Method for switching motion modes of vehicle electrically operated gate and controller

Abstract

The embodiment of the invention provides a switching method for motion modes of a vehicle electric door and a controller. The switching method and the controller can smoothly and rapidly achieve switching of the motion modes of the electric door. The method comprises the steps that when the electrically operated gate is in an automatic motion mode, the electrically operated gate is controlled to be switched from the automatic motion mode to a power-assisted motion mode according to the offset of the distance; wherein the offset of the distance refers to the deviation between the actual moving distance of the electrically operated gate and the moving distance of the electrically operated gate in the automatic moving mode.

Description

Technical Field

[0001] The invention relates to a control technology of a vehicle electric door, and in particular to a method and a controller for switching a motion mode of a vehicle electric door. Background Art

[0002] In the automotive field, vehicles equipped with electric doors have become increasingly common. Some electric doors not only have the traditional automatic door opening and automatic door closing functions, but also have power-assisted door opening and power-assisted door closing functions, that is, the electric door can work in automatic movement mode or power-assisted movement mode. This brings up the question of how to smoothly switch between different modes. Summary of the invention

[0003] In view of this, the present invention provides a method and a controller for switching the motion mode of a vehicle electric door, so that the electric door can be switched from an automatic motion mode to a power-assisted motion mode.

[0004] A method for switching the motion mode of a vehicle electric door according to an embodiment of the present invention comprises: when the electric door is in an automatic motion mode, controlling the electric door to switch from the automatic motion mode to the power-assisted motion mode according to a distance offset; wherein the distance offset refers to: the deviation between the distance actually moved by the electric door and the distance that the electric door should move in the automatic motion mode.

[0005] In some embodiments, the offset of the distance is determined based on a speed difference between a target speed and an actual speed of the electric door.

[0006] In some embodiments, in the automatic movement mode, the electric door is driven to automatically move and perform speed following control based on a preset movement speed curve representing the relationship between a position and a target speed.

[0007] In some implementations, the target speed and the actual speed of the electric door are input into a PID controller, and the PID controller drives the electric door to automatically move and perform speed following control.

[0008] In some implementations, after filtering the speed difference, the offset of the distance is determined based on the filtered speed difference.

[0009] In some embodiments, the offset of the distance is determined by integrating the velocity difference.

[0010] In some embodiments, when the offset of the distance is greater than or equal to a threshold, the electric door is controlled to switch from the automatic movement mode to the power-assisted movement mode.

[0011] In some embodiments, the threshold is adjusted based on vehicle state parameters and / or environmental parameters; wherein the vehicle state parameters include: a pitch angle and / or a roll angle of the vehicle, and the environmental parameters include: an ambient temperature.

[0012] In some embodiments, the threshold is adjusted based on the following formula: ′ =(1+P P +P r +P t )*T; where T ′ is the adjusted threshold, T is the preset threshold, P P , P r and P t are the threshold percentages calculated according to the pitch angle, roll angle and ambient temperature respectively.

[0013] An electric door controller according to an embodiment of the present invention is used to drive a motor to drive a door to move. The electric door controller is specifically used to execute the method according to the embodiment of the present invention.

[0014] Beneficial effects of the embodiments of the present invention:

[0015] In an embodiment of the present invention, when the electric door is in the automatic movement mode, the electric door is controlled to switch from the automatic movement mode to the power-assisted movement mode based on the deviation between the distance actually moved by the electric door and the distance that the electric door should move in the automatic movement mode, that is, the offset of the distance, thereby enabling the electric door to switch from the automatic movement mode to the power-assisted movement mode.

[0016] In addition, this embodiment can calculate the distance offset based on the speed difference between the target speed and the actual speed of the electric door (e.g., integrating and accumulating the speed difference). This method can improve the sensitivity of the system, especially in the control scheme using PID (proportional, integral and differential), and can ensure a smooth feeling of the switching process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other details and advantages of the present invention will become apparent from the detailed description provided below. It should be understood that the following drawings are merely illustrative and thus cannot be considered as limiting the present invention, and the following will be described in detail with reference to the drawings, wherein:

[0018] Figure 1 It is a flow chart of an embodiment of a method for switching a motion mode of a vehicle electric door of the present invention;

[0019] Figure 2 is a flow chart of another embodiment of a method for switching a motion mode of a vehicle electric door of the present invention;

[0020] Figure 3is a schematic diagram of the relationship between the pitch angle and the threshold percentage according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of the relationship between the roll angle and the threshold percentage according to an embodiment of the present invention;

[0022] Figure 5 Schematic diagram of the relationship between the ambient temperature and the threshold percentage according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0024] In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are applicable to distinguishing similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0025] In a vehicle, the electric door can work in a fully automatic motion mode or a power-assisted motion mode. The electric door can be, for example, a door or tailgate of a car. Taking a car door as an example, the movement direction of the electric door can be horizontal, i.e., sliding left and right in the horizontal direction, or sideways, i.e., a side-opening electric door.

[0026] Among them, the fully automatic motion mode means that when the preset conditions are triggered, the electric door controller automatically sends instructions to drive the motor to open or close the door body, and no manual operation is required throughout the process. Specifically, the motion speed curve of the automatic door opening and closing is generally pre-set. The curve is used to describe the corresponding speed of the door when it is in different positions. The speed defined by the curve is used as the target speed, and the PID controller is combined to perform speed tracking during the automatic door opening and closing process.

[0027] Among them, the power-assisted motion mode is a semi-automatic motion mode. When the user manually pushes the door, the controller drives the motor to provide auxiliary power. For example, when the door body is subjected to external force, the controller starts the drive motor and adjusts the output of the drive motor according to the thrust, helping the user to easily open or close the door.

[0028] In some solutions, the fully automatic motion mode and the power-assisted motion mode are independent of each other, and it is not possible to switch directly from the fully automatic motion mode to the power-assisted motion mode. Instead, the fully automatic motion mode must be interrupted before the power-assisted motion mode can be triggered. Obviously, when the user applies external force to the electric door while it is moving automatically, the ongoing movement cannot be interrupted in a short period of time, and the manually applied force will be reacted by the electric door to the user's hand, causing the user to feel a lag.

[0029] In other solutions, when the electric door is in automatic motion, if the user applies a force in the same direction to the moving electric door, the electric door can recognize the intervention of the external force, and quickly exit the automatic motion, and then switch to the power-assisted motion, that is, the electric door can switch from the fully automatic motion mode to the power-assisted motion mode. In these solutions, the switching is generally triggered based on the change in the door movement speed caused by the external force applied to the door. For example, when the actual movement speed of the electric door increases to a certain extent, it switches to the power-assisted mode. However, because the electric door controller generally has a PID adjustment function, when the user applies an external force to the door, under the action of the PID adjustment, the motor will slow down to counter the user's hand force, resulting in jamming, and due to the intervention of the PID adjustment, the speed increase is not obvious, and the trigger threshold may not be reached in a short time, resulting in the delay of the power-assisted triggering. Therefore, the speed-based switching solution may not guarantee a smooth feeling during the switching process, reducing the user experience.

[0030] Therefore, the embodiment of the present invention provides a switching solution for the motion mode of the vehicle electric door, which can control the switching of the electric door from the automatic motion mode to the power-assisted motion mode according to the deviation between the actual motion distance of the electric door and the distance that the electric door should move in the automatic motion mode, that is, the distance offset. This solution based on the distance offset can improve the response speed when switching from automatic motion to power-assisted motion, ensuring smooth switching without jamming.

[0031] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] like Figure 1 FIG. 1 is a flow chart of an embodiment of a method for switching a motion mode of a vehicle electric door of the present invention. The method can be applied to an electric door controller in a vehicle, and the electric door controller can be, for example, a PID (proportional, integral and differential) controller, which is used to drive the door to move by controlling a motor. The method specifically includes:

[0033] Step S10: Control the electric door to enter the automatic movement mode.

[0034] In this step, the user can trigger the electric door to open or close automatically by the control button. In addition, the electric door can also be controlled to move automatically based on other conditions being met. For example, after the sensor on the vehicle detects that the vehicle has stopped, the electric door can be triggered to open automatically.

[0035] Step S11: In the automatic motion mode, speed following control is performed.

[0036] In this step, in the automatic movement mode, based on the preset movement speed curve, the electric door is controlled to move automatically and perform speed following. The movement speed curve is a preset curve that describes the corresponding speed of the door when it is in different positions. Based on this movement speed curve, the electric door controller controls the running speed of the electric door so that the actual speed of the electric door at each position is as consistent as possible with the target speed at the corresponding position of this movement speed curve, that is, the actual speed follows the target speed. Specifically, the PID control method can be used for this control, that is, the target speed and the actual speed are both input into the PID controller, and the speed following control is performed by the PID controller.

[0037] Step S12: measuring the offset of the distance.

[0038] The distance offset refers to the deviation between the actual distance moved by the electric door and the distance the electric door should move in the automatic movement mode. This deviation is mainly caused by the inconsistency between the actual speed and the target speed. For example, in the automatic door closing stage, if the user applies a force in the same direction as the door closing direction, the actual speed of the electric door will be greater than the target speed, resulting in the distance offset. Of course, applying the opposite force will also cause the distance offset.

[0039] Step S13: Determine whether the offset of the distance is greater than a threshold value. If so, execute step S14, otherwise continue to execute step S11.

[0040] Step S14: Switch the electric door from the automatic motion mode to the power-assisted motion mode.

[0041] In the above embodiment, the distance offset is measured to control the switching of the motion mode of the electric door, thereby realizing the switching of the electric door from the automatic motion mode to the power-assisted motion mode. In addition, the above-mentioned method based on the distance offset instead of the speed offset can improve the response speed during the mode conversion, ensure smooth switching without lag, and improve the user experience.

[0042] In the above embodiment, the deviation of the distance may be measured based on the speed difference between the actual speed and the target speed.

[0043] Specifically, Figure 1As shown, step S12 may specifically include: calculating the speed difference between the actual speed and the target speed (step S121); filtering the speed difference (step S122, optional), wherein the filtering may filter out slight speed fluctuations caused by mechanical and external environmental reasons; integrating the speed difference (step S123), wherein the result of the integration may represent the amount of change in position; accumulating the result of the integration (step S124), namely obtaining the offset of the distance, which may represent the distance of the electric door moving more or less due to the intervention of factors such as external forces. When the direction of the external force is consistent with the direction of movement, the offset of the distance represents the distance of more movement, and when the direction of the external force is opposite to the direction of movement, the offset of the distance represents the distance of less movement.

[0044] In this embodiment, by integrating the speed difference to determine the offset of the distance, it is possible to capture subtle changes in speed and convert the speed change into a position difference. This method is simple to calculate and fast, and there is no extra time from contact to triggering, which improves the sensitivity of the system, ensures a smooth feeling during the switching process, and can improve the performance of the electric door. On the contrary, compared with a switching strategy based solely on speed changes, when the actual speed is greater than the target speed, the motor will slow down due to the regulation of PID, which will conflict with the user's hand strength and cause jamming. In addition, due to the intervention of PID regulation, the speed increase will not be obvious, and the triggering of the power assist will also be delayed, resulting in poor performance.

[0045] In the above embodiments, under common working conditions, the power-assist mode can be quickly identified and switched to, but when the environment changes, if the threshold is not adjusted, there will still be problems of false triggering or difficulty in triggering. Therefore, considering the vehicle's usage scenarios, it is found that the following factors have a great impact on the mode switching, namely: the vehicle's pitch angle (Pitch), the vehicle's roll angle (Roll) and the ambient temperature (Temperature). Therefore, in some embodiments, such as Figure 2 As shown, the method also includes:

[0046] Step S101: Setting a threshold based on the current scenario, wherein the current scenario is defined by vehicle state parameters and / or environmental parameters, and the vehicle state parameters include: a pitch angle and / or a roll angle of the vehicle, and the environmental parameters include: an ambient temperature.

[0047] By adjusting the threshold, a good switching effect can be obtained under different working conditions and environments. Specifically, the threshold can be adjusted based on the following formula:

[0048] T ′ =(1+P P +P r +P t )*T;

[0049] Among them, T ′ is the adjusted threshold, T is the preset threshold, such as the threshold under flat and normal temperature conditions, P P , P r and P t are the threshold percentages calculated according to the pitch angle, roll angle and ambient temperature respectively.

[0050] Among them, P P , P r and P t The corresponding relationship between pitch angle, roll angle and ambient temperature can be referred to Figures 3 to 5 As shown in FIG. 4 , the corresponding relationship can be obtained by calibration.

[0051] In this embodiment, factors such as the environment are incorporated into the threshold design, so that the vehicle can achieve a consistent switching effect regardless of various slopes or high and low temperature scenarios.

[0052] The embodiment of the present invention can realize the switching from the automatic motion mode to the power-assisted motion mode. And because the speed difference is referenced and there is a filtering operation, the robustness of the system can be improved and the probability of false triggering can be reduced. In addition, because the addition of integral calculation can convert the speed change caused by external force into position change, setting the trigger threshold according to the position can more flexibly adjust the trigger sensitivity, and because the speed is amplified into position, it can capture subtle speed changes, ensuring the smoothness of the switching process.

[0053] In addition, an embodiment of the present invention further provides a computer device / equipment / system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the above method flow. The computer device / equipment / system may be an electric door controller.

[0054] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the above method flow is implemented.

[0055] In addition, an embodiment of the present invention further provides a computer program product, including a computer program / instruction, which implements the above method flow when executed by a processor.

[0056] The description of the above device, storage medium and program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device, storage medium and program product embodiments of this application, please refer to the description of the method embodiment of this application for understanding.

[0057] The processor may be at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, a microprocessor, etc. It is understandable that the electronic device that implements the function of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0058] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0059] It should be noted that the above description is only for example and not for limitation of the present invention. In other embodiments of the present invention, the method may have more, fewer or different steps, and the order, inclusion and function of each step may be different from that described and illustrated. For example, generally multiple steps can be combined into a single step, and a single step can also be divided into multiple steps. For those of ordinary skill in the art, without paying creative work, the sequential changes of each step are also within the scope of protection of the present invention.

[0060] The technical solution of the present invention, in essence or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor or a microcontroller to perform all or part of the steps of the method described in each embodiment of the present invention.

[0061] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0062] Although the present invention has been disclosed as above with preferred embodiments, the present invention is not limited thereto. Any changes and modifications made by any person skilled in the art without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention, and therefore the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A method for switching a motion mode of a vehicle electric door, characterized in that: include: When the electric door is in the automatic motion mode, controlling the electric door to switch from the automatic motion mode to the power-assisted motion mode according to the offset of the distance; The offset of the distance refers to the deviation between the actual movement distance of the electric door and the distance that the electric door should move in the automatic movement mode.

2. The method for switching the motion mode of a vehicle electric door according to claim 1, characterized in that: An offset of the distance is determined based on a speed difference between a target speed and an actual speed of the electric door.

3. The method for switching the motion mode of a vehicle electric door as claimed in claim 2, characterized in that: In the automatic movement mode, the electric door is driven to move automatically and perform speed following control based on a preset movement speed curve representing the relationship between position and target speed.

4. The method for switching the motion mode of a vehicle electric door according to claim 3, characterized in that: The target speed and actual speed of the electric door are input into a PID controller, and the PID controller drives the electric door to move automatically and perform speed following control.

5. The method for switching the motion mode of a vehicle electric door as claimed in claim 2, characterized in that: After filtering the speed difference, the offset of the distance is determined based on the filtered speed difference.

6. The method for switching the motion mode of a vehicle electric door as claimed in claim 2, characterized in that: The offset of the distance is determined by integrating the velocity difference.

7. The method for switching the motion mode of a vehicle electric door according to any one of claims 2 to 6, characterized in that: When the offset of the distance is greater than or equal to a threshold, the electric door is controlled to switch from an automatic motion mode to a power-assisted motion mode.

8. The method for switching the motion mode of a vehicle electric door as claimed in claim 7, characterized in that: adjusting the threshold value based on vehicle state parameters and / or environmental parameters; Wherein, the vehicle state parameters include: the pitch angle and / or roll angle of the vehicle, and the environmental parameters include: ambient temperature.

9. The method for switching the motion mode of a vehicle electric door as claimed in claim 8, characterized in that: The threshold is adjusted based on the following formula: T ′ =(1+P P +P r +P t )*T; Among them, T ′ is the adjusted threshold, T is the preset threshold, P P , P r and P t are the threshold percentages calculated according to the pitch angle, roll angle and ambient temperature respectively.

10. An electric door controller, used to drive a motor to drive the door to move, characterized in that: The electric door controller is specifically used to execute the method as described in any one of claims 1 to 9.

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