Control method and system for vehicle hidden door handle motor

Abstract

The invention discloses a control method and system for a vehicle hidden door handle motor, and belongs to the technical field of vehicles. The method comprises the steps that after a motor controller receives a door handle unfolding or folding instruction, the current unfolding position of a door handle is obtained; the motor controller outputs signals with different duty ratios to drive the door handle motor to operate according to different current unfolding positions of the door handle; during the operation period of the door handle motor, the motor controller obtains the current unfolding position of the door handle and the working current of the motor in real time and judges whether to stop the duty ratio signal currently output to the door handle motor or not according to the current unfolding position and the working current of the motor. Meanwhile, an icebreaking mode is set. The hidden door handle motor is effectively protected.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular, relates to a control method and system for a hidden door handle motor of a vehicle. Background Art

[0002] At present, hidden door handles are gradually being used widely in the industry. For example, the public document with publication number CN119511828A, publication date 2025.02.25, and patent name "Control method, device, vehicle, medium and program for hidden door handles" includes: the method comprises: identifying the moving direction and moving speed of the user approaching the vehicle and environmental data, wherein the environmental data includes light intensity, weather information and temperature information; determining the actual intention of the user according to the moving direction, and if the actual intention of the user is to open the door, predicting the target speed for the door handle to pop out according to the moving speed and environmental data; controlling the hidden door handle to pop out at the target speed.

[0003] However, the above-mentioned public documents do not involve the protection of hidden door handle motors. In the prior art, most vehicles drive hidden door handle motors through relays, and the motors are all ordinary motors, which have a great impact on the door handle mechanism, cannot detect the unfolded position of the door handle motor, and cannot effectively protect the motor, resulting in a reduced motor life or damage.

[0004] To this end, the present invention proposes a control method and system for a hidden door handle motor of a vehicle. Summary of the invention

[0005] The present invention aims to overcome the deficiencies of the prior art and proposes a control method and system for a hidden door handle motor of a vehicle to achieve the following objectives: to achieve effective protection of the hidden door handle motor.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a control method for a hidden door handle motor of a vehicle, the method comprising: after the motor controller receives the door handle expansion or folding instruction, obtaining the current expansion position of the door handle; the motor controller outputs signals with different duty cycles to drive the door handle motor to operate according to the current expansion position of the door handle; during the operation of the door handle motor, the motor controller obtains the current expansion position of the door handle and the motor working current in real time, and determines whether to stop the duty cycle signal currently output to the door handle motor accordingly.

[0007] Preferably, after receiving the door handle deployment instruction, the motor controller obtains the current deployment position of the door handle;

[0008] When the door handle is currently in the unfolded position between the fully folded position and the preset first position, the motor controller outputs a signal with a first duty cycle to drive the door handle motor to operate so as to cause the door handle to unfold; during this period, if the motor controller detects that any of the following conditions is met:

[0009] a. The door handle currently moves to a position between the preset first position and the fully extended position;

[0010] b. Within the preset time T1, the current unfolded position of the door handle does not move to between the preset first position and the fully unfolded position;

[0011] c. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T2;

[0012] d. No change in the current unfolded position of the door handle is detected within the preset time T3;

[0013] Then the motor controller stops outputting the signal having the first duty cycle;

[0014] When the current unfolded position of the door handle is between the preset first position and the fully unfolded position, the motor controller outputs a signal with a second duty cycle to drive the door handle motor to operate so as to cause the door handle to unfold. During this period, if the motor controller detects that any of the following conditions is met:

[0015] e. The door handle moves from the current unfolded position to the fully unfolded position and remains in place for a preset time T4;

[0016] f. Within the preset time T5, the door handle does not move to the fully extended position;

[0017] g. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T6;

[0018] h. No change in the current unfolded position of the door handle is detected within the preset time T7;

[0019] Then the motor controller stops outputting a signal having a second duty cycle; the first duty cycle is greater than the second duty cycle.

[0020] Preferably, the preset first position is located at 80% of the travel when the door handle is fully extended.

[0021] Preferably, after receiving the door handle folding instruction, the motor controller obtains the current unfolded position of the door handle;

[0022] When the current unfolded position of the door handle is between the fully unfolded position and the preset second position, the motor controller outputs a signal with a first duty cycle to drive the door handle motor to operate so as to drive the door handle to fold. During this period, if the motor controller detects that any of the following conditions is met:

[0023] h. The door handle currently unfolds and moves between the preset second position and the fully folded position;

[0024] i. Within the preset time T8, the door handle does not move from the current unfolded position to between the preset second position and the fully folded position;

[0025] j. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T9;

[0026] k. No change in the current unfolded position of the door handle is detected within the preset time T10;

[0027] Then the motor controller stops outputting the signal having the first duty cycle;

[0028] When the door handle is currently deployed between the preset second position and the fully folded position, the motor controller outputs a signal with a second duty cycle to drive the door handle motor to operate so as to drive the door handle to fold. During this period, if the motor controller detects that any of the following conditions is met:

[0029] l. The door handle moves from the current unfolded position to the fully folded position and remains there for a preset time T11;

[0030] m. Within the preset time T12, the door handle is not fully folded from its current unfolded position;

[0031] n. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T13;

[0032] o. No change in the current unfolded position of the door handle is detected within the preset time T14;

[0033] Then the motor controller stops outputting a signal having a second duty cycle; the first duty cycle is greater than the second duty cycle.

[0034] Preferably, the preset second position is located at 20% of the travel when the door handle is fully extended.

[0035] Preferably, after the motor controller receives the door handle deployment command, if the current deployment position of the door handle is between the fully folded position and the preset first position, and the motor controller detects that any of conditions b, c, and d are met, the motor controller enters the ice-breaking mode after stopping outputting the signal with the first duty cycle.

[0036] Preferably, in the ice breaking mode, each ice breaking cycle includes:

[0037] The motor controller first stops all duty cycle signal outputs and maintains the preset time T15, and then outputs a signal with a third duty cycle to drive the motor to drive the door handle to fold; during the folding period, if the motor controller detects that any of the following conditions are met:

[0038] p. The door handle moves from the current unfolded position to the fully folded position and remains there for a preset time T16;

[0039] q. Within the preset time T17, the door handle is not fully folded from its current unfolded position;

[0040] r. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T18;

[0041] s. No change in the current unfolded position of the door handle is detected within the preset time T19;

[0042] The motor controller stops all duty cycle signal outputs and maintains the preset time T20, and then outputs a signal with a fourth duty cycle to drive the motor to cause the door handle to unfold; during the unfolding period, if the motor controller detects that condition e is met, it exits the ice-breaking mode; if it detects that any of conditions f, g, and h is met, the motor controller starts the next ice-breaking cycle, and the number of ice-breaking times is increased by one.

[0043] Preferably, when the number of ice-breaking times reaches a preset threshold, the motor controller controls to exit the ice-breaking mode.

[0044] At the same time, the present application also proposes a control system for a vehicle's hidden door handle motor, the system comprising a hidden door handle, a door handle motor, a motor controller, a door handle travel sensor, and a current sampling circuit, wherein the door handle motor is connected to the hidden door handle to drive the door handle to unfold or fold; the motor is provided with the current sampling circuit and is connected to the motor controller to collect the motor working current; the hidden door handle is provided with the door handle travel sensor and is connected to the motor controller to collect the door handle unfolded position; the motor controller is connected to the motor to output a duty cycle signal according to the above method to drive the motor to operate.

[0045] Preferably, the door handle travel sensor is a Hall position sensor.

[0046] The technical effects of the present invention are:

[0047] (1) The present invention controls the motor by different duty ratios in different deployment intervals of the door handle, which can not only speed up the deployment speed and reduce the time required for the door handle to be deployed, but also reduce the impact on the door handle mechanism at the extreme position, thereby extending the service life of the door handle and reducing noise;

[0048] (2) The present invention can detect the working current of the door handle motor and the real-time unfolding position of the door handle in real time, and can better control the unfolding, folding and stopping of the door handle according to the changes in the current and the unfolding position, thereby avoiding motor stalling, ablation or overheating performance degradation.

[0049] (3) In the ice-breaking mode, the present invention can effectively break ice while also effectively protecting the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A flowchart of the process of unfolding the hidden door handle provided by an embodiment of the present invention;

[0051] Figure 2 This is a flowchart of the folding process of the hidden door handle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following is a further detailed description of the specific implementation of the present invention through the description of the embodiments with reference to the accompanying drawings, the purpose of which is to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention, and to facilitate its implementation. It should be noted that the words "first", "second" and the like described in this application are only for the convenience of describing the technical solution to distinguish different components, and are not used to limit this application. In order to make the technical solution of the present invention clearer, the present invention is explained through the following embodiments.

[0053] As mentioned above, the preset values ​​of the first and second positions, time T1~T20, first, second and third duty cycles, etc. preset in the present application are only provided as reference values ​​in the present embodiment. The specific implementation can flexibly select the value according to the actual situation, and this does not limit the present application.

[0054] The present embodiment provides a control method for a hidden door handle motor of a vehicle, the method comprising: after the motor controller receives a door handle unfolding or folding instruction, obtaining the current unfolding position of the door handle; the motor controller outputs signals with different duty cycles to drive the door handle motor to operate according to the current unfolding position of the door handle; during the operation of the door handle motor, the motor controller obtains the current unfolding position of the door handle and the motor operating current in real time, and determines whether to stop the duty cycle signal currently output to the door handle motor accordingly.

[0055] Specifically, Figure 1 The following is a working diagram of the motor controller controlling the door handle to be deployed, where:

[0056] After receiving the door handle deployment instruction, the motor controller obtains the current deployment position of the door handle;

[0057] When the current unfolded position of the door handle is between fully folded and the preset first position (80% unfolded), the motor controller outputs a signal with a first duty cycle (80%) to drive the door handle motor to operate and drive the door handle to unfold. The preset first position needs to ensure that the door handle interval after unfolding meets the user's needs to open the car door. Therefore, the preset first position of this embodiment is located at 80% of the travel when the door handle is fully unfolded. At the same time, for the travel interval from fully folded to 80% unfolded, this embodiment controls the motor controller to output a signal with a larger duty cycle to drive the door handle to unfold, that is, a signal with a duty cycle of 80%, thereby speeding up the unfolding speed and reducing the time required for the door handle to unfold.

[0058] During deployment, if the motor controller detects that any of the following conditions are met:

[0059] a. The door handle currently moves to a position between the preset first position and the fully extended position;

[0060] b. Within the preset time T1 (200ms), the current unfolded position of the door handle does not move to between the preset first position and the fully unfolded position;

[0061] c. The motor operating current is greater than the stall current under the current duty cycle (stall current at 80% duty cycle) and is maintained for a preset time T2 (100ms);

[0062] d. No change in the current unfolded position of the door handle is detected within the preset time T3 (200ms);

[0063] The motor controller stops outputting the signal with the first duty cycle (80%). When conditions b, c, and d are met, it means that the motor has stalled due to icing or other reasons, and the working efficiency is reduced. At this time, the motor controller is controlled to stop driving the motor, which can prevent the motor from being burned or overheated due to long-term stalling, resulting in a reduction in life, thereby effectively protecting the motor.

[0064] When the current unfolded position of the door handle is between the preset first position (80% unfolded) and the fully unfolded position, the motor controller outputs a signal with a second duty cycle (40%) to drive the door handle motor to operate and cause the door handle to unfold. At this time, the door handle has been unfolded by 80%, and there is enough operating space to meet the user's needs to open the car door. Therefore, for the remaining 20% ​​unfolding interval, the output duty cycle can be reduced, that is, the first duty cycle is greater than the second duty cycle. At this time, the unfolding speed of the door handle is reduced, thereby reducing the impact of the door handle running to the extreme position on the mechanism, and reducing the noise of the handle operation.

[0065] During this period, if the motor controller detects that any of the following conditions are met:

[0066] e. The door handle moves from its current unfolded position to fully unfolded and remains in that position for a preset time T4 (100ms);

[0067] f. Within the preset time T5 (200ms), the door handle does not move to the fully unfolded position;

[0068] g. The motor operating current is greater than the stall current under the current duty cycle (stall current at 40% duty cycle) and is maintained for the preset time T6 (100ms);

[0069] h. No change in the current unfolded position of the door handle is detected within the preset time T7 (200ms);

[0070] The motor controller stops outputting the signal with the second duty cycle (40%) to prevent the motor from being burned or overheated due to long-term stalling, thereby effectively protecting the motor. The preset holding time in conditions e and g is used to prevent the motor controller from misjudging and causing the motor to have lower working efficiency and door handle deployment speed.

[0071] At the same time, in order to solve the problem of motor stalling due to ice and other reasons, after receiving the door handle deployment command, if the current deployment position of the door handle is between the fully folded and the preset first position (80% deployment), and the motor controller detects that any of conditions b, c, and d are met, it is considered that the motor is frozen. At this time, the motor controller stops outputting the signal with the first duty cycle and enters the ice-breaking mode. The ice-breaking mode ensures that the door handle can be deployed normally when frozen, meeting the user's car use needs.

[0072] In the ice breaking mode, the door handle is driven by the forward and reverse rotation of the motor to repeat the folding and unfolding process, thereby gradually breaking the ice. In this embodiment, each ice breaking cycle includes:

[0073] The motor controller first stops all duty cycle signal outputs and maintains the preset time T15 (100ms), and then outputs a signal with a third duty cycle (50%) to drive the motor to fold the door handle; during the folding period, if the motor controller detects that any of the following conditions are met:

[0074] p. The door handle moves from the current unfolded position to the fully folded position and maintains the preset time T16 (100ms);

[0075] q. Within the preset time T17 (200ms), the door handle is not fully folded from its current unfolded position;

[0076] r. The motor operating current is greater than the stall current under the current duty cycle (stall current at 50% duty cycle) and is maintained for the preset time T18 (100ms);

[0077] s. No change in the current unfolded position of the door handle is detected within the preset time T19 (200ms);

[0078] The motor controller stops all duty cycle signal outputs and maintains the preset time T20 (100ms), and then outputs a signal with a fourth duty cycle (80%) to drive the motor to drive the door handle to unfold; during the unfolding period, if the motor controller detects that condition e is met, the ice breaking mode is exited, and if it detects that any of conditions f, g, and h are met, the motor controller starts the next ice breaking cycle, and the number of ice breaking times is increased by one. When the number of ice breaking times reaches the preset number threshold, the motor controller controls the exit of the ice breaking mode.

[0079] In the ice-breaking mode of this embodiment, the motor is provided with a holding time (T15 and T20) for stopping output, so as to provide time for subsequent motor actions to buffer, so that the rotation speed of each motor component can drop steadily to zero, avoid excessive collision and wear between mechanical components due to factors such as inertia, extend the service life of the motor, and better protect the motor. At the same time, the configuration principle of the third duty cycle and the fourth duty cycle is slow when folding and fast when unfolding. When the door handle is frozen, the ice will stick the door handle to the surrounding parts. If folded quickly, the mechanical parts on the door handle may be subjected to excessive force due to the resistance of the ice, resulting in damage to the parts. Slow folding first can gradually apply force to the ice in a relatively gentle manner, and use the continuous force of the motor to slowly break the ice, so that the door handle can be folded smoothly, and then quickly unfolded to increase the force of breaking the ice, thereby effectively breaking the ice.

[0080] like Figure 2 As shown, Figure 1 The following is a working diagram of the motor controller controlling the folding of the door handle, where:

[0081] After receiving the door handle folding instruction, the motor controller obtains the current unfolded position of the door handle;

[0082] When the current unfolded position of the door handle is between the fully unfolded position and the preset second position, the motor controller outputs a signal with a first duty cycle (80%) to drive the door handle motor to operate so as to cause the door handle to fold quickly. Similarly, in this embodiment, a large duty cycle is set in the large interval and a small duty cycle is set in the small interval, thereby speeding up the folding speed and reducing the impact on the door handle mechanism at the extreme position to protect the motor. Therefore, the preset second position of this embodiment is located at 20% of the travel when the door handle is fully unfolded, and an 80% duty cycle is configured; the remaining 20% ​​interval is configured with a 40% duty cycle.

[0083] During folding, if the motor controller detects that any of the following conditions are met:

[0084] h. The door handle currently unfolds to a position between the preset second position (20% unfolded) and the fully folded position;

[0085] i. Within the preset time T8 (200ms), the door handle's current unfolded position does not move to between the preset second position and the fully folded position;

[0086] j. The motor operating current is greater than the stall current under the current duty cycle (stall current at 80% duty cycle) and is maintained for a preset time T9 (100ms);

[0087] k. No change in the current unfolded position of the door handle is detected within the preset time T10 (200ms);

[0088] Then the motor controller stops outputting the signal having the first duty cycle (80%);

[0089] When the door handle is currently deployed between the preset second position (20% deployed) and fully folded, the motor controller outputs a signal with a second duty cycle (40%) to drive the door handle motor to operate so as to drive the door handle to fold slowly. During this period, if the motor controller detects that any of the following conditions are met:

[0090] 1. The door handle moves from the current unfolded position to the fully folded position and maintains the preset time T11 (100ms);

[0091] m. Within the preset time T12 (200ms), the door handle is not fully folded from its current unfolded position;

[0092] n. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T13 (100ms);

[0093] o. No change in the current unfolded position of the door handle is detected within the preset time T14 (200ms);

[0094] Then the motor controller stops outputting the signal having the second duty cycle (40%); the first duty cycle is greater than the second duty cycle.

[0095] At the same time, this embodiment also proposes a control system for a hidden door handle motor of a vehicle based on the above-mentioned control method of a hidden door handle motor of a vehicle, wherein the system includes a hidden door handle, a door handle motor, a motor controller, a door handle travel sensor, and a current sampling circuit, wherein the door handle motor is connected to the hidden door handle to drive the door handle to unfold or fold; the motor is provided with the current sampling circuit and is connected to the motor controller to collect the working current of the motor; the hidden door handle is provided with the door handle travel sensor and is connected to the motor controller to collect the unfolded position of the door handle; the motor controller is connected to the motor to output a duty cycle signal according to the method of this embodiment to drive the motor to operate.

[0096] In this embodiment, the door handle travel sensor adopts a Hall position sensor. The Hall position sensor does not need to be in direct contact with the detected object during operation, and can realize real-time detection of door handle position changes, with high timeliness and high measurement accuracy, so that the motor controller can drive the motor more timely and accurately, ensuring that the motor works smoothly and more effectively.

[0097] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A control method for a hidden door handle motor of a vehicle, characterized in that: The method includes: after receiving the door handle unfolding or folding instruction, the motor controller obtains the current unfolding position of the door handle; the motor controller outputs signals with different duty cycles according to the current unfolding position of the door handle to drive the door handle motor to operate; during the operation of the door handle motor, the motor controller obtains the current unfolding position of the door handle and the motor working current in real time, and determines whether to stop the duty cycle signal currently output to the door handle motor based on the obtained signals.

2. The control method of a hidden door handle motor for a vehicle according to claim 1, characterized in that: After receiving the door handle deployment instruction, the motor controller obtains the current deployment position of the door handle; When the door handle is currently in the unfolded position between the fully folded position and the preset first position, the motor controller outputs a signal with a first duty cycle to drive the door handle motor to operate so as to cause the door handle to unfold; during this period, if the motor controller detects that any of the following conditions is met: a. The door handle currently moves to a position between the preset first position and the fully extended position; b. Within the preset time T1, the current unfolded position of the door handle does not move to between the preset first position and the fully unfolded position; c. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T2; d. No change in the current unfolded position of the door handle is detected within the preset time T3; Then the motor controller stops outputting the signal having the first duty cycle; When the current unfolded position of the door handle is between the preset first position and the fully unfolded position, the motor controller outputs a signal with a second duty cycle to drive the door handle motor to operate so as to cause the door handle to unfold. During this period, if the motor controller detects that any of the following conditions is met: e. The door handle moves from the current unfolded position to the fully unfolded position and remains in place for a preset time T4; f. Within the preset time T5, the door handle does not move to the fully extended position; g. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T6; h. No change in the current unfolded position of the door handle is detected within the preset time T7; Then the motor controller stops outputting a signal having a second duty cycle; the first duty cycle is greater than the second duty cycle.

3. The control method of a vehicle hidden door handle motor according to claim 2, characterized in that: The preset first position is located at 80% of the travel when the door handle is fully extended.

4. A method for controlling a hidden door handle motor of a vehicle according to claim 1, 2 or 3, characterized in that: After receiving the door handle folding instruction, the motor controller obtains the current unfolded position of the door handle; When the current unfolded position of the door handle is between the fully unfolded position and the preset second position, the motor controller outputs a signal with a first duty cycle to drive the door handle motor to operate so as to drive the door handle to fold. During this period, if the motor controller detects that any of the following conditions is met: h. The door handle currently unfolds and moves between the preset second position and the fully folded position; i. Within the preset time T8, the door handle does not move from the current unfolded position to between the preset second position and the fully folded position; j. The motor operating current is greater than the stall current under the current duty cycle and is maintained for the preset time T9; k. No change in the current unfolded position of the door handle is detected within the preset time T10; Then the motor controller stops outputting the signal having the first duty cycle; When the door handle is currently deployed between the preset second position and the fully folded position, the motor controller outputs a signal with a second duty cycle to drive the door handle motor to operate so as to drive the door handle to fold. During this period, if the motor controller detects that any of the following conditions is met: l. The door handle moves from the current unfolded position to the fully folded position and remains there for a preset time T11; m. Within the preset time T12, the door handle is not fully folded from its current unfolded position; n. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T13; o. No change in the current unfolded position of the door handle is detected within the preset time T14; Then the motor controller stops outputting a signal having a second duty cycle; the first duty cycle is greater than the second duty cycle.

5. The control method of a hidden door handle motor for a vehicle according to claim 4, characterized in that: The preset second position is located at 20% of the travel when the door handle is fully extended.

6. A method for controlling a hidden door handle motor of a vehicle according to claim 2 or 3, characterized in that: After the motor controller receives the door handle deployment command, if the current deployment position of the door handle is between the fully folded position and the preset first position, and the motor controller detects that any of conditions b, c, and d are met, the motor controller enters the ice-breaking mode after stopping outputting the signal with the first duty cycle.

7. The control method of a vehicle hidden door handle motor according to claim 6, characterized in that: In ice breaking mode, each ice breaking cycle includes: The motor controller first stops all duty cycle signal outputs and maintains the preset time T15, and then outputs a signal with a third duty cycle to drive the motor to drive the door handle to fold; during the folding period, if the motor controller detects that any of the following conditions are met: p. The door handle moves from the current unfolded position to the fully folded position and remains there for a preset time T16; q. Within the preset time T17, the door handle is not fully folded from its current unfolded position; r. The motor operating current is greater than the stall current under the current duty cycle and remains for the preset time T18; s. No change in the current unfolded position of the door handle is detected within the preset time T19; The motor controller stops all duty cycle signal outputs and maintains the preset time T20, and then outputs a signal with a fourth duty cycle to drive the motor to cause the door handle to unfold; during the unfolding period, if the motor controller detects that condition e is met, it exits the ice-breaking mode; if it detects that any of conditions f, g, and h is met, the motor controller starts the next ice-breaking cycle, and the number of ice-breaking times is increased by one.

8. The control method of a hidden door handle motor for a vehicle according to claim 7, characterized in that: When the number of ice-breaking times reaches a preset threshold, the motor controller controls the vehicle to exit the ice-breaking mode.

9. A control system for a vehicle hidden door handle motor according to the method according to any one of claims 1 to 8, characterized in that: The system includes a hidden door handle, a door handle motor, a motor controller, a door handle travel sensor, and a current sampling circuit, wherein the door handle motor is connected to the hidden door handle to drive the door handle to unfold or fold; the motor is provided with the current sampling circuit and is connected to the motor controller to collect the motor working current; the hidden door handle is provided with the door handle travel sensor and is connected to the motor controller to collect the door handle unfolding position; the motor controller is connected to the motor to output a duty cycle signal according to the method described in any one of claims 1-8 to drive the motor to operate.

10. The control system of a hidden door handle motor of a vehicle according to claim 9, characterized in that: The door handle travel sensor adopts a Hall position sensor.

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