Vehicle door closing control method, vehicle door controller, vehicle and storage medium

Abstract

The invention discloses a vehicle door closing control method, a vehicle door controller, a vehicle and a storage medium. The method comprises the steps that a vehicle door closing instruction is responded, and a first door closing speed curve corresponding to current door closing operation is read; based on the first door closing speed curve, a door closing execution mechanism is controlled to execute door closing operation, and after the door closing operation is completed, a target vehicle door stop position corresponding to the door closing operation is determined; and according to the target vehicle door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation is determined, and the second door closing speed curve is adopted to update the first door closing speed curve. According to the scheme, self-adaptive learning of the door closing speed is achieved by dynamically updating the second door closing speed curve so as to adapt to the tolerance of vehicle door sealing counterforce and system resistance changes, it is guaranteed that the vehicle door can be normally opened and closed without depending on external force, and the opening and closing stability and consistency are good.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving control technology, and in particular to a door closing control method, a door controller, a vehicle and a storage medium. Background Art

[0002] With the development of intelligent automobiles, door control is becoming more and more intelligent, so that doors can be opened and closed automatically. Generally speaking, the normal closing of doors is related to the door sealing reaction force, system resistance and the door closing speed before locking. Due to the different influencing factors such as the manufacturing accuracy of the body in white, the manufacturing accuracy of the sealing system, the manufacturing accuracy of the hinge, the manufacturing accuracy of the drive mechanism, the ambient temperature and the number of durability, the door sealing reaction force and system resistance of different doors of the same vehicle are different, the door sealing reaction force and system resistance of different vehicles are different, and the door sealing reaction force and system resistance of different doors are different after a period of use.

[0003] In the existing door closing control process, the door closing speed before locking is generally determined based on a calibrated speed curve, and the calibrated speed curve matches the pre-calibrated door sealing reaction force and system resistance. As a result, in the actual control process, the door closing speed cannot adapt to the tolerance caused by the different door sealing reaction force and system resistance, affecting its normal opening and closing, and resulting in poor stability and consistency in the door opening and closing. Summary of the invention

[0004] The embodiments of the present invention provide a door closing control method, a door controller, a vehicle and a storage medium to solve the problem that the door closing speed in the existing door closing control process cannot adapt to the tolerance caused by the different door sealing reaction force and system resistance.

[0005] A vehicle door closing control method, comprising: In response to the door closing instruction, reading a first door closing speed curve corresponding to the current door closing operation; Based on the first door closing speed curve, controlling the door closing actuator to perform the door closing operation, and after the door closing operation is completed, determining the target door stop position corresponding to the current door closing operation; According to the target door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation is determined, and the first door closing speed curve is updated by using the second door closing speed curve.

[0006] Preferably, the door closing actuator comprises a door driving mechanism and a door lock; The controlling the door closing actuator to perform the door closing operation based on the first door closing speed curve, and determining the target door stop position corresponding to the door closing operation after the door closing operation is completed, comprises: Based on the first door closing speed curve, controlling the door driving mechanism to drive the door to rotate, and when the door driving mechanism stops working, determining the initial door stop position based on the first door lock signal fed back by the door lock; If the initial door stop position is a fully open position, determining the target door stop position to be a fully open position; If the initial door stop position is a half-locked position, controlling the door lock to perform a pull-in operation, and determining that the target door stop position is a full-locked position based on a second door lock signal fed back by the door lock; If the initial door stop position is a fully locked position, the target door stop position is determined to be a fully locked position.

[0007] Preferably, after controlling the door closing actuator to perform the door closing operation based on the first door closing speed curve, the vehicle door closing control method further includes: Get door closing detection data; When the door closing detection data meets the door stop condition, it is determined that the door closing operation is completed.

[0008] Preferably, the door closing detection data includes a Hall detection signal detected by a Hall sensor built into the door driving mechanism; The door stop condition includes that the rate of change of the Hall detection signal detected within a preset time period is 0.

[0009] Preferably, determining a second door closing speed curve corresponding to the next door closing operation according to the target door stop position corresponding to the current door closing operation includes: Determining the direction of increasing or decreasing the door closing speed according to the target door stop position; A plurality of preset door closing speed curves are read from the memory, and a preset door closing speed curve that matches the increasing and decreasing direction of the door closing speed and has the smallest difference in door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation.

[0010] Preferably, determining a second door closing speed curve corresponding to the next door closing operation according to the target door stop position corresponding to the current door closing operation includes: When the target door stop position is the fully open position, determining the door closing speed increasing / decreasing direction to be the increasing direction, and updating the target door stop position to be the first accumulated number corresponding to the fully open position; If the first accumulated number of times is greater than the first number threshold, a preset door closing speed curve having a door closing speed greater than the first door closing speed curve and having the smallest difference between the door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation; If the first accumulated number of times is not greater than the first number threshold, the first door closing speed curve is determined as the second door closing speed curve.

[0011] Preferably, determining a second door closing speed curve corresponding to the next door closing operation according to the target door stop position corresponding to the current door closing operation includes: When the target door stop position is the fully locked position, the door closing speed increase / decrease direction is determined to be a decreasing direction, and the door lock opening / closing state is updated to a second accumulated number corresponding to the start state; If the second accumulated number of times is greater than the second number threshold, a preset door closing speed curve having a smaller door closing speed than the first door closing speed curve and having the smallest difference between the two door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation; If the second accumulated number of times is not greater than the second number threshold, the first door closing speed curve is determined as the second door closing speed curve.

[0012] A vehicle door controller comprises 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 closing control method is implemented.

[0013] A vehicle comprises a vehicle body, a vehicle door, a vehicle door hinge, a door closing actuator and the above-mentioned vehicle door controller; The vehicle door is rotatably connected to the vehicle body via the vehicle door hinge; The door closing actuator includes a door driving mechanism and a door lock; The door driving mechanism is arranged on the door and connected to the vehicle body, and is used for driving the door to rotate around the door hinge; The vehicle door lock comprises a door lock motor and a door lock tongue, wherein the door lock motor is connected to the door lock tongue and is used to drive the door lock tongue to rotate; The door controller is connected to the door drive mechanism and the door lock motor, and is used to drive the door drive mechanism and the door lock motor to work.

[0014] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle door closing control method is implemented.

[0015] The above-mentioned door closing control method, door controller, vehicle and storage medium respond to the door closing instruction and control the door drive mechanism to perform the door closing operation based on the first door closing speed curve, and evaluate the specific situation of the door closing speed as too slow, moderate or too fast according to the target door stop position after the door operation is completed. Then, according to the specific situation, the second door closing speed curve is dynamically updated to achieve adaptive learning of the door closing speed to adapt to the tolerance of the door sealing reaction force and the system resistance change, so as to ensure that the door can be opened and closed normally without relying on external force, and the opening and closing stability and consistency are good. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 is a flow chart of a door closing control method in one embodiment of the present invention; Figure 2 is another flow chart of a door closing control method according to an embodiment of the present invention; Figure 3 is another flow chart of a door closing control method according to an embodiment of the present invention; Figure 4 is another flow chart of a door closing control method according to an embodiment of the present invention; Figure 5 is another flow chart of a door closing control method according to an embodiment of the present invention; Figure 6 is another flow chart of a door closing control method according to an embodiment of the present invention; Figure 7 is a structural schematic diagram of a vehicle in one embodiment of the present invention; Figure 8 yes Figure 7 A partial enlarged view of the vehicle; Fig. 9 FIG. 4 is a schematic diagram of a door closing speed curve in an embodiment of the present invention.

[0018] In the figure: 1. vehicle body; 2. vehicle door; 3. vehicle door hinge; 4. door closing actuator; 41. vehicle door drive mechanism; 42. vehicle door lock; 5. vehicle door controller; 6. door lock rubber strip. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The door closing control method provided by the embodiment of the present invention can be applied to the door controller 5, which is used to respond to the door closing instruction and dynamically adjust the door closing speed curve used to control the door closing speed, so that the adjusted door closing speed curve adapts to the dynamic changes of the door sealing reaction force and the system resistance to ensure the normal closing of the door. The door controller 5 here is a controller for controlling the operation of the door closing actuator 4, which can be a controller dedicated to controlling the operation of the door closing actuator 4, or a controller integrated with related functions.

[0021] In one embodiment, if Figure 7 and Figure 8 As shown, a vehicle is provided, comprising a vehicle body 1, a vehicle door 2, a vehicle door hinge 3, a door closing actuator 4 and a vehicle door controller 5 in the following embodiment; the vehicle door 2 is rotatably connected to the vehicle body 1 through the vehicle door hinge 3; the door closing actuator 4 comprises a vehicle door driving mechanism 41 and a vehicle door lock 42; the vehicle door driving mechanism 41 is arranged on the vehicle door 2 and connected to the vehicle body 1, and is used to drive the vehicle door 2 to rotate around the vehicle door hinge 3; the vehicle door lock 42 comprises a door lock motor and a door lock tongue, and the door lock motor is connected to the door lock tongue and is used to drive the door lock tongue to rotate; the vehicle door controller 5 is connected to the vehicle door driving mechanism 41 and the door lock motor, and is used to drive the vehicle door driving mechanism 41 and the door lock motor to work.

[0022] As an example, the door 2 is rotatably connected to the vehicle body 1 through the door hinge 3, and provides a passage for passengers to get on and off the vehicle when the door 2 is opened. The torque of the door hinge 3 affects the closing speed of the door 2. The door controller 5 and the door closing actuator 4 connected thereto are integrated on the door 2, and the door closing actuator 4 specifically includes a door driving mechanism 41 and a door lock 42 connected to the door controller 5.

[0023] In this example, the door drive mechanism 41 is arranged on the door 2 and connected to the vehicle body 1, and can control the door 2 to rotate relative to the vehicle body 1 around the door hinge 3. Specifically, the door drive mechanism 41 includes a drive motor and a drive rod connected to the drive motor, the drive rod is connected to the vehicle body 1, and the drive motor drives the drive rod to extend or shorten, thereby pushing the door 2 to rotate around the door hinge 3 to control the opening and closing of the door 2. The drive motor of the door drive mechanism 41 is built with a Hall sensor for recording the travel and position information of the drive motor. The door controller 5 is connected to the door drive mechanism 41 and the door lock 42, and is used to calculate and process the electrical signals output by the door drive mechanism 41 and the door lock 42, and then output an instruction for controlling the actuation of the door 2 to control the opening and closing of the door 2. The mechanical internal resistance of the door drive mechanism 41 and the mechanical internal resistance of the door hinge 3 form a system resistance, which affects the door closing speed.

[0024] In this example, the door lock 42 is set on the door 2. The door lock 42 includes a door lock motor and a door lock tongue connected to the door lock motor. The door lock tongue is driven by the door lock motor to rotate so that the door lock tongue cooperates with the door lock pin set on the vehicle body to realize the electric suction locking and electric unlocking functions of the door lock 42. Figure 8 The fully open position, half-locked position and fully locked position shown are specifically manifested as follows: if the door closing speed is too slow, the door drive mechanism 41 will stop working, and the door 2 will stay in the fully open position, that is, the target door stop position is the fully open position, indicating that the door 2 cannot be closed normally; if the door closing speed is too fast, the door 2 will directly hit the fully locked position, and the door lock motor will not have a suction closing process. The door closing speed is too fast, which will affect the user experience, and when a person's hand is placed in the door gap, there will be no sufficient reaction time reserved, which may easily cause personal injury; if the door closing speed is moderate, the door 2 just stays in the half-locked position. At this time, the door lock 42 will trigger the door half-lock signal and send the door half-lock signal to the door controller 5. The door controller 5 receives the door half-lock signal and drives the door lock 42 to perform the suction operation, so that the door 2 is slowly sucked to the fully locked position to ensure its experience and avoid personal injury.

[0025] In this example, the vehicle further includes a door rubber strip 6, which is generally installed in the door opening area between the door 2 and the vehicle body 1 to achieve the sealing function of the door 2. The door rubber strip 6 can be made of, but not limited to, flexible materials such as rubber, has elasticity, can store a certain amount of elastic energy, and provides a certain sealing reaction force to the door 2 during the door closing process, thereby reducing closing impact and noise.

[0026] In one embodiment, if Figure 1 As shown, a door closing control method is provided, and the method is applied in Figure 7 Taking the door controller 5 in the example as an example, the method includes the following steps: S101: In response to a door closing instruction, reading a first door closing speed curve corresponding to the current door closing operation; S102: Based on the first door closing speed curve, controlling the door closing actuator to perform the door closing operation, and after the door closing operation is completed, determining the target door stop position corresponding to the current door closing operation; S103: Determine a second door closing speed curve corresponding to the next door closing operation according to the target door stop position corresponding to the current door closing operation, and use the second door closing speed curve to update the first door closing speed curve.

[0027] The door closing instruction is an instruction for controlling the closing of the door 2. The first door closing speed curve refers to a door closing speed curve that needs to be called and executed in response to the currently received door closing instruction, which can be a door closing speed curve updated after the last door closing operation or a system default door closing speed curve.

[0028] As an example, in step S101, the door controller 5 can obtain a door closing instruction triggered by a user operation, for example, it can receive a door closing instruction input by the user through a physical button, a virtual button, voice, a fingerprint or other means; in response to the door closing instruction, a first door closing speed curve is read from the memory to control the closing speed of the door 2 based on the dynamically updated door closing speed curve.

[0029] Among them, the door closing actuator 4 is a mechanism for performing the door closing operation. The door closing actuator 4 may include a door driving mechanism 41, and may also include a door driving mechanism 41 and a door lock 42. The door driving mechanism 41 here is an actuator for driving the door 2 to rotate around the door hinge 3, and the door lock 42 is an actuator for performing a suction operation to suction the door 2 from a semi-locked position to a fully locked position.

[0030] As an example, in step S102, after determining the first door closing speed curve, the door controller 5 can control the door drive mechanism 41 to perform the door closing operation based on the first door closing speed curve, or control the door drive mechanism 41 and the door lock 42 to perform the door closing operation together, so that the door closing speed of the door 2 follows the door closing speed curve. After the door closing operation is completed, the target door stop position after the door closing operation can be determined through the built-in sensor, CAN bus or other methods. The target door stop position refers to the final stop position of the door when the door closing operation is completed. In this example, the target door stop position can be a fully open position or a fully locked position. The fully open position here refers to the position where the door lock 42 is in a fully open state, and the fully locked position refers to the position where the door lock 42 is in a fully locked state.

[0031] As an example, in step S103, the door controller 5 can determine whether the closing speed of this closing operation is too slow, moderate, or too fast according to the target door stop position after this closing operation. For example, when the target door stop position is the fully open position, it can be determined that the closing speed is too slow; when the target door stop position is the fully locked position, it can be determined whether the closing speed is moderate or too fast according to whether the door lock motor performs the suction operation. Then, according to the specific situation of the determined closing speed, it can be evaluated whether it matches the change of the door sealing reaction force and the system resistance, and then the second closing speed curve corresponding to the next closing operation can be determined, so that the door closing control is performed based on the updated closing speed curve during the next closing operation to adapt to the tolerance caused by the change of the door sealing reaction force and the system resistance, and ensure the consistency and stability of the closing of the door 2. Among them, the second closing speed curve is the closing speed curve that needs to be called and executed in the next closing operation, specifically, the closing speed curve used to update the first closing speed curve.

[0032] In this embodiment, in response to the door closing instruction, based on the first door closing speed curve, the door drive mechanism 41 is controlled to perform the door closing operation, and the door closing speed is evaluated as being too slow, moderate or too fast according to the target door stop position after the door operation is completed. Then, according to the specific situation, the second door closing speed curve is dynamically updated to achieve adaptive learning of the door closing speed to adapt to the tolerance of the door sealing reaction force and the system resistance change, to ensure that the door 2 can be opened and closed normally without relying on external force, and the opening and closing stability and consistency are good.

[0033] In one embodiment, the door closing actuator 4 includes a door driving mechanism 41 and a door lock 42; like Figure 2 As shown, step S102, i.e., based on the first door closing speed curve, controlling the door closing actuator to perform the door closing operation, and after the door closing operation is completed, determining the target door stop position corresponding to the current door closing operation, includes: S201: Based on the first door closing speed curve, controlling the door driving mechanism to drive the door to rotate, and when the door driving mechanism stops working, determining an initial door stop position based on a first door lock signal fed back by the door lock; S202: If the initial door stop position is the fully open position, determining the target door stop position to be the fully open position, where the fully open position refers to a position where the door lock is in a fully open state; S203: If the initial door stop position is a half-locked position, the door lock is controlled to perform a pull-in operation, and based on a second door lock signal fed back by the door lock, the target door stop position is determined to be a fully locked position, wherein the half-locked position refers to a position where the door lock is in a half-open state; S204: If the initial door stop position is the fully locked position, determine the target door stop position as the fully locked position, where the fully locked position refers to a position where the door lock is in a fully locked state.

[0034] Generally speaking, the door lock 42 is arranged on the door 2, and the door lock 42 includes a door lock motor and a door lock tongue. The door lock motor is connected to the door lock tongue and can control the rotation of the door lock tongue to realize the suction locking and electric unlocking functions of the door lock 42.

[0035] The first door lock signal refers to the signal fed back by the door lock 42 to the door controller 5 when the door drive mechanism 41 stops working, which is used to determine the initial door stop position. The first door lock signal can be triggered within a preset time period when the door drive mechanism 41 starts working. The initial door stop position here is the position of the door when the door drive mechanism 41 stops working. As an example, in step S201, after determining the first door closing speed curve, the door controller 5 may first control the door drive mechanism 41 to operate based on the first door closing speed curve to drive the door 2 to rotate around the door hinge 3. When the door drive mechanism 41 stops working, the initial door stop position may be determined based on the first door lock signal fed back by the door lock 42.

[0036] In this example, when the door drive mechanism 41 stops working, Figure 8 The door closing direction shown in the figure determines that the initial door stop position corresponding to the door driving mechanism 41 may be any one of the fully open position, the half-locked position and the fully locked position. The fully open position refers to the position where the door lock 42 is in the fully open state, the half-locked position refers to the position where the door lock 42 is in the half-locked state, and the fully locked position refers to the position where the door lock 42 is in the fully locked state. If the door lock does not detect that the door reaches the half-locked position within the preset time period when the door driving mechanism 41 starts to work, the first door lock signal fed back indicates that the initial door stop position is the fully open position; if the door is detected to have passed the half-locked position but has not reached the fully locked position, the first door lock signal fed back indicates that the initial door stop position is the half-locked position; if the door is detected to have reached the fully locked position, the first door lock position fed back indicates that the initial door stop position is the fully locked position.

[0037] As an example, in step S202, when the initial door stop position is the fully open position, the door controller 5 directly determines that the door closing operation is completed. It can be determined that the door driving mechanism 41 drives the door 2 to rotate at a slow speed and does not meet the triggering condition for triggering the door lock 42. The door lock motor is not controlled to operate, and the final target door stop position is determined to be the fully open position. In this case, the door 2 cannot be closed normally.

[0038] As an example, in step S203, when the initial door stop position is a semi-locked position, the door controller 5 can determine that the door closing speed driven by the door drive mechanism 41 to rotate the door 2 is moderate, and the triggering condition for triggering the door lock 42 is reached. The door lock 42 needs to be controlled to perform the suction operation, that is, the door lock motor controls the rotation of the door lock tongue to suction the door 2 to the fully locked position. At this time, the door lock 42 can feedback a second door lock signal to the door controller 5. Based on the received second door lock signal, the door controller 5 determines that the door closing operation is completed, and determines that its final target door stop position is the fully locked position. In this case, the door 2 is slowly suctioned to the fully locked position to ensure its experience and avoid personal injury.

[0039] As an example, in step S204, when the initial door stop position is the fully locked position, the door controller 5 directly determines that the door closing operation is completed, and determines that the door driving mechanism 41 drives the door 2 to rotate at a faster door closing speed. When the door 2 is closed, it will directly hit the fully locked position, that is, the final target door stop position is the fully locked position. At this time, the door lock motor does not perform the suction operation. In this case, the consistency and stability of the closing of the door 2 are poor, and the door closing speed is too fast, which will affect the user experience, and when the hand is placed in the door gap, there will be no sufficient reaction time reserved, which may easily cause personal injury.

[0040] In one embodiment, if Figure 3 As shown, after controlling the door closing actuator to perform the door closing operation based on the first door closing speed curve, the vehicle door closing control method further includes: S301: Obtain door closing detection data corresponding to the door driving mechanism; S302: When the door closing detection data meets the door stop condition, it is determined that the door closing operation is completed.

[0041] The door closing detection data is data detected in real time during the closing process of the vehicle door 2, specifically data used to evaluate whether the current door closing operation has stopped. The door stopping condition refers to a pre-set condition used to evaluate whether the current door closing operation has been completed.

[0042] As an example, in step S301, after determining the first door closing speed curve, the door controller 5 can control the door closing actuator 4 connected thereto to operate according to the first door closing speed curve, so that the door 2 performs a door closing operation based on the door closing speed corresponding to the door closing speed curve. In this process, door closing detection data can be obtained through the bus or other means, specifically data used to evaluate whether the door closing operation is completed.

[0043] As an example, in step S302, after obtaining the door closing detection data, the door controller 5 can compare the real-time collected door closing detection data with the pre-set door stop condition. When the door closing detection data meets the door stop condition, it can be determined that the door closing operation is completed and the state of the door 2 no longer changes, that is, the door 2 no longer drives the door 2 to rotate around the door hinge 3, and the door lock state of the door lock 42 no longer changes. At this time, the target door stop position corresponding to the current door closing operation can be determined through the bus or other means.

[0044] In this example, the target door stop position can be determined based on the door lock signal output by the door lock 42. For example, when controlling the door drive mechanism 41 to drive the door 2 to rotate, the initial door stop position can be determined according to the first door lock signal output by the door lock 42, specifically including: if the first door lock signal is a fully open state signal, then the initial door stop position is determined to be the fully open position; if the first door lock signal is a half-lock state signal, then the initial door stop position can be determined to be the half-lock position; if the first door lock signal is a fully locked state signal, then the initial door stop position can be determined to be the fully locked position. Further, when the door controller 5 receives the first door lock signal as a half-lock state signal, it will control the door lock 42 to perform a suction operation to suction the door 2 to the fully locked position, so that the door lock 42 outputs a second door lock signal. When the second door lock signal is a fully locked state signal, the target door stop position can be determined to be the fully locked position.

[0045] In one embodiment, the door closing detection data includes a Hall detection signal detected by a Hall sensor built into the door driving mechanism 41; The door stop condition includes that the rate of change of the Hall detection signal detected within a preset time period is 0.

[0046] As an example, when the door controller 5 controls the initial door stop position based on the first door closing speed curve, it is necessary to obtain the Hall sensor built into the initial door stop position in real time to detect the Hall detection signal in real time. The Hall sensor here is specifically set on the drive motor of the door drive mechanism 41, and is used to record the Hall detection signal to determine whether the drive motor is working according to the Hall detection signal. In this example, the door controller 5 needs to obtain multiple Hall detection signals detected within a preset time period, and determine the corresponding change rate based on the multiple Hall detection signals; when the change rate is 0, it can be determined that the drive motor stops working and the initial door stop position can be determined; when the change rate is not 0, it can be determined that the drive motor is still working, and at this time, steps S301-S302 need to be repeated.

[0047] In one embodiment, if Figure 4 As shown, step S103, that is, updating the second door closing speed curve according to the target door stop position corresponding to the current door closing operation, includes: S401: Determine the direction of increasing or decreasing the door closing speed according to the target door stop position; S402: reading a plurality of preset door closing speed curves from the memory, and determining the preset door closing speed curve that matches the increasing and decreasing direction of the door closing speed and has the smallest difference in door closing speeds as the second door closing speed curve corresponding to the next door closing operation; In this example, a plurality of preset door closing speed curves are stored in the memory connected to the door controller 5. The preset door closing speed curve is a door opening speed curve from the start of the door closing operation to the half-locked position, and each preset door closing speed curve corresponds to a door closing speed. Fig. 9 As shown, each preset door closing speed curve includes an acceleration curve, a uniform speed curve and a deceleration curve. The acceleration curve and the uniform speed curve in the multiple preset door closing speed curves are the same, and the deceleration curves in the multiple preset door closing speed curves are different. Specifically, the deceleration change rates of the multiple deceleration curves are different, and the difference between the deceleration change rates of two adjacent deceleration curves is the same, that is, the equal step size setting. The deceleration change rate here is used to reflect the degree of speed at which the door closing speed needs to be controlled to be reduced, that is, it is used to determine the closing speed of each preset door closing speed curve. The greater the absolute value of the deceleration change rate, the greater the closing speed; the smaller the absolute value of the deceleration change rate, the smaller the closing speed.

[0048] As an example, in step S401, after determining the target door stop position corresponding to the current door closing operation, the door controller 5 can determine which of the situations of too slow, moderate and too fast the door closing speed of the current door closing operation belongs to according to the target door stop position, and then determine the direction of increasing or decreasing the door closing speed. In this example, when the target door stop position is the fully open position, it can be determined that the door closing speed of the current door closing operation is too slow, and it is necessary to speed up the door closing speed during the next door closing operation. Therefore, the direction of increasing or decreasing the door closing speed is determined to be the increasing direction. When the target door stop position is the fully locked position and the opening and closing state of the door lock is the activated state, it can be determined that the door closing speed of the current door closing operation is moderate, and there is no need to adjust the door closing speed. When the target door stop position is the fully locked position and the opening and closing state of the door lock is the unactivated state, it can be determined that the door closing speed of the current door closing operation is too fast, and it is necessary to slow down the door closing speed during the next door closing operation. Therefore, the direction of increasing or decreasing the door closing speed is determined to be the decreasing direction.

[0049] As an example, in step S402, the door controller 5 can read multiple preset closing speed curves from the memory, and update the preset closing speed curve that matches the increase or decrease direction of the closing speed and has the smallest difference in closing speed between the two as the second closing speed curve. For example, let the deceleration change rate of the first closing speed curve be S0, and the deceleration change rate corresponding to the preset closing speed curve be Si; when the increase or decrease direction of the closing speed is the increasing direction, then from all the preset closing speed curves, select multiple preset closing speed curves with a deceleration change rate Si greater than S0, and determine them as the initial closing speed curves; then calculate the difference between the closing speeds of all the initial closing speed curves and the closing speed of the first closing speed curve to determine the difference in closing speed between the two, and determine the initial closing speed curve with the smallest difference in closing speed between the two as the second closing speed curve, that is, when Si > S0, determine the second closing speed curve according to min(|Si - S0|); when the increase or decrease direction of the closing speed is the decreasing direction, then from all the preset closing speed curves, determine multiple preset closing speed curves with a deceleration change rate Si less than S0 as the initial closing speed curves; then calculate the difference between the closing speed of the first closing speed curve and the closing speeds of all the initial closing speed curves to determine the difference in closing speed between the two, and determine the initial closing speed curve with the smallest difference in closing speed between the two as the second closing speed curve, that is, when Si < S0, determine the second closing speed curve according to min(|S0 - Si|).

[0050] As Fig. 9 shown, multiple preset closing speed curves with different gradient levels are pre-stored in the memory connected to the vehicle controller to ensure that models with different door sealing reaction forces and system resistances can be adapted. The door sealing reaction force here includes, but is not limited to, the sealing reaction force of the door seal 6, and the system resistance here includes, but is not limited to, the mechanical internal resistance of the door drive mechanism 41 and the mechanical internal resistance of the door hinge 3 to form a system resistance. During production line self-learning, it should be noted that there are no extra obstacles within the opening and closing envelope of the door 2 to ensure that the door 2 does not prevent pinching and collision. During user self-learning, it is necessary to enter the self-learning mode of the door 2, and the user needs to be prompted to ensure that all four doors and the tailgate are closed, the vehicle is in a flat state, and there are no extra obstacles within the opening and closing envelope of the door 2. It needs to be automatically completed by the electric door and should not be manually intervened.

[0051] In one embodiment, as Figure 5 shown, step S103, that is, determining the second closing speed curve corresponding to the next closing operation according to the target door stop position corresponding to the current closing operation, includes: S501: If the target door stop position is the fully open position, then determine that the increase or decrease direction of the closing speed is the increasing direction, and update the first cumulative number corresponding to the fully open position of the target door stop position; S502: If the first accumulated number of times is greater than the first number threshold, a preset door closing speed curve having a door closing speed greater than the first door closing speed curve and having the smallest difference between the door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation; S502: If the first accumulated number of times is not greater than the first number threshold, determining the first door closing speed curve as the second door closing speed curve.

[0052] The first cumulative number is the number of times the target door stop position corresponding to the current door closing operation is determined to be the fully open position by real-time statistics. The first number threshold is used to evaluate whether the first cumulative number reaches a certain threshold value, and the first number threshold can be set to 2.

[0053] As an example, in step S501, when the door controller 5 determines that the target door stop position after the door closing operation is the fully open position, it is necessary to determine that the direction of increase or decrease of the door closing speed is the increasing direction, and update the first cumulative number of the fully open position, that is, N=N+1, where N is the first cumulative number.

[0054] As an example, in step S502, after determining the first cumulative number of times, the door controller 5 may compare the first cumulative number of times with the first number threshold. If the first cumulative number of times is greater than the first number threshold, it is determined that the target door stop position corresponding to the current door closing operation has been the fully open position for multiple times, and the closing speed of the first door closing speed curve is too slow to adapt to the tolerance caused by the door sealing reaction force and the system resistance change. Therefore, it is necessary to set a preset door closing speed curve whose closing speed is greater than the first door closing speed curve and whose closing speed difference is the smallest as the second door closing speed curve corresponding to the next door closing operation, so that the closing speed corresponding to the second door closing speed curve is greater than the closing speed corresponding to the first door closing speed curve, so that after receiving the door closing command next time, the door 2 is controlled to close based on a closing speed faster than the current closing speed, so as to overcome the problem that the door 2 cannot be closed normally.

[0055] As an example, in step S503, after determining the first cumulative number of times, the door controller 5 may compare the first cumulative number of times with the first number threshold. If the first cumulative number of times is not greater than the first number threshold, it is determined that the target door stop position corresponding to the current door closing operation is the fully open position and the number of occurrences is relatively small, which may be affected by accidental events that affect the door closing speed. To avoid interference from accidental events, the first door closing speed curve may be determined as the second door closing speed curve, so that after receiving the door closing command next time, the door 2 is controlled to close based on the same door closing speed as the current door closing speed, so as to avoid frequent updates of the door closing speed curve due to accidental events.

[0056] In one embodiment, if Figure 6As shown, step S103, i.e., determining a second door closing speed curve corresponding to the next door closing operation according to the target door stop position corresponding to the current door closing operation, comprises: S601: when the target door stop position in the open / closed state of the door lock is the fully locked position, determining that the increasing / decreasing direction of the door closing speed in the open / closed state of the door lock is a decreasing direction, and updating the open / closed state of the door lock to a second accumulated number corresponding to the start state; S602: If the second accumulated number of times the door lock is opened and closed is greater than the second number threshold, a preset door closing speed curve whose door closing speed is less than the first door closing speed curve of the door lock is opened and closed and whose difference between the door closing speeds is the smallest is determined as the second door closing speed curve corresponding to the next door closing operation; S603: If the second accumulated number of times the door lock is opened and closed is not greater than the second number threshold, the first door closing speed curve is determined as the second door closing speed curve.

[0057] The second accumulated number is the number of times the door lock motor is in the start state determined by real-time statistics. The second number threshold is used to evaluate whether the second accumulated number reaches a certain standard threshold, and the second number threshold can be set to 2.

[0058] As an example, in step S601, when the target door stop position determined by the door controller 5 after the current door closing operation is the fully locked position, it is necessary to determine the second cumulative number of times the door lock's open / close state is in the activated state according to whether the open / close state of the door lock is in the activated state during the current door closing operation. For example, if the open / close state of the door lock is in the activated state during the current door closing operation, the initial door stop position determined by the door 2 driving motor driving the door 2 to rotate is determined to be the semi-locked position, and the door lock motor is controlled to perform the pull-in operation. At this time, M=M+1 is used to update the second cumulative number of times the door lock's open / close state is in the activated state; if the door lock's open / close state is in the non-activated state during the current door closing operation, the initial door stop position determined by the door 2 driving motor driving the door 2 is determined to be the fully locked position, and M=M+0 is used to determine the second cumulative number of times the door lock's open / close state is in the activated state, and M is the second cumulative number.

[0059] As an example, in step S602, after determining the second cumulative number of times, the door controller 5 may compare the second cumulative number of times with the second number threshold. If the second cumulative number of times is greater than the second number threshold, it is determined that the door lock has been in the start state for multiple times, and the closing speed of the first door closing speed curve is faster. When the door 2 is closed, it will directly hit the full lock position and cannot adapt to the tolerance caused by the door sealing reaction force and the system resistance change. Therefore, it is necessary to set a preset door closing speed curve with a closing speed lower than the first door closing speed curve and the smallest difference between the closing speeds of the two as the second door closing speed curve corresponding to the next door closing operation. Since the closing speed corresponding to the second door closing speed curve is lower than the closing speed corresponding to the first door closing speed curve, the door 2 is controlled to close based on a closing speed slower than the current closing speed after the door closing command is received next time, so as to overcome the problem of poor consistency and stability in closing the door 2.

[0060] As an example, in step S603, after determining the second cumulative number of times, the door controller 5 may compare the second cumulative number of times with the second number threshold. If the second cumulative number of times is not greater than the second number threshold, it is determined that the number of times the door lock's opening and closing state is the start state is relatively small, and it may be affected by accidental events that affect the door closing speed. To avoid interference from accidental events, the first door closing speed curve may be determined as the second door closing speed curve, so that after receiving the door closing command next time, the door 2 is controlled to close based on the same door closing speed as this time, so as to avoid frequent updates of the door closing speed curve due to accidental events.

[0061] The door closing control method in the embodiment of the present invention can make the door 2 independent of external resistance, can adapt to the difference of the door sealing reaction force caused by the difference of the manufacturing precision of the parts, solve the problem of inconsistent locking at the moment of closing the door 2, make the door 2 have a suction process, and ensure the consistency of the door 2 off the line. The user can also perform a self-learning process to ensure that when the external resistance changes, the difference of the door sealing reaction force caused by the durability / environmental difference of the parts can be adapted to achieve the locking suction process at the moment of closing the door 2. Moreover, by dynamically updating the closing speed curve, the closing speed of the door in the process of closing the door is adaptive to the closing state of the door 2, so that the closing state of the door 2 is no longer overly dependent on the change of external conditions, improves the stability and reliability of the electric door system, and reduces the cost waste caused by the unlimited improvement of manufacturing precision. When the closing state of the door 2 changes due to changes in the environment and durability of the door 2, the closing speed curve used in the closing process of the door 2 can also be automatically adjusted through adaptive learning to ensure the consistency and stability of user use.

[0062] In one embodiment, a door controller 5 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 door closing control method in the above embodiment is implemented, for example Figure 1 S101-S103 as shown, or Figures 2 to 6 To avoid repetition, it will not be described here.

[0063] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle door closing control method in the above embodiment is implemented, for example Figure 1 S101-S103 as shown, or Figures 2 to 6 To avoid repetition, it will not be described here.

[0064] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program 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 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many 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), etc.

[0065] Those skilled in the art can clearly understand that for the convenience and simplicity 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.

[0066] The embodiments described above 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 the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A door closing control method, characterized in that: include: In response to the door closing instruction, reading a first door closing speed curve corresponding to the current door closing operation; Based on the first door closing speed curve, controlling the door closing actuator to perform the door closing operation, and after the door closing operation is completed, determining the target door stop position corresponding to the current door closing operation; According to the target door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation is determined, and the first door closing speed curve is updated by using the second door closing speed curve.

2. The door closing control method according to claim 1, characterized in that: The door closing actuator includes a door driving mechanism and a door lock; The controlling the door closing actuator to perform the door closing operation based on the first door closing speed curve, and determining the target door stop position corresponding to the door closing operation after the door closing operation is completed, comprises: Based on the first door closing speed curve, controlling the door driving mechanism to drive the door to rotate, and when the door driving mechanism stops working, determining the initial door stop position based on the first door lock signal fed back by the door lock; If the initial door stop position is a fully open position, determining the target door stop position to be a fully open position, wherein the fully open position refers to a position where the door lock is in a fully open state; If the initial door stop position is a half-locked position, the door lock is controlled to perform a pull-in operation, and based on a second door lock signal fed back by the door lock, the target door stop position is determined to be a fully locked position, wherein the half-locked position refers to a position where the door lock is in a half-open state; If the initial door stop position is a fully locked position, the target door stop position is determined to be a fully locked position, where the fully locked position refers to a position where the door lock is in a fully locked state.

3. The door closing control method according to claim 1, characterized in that: After controlling the door closing actuator to perform the door closing operation based on the first door closing speed curve, the vehicle door closing control method further includes: Get door closing detection data; When the door closing detection data meets the door stop condition, it is determined that the door closing operation is completed.

4. The door closing control method according to claim 3, characterized in that: The door closing detection data includes a Hall detection signal detected by a Hall sensor built into the door driving mechanism; The door stop condition includes that the rate of change of the Hall detection signal detected within a preset time period is 0.

5. The door closing control method according to claim 1, characterized in that: The determining, according to the target door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation includes: Determining the direction of increasing or decreasing the door closing speed according to the target door stop position; A plurality of preset door closing speed curves are read from the memory, and a preset door closing speed curve that matches the increasing and decreasing direction of the door closing speed and has the smallest difference in door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation.

6. The door closing control method according to claim 5, characterized in that: The determining, according to the target door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation includes: When the target door stop position is the fully open position, determining the door closing speed increasing / decreasing direction to be the increasing direction, and updating the target door stop position to be the first accumulated number corresponding to the fully open position; If the first accumulated number of times is greater than the first number threshold, a preset door closing speed curve having a door closing speed greater than the first door closing speed curve and having the smallest difference between the door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation; If the first accumulated number of times is not greater than the first number threshold, the first door closing speed curve is determined as the second door closing speed curve.

7. The door closing control method according to claim 5, characterized in that: The determining, according to the target door stop position corresponding to the current door closing operation, a second door closing speed curve corresponding to the next door closing operation includes: When the target door stop position is the fully locked position, the door closing speed increase / decrease direction is determined to be a decreasing direction, and the door lock opening / closing state is updated to a second accumulated number corresponding to the start state; If the second accumulated number of times is greater than the second number threshold, a preset door closing speed curve having a smaller door closing speed than the first door closing speed curve and having the smallest difference between the two door closing speeds is determined as a second door closing speed curve corresponding to the next door closing operation; If the second accumulated number of times is not greater than the second number threshold, the first door closing speed curve is determined as the second door closing speed curve.

8. A vehicle door 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 closing control method according to any one of claims 1 to 7 is implemented.

9. A vehicle, characterized in that: It comprises a vehicle body, a vehicle door, a vehicle door hinge, a door closing actuator and the vehicle door controller according to claim 8; The vehicle door is rotatably connected to the vehicle body via the vehicle door hinge; The door closing actuator includes a door driving mechanism and a door lock; The door driving mechanism is arranged on the door and connected to the vehicle body, and is used for driving the door to rotate around the door hinge; The vehicle door lock comprises a door lock motor and a door lock tongue, wherein the door lock motor is connected to the door lock tongue and is used to drive the door lock tongue to rotate; The door controller is connected to the door drive mechanism and the door lock motor, and is used to drive the door drive mechanism and the door lock motor to work.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle door closing control method according to any one of claims 1 to 7 is implemented.

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