Sliding door controller and vehicle

Abstract

The invention provides a sliding door controller and a vehicle. The sliding door controller comprises a power supply module; the CAN receiving and transmitting module is connected with the power supply module, the CAN receiving and transmitting module communicates with the whole vehicle through CAN communication and receives vehicle state information sent by the whole vehicle, and the vehicle state information comprises power supply state information, vehicle speed information, key state information and gear state information; the motor control module is connected with the CAN transceiver module and the power supply module, receives the vehicle state information, judges whether the opening or closing condition of the sliding door is met or not according to the vehicle state information, and sends a high level signal when the opening or closing condition of the sliding door is met; the motor driving module is connected with the power supply module and the motor control module; and the motor driving enabling module is connected with the motor control module and the power supply module, and switches on the motor driving module and the power supply module based on the received high level signal, so that the power supply module supplies power to the motor driving module. The problem that quiescent current is too high can be solved.

Description

Technical Field

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

[0002] The motor drive module used in the electric sliding door controls the movement of the sliding door motor, thereby driving the sliding door to open or close. The motor drive module uses normal power, which can easily cause problems such as excessive static current and chip heating, damage, and even short circuit and fire. Summary of the invention

[0003] The embodiments of the present invention provide a sliding door controller and a vehicle to at least solve some of the above technical problems existing in the prior art.

[0004] In a first aspect, an embodiment of the present invention provides a sliding door controller, comprising:

[0005] Power module;

[0006] A CAN transceiver module is connected to the power module, the CAN uses CAN communication to communicate with the vehicle, and receives vehicle status information sent by the vehicle, the vehicle status information includes power status information, vehicle speed information, key status information and gear status information;

[0007] a motor control module (MCU), connected to the CAN transceiver module and the power module, receiving the vehicle status information, and judging whether the conditions for opening or closing the sliding door are met according to the vehicle status information, and sending a high level signal when the conditions for opening or closing the sliding door are met;

[0008] A motor driving module connected to the power module and the motor control module, wherein the motor driving module drives the sliding door motor to open or close the sliding door based on receiving the high level signal;

[0009] The motor drive enabling module is connected to the motor control module and the power module. Based on receiving the high level signal, the motor drive enabling module connects the motor drive module and the power module so that the power module supplies power to the motor drive module.

[0010] In an optional embodiment, it also includes:

[0011] A voltage and current sampling module, connected to the motor control module and the motor drive module, for collecting the voltage and current of the sliding door motor and the lock motor;

[0012] The motor control module receives the voltage and current values ​​collected by the voltage and current sampling module, and compares them with the set voltage and current values. When the voltage and current values ​​are greater than the set values, it is determined that the sliding door motor and the lock motor are blocked, and the motor control module sends a low-level signal to the motor drive enable module to enable the motor drive enable module to disconnect the electrical connection between the power module and the motor drive module, and the motor control module sends a low-level signal to the motor drive module to instruct the motor drive module to turn off the sliding door motor or the lock motor.

[0013] In an optional embodiment, when the input voltage detected by the voltage and current sampling module is lower than 9V, the motor control module determines that the input voltage is undervoltage, and the motor control module executes an undervoltage protection mode, turns off the enable output of the motor drive module, and causes the motor drive module to stop working;

[0014] When the input voltage detected by the voltage and current sampling module is higher than 16V, the motor control module determines that the input voltage is overvoltage, and the motor control module executes the overvoltage protection mode, turns off the enable output of the motor drive module, and stops the motor drive circuit from working.

[0015] In an optional embodiment, it also includes:

[0016] A slope detection module, the slope detection module is connected to the motor control module and is used to detect the slope information of the vehicle;

[0017] When the motor control module receives the wake-up signal and the command to open or close the sliding door, it also receives the slope information sent by the slope detection module, thereby adjusting the duty cycle of the motor speed regulation PWM so that the sliding door can be opened or closed at the same speed under different slopes.

[0018] In an optional embodiment, it also includes:

[0019] A Hall detection module, which is connected to the motor control module and is used to detect position information of the sliding door motor;

[0020] During the closing process of the sliding door, the motor control module determines the speed and stroke of the sliding door according to the position information, and controls the speed and direction of the sliding door motor according to the speed and stroke of the sliding door to adjust the force of the sliding door during the closing process.

[0021] In an optional embodiment, the Hall detection module uses an optocoupler to identify and isolate signals.

[0022] In an optional embodiment, it also includes:

[0023] A memory module connected to the motor control module and used to store door opening and closing information, wherein the door opening and closing information includes slope information during the door opening and closing process and movement information of the sliding door before power failure;

[0024] During the door opening and closing process, after power is cut off and then restored, the motor control module executes the door opening and closing action according to the door opening and closing information.

[0025] In an optional embodiment, the sliding door controller and the sliding door motor use different sets of power input, power filtering and power protection, and the power input of the sliding door motor and the power input of the sliding door controller are isolated, filtered and protected by capacitors, inductors, MOS tubes and diodes.

[0026] In an optional embodiment, the awakening of the sliding door controller includes hardware awakening and software awakening.

[0027] The hardware wake-up uses a body controller to provide a wake-up signal, and the power module wakes up to a working state based on receiving the wake-up signal, and the body controller supplies power to the power module at the same time;

[0028] The software wake-up uses a CAN transceiver module to receive wake-up information in the vehicle CAN network. The CAN transceiver module wakes up and works normally based on the received wake-up information. The CAN transceiver module sends the wake-up information to the power module to wake up the power module to a normal working state and supply power to the motor controller module, the motor drive enable module, and the Hall enable module.

[0029] In a second aspect, an embodiment of the present invention provides a vehicle, comprising the sliding door controller described in the embodiment of the present invention.

[0030] An embodiment of the present invention has the following advantages or beneficial effects:

[0031] The sliding door controller of the embodiment of the present invention comprises: a power module; a CAN transceiver module connected to the power module, the CAN uses CAN communication to communicate with the whole vehicle, and receives the vehicle status information sent by the whole vehicle, the vehicle status information includes power status information, vehicle speed information, key status information and gear status information; a motor control module connected to the CAN transceiver module and the power module, receives the vehicle status information, and judges whether the conditions for opening or closing the sliding door are met according to the vehicle status information, and sends a high level signal when the conditions for opening or closing the sliding door are met; a motor drive module connected to the power module and the motor control module; a motor drive enable module connected to the motor control module and the power module, and based on receiving the high level signal, connects the motor drive module and the power module, so that the power module supplies power to the motor drive module. The controller of the embodiment of the present invention uses the motor drive enable module to control the power supply of the motor drive circuit, thereby effectively avoiding the problem of excessive static current, and also avoiding the problem of heating and damage caused by long-term power supply of the motor drive chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0033] Figure 1 is a schematic structural diagram of a sliding door controller according to an exemplary embodiment;

[0034] Figure 2 is an electrical schematic diagram of a motor control module according to an exemplary embodiment;

[0035] Figure 3 is an electrical schematic diagram of a power module according to an exemplary embodiment;

[0036] Figure 4 is a schematic diagram of an electrical principle of a Hall detection module according to an exemplary embodiment;

[0037] Figure 5 is an electrical schematic diagram of a CAN transceiver module according to an exemplary embodiment;

[0038] Figure 6 is an electrical schematic diagram of a wake-up detection module according to an exemplary embodiment;

[0039] Figure 7 is an electrical schematic diagram of a motor drive enabling module according to an exemplary embodiment;

[0040] Figure 8is an electrical schematic diagram of a power sampling circuit according to an exemplary embodiment;

[0041] Fig. 9 is an electrical principle schematic diagram of a common motor sampling module according to an exemplary embodiment;

[0042] Fig.10 is an electrical principle schematic diagram of a speed regulating motor sampling module according to an exemplary embodiment;

[0043] Fig.11 is an electrical schematic diagram of a lock motor drive module according to an exemplary embodiment;

[0044] Fig.12 is an electrical schematic diagram of a sliding door motor drive module according to an exemplary embodiment;

[0045] Fig.13 is a schematic diagram of an electrical principle of a key module according to an exemplary embodiment;

[0046] Fig.14 is an electrical schematic diagram of a memory module according to an exemplary embodiment;

[0047] Fig.15 is an electrical schematic diagram of a slope detection module according to an exemplary embodiment;

[0048] Fig.16 FIG. 1 is an electrical schematic diagram of a buzzer control module according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0050] The terms "a", "an", "the", and "said" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.

[0051] See also Figure 1 , an embodiment of the present invention provides a sliding door controller, comprising:

[0052] Power module;

[0053] The CAN transceiver module is connected to the power module. The CAN uses CAN communication to communicate with the vehicle and receives vehicle status information sent by the vehicle. The vehicle status information includes power status information, vehicle speed information, key status information and gear status information.

[0054] The motor control module MCU is connected to the CAN transceiver module and the power module, receives vehicle status information, and determines whether the conditions for opening or closing the sliding door are met according to the vehicle status information. When the conditions for opening or closing the sliding door are met, a high level signal is sent;

[0055] A motor drive module is connected to the power module and the motor control module. The motor drive module drives the sliding door motor to open or close the sliding door based on receiving a high level signal.

[0056] The motor drive enabling module is connected to the motor control module and the power module. Based on receiving a high level signal, the motor drive enabling module connects the motor drive module and the power module so that the power module supplies power to the motor drive module.

[0057] The controller of the embodiment of the present invention uses a motor drive enabling module to control the power supply of the motor drive circuit, thereby effectively avoiding the problem of excessive static current, and also avoiding the problem of heating and damage caused by long-term power supply of the motor drive chip.

[0058] In some embodiments, the motor drive module includes a sliding door motor drive module and a lock motor drive module. The sliding door motor drive module is used to drive the sliding door motor, and the sliding door motor drives the sliding door to open or close. The lock motor drive module is used to drive the lock motor, and the lock motor is used to lock the sliding door. Fig.12 , the sliding door motor drive module can adopt an H-bridge circuit, including two motor drive chips Uu1 and Uu2.

[0059] The motor control module sends a high-level signal to the motor drive enable module, so that the MOS tube of the motor drive module is turned on, thereby connecting the power supply of the motor drive module and supplying power to the motor drive chips Uu1 and Uu2 in the motor drive module. The motor drive enable circuit is used to control the power supply of the motor drive circuit, thereby effectively avoiding the problem of excessive static current, and also avoiding the problem of heating and damage caused by long-term power supply of the motor drive chip.

[0060] In an exemplary embodiment, the motor control module sends a high level signal to the motor drive enable module to turn on the MOS tube of the motor drive module, and may also include supplying power to the lock motor drive module.

[0061] In some embodiments, see Figure 3The power module includes a motor drive input power filter and protection circuit, which includes a transient absorption TVS tube TV1, a surge absorption capacitor C32, and an anti-reverse connection MOS tube Q5, wherein the voltage division of resistors R30 and R31 provides a stable level for the MOS tube Q5, and the voltage regulator diode Z2 is used to protect the MOS tube Q5. When the voltage between the gate and the source of the MOS tube is greater than 15V, the voltage regulator diode Z2 works and clamps the voltage to below 15V. The motor drive input power filter includes a π-type filter, which includes a common mode inductor L1, and capacitors C27, C28, C29, and C30.

[0062] In some embodiments, see Figure 3 The power module also includes 5V power input protection and input filtering, which includes an anti-reverse connection diode D8 and filter capacitors C37, C38, and C39.

[0063] The power module includes two power modules with different voltages. In an exemplary embodiment, see Figure 3 The power supply module includes a 5V power supply module, the 5V power supply module includes bypass capacitors C44, C45, C46, ​​output filter capacitors C40, C41, C42, and output voltage setting capacitors R34 and R37. The 5V power supply module includes anti-reverse connection diodes D9 and D10 at the enable input end, a voltage regulator diode Z3, and a filter capacitor C43.

[0064] See also Figure 3 The power supply module also includes a 3.3V power supply module, which includes filter beads FB3 and FB4, capacitors C47 and C48, output capacitors C49 and C50, a 3.3V output switch MOS tube, output capacitors C51 and C52, and a MOS tube Q8 for controlling a 3.3V power supply, resistors R42 and R46 for providing voltage division to the MOS tube Q8, and a capacitor C54 for filtering the MOS tube.

[0065] See also Figure 2 The motor control module includes a single-chip computer U5, input filter capacitors C68, C69, C70, C71, C72, C73, C75, C76, C77 and filter beads FB5, including a crystal oscillator Y1, and its peripheral filter capacitors C67 and C80.

[0066] In some embodiments, see Fig.13The sliding door controller of the embodiment of the present invention also includes a key module, the key module includes an input signal isolation circuit, the key module includes magnetic beads FB9, FB12, current limiting resistors R135, R136, R136, R137, R138, R139, R140, R146, R147, R148, R149, R150, R151, R171, R172, R177, R189, and filtering and de-jittering capacitors C86, C87, C88, C89, C90, C95, C96, C98, C99, C100, C101, C102, C103, C107, C108, C109, C112, C181, and C172.

[0067] In some embodiments, see Figure 5 The CAN transceiver module includes pull-up resistors R160, R161, R162, current limiting resistors R168, R169, terminal resistors R166, R167, common-mode filter inductor L3, transient absorption diodes TVS1, TVS2, filter capacitors C84, C85, C92, C93, C94, C104, C105, C106, and CAN transceiver U13, including 0 ohm resistors R164, R165, R170.

[0068] In some embodiments, see Figure 1 The sliding door controller of the embodiment of the present invention further includes a voltage and current sampling module, which is connected to the motor control module and the motor drive module. The voltage and current sampling module is used to collect the voltage and current of the sliding door motor and the lock motor. The motor control module receives the voltage and current values ​​collected by the voltage and current sampling module, and compares and judges with the set voltage and current values. When the voltage and current values ​​are greater than the set values, it is judged that the sliding door motor or the lock motor is blocked, and the motor control module sends a low-level signal to the motor drive enable module, so that the motor drive enable module disconnects the electrical connection between the power module and the motor drive module, and the motor control module sends a low-level signal to the motor drive module, instructing the motor drive module to turn off the sliding door motor or the lock motor. If the sliding door motor is blocked according to the voltage and current of the sliding door motor, the sliding door motor can be turned off. If the lock motor is blocked according to the voltage and current of the lock motor, the lock motor can be turned off.

[0069] When the motor control module wakes up and receives the signal to open or close the sliding door, it also receives the voltage and current values ​​collected by the sliding door voltage and current sampling module, and compares them with the set voltage and current values ​​after internal conversion. When the motor control module detects that the voltage and current values ​​are greater than the set values, it determines that the motor is blocked, and the motor control module sends a low-level signal to the motor drive enable module to turn off the MOS tube Q1 in the motor drive enable module, and finally turns off the power of the motor drive circuit. At the same time, it sends a low-level signal to the HIN pin of the chip Uu1 of the motor drive circuit to turn off the MOS tube in the H bridge of the motor drive circuit, thereby turning off the sliding door motor.

[0070] The sliding door controller of the embodiment of the present invention has a current detection function. The voltage and current sampling module can detect the current of the lock motor and the sliding door motor in real time. When the lock motor and the sliding door motor are stuck, the lock motor and the sliding door motor are turned off, thereby avoiding damage to the lock motor and the sliding door motor due to overheating caused by the jam, and at the same time avoiding damage to the sliding door controller due to excessive current caused by motor jam.

[0071] The voltage and current sampling module may include a power sampling circuit, a common motor sampling module and a speed regulating motor sampling module.

[0072] In some embodiments, the voltage and current sampling module uses high-end current sampling, and the sampling resistor is connected to the top of the H-bridge MOS tube, that is, the output end of the motor power supply. The current in the full cycle of the motor can be sampled in real time through high-end sampling, and the current of the motor can be detected when the H-bridge MOS tube is turned on and off, avoiding the problem of not being able to detect the large current generated by the motor stalling when the H-bridge MOS tube is turned off, which eventually leads to motor damage. At the same time, the size of the back electromotive force generated by the vehicle opening or closing the door on the slope can also be detected to open and close the sliding door motor.

[0073] In some embodiments, the voltage and current sampling module uses a differential amplifier circuit structure to perform voltage detection, thereby avoiding interference of common-mode interference on the current sampling signal and ultimately avoiding the generation of sampling errors.

[0074] In some embodiments, in order to filter out the influence of high-frequency interference on the sampling circuit, a capacitor C119 is connected in parallel next to the sampling resistor, thereby filtering out the differential signal interference in the high-frequency signal and avoiding the influence of the differential signal generated by the high-frequency signal on the current sampling.

[0075] In some embodiments, when the input voltage detected by the voltage and current sampling module is lower than the low voltage threshold, the motor control module determines that the input voltage is undervoltage, and the motor control module executes the undervoltage protection mode, turns off the enable output of the motor drive module, and stops the motor drive module from working. The low voltage threshold may be 9V, for example.

[0076] When the input voltage detected by the voltage and current sampling module is higher than the high voltage threshold, the motor control module determines that the input voltage is overvoltage, and the motor control module executes the overvoltage protection mode, turns off the enable output of the motor drive module, and stops the motor drive circuit from working. The high voltage threshold can be 16V, for example.

[0077] The motor control module has overvoltage and undervoltage protection functions. When the input voltage detected by the voltage and current sampling module is lower than 9V, the motor control module determines that the input voltage is undervoltage, and the motor control module executes the undervoltage protection mode, turns off the enable output of the motor drive module, so that the input voltage of the motor drive chips Uu1 and Uu2 in the motor drive module is 0, and sends a low-level signal to the HIN pin of the chip Uu1 of the motor drive module, so that the motor drive chips Uu1 and Uu2 stop working, and finally make the MOS tube of the H-bridge circuit not work. When the input voltage is higher than 16V, the motor control module determines that the input voltage is overvoltage, and the motor control module executes the overvoltage protection mode, turns off the enable output of the motor drive module, so that the input voltage of the motor drive chips Uu1 and Uu2 in the motor drive module is 0, and sends a low-level signal to the HIN pin of the motor drive chip Uu1 of the motor drive module, so that the motor drive chips Uu1 and Uu2 stop working, and finally make the H-bridge MOS tube not work.

[0078] In some embodiments, see Figure 8 The voltage and current sampling module uses an integrated packaged transistor, and two transistors are packaged together to detect the input voltage. The 4th pin of the integrated packaged transistor U6 is connected to the power supply voltage BAT_POWER, the 1st pin of the integrated packaged transistor U6 is grounded, the 2nd pin of the integrated packaged transistor U6 is connected to the +5V power supply, the 3rd pin of the integrated packaged transistor U6 is connected to the voltage AD sampling pin MCU_ADC_30A of the motor control module, and the 5th pin of the integrated packaged transistor U6 (the base of the NPN transistor) is connected to the 6th pin of the integrated packaged transistor U6 (the collector of the PNP transistor). By using the integrated packaged transistor to perform overvoltage and undervoltage detection, the area of ​​the controller can be reduced and the driving capability of the power detection module can be increased. The driving capability of the power detection module can be increased by connecting the base of the NPN transistor to the collector of the PNP transistor, thereby avoiding failure of the power voltage detection function and damage to the power voltage detection module due to insufficient driving capability.

[0079] See also Figure 8 The voltage and current sampling module includes a 30A power sampling circuit. The 30A power sampling circuit includes an integrated transistor U6, filter capacitors C58, C59, C82, sampling voltage divider resistors R77 and R82, and a current limiting resistor R78.

[0080] See also Fig. 9 The voltage and current sampling module also includes a common motor current sampling module, which includes U1, a filter bead FB1, filter capacitors C1 and C3, output filter capacitors C20 and C21, and voltage divider resistors R19 and R87.

[0081] See also Fig.10 The voltage and current sampling module also includes a speed regulating motor current sampling module, which includes U2, a filter bead FB2, filter capacitors C2 and C4, output filter capacitors C22 and C23, and voltage dividing resistors R20 and R88.

[0082] The motor drive module includes the lock motor drive module and the sliding door motor drive module, see Fig.11 The lock motor driving module includes lock motor driving chip power input filter capacitors C121, C123, C124 and lock motor driving chip U15, bypass capacitor C125 of driving chip U15, and resistors R199, R200, and R201 for fault detection.

[0083] See also Fig.12 The sliding door motor drive module includes a speed regulating H-bridge circuit, the H-bridge circuit includes driver chips Uu1 and Uu2, upper bridge MOS tubes Qa1B, Qa2A, and lower bridge MOS tubes Qa1AQa2B. Bootstrap capacitors C10 and C11 are used as sources, that is, bootstrap capacitors C10 and C11 are used to power the lower bridge MOS tubes Qa1B and Qa2A, thereby ensuring that the source (S pole) and G pole power supply of the upper bridge MOS tubes Qa1B and Qa2A have the same reference ground, and finally ensuring that the voltage across the MOS tube GS meets the requirements for turning on the MOS tube, thereby ensuring that the MOS tube is turned on normally.

[0084] The H-bridge circuit includes current limiting resistors R9, R10, R24, and R25, and diodes Dd1, Dd2, Dd3, and Dd4 for ensuring rapid discharge of the MOS tube, and includes resistors R3, R4, R21, and R22 and capacitors C13, C14, C25, and C26 for absorbing high-frequency interference generated during rapid conduction and shutdown of the MOS tube. It also includes voltage dividing resistors R11, R12, R27, and R28.

[0085] In some embodiments, see Figure 1 The sliding door controller of the embodiment of the present invention further includes a slope detection module, which is connected to the motor control module and is used to detect the slope information of the vehicle. When the motor control module receives the wake-up signal and the opening or closing of the sliding door, it simultaneously receives the slope information sent by the slope detection module, thereby adjusting the duty cycle of the motor speed regulation PWM, so that the sliding door can be opened or closed at the same speed under different slopes.

[0086] When the motor control module receives the wake-up signal and the command to open or close the sliding door, it also receives the vehicle position information sent by the sliding door slope detection module to detect the slope of the vehicle, thereby adjusting the duty cycle of the motor speed regulation PWM to ensure that the sliding door can be opened and closed at the same speed at different slopes.

[0087] The sliding door controller of the embodiment of the present invention can control the speed and direction of the sliding door motor according to the stroke of the sliding door during the closing process of the sliding door, thereby ensuring that the sliding door is not damaged due to excessive closing force or abnormal impact noise during the closing process.

[0088] See also Fig.15 The slope detection module includes an acceleration slope detection chip U12. The acceleration slope detection chip U12 can detect the slope of the vehicle. The acceleration slope detection chip U12 sends the slope information to the motor control module through SPI communication. After the motor control module detects the slope information, it converts it into a PWM signal and sends it to the motor control chips Uu1 and Uu2 of the motor control module, thereby controlling the opening and closing of the H-bridge MOS tube, and finally ensuring that the electric sliding door opens and closes the sliding door at a uniform speed at the set speed under any slope.

[0089] For specific implementation, see Fig.15 The slope detection module includes a power filter bead FB6, capacitors C78, ​​C81, C82, and an acceleration slope detection chip U12.

[0090] In some embodiments, see Figure 1 The sliding door controller of the embodiment of the present invention further includes a Hall detection module, which is connected to the motor control module and is used to detect the position information of the sliding door motor. The Hall detection module is connected to the motor Hall sensor, so that the position information of the sliding door motor can be identified and transmitted. The Hall detection module transmits the identified position information of the sliding door motor to the motor control module in real time.

[0091] During the closing process of the sliding door, the motor control module determines the speed and stroke of the sliding door according to the position information, and controls the speed and direction of the sliding door motor according to the speed and stroke of the sliding door to adjust the force of the sliding door during the closing process.

[0092] The motor control module can continuously detect the position information of the motor sent by the motor Hall sensor through the Hall detection module, and perform calculations to determine the speed and stroke of the motor, thereby controlling the opening and locking of the sliding door lock.

[0093] In some embodiments, see Figure 4The Hall detection module uses an optocoupler to identify and isolate the signal, thus avoiding the problem of inaccurate signals caused by different reference grounds of the Hall sensor and the Hall detection module. Figure 4 The Hall detection module includes a Hall power supply and a Hall detection circuit. The Hall power supply includes voltage divider resistors R116, R118 and filter capacitor C64, transistor 10, current limiting resistor R114, power-on MOS tube Q9, and output capacitors C65 and C66. The Hall detection circuit includes optocouplers U8, U9, U10, U11 and current limiting resistors R112, R115, R117, R119, R123, R129, R131, and R132.

[0094] In some embodiments, see Figure 1 The sliding door controller of the embodiment of the present invention further includes a memory module, which is connected to the motor control module and is used to store door opening and closing information, wherein the door opening and closing information includes slope information during the door opening and closing process and action information of the sliding door before power failure. During the door opening and closing process, after power failure and power recovery, the motor control module performs the door opening and closing action according to the door opening and closing information.

[0095] The memory module can store information such as slope information, the movement information of the sliding door before power failure, etc. During the door opening and closing process, after power failure and power recovery, the system will make initial settings. The initial setting method can be to manually close the door to the half-locked / fully locked position, press the driver's seat / passenger seat operation button, or pull the inside and outside handles. Only after the initial setting can the normal automatic door opening and closing action be performed.

[0096] For specific implementation, see Fig.14 The memory module mainly includes the memory chip Ua1, power filter capacitors C62 and C63, and pull-up resistors R95 and R96.

[0097] In some embodiments, the sliding door controller and the sliding door motor use different sets of power input, power filtering and power protection. The power input of the sliding door motor and the power input of the sliding door controller are isolated, filtered and protected by capacitors, inductors, MOS tubes and diodes.

[0098] The power module (5V power supply, 3.3V power supply) and motor drive module used in the sliding door controller use a different set of power input, power filtering, power protection, etc. The power input of the motor and the power input of the power module are isolated, filtered and protected by capacitors, inductors, MOS tubes, and diodes. The two use a different set of circuits, thereby avoiding the interference of the back electromotive force generated by the motor during the continuous opening, speed regulation and commutation process on the power circuit, reducing signal crosstalk and EMC problems, and reducing the difficulty of PCB layout.

[0099] In some embodiments, the awakening of the sliding door controller includes hardware awakening and software awakening. The hardware awakening uses the body controller to provide a wake-up signal, and the power module wakes up to the working state based on receiving the wake-up signal, and the body controller also supplies power to the power module. The software awakening uses the CAN transceiver module to receive the wake-up information in the vehicle CAN network, and the CAN transceiver module wakes up to work normally based on receiving the wake-up information, and the CAN transceiver module sends the wake-up information to the power module, so that the power module wakes up to the normal working state and supplies power to the sliding door controller, such as the power module supplies power to the motor controller module, the motor drive enable module, the Hall enable module, etc.

[0100] The sliding door controller can include both hardware wake-up and software wake-up solutions. You can choose the hardware wake-up solution or the software wake-up solution as needed. The hardware wake-up solution uses the body controller to provide a wake-up signal and power the 5V power chip U3. When the body controller wakes up and supplies power to the power module of the sliding door controller, it also inputs a wake-up signal to the 5V power chip U3 of the power module, so that the power module wakes up and starts working normally.

[0101] The software wake-up is performed through the CAN transceiver module. When the CAN transceiver module receives the wake-up information on the vehicle CAN network, the CAN transceiver module U13 wakes up and works normally. At the same time, a high-level instruction is sent to LDO_CAN_INH through the INH pin, so that the base of the transistor QQ1 in the power module is at a high level, thereby turning on the transistor QQ1 and making the base of the transistor QQ2 in the power module at a low level. The transistor QQ2 is turned off, and finally the enable pin EN of the 5V power chip U3 in the power module is at a high level. The enable pin of the power chip U3 wakes up after receiving the high level, thereby supplying power to the motor controller module, the motor drive enable module, the Hall detection module, etc., so that these modules enter the working mode.

[0102] In software wake-up, the motor control module can send high and low levels to the enable pin EN of the 5V power chip U3 in the power module through MCU_LDO_DELAY. When the motor control module (MCU) sends a high level signal, the power chip is always in the awake state. When the electric sliding door does not perform any actions within the set time, such as opening, closing, hovering, etc. within 5 minutes, or the sliding door motor controller does not receive any instructions within 5 minutes, the motor control module (MCU) sends a low level to the power chip U3, which eventually turns off the power chip and maintains low power consumption mode.

[0103] In software wake-up mode, hardware wake-up can be performed by any button, such as the driver's side button, B-pillar button, outer handle, inner handle, etc. When any of these buttons is pressed, the transistor Q11 in the button / anti-pinch detection module is turned on because its base is at a low level, so that LDO_EN is connected to the power supply, so that LDO_EN is at a high level, and finally the base of the transistor QQ1 in the power module is at a high level, so that the transistor QQ1 is turned on, and the base of the transistor QQ2 in the power module is at a low level. The transistor QQ2 is turned off, and finally the enable pin EN of the 5V power chip U3 in the power module is at a high level. The enable pin of the power chip U3 wakes up after receiving the high level.

[0104] In order to conveniently and quickly control the H-bridge circuit MOS tube, the H-bridge circuit MOS tube includes Qa1A, Qa1B, Qa2A, and Qa2B, and the sliding door is controlled by the integrated control motor control chip Uu1 and Uu2. In order to ensure that the upper bridge MOS tubes Qa1B and Qa2A are normally turned on and off, the bootstrap capacitors C10 and C11 are used as sources, that is, the bootstrap capacitors C10 and C11 are used to power the lower bridge MOS tubes Qa1B and Qa2A, thereby ensuring that the source (S pole) and the G pole power supply of the upper bridge MOS tubes Qa1B and Qa2A have the same reference ground, and finally ensuring that the voltage across the MOS tube GS reaches the requirements for the MOS tube to be turned on, thereby ensuring that the MOS tube is turned on normally.

[0105] In order to ensure that the H-bridge MOS tubes Qa1A, Qa1B, Qa2A, and Qa2B can be quickly turned off during the shutdown process, reverse diodes Dd1, Dd2, Dd3, and Dd4 are connected in parallel at both ends of the current limiting resistors R9, R10, R24, and R25 respectively. When the MOS tube is turned on, the diode is reversely cut off and does not work, so the current flows from the current limiting resistors R9, R10, R24, and R25 to ensure that the MOS tubes Qa1A, Qa1B, Qa2A, and Qa2B are turned on slowly to avoid interference caused by fast turn-on. When the MOS tube is turned off, the diode is forward-conducted, so that the current does not pass through the current-limiting resistors R9, R10, R24, and R25, but passes through the diodes Dd1, Dd2, Dd3, and Dd4 with lower impedance, so that the junction capacitance of the MOS tubes Qa1A, Qa1B, Qa2A, and Qa2B is discharged quickly, and finally the MOS tubes Qa1A, Qa1B, Qa2A, and Qa2B are quickly turned off, thereby avoiding the problem of excessive current passing through the upper and lower bridge MOS tubes Qa1B and Qa1A due to the upper and lower bridge MOS tubes Qa1B and Qa1A being turned on at the same time, and finally causing the upper and lower MOS tubes Qa1B and Qa1A to be damaged.

[0106] In order to absorb the high-frequency interference generated during the rapid turn-on and turn-off of the MOS tube, resistors R3, R4, R21, and R22 are respectively connected in series with capacitors C13, C14, C25, and C26 and then connected in parallel between the drain and source of the MOS tubes Qa1A, Qa1B, Qa2A, and Qa2B, thereby effectively absorbing the high-frequency interference generated during the rapid turn-on and turn-off of the MOS tube, avoiding the interference of the high-frequency interference to other circuit modules and simplifying the wiring of the PCB.

[0107] In some embodiments, see Figure 1 The sliding door controller of the embodiment of the present invention further includes a buzzer control module, which is used to control the buzzer to emit a warning sound. The buzzer can be used for a power-on reminder function. When the side sliding door controller is powered on, the motor control module recognizes that the controller is powered on, and sends a high-level signal to the base of the transistor Q7 in the buzzer control module, so that the transistor is turned on, and finally the buzzer emits a warning sound such as "beep...beep".

[0108] If the sliding door controller is powered on normally and the voltage is within the set range, such as 9-16V, the buzzer will sound once every 1S and continue to sound for 5s.

[0109] The buzzer can also be used for anti-pinch trigger reminders. When the anti-pinch strip and motor stall anti-pinch are triggered, the motor control module recognizes the anti-pinch function and keeps sending a high-level signal to the base of the transistor Q7 in the buzzer control module, causing the transistor to turn on and the buzzer keeps beeping until the side sliding door is opened to the fully open position.

[0110] The buzzer can also be used for high and low voltage (input undervoltage and overvoltage) reminders. When the voltage is not in the range of 9-16V, the automatic door opening and closing function will be stopped. After the motor control module recognizes the input undervoltage and overvoltage, it sends a high-level signal to the base of the transistor Q7 in the buzzer control module every second, making the transistor turn on and the buzzer emits three short beeps of "beep... beep... beep..." and displays the words "voltage is too low / too high!".

[0111] The buzzer can also be used for fault alarm. When the operating control switch of the sliding door fails, the motor control module recognizes that the sliding door has failed and sends a high-level signal to the base of the transistor Q7 in the buzzer control module every 0.5 seconds. The buzzer beeps "beep...beep...beep..." six times, beeping once every 0.5 seconds for 3 seconds.

[0112] For specific implementation, see Fig.16 The buzzer control module includes voltage-dividing resistors R40, R45, filter capacitor C53, transistor switch Q7, and current-limiting resistor R38, and a diode D11 that provides a current loop for the buzzer.

[0113] In some embodiments, the sliding door controller further includes an MCU wake-up detection module, see Figure 6 The wake-up detection module includes anti-reverse connection diodes D13, D14, D15, D16, current limiting resistors R142, R145, R152, voltage dividing resistors R153, R163, transistor base filter capacitor C97, transistor switch Q12, and current limiting resistors R143, R144.

[0114] For specific implementation, see Figure 7 The motor drive enabling module includes filter capacitors C19, C6, C7, C15, C31, anti-reverse connection diode D2, voltage regulator diode Z1, voltage divider resistors R7, R17, R26, R27.

[0115] When the user opens the door by pressing the door opening button on the door pillar side, the driver side button, and the inner and outer handles, the signal detection module detects that a button has been pressed and sends a wake-up signal to the 5V power chip U3, so that the 5V power chip U3 wakes up. For example, when the driver side button is pressed, the driver side button is connected to the ground, that is, the cathode of the diode D18 is connected to the ground. At this time, the 12 power supply is connected to the ground through the diode D18 after the resistor R146 limits the current. At this time, the base of the transistor Q11 is grounded through the current limiting resistor R139. At this time, the transistor Q11 is turned on, and the collector and emitter of the transistor are turned on, so that LDO_EN and KEY_WK are connected to a high level.

[0116] LDO_EN is connected to the 5th pin enable pin (EN) of the 5V power chip U3, so that the 5V power chip U3 wakes up from the sleep mode to the working mode, and normally outputs 5V voltage to power other modules. KEY_WK is connected to the MCU wake-up module. After the diode D16 is protected against reverse connection, the signal is connected to the resistor R153 and R163 for voltage division and the capacitor C97 is filtered and connected to the base of the transistor Q12. The base of the transistor Q12 is turned on due to receiving a high-level signal, so that the collector of the transistor is connected to the ground through the emitter, and MCU_WKUP changes from a high level to a ground level. After the microcontroller U5 of the motor control module receives a high level and changes to a low level, the microcontroller also wakes up to the working mode. After waking up, the microcontroller sends a high-level signal which is input to the 3.3V power module through MCU_LDO_DELAY, and then connected to the gate of the MOS tube Q8 after voltage division by the voltage-dividing resistors R42 and R46 and filtering by the capacitor C54, so that the drain and source of Q8 are connected to the ground, and the gate of the PMOS tube Q6 is connected to the ground, and finally Q6 is turned on, connecting +3.3V to the power supply, and providing 3.3V voltage for other modules.

[0117] After the TVS tube TVS1 in the input protection absorbs surge voltage, static electricity, and lightning surge, the residual voltage remaining after the TVS tube TVS1 is further absorbed by the capacitor C32 and resistor R30 in the input protection, and then the anti-reverse connection MOS tube Q5 is used for anti-reverse connection protection. The voltage division of resistors R30 and R31 provides a stable voltage level for MOS tube Q5. The voltage regulator diode Z2 is used to protect MOS tube Q5. When the voltage between the gate and source of the MOS tube is greater than 15V, the voltage regulator diode Z2 will work and clamp the voltage to below 15V, and then the voltage of the whole vehicle is input to the π-type filter for filtering protection. The π-type filter includes common mode inductor L1, capacitors C27, C28, C29, and C30. After filtering protection by π-type filtering, the vehicle power supply is connected to the lock motor driver chip U15 and H-bridge circuit in the motor driver module to power the door motor and lock motor. The vehicle voltage is filtered by input filter capacitors C121, C123, and C124 and connected to the No. 4 pin power supply pin VCC of the lock motor chip U15. It is also connected to the No. 5 pin in the common motor current sampling module and the negative input end of U1 for current sampling. At the same time, after the lock motor driver chip U15 receives the lock motor opening signal sent by the single-chip computer U5 in the motor control module through the No. 4 pin, i.e. the signal input pin INA pin, it controls the lock motor to open through the output pin OUTA of U15 to open the door lock. After the door lock is opened, the microcontroller U5 sends a door motor signal to the input pins 2 and 3 of the door motor driver chips Uu1 and Uu2, namely the HIN and LIN pins. The pin 7 of the door motor driver chip Uu1, namely the HO pin, outputs a high-level signal, which is input to the gate of the upper bridge MOS tube Qa1B after being divided by the current limiting and voltage dividing resistors R9 and R11. The gate of the upper bridge MOS tube Qa1B is turned on due to receiving the high-level signal, and the pin 5 of the door motor driver chip Uu2, namely the LO pin, outputs a high-level signal. The signal is input to the gate of the lower bridge MOS tube Qa2B after being divided by the current limiting and voltage dividing resistors R25 and R28. The gate of the lower bridge MOS tube Qa2B is turned on due to receiving the high-level signal, and finally the positive and negative poles of the door motor are connected to the power supply, the motor rotates forward, and the car door is opened until the door is opened to the maximum position. At this time, the microcontroller sends a low-level signal to the input pins 2 and 3 of Uu1 and Uu2, and the output pins 5 and 7 of Uu1 and Uu2 output low-level signals, so that the MOS tube is cut off and the door stops moving.

[0118] The single-chip computer U5 controls the opening and closing of the sliding door H-bridge MOS tube through PWM signals, thereby facilitating the speed regulation of the door motor.

[0119] The process of closing the door is similar to that of opening the door, so it will not be described in detail here.

[0120] During the process of opening and closing the door, the acceleration slope detection chip U12 in the slope detection module can detect the slope of the vehicle, and then the acceleration slope detection chip U12 sends the slope information to the microcontroller U5 in the motor control module through SPI communication. After detecting and calculating the slope information, the microcontroller U5 converts it into a PWM signal and sends it to the motor control chips Uu1 and Uu2 of the motor control module, thereby controlling the H-bridge MOS tube to open and close according to the PWM signal, ultimately ensuring that the electric sliding door opens and closes the sliding door at a uniform speed at the set speed under any slope.

[0121] The current detection module can detect the current of the lock motor and the door motor at all times. When the lock motor and the door motor are blocked, the lock motor and the door motor are turned off to avoid damage to the lock motor and the motor due to overheating caused by the blockage, and to avoid damage to the sliding door controller due to excessive current caused by motor blockage.

[0122] The motor current detection adopts high-end current sampling, that is, the sampling resistor is connected to the top of the H-bridge MOS tube, that is, the output end of the motor power supply. The current in the whole cycle of the motor can be sampled at any time through high-end sampling, that is, the current of the motor can be detected when the H-bridge MOS tube is turned on and off, avoiding the problem of failure to detect the large current generated by the motor being blocked when the H-bridge MOS tube is turned off, which eventually leads to damage to the motor. At the same time, the size of the back electromotive force generated by the vehicle opening or closing the door on the slope can also be detected to open and close the sliding door motor. It is characterized in that the current detection module adopts the structure of differential amplifier circuit for voltage detection, thereby avoiding the interference of common mode interference on the current sampling signal, and finally avoiding the generation of sampling error. In order to filter out the influence of high-frequency interference on the sampling circuit, a 100PF capacitor C119 is connected in parallel next to the sampling resistor, thereby filtering out the differential signal interference in the high-frequency signal and avoiding the influence of the differential signal generated by the high-frequency signal on the current sampling. The positive input and negative input of U1 in the current sampling module are respectively connected to the two ends of the sampling resistor R2. The voltage across the resistor is detected and amplified by the error amplifier U1 and then output to the microcontroller through the output pin 6. The microcontroller compares and judges the current with the set current. When the microcontroller determines that there is an overcurrent situation, the lock motor and door motor are immediately turned off.

[0123] An embodiment of the present invention provides a vehicle, comprising a sliding door controller according to an embodiment of the present invention.

[0124] In the embodiments of the present invention, the term "plurality" refers to two or more than two, unless otherwise clearly defined. The terms "installation", "connection", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0125] In the description of the embodiments of the present invention, it needs to be understood that the directions or positional relationships indicated by the terms "upper" and "lower" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the embodiments of the present invention.

[0126] In the description of this specification, the description of the terms "one embodiment", "a preferred embodiment", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0127] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sliding door controller, characterized in that: include: Power module; A CAN transceiver module is connected to the power module, the CAN uses CAN communication to communicate with the vehicle, and receives vehicle status information sent by the vehicle, the vehicle status information includes power status information, vehicle speed information, key status information and gear status information; a motor control module connected to the CAN transceiver module and the power module, receiving the vehicle status information, and judging whether the conditions for opening or closing the sliding door are met according to the vehicle status information, and sending a high level signal when the conditions for opening or closing the sliding door are met; A motor driving module connected to the power module and the motor control module, wherein the motor driving module drives the sliding door motor to open or close the sliding door based on receiving the high level signal; The motor drive enabling module is connected to the motor control module and the power module. Based on receiving the high level signal, the motor drive enabling module connects the motor drive module and the power module so that the power module supplies power to the motor drive module.

2. The sliding door controller according to claim 1, characterized in that: Also includes: A voltage and current sampling module, connected to the motor control module and the motor drive module, for collecting the voltage and current of the sliding door motor and the lock motor; The motor control module receives the voltage and current values ​​collected by the voltage and current sampling module, and compares them with the set voltage and current values. When the voltage and current values ​​are greater than the set values, it is determined that the sliding door motor or the lock motor is blocked, and the motor control module sends a low-level signal to the motor drive enable module to enable the motor drive enable module to disconnect the electrical connection between the power module and the motor drive module, and the motor control module sends a low-level signal to the motor drive module to instruct the motor drive module to turn off the sliding door motor or the lock motor.

3. The sliding door controller according to claim 2, characterized in that: When the input voltage detected by the voltage and current sampling module is lower than 9V, the motor control module determines that the input voltage is undervoltage, and the motor control module executes the undervoltage protection mode, turns off the enable output of the motor drive module, so that the motor drive module stops working; When the input voltage detected by the voltage and current sampling module is higher than 16V, the motor control module determines that the input voltage is overvoltage, and the motor control module executes the overvoltage protection mode, turns off the enable output of the motor drive module, and stops the motor drive circuit from working.

4. The sliding door controller according to claim 2, characterized in that: Also includes: A slope detection module, the slope detection module is connected to the motor control module and is used to detect the slope information of the vehicle; When the motor control module receives the wake-up signal and the command to open or close the sliding door, it also receives the slope information sent by the slope detection module, thereby adjusting the duty cycle of the motor speed regulation PWM so that the sliding door can be opened or closed at the same speed under different slopes.

5. The sliding door controller according to claim 4, characterized in that: Also includes: A Hall detection module, which is connected to the motor control module and is used to detect position information of the sliding door motor; During the closing process of the sliding door, the motor control module determines the speed and stroke of the sliding door according to the position information, and controls the speed and direction of the sliding door motor according to the speed and stroke of the sliding door to adjust the force of the sliding door during the closing process.

6. The sliding door controller according to claim 5, characterized in that: The Hall detection module uses an optical coupler to identify and isolate signals.

7. The sliding door controller according to claim 6, characterized in that: Also includes: A memory module connected to the motor control module and used to store door opening and closing information, wherein the door opening and closing information includes slope information during the door opening and closing process and movement information of the sliding door before power failure; During the door opening and closing process, after power is cut off and then restored, the motor control module executes the door opening and closing action according to the door opening and closing information.

8. The sliding door controller according to claim 1, characterized in that: The sliding door controller and the sliding door motor use different sets of power input, power filtering and power protection. The power input of the sliding door motor and the power input of the sliding door controller are isolated, filtered and protected by capacitors, inductors, MOS tubes and diodes.

9. The sliding door controller according to claim 1, characterized in that: The wake-up of the sliding door controller includes hardware wake-up and software wake-up. The hardware wake-up uses a body controller to provide a wake-up signal, and the power module wakes up to a working state based on receiving the wake-up signal, and the body controller supplies power to the power module at the same time; The software wake-up uses a CAN transceiver module to receive wake-up information in the vehicle CAN network. The CAN transceiver module wakes up and works normally based on the received wake-up information. The CAN transceiver module sends the wake-up information to the power module to wake up the power module to a normal working state and supply power to the motor controller module, the motor drive enable module, and the Hall enable module.

10. A vehicle, characterized in that: A sliding door controller comprising any one of claims 1-9.

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