and vehicles near the door, posing a safety concern. Summary of the Invention

[0003] The embodiments of the present invention provide a vehicle door control method, a vehicle-mounted controller, an electric door and a vehicle, so as to solve the safety problem existing in the opening of the existing electric door.

[0004] A vehicle door control method, comprising:

[0005] In response to a first door opening instruction, acquiring first environmental data;

[0006] When the first environmental data meets the safety assessment condition, controlling the door lock to unlock, controlling the door drive mechanism to operate, and opening the door to a first target angle;

[0007] acquiring second environmental data in response to a second door opening instruction;

[0008] When the second environmental data meets the safety assessment condition, the door driving mechanism is controlled to operate and the door is opened to a second target angle, where the second target angle is greater than the first target angle.

[0009] Preferably, the safety assessment condition is to determine, based on environmental data, that there are no obstacles within the door opening range.

[0010] Preferably, the controlling the door lock to unlock, controlling the door drive mechanism to operate, and opening the door to the first target angle includes:

[0011] Based on the driving force of the door lock motor and the sealing reaction force of the door glue, the door lock is controlled to unlock so that the door lock triggers a fully open state signal;

[0012] In response to the fully open state signal, the vehicle door driving mechanism is controlled to operate and open the vehicle door to a first target angle.

[0013] Preferably, the method of controlling the door lock to unlock based on the driving force of the door lock motor and the sealing reaction force of the door glue so that the door lock triggers the fully open state signal includes:

[0014] Control the door lock motor to drive the door lock bolt to rotate to a half-locked state, so that the door lock triggers a half-locked state signal;

[0015] In response to the half-lock state signal, the door lock motor is controlled to stop working within a preset time, and the door lock bolt is driven to rotate based on the sealing reaction force of the door rubber strip;

[0016] If the door lock triggering full-open state signal is not received after the preset time, the door lock motor is controlled to drive the door lock bolt to rotate to the full-open state, so that the door lock triggers the full-open state signal.

[0017] Preferably, after acquiring the second environmental data in response to the second door opening instruction, the door control method further includes:

[0018] When the second environmental data does not meet the safety assessment condition, the door driving mechanism is controlled not to operate and the door damping is increased.

[0019] Preferably, before acquiring the second environmental data in response to the second door opening instruction, the door control method further includes:

[0020] Get current sensing data;

[0021] determining the occupant's current intention based on the current sensing data;

[0022] When the occupant's current intention is to open the door, a second door opening instruction is triggered.

[0023] A vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle door control method is implemented.

[0024] An electric door comprises a vehicle door, a door lock, a door rubber strip and a door drive mechanism; the vehicle door can be rotatably mounted on a vehicle body; the door lock is arranged on the vehicle door; the door rubber strip is arranged on the vehicle door and / or the vehicle body; the door drive mechanism is arranged on the vehicle door and is used to drive the vehicle door to rotate relative to the vehicle body; the above-mentioned vehicle-mounted controller is connected to the vehicle door lock and the door drive mechanism to control the operation of the vehicle door lock and the door drive mechanism.

[0025] Preferably, the vehicle door lock includes a first motor and a second motor, the first motor is used to drive the door lock tongue to rotate from a fully locked state to a half-locked state, and the second motor is used to drive the door lock tongue to rotate from a half-locked state to a fully open state.

[0026] A car comprises the above-mentioned on-board controller and the above-mentioned electric door.

[0027] In the above-mentioned door control method, vehicle-mounted controller, door and automobile, the safety of the current state of the vehicle body periphery is first determined based on the first door opening instruction and the first environmental data, thereby controlling the door to open to the first door position, ensuring the safety and real-time performance of the door opening; the second door opening instruction and the second environmental data are then identified to determine the safety of the current state of the vehicle body periphery, thereby controlling the door to open to the second door position, achieving the target state of the passenger opening the door, meeting the actual needs of the passenger, and ensuring the safety and convenience of the passenger door opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a flow chart of a vehicle door control method according to an embodiment of the present invention;

[0030] Figure 2 is another flow chart of a vehicle door control method according to one embodiment of the present invention;

[0031] Figure 3 is another flow chart of a vehicle door control method according to one embodiment of the present invention;

[0032] Figure 4 is another flow chart of a vehicle door control method according to one embodiment of the present invention;

[0033] Figure 5 FIG. 1 is a schematic diagram of a car according to an embodiment of the present invention.

[0034] In the figure: 1. Electric door; 11. Door drive mechanism; 12. Door lock; 13. Door sensor; 14. Door rubber strip; 15. Door controller; 2. On-board controller; 3. Vehicle sensor; 4. Vehicle body. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] An embodiment of the present invention provides a door control method, which can be applied to a vehicle-mounted controller 2. The vehicle-mounted controller 2 can be a dedicated controller set on the car specifically for controlling the opening of the door, or a controller set on the car that integrates the door opening and other functions.

[0037] In this example, the vehicle-mounted controller 2 can be connected to the electric door 1 to control the operation of the electric door 1. The electric door 1 includes a door controller 15 and a door lock 12 and a door drive mechanism 11 connected to the door controller 15. The door controller 15 communicates with the vehicle-mounted controller 2 and can control the operation of the door lock 12 and the door drive mechanism 11 according to the control instructions sent by the vehicle-mounted controller 2 to ensure safety during the door opening process.

[0038] The embodiment of the present invention provides a door control method, such as Figure 1 As shown, the door control method includes the following steps performed by the vehicle controller 2:

[0039] S101: Responding to a first door opening instruction, acquiring first environmental data;

[0040] S102: When the first environmental data satisfies the safety assessment condition, the vehicle door lock 12 is controlled to unlock, and the vehicle door drive mechanism 11 is controlled to operate to open the vehicle door to a first target angle;

[0041] S103: Responding to the second door opening instruction, acquiring second environmental data;

[0042] S104: When the second environmental data meets the safety assessment condition, the door driving mechanism 11 is controlled to operate and the door is opened to a second target angle, where the second target angle is greater than the first target angle.

[0043] The first door opening instruction refers to the instruction for controlling the door opening received at the current moment. The first environmental data refers to the data collected at the current moment for evaluating whether there is an obstacle within the door's range of movement.

[0044] As an example, in step S101, the vehicle controller 2 may receive a first door opening command triggered by a passenger. This first door opening command may be triggered by the passenger using a physical button, a virtual button, voice, or fingerprint. In this example, in response to the received first door opening command, the vehicle controller 2 controls the vehicle's sensing equipment to collect first environmental data. Specifically, the vehicle door radar and door sensor 13 may be used to detect obstacles in contact with the vehicle door, thereby acquiring the first environmental data. In this example, based on the received first door opening command and the real-time acquired first environmental data, the vehicle door opening and closing process is ensured to be safe and compatible with the surrounding environment.

[0045] The first target angle refers to a first set angle preset by the vehicle controller 2 for controlling the opening of the vehicle door.

[0046] As an example, in step S102, the vehicle controller 2 compares the first environmental data acquired in real time with the safety assessment conditions to assess whether the vehicle door is safe to open and obtain a safety assessment result. In this example, the safety assessment result can be either safe or unsafe. Specifically, if the first environmental data meets the safety assessment conditions, the vehicle door is considered safe to open; if the first environmental data does not meet the safety assessment conditions, the vehicle door is considered unsafe to open. In this example, only if the first environmental data meets the safety assessment conditions will the vehicle controller 2 control the door lock 12 to unlock and the door drive mechanism 11 to drive the door to a first target angle, thereby ensuring the safety and convenience of the vehicle occupants when opening and closing the door.

[0047] The second door opening command refers to a command for controlling the door opening received again after the door lock 12 is unlocked and the door is opened to the first target angle. The second environmental data refers to data collected after the door lock 12 is unlocked and the door is opened to the first target angle and used to assess whether there are obstacles within the door's range of motion.

[0048] As an example, in step S103, after the vehicle controller 2 unlocks the door lock 12 and opens the door to the first target angle, it can receive a second door opening command initiated by the occupant. The second door opening command can be triggered by the occupant using a physical button, virtual button, voice, fingerprint, or other methods, or it can be a command that analyzes whether the door opening can be controlled in real time based on current sensor data collected in real time. In this example, after receiving the second door opening command, the vehicle controller 2 can control the vehicle's sensor equipment to collect second environmental data. Specifically, the vehicle radar and door sensor 13 can be used to detect whether there are any obstacles around the door that come into contact with the door, thereby acquiring the second environmental data. In this example, the door is actually stopped after the first opening, and the first step of acquiring the door opening is complete. If the door is started again without input, the vehicle controller is unaware of the occupant's door opening and closing. Therefore, it needs to respond to the second door opening command again. Based on the received second door opening command and the real-time acquired second environmental data, the vehicle controller ensures that the occupant's door opening and closing are safe and compatible with the surrounding environment.

[0049] The second target angle refers to a second set angle preset by the vehicle controller 2 for controlling the opening of the vehicle door, and the second target angle is greater than the first target angle.

[0050] As an example, in step S104, the onboard controller 2 compares the second environmental data acquired in real time with the safety assessment conditions to assess whether the door is safe to open and obtain a safety assessment result. In this example, the safety assessment result can be either safe or unsafe. Specifically, if the second environmental data meets the safety assessment conditions, the safety assessment result indicating safe door opening is obtained; if the second environmental data does not meet the safety assessment conditions, the safety assessment result indicating unsafe door opening is obtained. In this example, only if the second environmental data meets the safety assessment conditions will the onboard controller 2 control the door drive mechanism 11 to drive the door from the first target angle to the second target angle, thereby ensuring the safety and convenience of passengers boarding and exiting the vehicle.

[0051] In this embodiment, the system responds to a first door opening command by acquiring first environmental data. When the first environmental data satisfies safety assessment criteria, the system controls the door lock 12 to unlock and the door drive mechanism 11 to open the door to a smaller first target angle. In response to a second door opening command, the system acquires second environmental data. When the second environmental data satisfies safety assessment criteria, the system controls the door drive mechanism 11 to open the door to a larger second target angle. By optimizing the unlocking method and unlocking control method of the door lock 12 of the electric door 1, the system achieves smooth electric unlocking and opening of the electric door 1 under all operating conditions, even without an external door handle or ejection mechanism. This allows for automatic electric door opening and closing, helping to ensure the safety and convenience of occupants opening and closing the door.

[0052] In one embodiment, the safety assessment condition is to determine, based on environmental data, that there is no obstacle within the door opening range.

[0053] Among them, the door opening range is the range within which the door can rotate from closing to opening to the maximum angle.

[0054] As an example, after obtaining the first environmental data or the second environmental data, the vehicle-mounted controller 2 can analyze and determine whether there is an obstacle within the door opening range based on the first environmental data or the second environmental data. If there is an obstacle, it is determined that it does not meet the safety assessment conditions, and the safety assessment result that the door opening is unsafe is obtained; if there is no obstacle, it is determined that it meets the safety assessment conditions, and the safety assessment result that the door opening is safe is obtained.

[0055] In one embodiment, if Figure 2 As shown, step S102, controlling the door lock 12 to unlock, controlling the door drive mechanism 11 to operate, and opening the door to a first target angle, includes:

[0056] S201: Based on the driving force of the door lock motor and the sealing reaction force of the door glue, the door lock 12 is controlled to unlock, so that the door lock 12 triggers a fully open state signal;

[0057] S202: In response to the fully open state signal, the door driving mechanism 11 is controlled to operate and open the door to a first target angle.

[0058] The fully open state signal refers to a state signal triggered by the door lock when the door lock tongue rotates to the fully open state.

[0059] As an example, in step S201, the door lock 12's built-in motor drives the door lock tongue to rotate via the door lock motor. Simultaneously, the door seal 14 stores a certain amount of elastic energy. The sealing reaction force of the door seal 14 can be used to drive the door lock tongue to rotate again. Once the rotation is complete, the door lock 12 is fully unlocked. Subsequently, the door lock 12 triggers a fully open state signal and transmits it to the vehicle controller 2. Through the door motor drive and the door seal 14, the door can be automatically opened electrically, helping to ensure the safety and convenience of passengers when opening and closing the door.

[0060] As an example, in step S202, after the door lock 12 is fully unlocked, the onboard controller 2 receives a fully-open state signal triggered by the door lock 12. Subsequently, the onboard controller 2 controls the door drive mechanism 11 to drive the door open to a first target angle. By optimizing the unlocking method and unlocking control method of the door lock 12, the power door 1 can be smoothly unlocked and output a fully-open signal under all operating conditions, even without an external door handle or ejection mechanism. This allows for automatic power door opening and closing, ensuring safety and convenience for passengers.

[0061] In this embodiment, the door lock 12 is unlocked based on the driving force of the door lock motor and the sealing reaction force of the door adhesive. This triggers a fully open state signal. In response to the fully open state signal, the door drive mechanism 11 is activated to open the door to a first target angle. The door lock motor and door adhesive strip 14 unlock the door lock 12, triggering a transition to the fully open state signal. The door is then smoothly opened to the first target angle, achieving handle-free and ejector-free door opening, ensuring automatic electric door opening and ensuring safety and convenience for passengers.

[0062] In one embodiment, if Figure 3 As shown, step S202, i.e., controlling the door lock to unlock based on the driving force of the door lock motor and the sealing reaction force of the door rubber strip so that the door lock triggers a fully open state signal, includes:

[0063] S301: Controlling the door lock motor to drive the door lock bolt to rotate to a half-locked state, so that the door lock triggers a half-locked state signal;

[0064] S302: In response to the half-lock state signal, controlling the door lock motor to stop working within a preset time, and driving the door lock bolt to rotate based on the sealing reaction force of the door rubber strip;

[0065] S303: If the door lock triggering fully open state signal is not received after the preset time, the door lock motor is controlled to drive the door lock bolt to rotate to the fully open state, so that the door lock triggers the fully open state signal.

[0066] The half-lock state signal refers to a state signal triggered by the door lock motor when the door lock tongue rotates to the half-lock state. The half-lock state signal is a signal triggered by the vehicle door lock 12 before the full-open state signal.

[0067] As an example, in step S301, when the vehicle controller 2 controls the door lock motor, the door lock motor receives a control command and drives the door lock tongue to rotate to a semi-locked state, thereby unlocking the vehicle door lock 12 to a semi-locked state and triggering a jump in the semi-locked state signal of the door lock motor. In this example, the vehicle door lock 12 has its own motor, which is driven by the door lock motor to rotate the door lock tongue, thereby realizing the electric locking and unlocking functions of the vehicle door lock 12. When the vehicle door lock 12 is unlocked, under normal circumstances, when the door lock tongue rotates to the semi-locked state, the door lock motor can output a semi-locked state signal.

[0068] The preset time refers to a pre-set time interval, specifically, the time interval between when the vehicle controller 2 receives the half-lock state signal and the fully-open state signal.

[0069] As an example, in step S302, after the vehicle-mounted controller 2 receives the half-locked state signal sent by the door lock motor, it can be determined that the door lock motor has driven the door lock tongue to rotate to the half-locked state, and the door lock 12 has been unlocked to the half-locked state; then the vehicle-mounted controller 2 controls the door lock motor to stop working within a preset time, that is, controls the door lock motor not to drive the door lock tongue to rotate within the preset time. If the vehicle-mounted controller 2 receives a fully-opened state signal triggered by the door lock 12 within the preset time, the vehicle-mounted controller 2 controls the door lock motor to stop working, that is, controls the door lock motor to no longer provide driving force to drive the door lock tongue to rotate, but the door rubber strip 14 works. Since the stored sealing reaction force of the door rubber strip 14 is large enough, the sealing reaction force of the door rubber strip 14 can be used to push the door lock tongue to rotate from the half-locked state to the fully-open state. The door lock 12 is completely unlocked to the fully-open state, triggering the door lock 12 fully-opened state signal to jump. In this example, upon receiving the half-locked state signal, the onboard controller 2 controls the door lock motor to stop operating within a preset time. The sealing reaction force of the door rubber strip 14 pushes the door lock tongue from the half-locked state to the fully open state, thereby unlocking the door lock 12. The door rubber strip 14 is made of elastic rubber and can store a certain amount of elastic energy. After the door lock 12 is unlocked, this elastic energy is released, rotating the door open a certain angle, returning the door lock 12 to the fully open state. This automatic electric door opening ensures safety and convenience for passengers when opening and closing the door.

[0070] As an example, in step S303, if the onboard controller 2 does not receive the fully open state signal triggered by the door lock 12 within the preset time, but in order to unlock the door lock 12 to the fully open state and trigger the fully open state signal, the onboard controller 2 will control the door lock motor to activate the ice-breaking mode. Based on the ice-breaking mode, the door lock motor forcibly acts on the door lock ratchet, and through the rotation of the door lock ratchet, the door lock bolt is driven to continue to rotate from the semi-locked state to the fully open state. The door lock 12 is unlocked to the fully open state, thereby triggering the fully open state signal of the door lock 12 to jump. In this example, if the sealing reaction force of the door rubber strip 14 cannot drive the door lock bolt to continue to rotate, resulting in the door lock 12 being unable to trigger the fully open state signal by the driving force of the sealing reaction force, the door lock motor can rely on directly acting on the door lock ratchet to trigger the door lock fully open state signal. The ice-breaking mode started by the door lock motor drives the door lock 12 to unlock to the fully open state and triggers the door lock 12 fully open state signal jump, realizing the door opening without handle and ejection mechanism, meeting the automatic electric opening of the door, helping to ensure the safety and convenience of passengers opening and closing the door.

[0071] In this embodiment, the door lock motor is controlled to drive the door lock tongue to a semi-locked state, thereby triggering a semi-locked state signal. In response to the semi-locked state signal, the door lock motor is controlled to stop operating within a preset time, and the door lock tongue is driven to rotate based on the sealing reaction force of the door rubber strip 14. If the door lock triggers a fully open state signal after the preset time, the door lock motor is controlled to drive the door lock tongue to a fully open state, thereby triggering a fully open state signal. By optimizing the unlocking method and unlocking control method of the vehicle door lock 12, the electric door 1 can be smoothly unlocked and output semi-locked and fully open signals under all operating conditions without an external door handle or ejection mechanism, thus realizing automatic electric door opening and closing, which helps to ensure the safety and convenience of vehicle occupants when opening and closing the door.

[0072] In one embodiment, in step S103, after obtaining the second environmental data in response to the second door opening instruction, the door control method further includes:

[0073] When the second environmental data does not meet the safety assessment condition, the door driving mechanism 11 is controlled not to operate and the door damping is increased.

[0074] As an example, the onboard controller 2 compares the second environmental data acquired in real time with the safety assessment conditions to assess whether it is safe to open the door. If the second environmental data does not meet the safety assessment conditions, it is determined that the door is unsafe to open at the current moment and the door cannot be opened further. At this time, the onboard controller 2 controls the door drive mechanism 11 to not actuate the door, so that the door maintains the first target angle position unchanged. Furthermore, if the door drive mechanism 11 is equipped with an electromagnetic damper, the onboard controller 2 can also change the current and voltage input to the electromagnetic damper in the door drive mechanism 11 to increase the resistance of the electromagnetic damper, thereby increasing the resistance to door opening, making it difficult for occupants to easily push the door, allowing occupants to promptly detect abnormalities and observe the environment surrounding the door, and then manually open the door at a slower speed and in a safer manner, or to stop the door from opening.

[0075] In one embodiment, if Figure 4 As shown, in step S103, before obtaining the second environmental data in response to the second door opening instruction, the door control method further includes:

[0076] S401: Acquire current sensing data;

[0077] S402: Determine the occupant's current intention based on the current sensing data;

[0078] S403: When the occupant's current intention is to open the door, trigger a second door opening instruction.

[0079] The current sensing data refers to the sensing data collected in real time at the current moment, specifically the sensing data collected in real time by sensors on the car.

[0080] As an example, in step S401, the vehicle controller 2 can obtain current sensing data such as the current door angle collected by the door sensor 13 installed on the car and the current acceleration collected by the acceleration sensor, so as to subsequently calculate the change data of the current door angle and the change data of the current acceleration based on the current sensing data, and then analyze whether the occupant has the intention to control the opening of the door.

[0081] The occupant's current intention refers to the occupant's intention to continue opening the door or not to continue opening the door determined based on analysis of current sensing data.

[0082] As an example, in step S402, the vehicle controller 2 may analyze the current sensing data, such as the current door angle and current acceleration, collected in real time by the door sensor 13 using a pre-defined intention analysis model or algorithm to determine the occupant's current intention. Furthermore, the sensing data is used to identify the occupant's intention to open or close the door. Under certain conditions, the door is automatically switched from a stationary state to a powered state, and the door is opened and closed according to the occupant's intention.

[0083] As an example, in step S403, the vehicle controller 2 analyzes and determines that the occupant's current intention is to open the door based on the current sensing data collected in real time, and can directly trigger the second door opening command without the occupant having to input the second door opening command independently, thereby simplifying the control process and allowing the door to more sensitively identify the occupant's intention to operate the door, thereby ensuring the safety and convenience of the occupant in opening and closing the door.

[0084] In this embodiment, when the current intention of the occupant determined by the current sensing data is to open the door, the second door opening instruction is triggered to enable the door to be subsequently opened and closed automatically by electric means. By adding door angular velocity and acceleration sensors to the door and designing a door opening and closing control method, the door can more sensitively identify the occupant's intention to operate the door, thereby avoiding the situation where an unsafe environment around the door is mistakenly judged as a safe environment due to missed detection or failure of the radar or sensor when the door is opened electrically. The occupant can stop the door from opening more conveniently and quickly, thereby ensuring the safety of the door opening process.

[0085] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0086] In one embodiment, a vehicle-mounted controller 2 is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle door control method in the above embodiment is implemented, for example Figure 1 S101-S104 shown, or Figures 2 to 4 To avoid repetition, it will not be described here.

[0087] In one embodiment, if Figure 5 As shown, an electric door 1 includes a door, a door lock 12, a door rubber strip 14 and a door drive mechanism 11: the door can be rotatably assembled on the vehicle body 4; the door lock 12 is set on the door; the door rubber strip 14 is set on the door and / or the vehicle body; the door drive mechanism 11 is set on the door and is used to control the rotation of the door relative to the vehicle body 4; the vehicle-mounted controller 2 is connected to the door lock 12 and the door drive mechanism 11 to control the operation of the door lock 12 and the door drive mechanism 11.

[0088] The door provides a mounting point for all door parts and is connected to the vehicle body 4 via a door hinge. The door can rotate around the door hinge to provide a passage for passengers to get on and off the vehicle when the door is open.

[0089] The door lock 12 has its own motor, which drives the rotation of the door lock 12 to achieve electric locking and unlocking. Under normal circumstances, when the door lock 12 is unlocked, the lock tongue rotates to a semi-locked state, generating a semi-locked state signal. When the lock tongue rotates to a fully open state, it generates a fully open state signal. If the sealing reaction force of the door seal 14 is weak or the vehicle is operating abnormally, the door lock 12 cannot automatically trigger the fully open state signal based on the sealing reaction force of the door seal 14. In this case, the door lock motor directly acts on the door lock ratchet, triggering the fully open state signal of the door lock 12 to jump.

[0090] In one embodiment, the vehicle door lock 12 includes a first motor and a second motor, wherein the first motor is used to drive the door lock tongue to rotate from a fully locked state to a half-locked state, and the second motor is used to drive the door lock tongue to rotate from a half-locked state to a fully open state.

[0091] In this example, the first motor is a motor that drives the door lock tongue to rotate to a semi-locked state, thereby unlocking the vehicle door lock 12 to the semi-locked state. The second motor is a motor that activates the ice-breaking mode under abnormal operating conditions, that is, a motor that forcibly controls the door lock ratchet to rotate, causing the door lock tongue to continue to rotate to the fully open state, thereby unlocking the vehicle door lock 12 to the fully open state. In another example, the door lock motor can be a single motor having two power levels. During actual operation, the door lock motor is first controlled to rotate based on the lower power level to drive the door lock tongue to the semi-locked state. When the current operating condition is normal, the door lock motor is controlled to stop operating, and the door lock tongue is rotated to the semi-open state based on the sealing reaction force of the door lock rubber strip. When the current operating condition is abnormal, the door lock motor needs to activate the ice-breaking mode, using the higher power level to control the door lock ratchet to rotate, causing the door lock tongue to continue to rotate to the fully open state.

[0092] Among them, the door rubber strip 14 is generally installed in the door and the door opening area of ​​the body 4, which can realize the sealing function of the door. In addition, the rubber strip is made of rubber, has elasticity, can store a certain amount of elastic energy, and stores a certain amount of elastic energy when the door is fully closed. Under normal circumstances, after the door lock 12 is unlocked, the elastic energy is released, and the door can be rotated and pushed open to a certain angle, so that the door lock 12 is in a fully open state.

[0093] Among them, the door drive mechanism 11 is installed on the door, and the other end is connected to the body 4. The door drive mechanism 11 has its own motor, which drives the connecting rod in the door drive mechanism 11 to extend or shorten, thereby realizing the electric rotation opening and closing of the door around the hinge axis.

[0094] In one embodiment, the electric door 1 further includes a door controller 15 , a door radar, and a door sensor 13 ; the door controller 15 is disposed on the door; the door radar is disposed on the door; and the door sensor 13 is disposed on the door.

[0095] Among them, the door controller 15 communicates with the vehicle controller 2, can independently calculate and process the electrical signals output by the door sensor 13, the door drive mechanism 11, and the door lock 12, and receive the relevant door surrounding information output by the vehicle controller 2. After calculation and processing by the door controller 15, it issues relevant door actuation commands to realize the electric opening and closing of the door.

[0096] Among them, the door radar detects the environment around the door. After the detection information is processed by the vehicle controller 2, it can be used to determine whether there is a risk of collision with the surrounding environment when the door is opened.

[0097] Among them, the door sensor 13 has the function of sensing the door rotation angle and door acceleration. The door rotation status data read by the door sensor 13 can be converted into an electrical signal through the door controller 15, which is used to identify the passenger's intention to open or close the door. Under certain conditions, the door can be seamlessly switched from a static state to an electric state, and the door can be opened and closed according to the passenger's intention.

[0098] In one embodiment, if Figure 5 As shown, a car is provided, including an electric door 1, a body 4, a vehicle controller 2 and a vehicle sensor 3; the vehicle controller 2 is installed on the body 4; the vehicle sensor 3 is installed on the body 4; the vehicle controller 2 communicates with the vehicle sensor 3 to control the opening and closing of the electric door 1.

[0099] The vehicle body 4 provides mounting points for all vehicle parts and is rotatably connected to the vehicle doors via door hinges.

[0100] Vehicle sensors 3 are installed around the vehicle body 4, i.e., the non-door areas, to detect the vehicle's surroundings. The information detected by vehicle sensors 3 is processed by the onboard controller 2 to determine whether there is a risk of a door collision when the door is opened.

[0101] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, which can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0102] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0103] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A door control method, characterized in that: include: In response to a first door opening instruction, acquiring first environmental data; When the first environmental data meets the safety assessment condition, controlling the door lock to unlock, controlling the door drive mechanism to operate, and opening the door to a first target angle; In response to a second door opening instruction, acquiring second environmental data; When the second environmental data meets the safety assessment condition, the door driving mechanism is controlled to operate and the door is opened to a second target angle, and the second target angle is greater than the first target angle.

2. The door control method according to claim 1, characterized in that: The safety assessment condition is to determine, based on environmental data, that there are no obstacles within the door opening range.

3. The vehicle door control method according to claim 1, characterized in that: The controlling the door lock to unlock, controlling the door drive mechanism to operate, and opening the door to the first target angle includes: Based on the driving force of the door lock motor and the sealing reaction force of the door glue, the door lock is controlled to be unlocked so that the door lock triggers a fully open state signal; In response to the fully open state signal, the vehicle door driving mechanism is controlled to operate to open the vehicle door to a first target angle.

4. The vehicle door control method according to claim 3, characterized in that: The method of controlling the door lock to unlock based on the driving force of the door lock motor and the sealing reaction force of the door glue so that the door lock triggers a fully open state signal includes: Control the door lock motor to drive the door lock bolt to rotate to a half-locked state, so that the door lock triggers a half-locked state signal; In response to the half-lock state signal, the door lock motor is controlled to stop working within a preset time, and the door lock tongue is driven to rotate based on the sealing reaction force of the door rubber strip; If the door lock triggering fully open state signal is not received after the preset time, the door lock motor is controlled to drive the door lock bolt to rotate to the fully open state, so that the door lock triggers the fully open state signal.

5. The vehicle door control method according to claim 1, characterized in that: After acquiring the second environment data in response to the second door opening instruction, the door control method further includes: When the second environmental data does not satisfy the safety assessment condition, the door driving mechanism is controlled not to operate and the door damping is increased.

6. The vehicle door control method according to claim 1, characterized in that: Before acquiring the second environment data in response to the second door opening instruction, the door control method further includes: Get current sensing data; determining the occupant's current intention based on the current sensing data; When the occupant's current intention is to open the door, a second door opening instruction is triggered.

7. A vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle door control method according to any one of claims 1 to 6 is implemented.

8. An electric door, comprising a door, a door lock, a door rubber strip and a door drive mechanism; the door can be rotatably mounted on a vehicle body; the door lock is arranged on the door; the door rubber strip is arranged on the door and / or the vehicle body; the door drive mechanism is arranged on the door for driving the door to rotate relative to the vehicle body; the vehicle-mounted controller described in claim 7 is connected to the door lock and the door drive mechanism to control the operation of the door lock and the door drive mechanism.

9. The electric door according to claim 8, characterized in that: The vehicle door lock includes a first motor and a second motor, wherein the first motor is used to drive the door lock tongue to rotate from a fully locked state to a half-locked state, and the second motor is used to drive the door lock tongue to rotate from a half-locked state to a fully open state.

10. An automobile, characterized in that: It comprises the on-board controller as claimed in claim 7 and the electric door as claimed in any one of claims 8-10.

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