Control method, device and equipment, computer readable storage medium and vehicle

Abstract

The invention relates to a control method, device and equipment, a computer readable storage medium and a vehicle, the method is applied to an opening and closing system, the opening and closing system comprises an opening and closing piece and a locking piece, and the method comprises the steps that the opening and closing piece is controlled to be closed according to a configured first speed; and in the closing process of the opening and closing piece, state information that the opening and closing piece enters the locking piece is detected, and the first speed is updated according to the state information. The first speed is updated according to the state information that the opening and closing piece enters the locking piece, the closing speed of the opening and closing piece can meet the closing requirements under different working conditions, and then the experience of a user using an electric opening and closing system is improved.

Description

Technical Field

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

[0002] With the rapid development of automobile intelligence, more and more cars are using electric opening and closing systems, such as electric doors and electric trunks, etc. These electric opening and closing systems are convenient, fast, and intelligently controlled, greatly improving the user experience of the car.

[0003] In the related art, the opening and closing parts of the motorized opening and closing system usually adopt a fixed closing speed. Although this solution is simple and easy to implement, the fixed closing speed often cannot take into account the closing requirements under different working conditions, which can easily lead to the problem that the motorized opening and closing system cannot be closed normally, thus affecting the user experience. Summary of the invention

[0004] The embodiment of the present application provides a control method that can update the closing speed of an opening and closing member, taking into account the closing requirements under different working conditions, thereby improving the user experience of using an electric opening and closing system, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a control method is provided, the control method being applied to an opening and closing system, the opening and closing system comprising an opening and closing member and a locking member, the method comprising:

[0006] Controlling the opening and closing member to close according to a configured first speed;

[0007] During the closing process of the opening and closing member, state information of the opening and closing member entering the locking member is detected, so as to update the first speed according to the state information.

[0008] Optionally, the status information includes: the opening and closing member does not enter the locking member, or the opening and closing member enters the locking member.

[0009] Optionally, the status information also includes a degree of shaking of the opening and closing member entering the locking member.

[0010] Optionally, the method further comprises:

[0011] If it is detected that the state information is that the opening and closing member has not entered the locking member, updating the first speed to a preset speed;

[0012] The opening and closing member is controlled to close according to a preset speed.

[0013] Optionally, the method further comprises:

[0014] If it is detected that the state information is the shaking degree of the opening and closing member entering the locking member, the first speed is updated according to a comparison result of the shaking degree and a preset degree threshold.

[0015] Optionally, updating the first speed based on the comparison result includes:

[0016] If the comparison result is that the jitter degree is greater than the preset degree threshold, the first speed is updated to a second speed, and the second speed is less than the first speed.

[0017] Optionally, if the comparison result is that the jitter degree is greater than the preset degree threshold, updating the first speed to a second speed includes:

[0018] If the comparison result is that the jitter degree is greater than the preset degree threshold, then calculating the difference between the jitter degree and the preset degree threshold;

[0019] According to the difference, the first speed is updated to a second speed.

[0020] Optionally, updating the first speed to a second speed according to the difference includes:

[0021] Determine a speed update value according to the difference;

[0022] The first speed is updated to a second speed according to the speed update value.

[0023] Optionally, the method further comprises:

[0024] Obtaining up and down displacement information corresponding to the opening and closing member;

[0025] The shaking degree of the opening and closing member entering the locking member is determined according to the up-and-down displacement information.

[0026] Optionally, the obtaining of the up-and-down displacement information corresponding to the opening and closing member includes:

[0027] In the process of the opening and closing system changing from a semi-locked state to a fully locked state, the corresponding up and down displacement information of the opening and closing member is obtained; the semi-locked state is the state when the opening and closing member enters the locking member; the fully locked state is the state when the opening and closing member and the locking member are completely engaged.

[0028] Optionally, controlling the opening and closing member to close according to the configured first speed includes:

[0029] Determining a target motion curve corresponding to the opening and closing member according to the configured first speed;

[0030] Based on the target motion curve, the opening and closing member is controlled to close.

[0031] Optionally, controlling the opening and closing member to close based on the target motion curve includes:

[0032] According to the target motion curve, determining the position and speed of the opening and closing member at each motion time point;

[0033] The opening and closing member is controlled to close according to the position and the speed.

[0034] According to the second aspect of the present application, an embodiment of the present application further provides a control device, the control device comprising:

[0035] A control unit, used for controlling the opening and closing member to close according to a configured first speed;

[0036] The detection unit is used to detect the state information of the opening and closing member entering the locking member during the closing process of the opening and closing member, so as to update the first speed according to the state information.

[0037] According to the third aspect of the present application, an embodiment of the present application also provides an electronic device, which includes: one or more processors and a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to perform the steps of any one of the control methods provided in the embodiments of the present application.

[0038] According to the fourth aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium, which stores multiple computer programs. The computer programs are suitable for loading by a processor to execute the steps of any control method provided in the embodiment of the present application.

[0039] According to the fifth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program or a computer program, which implements the steps of any distribution harness protection method provided in the embodiment of the present application when the computer program or the computer program is executed by a processor.

[0040] According to the sixth aspect of the present application, an embodiment of the present application also provides a vehicle, which includes the electronic device provided by the embodiment of the present application.

[0041] The control method of the embodiment of the present application is applied to an opening and closing system, the opening and closing system includes an opening and closing member and a locking member, and the method includes: controlling the opening and closing member to close according to a configured first speed; during the closing process of the opening and closing member, detecting the state information of the opening and closing member entering the locking member, and updating the first speed according to the state information. By updating the first speed according to the state information of the opening and closing member entering the locking member, the closing speed of the opening and closing member can take into account the closing requirements under different working conditions, thereby improving the user experience of using the electric opening and closing system.

[0042] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of a first embodiment of a control method provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the structure of the opening and closing system provided in an embodiment of the present application;

[0046] Figure 3 A schematic flow chart of a second embodiment of the control method provided in the embodiment of the present application;

[0047] Figure 4 A schematic diagram of a third embodiment of the control method provided in the embodiment of the present application;

[0048] Figure 5 A schematic diagram of a fourth embodiment of a directional sound source provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of a fifth embodiment of the control method provided in the embodiment of the present application;

[0050] Figure 7 A schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0051] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0053] Embodiments of the present application provide a control method, apparatus, device, computer-readable storage medium, and vehicle.

[0054] The control method provided in the embodiment of the present application can be applied to an opening and closing system in a vehicle, where the opening and closing system includes an opening and closing part and a locking part. The vehicle can be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present disclosure does not make any specific limitations on this.

[0055] The following is a detailed description of the embodiments in conjunction with the accompanying drawings. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0056] Please refer to Figure 1 , Figure 1 A flow chart of a first embodiment of a control method provided in an embodiment of the present application. The control method is applied to an opening and closing system in a vehicle, the opening and closing system includes an opening and closing member and a locking member, and the method includes:

[0057] Step 101, controlling the opening and closing member to close according to a configured first speed;

[0058] In this step, when the vehicle receives a closing instruction for the opening and closing member of the opening and closing system, it detects whether the opening and closing member is configured with a first speed; if the opening and closing member is configured with the first speed, the opening and closing member is controlled to close according to the configured first speed. It should be noted that the first speed is determined based on the state information of the opening and closing member when it was last closed.

[0059] Furthermore, if the opening and closing member is not configured with a corresponding first speed, the opening and closing member is controlled to close according to a preset speed. It should be noted that the preset speed is configured when the vehicle leaves the factory to ensure that the opening and closing member can smoothly enter the locking member to complete the closing.

[0060] Step 102 : During the closing process of the opening and closing member, detecting the state information of the opening and closing member entering the locking member, so as to update the first speed according to the state information.

[0061] In this step, when the vehicle controls the opening and closing member to close according to the configured first speed or the preset speed, the vehicle detects the state information of the opening and closing member entering the locking member to update the first speed according to the state information.

[0062] Specifically, the status information includes: the opening and closing part has not entered the locking part, or the opening and closing part has entered the locking part; when the opening and closing part enters the locking part, the status information includes: the degree of vibration of the opening and closing part entering the locking part. If the status information is that the opening and closing part has not entered the locking part, it means that the current first speed cannot make the opening and closing part enter the locking part to complete the closing, so the first speed is updated to the preset speed to ensure that the opening and closing part can smoothly enter the locking part to complete the closing. If the status information is the degree of vibration of the opening and closing part entering the locking part, it means that the opening and closing part can enter the locking part to complete the closing. At this time, according to the degree of vibration of the opening and closing part from the opening and closing part entering the locking part to the completion of the closing, the second speed is determined, and the first speed is updated to the second speed to control the next closing of the opening and closing part.

[0063] For example, reference Figure 2 , Figure 2 A schematic diagram of the structure of the opening and closing system provided in the embodiment of the present application. The opening and closing system includes a domain controller, an opening and closing member, and a locking member. These three components work together to achieve the adaptive speed control closing of the opening and closing system. The following is a detailed description of each part of the figure:

[0064] Domain controller: It is installed in the vehicle and interacts with the entire vehicle through the CAN bus, playing the role of a control center. The domain controller processes the opening and closing signals and actions of the electric opening and closing system and is the intelligent core of the entire system. It determines whether the door opening signal is received by scanning the door opening signal, thereby triggering the subsequent opening action.

[0065] Opening and closing parts: represents the components that actually perform the opening and closing actions, such as electric trunk doors, electric doors, electric butterfly doors, and scissor doors. The opening and closing parts include the motor that drives the movement of the opening and closing parts and the Hall sensor that feedbacks the position and travel information. The motor is responsible for driving the movement of the opening and closing parts, while the Hall sensor feedbacks the position and travel information of the opening and closing parts in real time, providing important data support for subsequent control.

[0066] Locking parts: responsible for locking the opening and closing parts to ensure the stability of the opening and closing parts during vehicle driving. The locking parts include the motor that drives the locking parts to engage / unlock and the signal line that feedbacks the locking parts fully open or fully closed signal.

[0067] The vehicle of this embodiment controls the closing of the opening and closing member according to the configured first speed; during the closing process of the opening and closing member, the state information of the opening and closing member entering the locking member is detected to update the first speed according to the state information. By updating the first speed according to the state information of the opening and closing member entering the locking member, the closing speed of the opening and closing member can take into account the closing requirements under different working conditions, thereby improving the user experience of using the electric opening and closing system.

[0068] Please refer to Figure 3 , Figure 3 A flow chart of a second embodiment of the control method provided in the embodiment of the present application. The difference between the second embodiment and the first embodiment is that the method further includes:

[0069] Step 201, if it is detected that the state information is that the opening and closing member has not entered the locking member, then the first speed is updated to a preset speed;

[0070] Step 202: Control the opening and closing member to close according to a preset speed.

[0071] In this embodiment, during the closing process of the opening and closing member, the vehicle detects the state information of the opening and closing member entering the locking member. If the state information is detected that the opening and closing member does not enter the locking member, the first speed is updated to the preset speed.

[0072] Specifically, during the closing process of the opening and closing part, the vehicle detects whether it has received a half-lock signal, which is used to indicate that the opening and closing part has entered the locking part; when the vehicle does not detect a half-lock signal, it means that the opening and closing part has not entered the locking part. At this time, the vehicle immediately triggers the retry mechanism, controls the opening and closing part to reopen to the maximum position, and updates the first speed to the preset speed, and then controls the opening and closing part to close according to the preset speed. This mechanism ensures that even when the reaction force is too large and the speed does not match, the vehicle can respond quickly, and the opening and closing part can enter the locking part to complete the closing. Among them, the preset speed is the maximum speed allowed when the opening and closing part is closed.

[0073] In the vehicle of this embodiment, if the state information is detected that the opening and closing part has not entered the locking part, the first speed is updated to the preset speed; the opening and closing part is controlled to close according to the preset speed. This ensures that even when the reaction force is too large and the speed does not match, the vehicle can react quickly and the opening and closing part can enter the locking part to complete the closing. This improves the user experience of using the electric opening and closing system.

[0074] Please refer to Figure 4 , Figure 4 A flow chart of a third embodiment of the control method provided in the present application. The difference between the third embodiment and the first to second embodiments is that the method further includes:

[0075] Step 301: If it is detected that the state information is the shaking degree of the opening and closing member entering the locking member, the first speed is updated according to a comparison result of the shaking degree and a preset degree threshold.

[0076] In this step, if the vehicle determines that the opening and closing member enters the locking member, the state information is detected as the degree of vibration of the opening and closing member entering the locking member, and the vehicle updates the first speed according to the comparison result of the vibration degree and the preset degree threshold. Specifically, the first speed is updated only when the vibration degree is greater than the preset degree threshold.

[0077] Optionally, a mapping relationship between the degree of vibration and the speed is pre-set in the vehicle. When the degree of vibration is greater than a preset threshold, the target speed is determined according to the degree of vibration, and the first speed is then updated to the target speed.

[0078] Optionally, when the vehicle determines that the degree of vibration is greater than a preset threshold value, the difference between the degree of vibration and the preset threshold value is calculated, and the target speed is determined based on the difference and the mapping relationship between the preset difference and the speed, and then the second speed is determined based on the first speed and the target speed, and the first speed is updated to the second speed.

[0079] Specifically, updating the first speed based on the comparison result includes:

[0080] Step 3011: If the comparison result is that the jitter level is greater than the preset level threshold, the first speed is updated to a second speed, and the second speed is less than the first speed.

[0081] In this step, the vehicle compares the shaking degree with the preset degree threshold to obtain a comparison result. If the comparison result shows that the shaking degree is greater than the preset degree threshold, the first speed is updated to the second speed, wherein the second speed is less than the first speed. It can be understood that when the shaking degree of the opening and closing member is greater than the preset degree threshold, it means that the first speed for controlling the closing of the opening and closing member is too large, resulting in excessive reaction force when the opening and closing member enters the locking member. Therefore, the first speed needs to be reduced; wherein, the reaction force received by the opening and closing member includes contact reaction force (sealing strip, limit block, etc.) and non-contact reaction force (air resistance caused by the airtightness in the vehicle, etc.).

[0082] Specifically, if the comparison result is that the jitter degree is greater than the preset degree threshold, updating the first speed to a second speed includes:

[0083] Step 30111: if the comparison result is that the jitter degree is greater than the preset degree threshold, then calculate the difference between the jitter degree and the preset degree threshold;

[0084] In this step, the vehicle compares the shaking degree with a preset degree threshold to obtain a comparison result. If the comparison result shows that the shaking degree is greater than the preset degree threshold, the difference between the shaking degree and the preset degree threshold is calculated;

[0085] Step 30111: Update the first speed to a second speed based on the difference.

[0086] In this step, optionally, the vehicle determines the second speed by subtracting the difference from the first speed, and updates the first speed to the second speed. Optionally, the vehicle determines the second speed according to a preset mapping relationship between the difference and the speed, and then updates the first speed to the second speed.

[0087] Specifically, step 30111 includes:

[0088] Step 301111, determining a speed update value according to the difference;

[0089] In this step, a mapping relationship between the difference and the speed update value is stored in advance in the vehicle, and the vehicle determines the speed update value according to the difference and the mapping relationship between the difference and the speed update value.

[0090] Step 301112: Update the first speed to a second speed according to the speed update value.

[0091] In this step, the vehicle subtracts the speed update value from the first speed to obtain the second speed, and then updates the first speed to the second speed.

[0092] If the vehicle of this embodiment detects that the status information is the degree of vibration of the opening and closing parts entering the locking parts, then when the degree of vibration is greater than the preset degree threshold, the second speed is determined, and the first speed is updated to the second speed. The second speed is less than the first speed, so that the speed configured to control the closing of the opening and closing parts is reduced, avoiding excessive reaction force when the opening and closing parts enter the locking parts, reducing the degree of vibration when the opening and closing parts enter the locking parts, and thus improving the user experience of using the electric opening and closing system.

[0093] Please refer to Figure 5 , Figure 5 A flow chart of a fourth embodiment of the control method provided in the present application. The difference between the fourth embodiment and the first to third embodiments is that the method further includes:

[0094] Step 401, obtaining the up and down displacement information corresponding to the opening and closing member;

[0095] Step 402: Determine the degree of vibration of the opening and closing member when it enters the locking member according to the up and down displacement information.

[0096] In step 401 to step 402, the opening and closing parts of the vehicle include a motor for driving the opening and closing parts and a Hall sensor for feeding back position and travel information. The vehicle reads the data of the Hall sensor to determine the up and down displacement information corresponding to the opening and closing parts, and determines the degree of vibration of the opening and closing parts entering the locking parts according to the up and down displacement information. Specifically, the mapping relationship between the up and down displacement information and the vibration degree is stored in the vehicle in advance. After determining the up and down displacement information of the opening and closing parts, the vehicle can determine the degree of vibration of the opening and closing parts entering the locking parts according to the mapping relationship between the up and down displacement information and the vibration degree.

[0097] Specifically, obtaining the up and down displacement information corresponding to the opening and closing member includes:

[0098] Step 4011, when the opening and closing system changes from a semi-locked state to a fully locked state, obtain the up and down displacement information corresponding to the opening and closing member; the semi-locked state is the state when the opening and closing member enters the locking member; the fully locked state is the state when the opening and closing member and the locking member are completely engaged.

[0099] In this step, when the vehicle's opening and closing parts enter the semi-locked state of the locking part and the opening and closing parts and the locking part complete the full-locked state, the data of the Hall sensor is read to determine the corresponding up and down displacement information of the opening and closing parts. It should be noted that the opening and closing system includes a semi-locked state and a full-locked state in the closing process. The opening and closing parts first enter the locking part, and the opening and closing system is in a semi-locked state. After entering the semi-locked state, the locking part performs a suction action on the opening and closing parts to suck the opening and closing parts together, until the opening and closing parts and the locking part complete the suction and enter the full-locked state. At this point, the closing process of the opening and closing system is completed.

[0100] The vehicle of this embodiment obtains the up-down displacement information corresponding to the opening and closing member, and determines the shaking degree of the opening and closing member entering the locking member according to the up-down displacement information, thereby improving the accuracy of determining the shaking degree of the opening and closing member entering the locking member, thereby helping to improve the accuracy of updating the first speed.

[0101] Please refer to Figure 6 , Figure 6 A fifth embodiment of the control method provided in the present application is a flow chart. The difference between the fifth embodiment and the first to fourth embodiments is that the method further includes:

[0102] Step 501, determining a target motion curve corresponding to the opening and closing member according to a configured first speed;

[0103] Step 502: Based on the target motion curve, control the opening and closing member to close.

[0104] In step 501 to step 502, the vehicle determines the target motion curve corresponding to the opening and closing member according to the configured first speed; based on the target motion curve, the opening and closing member is controlled to close. Specifically, the target motion curve is a curve of the relationship between the position and time of the opening and closing member during the closing process, and the slope of each point on the curve is the movement speed of the opening and closing member. The first speed is the speed when the opening and closing member enters the locking member. Therefore, when the first speed is determined, the target motion curve corresponding to the opening and closing member can be calculated.

[0105] Specifically, based on the target motion curve, controlling the opening and closing member to close includes:

[0106] Step 5021, determining the position and speed of the opening and closing member at each movement time point according to the target motion curve;

[0107] Step 5022: Control the opening and closing member to close according to the position and the speed.

[0108] In step 5021 to step 5022, after the vehicle determines the target motion curve corresponding to the opening and closing part, it determines the position and speed of the opening and closing part at each movement time point according to the target motion curve, and then controls the opening and closing part to close according to the position and speed corresponding to each movement time point.

[0109] The vehicle of this embodiment determines the target motion curve corresponding to the opening and closing member according to the configured first speed, and controls the opening and closing member to close based on the target motion curve. This can make the position and speed of the closing process of the opening and closing member controllable, thereby improving the stability of the closing process of the opening and closing member and improving the user experience of using the electric opening and closing system.

[0110] In specific implementation, the process of closing the opening and closing parts of the vehicle control opening and closing system is as follows:

[0111] After determining that the opening and closing parts are in the open state, the vehicle scans the closing signal through the domain controller to determine whether the closing signal is received.

[0112] When the vehicle receives the closing signal, it will immediately check whether the closing speed of the opening and closing system has been pre-configured.

[0113] If the closing speed has not been configured, the vehicle will automatically use the default maximum closing speed Vmax to control the opening and closing parts to close, to ensure that the opening and closing parts can be closed quickly and safely. If the speed has been configured, the opening and closing parts are controlled to close according to the configured closing speed V1. According to the configured closing speed, the motion target curve of the opening and closing parts in the opening and closing system during the closing process is calculated, and the motor is driven based on the motion target curve to control the opening and closing parts to close.

[0114] During the closing process, the vehicle monitors whether it has received a half-lock signal. If the vehicle detects that the opening and closing system cannot smoothly enter the half-lock state at the current speed, the retry mechanism will be triggered immediately. The opening and closing parts are controlled to automatically reopen to the maximum position, and the closing speed is adjusted to the default maximum closing speed, and then the closing action is re-executed. This mechanism ensures that even when the reaction force is too large and the speed does not match, it can respond quickly to ensure the smooth completion of the closing action of the opening and closing parts.

[0115] After the vehicle detects that the opening and closing system has successfully entered the semi-locked state, the motor status of the opening and closing parts after entering the semi-locked state is monitored. Since there is a Hall sensor on the opening and closing parts, the Hall sensor can detect the up and down movement of the back door and the degree of vibration of the opening and closing parts. If the vibration degree exceeds the preset vibration threshold, the closing speed is reduced to V2, and the next closing speed is V2. If it does not exceed the calibration threshold, the speed will not be changed.

[0116] After the shaking situation is determined, the opening and closing parts stop moving, and the locking parts perform the suction action to suck the opening and closing parts into the fully locked state and reverse and reset.

[0117] Waiting for receiving the reset completion signal, after receiving the reset completion signal, the closing action of the complete opening and closing part is completed.

[0118] Accordingly, reference Figure 7 , the embodiment of the present application further provides a control device, the control device comprising:

[0119] A control unit 1001, configured to control the opening and closing member to close according to a configured first speed;

[0120] The detection unit 1002 is used to detect the state information of the opening and closing member entering the locking member during the closing process of the opening and closing member, so as to update the first speed according to the state information.

[0121] Optionally, the status information includes: the opening and closing member does not enter the locking member, or the opening and closing member enters the locking member.

[0122] Optionally, the status information also includes a degree of shaking of the opening and closing member entering the locking member.

[0123] Optionally, the detection unit is further used for:

[0124] If it is detected that the state information is that the opening and closing member has not entered the locking member, updating the first speed to a preset speed;

[0125] The opening and closing member is controlled to close according to a preset speed.

[0126] Optionally, the detection unit is further used for:

[0127] If it is detected that the state information is the shaking degree of the opening and closing member entering the locking member, the first speed is updated according to a comparison result of the shaking degree and a preset degree threshold.

[0128] Optionally, the detection unit is further used for:

[0129] If the comparison result is that the jitter degree is greater than the preset degree threshold, the first speed is updated to a second speed, and the second speed is less than the first speed.

[0130] Optionally, the detection unit is further used for:

[0131] If the comparison result is that the jitter degree is greater than the preset degree threshold, then calculating the difference between the jitter degree and the preset degree threshold;

[0132] According to the difference, the first speed is updated to a second speed.

[0133] Optionally, the detection unit is further used for:

[0134] Determine a speed update value according to the difference;

[0135] The first speed is updated to a second speed according to the speed update value.

[0136] Optionally, the detection unit is further used for:

[0137] Obtaining up and down displacement information corresponding to the opening and closing member;

[0138] The shaking degree of the opening and closing member entering the locking member is determined according to the up-and-down displacement information.

[0139] Optionally, the detection unit is further used for:

[0140] In the process of the opening and closing system changing from a semi-locked state to a fully locked state, the corresponding up and down displacement information of the opening and closing member is obtained; the semi-locked state is the state when the opening and closing member enters the locking member; the fully locked state is the state when the opening and closing member and the locking member are completely engaged.

[0141] Optionally, the control unit is further configured to:

[0142] Determining a target motion curve corresponding to the opening and closing member according to the configured first speed;

[0143] Based on the target motion curve, the opening and closing member is controlled to close.

[0144] Optionally, the control unit is further configured to:

[0145] According to the target motion curve, determining the position and speed of the opening and closing member at each motion time point;

[0146] The opening and closing member is controlled to close according to the position and the speed.

[0147] The control device of this embodiment controls the closing of the opening and closing member according to the configured first speed; during the closing process of the opening and closing member, the state information of the opening and closing member entering the locking member is detected to update the first speed according to the state information. By updating the first speed according to the state information of the opening and closing member entering the locking member, the closing speed of the opening and closing member can take into account the closing requirements under different working conditions, thereby improving the user experience of using the electric opening and closing system.

[0148] Accordingly, the embodiment of the present application also provides a vehicle, such as Figure 8 As shown, Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0149] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0150] In an embodiment of the present application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the application stored in the memory 1102 to execute the control method.

[0151] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0152] Optional, such as Figure 8As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 8 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0153] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode) and the like. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0154] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0155] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between an external headset and the vehicle.

[0156] The input unit 1106 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0157] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0158] although Figure 8 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0159] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0160] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0161] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0162] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0164] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A control method, characterized in that: The method is applied to an opening and closing system, the opening and closing system includes an opening and closing member and a locking member, and the method includes: Controlling the opening and closing member to close according to a configured first speed; During the closing process of the opening and closing member, state information of the opening and closing member entering the locking member is detected, so as to update the first speed according to the state information.

2. The method according to claim 1, characterized in that The state information includes: the opening and closing member does not enter the locking member, or the opening and closing member enters the locking member.

3. The method according to claim 2, characterized in that The state information also includes: the degree of shaking of the opening and closing member when entering the locking member.

4. The method according to claim 2, characterized in that: The method further comprises: If it is detected that the state information is that the opening and closing member has not entered the locking member, updating the first speed to a preset speed; The opening and closing member is controlled to close according to a preset speed.

5. The method according to claim 3, characterized in that: The method further comprises: If it is detected that the state information is the shaking degree of the opening and closing member entering the locking member, the first speed is updated according to a comparison result of the shaking degree and a preset degree threshold.

6. The method according to claim 5, characterized in that The updating of the first speed based on the comparison result includes: If the comparison result is that the jitter degree is greater than the preset degree threshold, the first speed is updated to a second speed, and the second speed is less than the first speed.

7. The method according to claim 6, characterized in that If the comparison result shows that the jitter degree is greater than the preset degree threshold, updating the first speed to a second speed includes: If the comparison result is that the jitter degree is greater than the preset degree threshold, then calculating the difference between the jitter degree and the preset degree threshold; According to the difference, the first speed is updated to a second speed.

8. The method according to claim 7, characterized in that The updating of the first speed to a second speed according to the difference includes: Determine a speed update value according to the difference; The first speed is updated to a second speed according to the speed update value.

9. The method according to claim 3, characterized in that: The method further comprises: Obtaining up and down displacement information corresponding to the opening and closing member; The shaking degree of the opening and closing member entering the locking member is determined according to the up-and-down displacement information.

10. The method according to claim 9, characterized in that The obtaining of the up and down displacement information corresponding to the opening and closing member includes: In the process of the opening and closing system changing from a semi-locked state to a fully locked state, the corresponding up and down displacement information of the opening and closing member is obtained; the semi-locked state is the state when the opening and closing member enters the locking member; the fully locked state is the state when the opening and closing member and the locking member are completely engaged.

11. The control method according to any one of claims 1 to 10, characterized in that: The step of controlling the opening and closing member to close according to the configured first speed comprises: Determining a target motion curve corresponding to the opening and closing member according to the configured first speed; Based on the target motion curve, the opening and closing member is controlled to close.

12. The control method according to claim 11, characterized in that: The step of controlling the opening and closing member to close based on the target motion curve comprises: According to the target motion curve, determining the position and speed of the opening and closing member at each motion time point; The opening and closing member is controlled to close according to the position and the speed.

13. A control device, characterized in that: The control device comprises: A control unit, used for controlling the opening and closing member to close according to a configured first speed; The detection unit is used to detect the state information of the opening and closing member entering the locking member during the closing process of the opening and closing member, so as to update the first speed according to the state information.

14. An electronic device, characterized in that: The electronic device comprises: one or more processors and a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the control method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the control method according to any one of claims 1 to 12.

16. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 14.

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