Door control method, electronic device, storage medium, product and vehicle

Abstract

This application relates to a door control method, electronic device, storage medium, product, and vehicle, which adjusts the operating parameters of a drive device corresponding to the door to drive the door closed when the door meets the door closing control conditions. This application can improve the accuracy of door closing control.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a door control method, electronic equipment, storage medium, product and vehicle. Background Art

[0002] The electric door has a certain closing speed, which is enough to overcome the half-lock reaction force and make the door lock enter the half-lock state smoothly.

[0003] The related art generally directly sets a larger closing speed to close the door, but this door closing control strategy is very rough. Summary of the Invention

[0004] The embodiments of the present application provide a door control method, an electronic device, a computer-readable storage medium, a computer program product, and a vehicle, which aim to improve the accuracy of door closing control and at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a door control method is provided, comprising:

[0006] When the door meets the door closing control condition, the operating parameters of the driving device corresponding to the door are adjusted to drive the door to close.

[0007] Optionally, the operating parameters of the driving device include at least one of power, speed and torque.

[0008] Optionally, the door closing control condition includes at least one of the following:

[0009] Optionally, the position of the door satisfies a preset position; the opening of the door satisfies a preset opening; and the angle of the door satisfies a preset closing angle.

[0010] Optionally, the method further includes:

[0011] The operating parameters of the drive device are determined by the control signal applied to the drive device.

[0012] Optionally, the method further includes:

[0013] The operating parameters of the driving device are adjusted by adjusting the duty cycle of the control signal.

[0014] Optionally, the control signal includes a pulse width modulation signal with a preset duty cycle, where the preset duty cycle represents a proportion of a preset level in the pulse width modulation signal.

[0015] Optionally, the preset level includes any one of a high level or a low level.

[0016] Optionally, adjusting the operating parameters of the driving device corresponding to the door includes:

[0017] The driving device corresponding to the door is controlled to drive the door to close according to the first operating parameter.

[0018] Optionally, the method further includes:

[0019] When the door does not meet the door closing control condition, the operating parameters of the driving device corresponding to the door are continuously adjusted.

[0020] Optionally, the method further includes:

[0021] When the door does not meet the door closing control condition, the driving device corresponding to the door is controlled to drive the door to close with a second operating parameter.

[0022] Optionally, the second operating parameter is greater than the first operating parameter.

[0023] Optionally, the method further includes:

[0024] determining a first operating parameter of the driving device according to a first control signal applied to the driving device; and

[0025] determining a second operating parameter of the driving device according to a second control signal applied to the driving device;

[0026] The duty cycle of the second control signal is greater than the duty cycle of the first control signal.

[0027] Optionally, the method further includes:

[0028] When the driving device corresponding to the door drives the door with the first operating parameter and the door is not closed, adjusting the first operating parameter to drive the door to close; or

[0029] When the door is not closed after the driving device corresponding to the door is driven with the first operating parameter for the first time period, the first operating parameter is adjusted to drive the door to close.

[0030] Optionally, the method further includes:

[0031] When the driving device corresponding to the door drives the door to remain closed with the first operating parameter, the driving device is controlled based on the third operating parameter to drive the door to close.

[0032] Optionally, the third operating parameter is greater than the first operating parameter.

[0033] Optionally, a signal duty cycle of the first control signal corresponding to the third operating parameter is greater than a signal duty cycle of the first control signal corresponding to the first operating parameter.

[0034] Optionally, the method further includes:

[0035] After the control time corresponding to the third operating parameter is run, when it is detected that the door is not closed, the third operating parameter is adjusted to increase the operating parameter of the driving device.

[0036] Optionally, the method further includes:

[0037] When the door is in the first door closing mode, the step of adjusting the operating parameters of the driving device corresponding to the door to drive the door to close is performed when the door meets the door closing control condition.

[0038] Optionally, the method further includes:

[0039] When the door is in the second door closing mode, the driving device is controlled to drive the door to close with a fourth operating parameter.

[0040] Optionally, the door closing includes the door being in a half-locked state.

[0041] Optionally, before adjusting the operating parameters of the drive device corresponding to the door, the method further includes:

[0042] In a case where historical operating parameters and / or historical control signals are stored, driving the door to close according to the historical operating parameters and / or historical control signals;

[0043] The control signal is used to determine the operating parameters of the driving device.

[0044] Optionally, the method further includes:

[0045] In the case that no historical operating parameters and / or historical control signals are stored, the operating parameters of the driving device and / or the control signals corresponding to the driving device are determined according to the user's physiological data.

[0046] Optionally, the user physiological data includes historical user physiological data collected when the door is closed, and the historical user physiological data includes at least one of user ear pressure information, user heart rate information and user body temperature data.

[0047] Optionally, the method further includes:

[0048] When the door closing is detected, the signal parameters and / or the operating parameters of the control signal when the door is completely closed are stored.

[0049] Optionally, the signal parameter includes at least one of a duty cycle and a control duration of the control signal when the door completes closing.

[0050] Optionally, the method further includes:

[0051] In response to the user's setting operation, the operating parameters of the driving device corresponding to the door are adjusted.

[0052] Optionally, the door includes a house door, and / or a door of a target device.

[0053] Optionally, in the case where the door comprises a door of a target device, the target device comprises a vehicle.

[0054] In a second aspect, this embodiment further provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0055] In a third aspect, this embodiment further provides a computer-readable storage medium, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the above method.

[0056] In a fourth aspect, this embodiment also provides a computer program product, including a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of the above method.

[0057] In a fifth aspect, this embodiment further provides a vehicle, on which at least one of vehicle control electronic equipment, computer-readable storage media, and computer program products is provided.

[0058] To sum up, in the embodiment of the present application, through the above technical solution, when it is detected that the door meets the door closing control conditions, the operating parameters of the driving device corresponding to the door are adjusted to close the door through at least two different driving forces, thereby achieving fine control of door closing.

[0059] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0061] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0062] Figure 1 is a schematic diagram of an electric door driving system provided in an exemplary embodiment provided in this application;

[0063] Figure 2 is a schematic diagram of PWM (pulse width modulation) speed regulation provided in an exemplary embodiment provided in this application;

[0064] Figure 3 is a first schematic diagram of a control flow provided in an exemplary embodiment provided in this application;

[0065] Figure 4 is a second schematic diagram of a control flow provided in an exemplary embodiment provided in this application;

[0066] Figure 5 Schematic diagram of the electronic device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0068] Based on the working mechanism of the electric door, the door has a certain closing speed, which is enough to overcome the half-locking reaction force and make the door lock enter the half-lock state smoothly. However, this closing speed standard is affected by many factors, the most significant of which is the ambient temperature.

[0069] Under extreme environmental conditions, such as low temperatures, the half-locking reaction force may increase. To ensure the door can close smoothly in such conditions, the door closing speed is set to a higher value accordingly. Although this design improves the adaptability and reliability of the door to a certain extent, it also brings a series of problems.

[0070] First, a faster door closing speed will increase the impact force between the door and the car body, resulting in a loud door closing sound. This sound may not only affect the passengers inside the car, but also disturb other vehicles and pedestrians nearby. Secondly, when the windows are fully closed, a faster door closing speed may cause a sense of pressure on the ears, making passengers feel uncomfortable. This is because when the door closes, the air inside the car is instantly compressed, generating a certain pressure fluctuation, which affects the passengers' ears. Finally, a faster door closing speed may also have a negative impact on the safety of the door. Although various safety factors have been taken into account in the design of the door, a door closing speed that is too fast may pinch passengers, thereby affecting their safety.

[0071] Overall, while faster door closing speeds improve the door's adaptability in extreme environments, this closing control strategy introduces a series of issues, including loud closing noises, a jarring sensation when the windows are fully closed, and reduced safety. These issues severely impact the user experience, leading to the search for a more balanced and optimized solution that minimizes these negative impacts while improving adaptability.

[0072] In order to solve the above problems, the present application proposes a door control method, electronic device, computer-readable storage medium and computer program product. Unlike the traditional door closing method, which relies on speed to push the car door into a semi-locked state, the present application proposes a new solution. The core is to adopt a lower closing speed to handle the closing process of the car door in a gentler and smoother manner.

[0073] In this application, when the door is about to close, the domain controller can send a high duty cycle voltage to the PWM (pulse width modulation) speed-regulating motor of the electric door stopper. This adjusts the motor's speed and torque, allowing it to generate greater force in a shorter period of time. In this way, the electric door stopper can effectively pull the door into a semi-locked state, ensuring a tight and stable closure.

[0074] Compared with traditional speed-dependent door closing strategies, this low-speed, high-duty-cycle method has multiple advantages: First, due to the low closing speed, it reduces the impact force between the door and the car body, thereby reducing the closing sound, alleviating the ear-pressure caused by airtightness when closing the door, and improving passenger comfort; second, low-speed door closing reduces the instantaneous compression of the air in the car, effectively avoiding the ear-pressure feeling when the windows are fully closed, making the passenger experience more pleasant; finally, this slow door closing method also reduces the risk of pinching passengers and enhances the safety of the door.

[0075] On this basis, this application also adds a half-lock reaction force self-learning system, which aims to enable the car door to automatically overcome the half-lock reaction force and complete the closing action when hardware conditions permit. By gradually increasing the PWM (pulse width modulation) duty cycle of the electric limiter, it ensures that the car door can stably and accurately reach the half-lock state during the closing process.

[0076] For example, when a small-angle door closing action begins, the domain control sends a 65% duty cycle PWM signal to the electric limiter, pulling the door gradually closed. If the door fails to successfully reach the semi-locked state, the system automatically increases the duty cycle by 5% and attempts to close the door again. This process is repeated until the door is successfully closed. The domain control memorizes the duty cycle used when the small-angle door closing action is successful. The system optimizes the duty cycle to adapt to changes in the semi-locked door reaction force. This self-learning strategy makes the door closing process more intelligent and efficient, while also improving the durability and reliability of the door.

[0077] Specifically, if Figure 1 The electric door drive system shown may include A door lock signal, B domain control unit (domain control), C electric limiter and D door, wherein the door in this application may specifically be an electric door.

[0078] Door lock signal: The domain controller can judge whether the door is closed through the door lock signal. If the half lock signal and the full lock signal are high, the door is in the fully locked closed position; if the half lock signal and the full lock signal are low, the door is in the fully open position; if the half lock signal is high and the full lock signal is low, the door is in the half locked closed position;

[0079] The domain control unit, installed inside the vehicle, interacts in real time with other vehicle systems via the CAN bus. Its primary task is to receive and process the power door's opening and closing command signals and convert them into the primary control signals required by the electric stopper motor. In this way, it not only controls the opening and closing of the power door but also ensures accurate operation.

[0080] The electric stopper, installed between the door and the body, drives the door open and close. It's driven by a built-in motor, whose rotation is controlled by the domain controller. This design allows for flexible and precise door opening and closing, while also significantly improving the door's durability.

[0081] The opening and closing movement of the electric door is driven by an electric limiter. The design and manufacture of the electric door strictly follow the principles of ergonomics, making its opening and closing process smooth and comfortable.

[0082] like Figure 2The PWM (Pulse Width Modulation) speed control diagram shown in the figure shows a 100ms PWM wave period, with a high-level duration of 70ms, resulting in a 70% duty cycle. The high-level portion of the PWM wave is 13.8V, so the actual supply voltage is 70% (9.66V). Therefore, the PWM wave can dynamically adjust the drive voltage by adjusting the duty cycle. PWM wave speed control offers advantages such as excellent speed regulation performance, high efficiency, fast dynamic response, good stability, and ease of automated control. Therefore, it has been widely used in many fields.

[0083] On this basis, if Figure 3 As shown, the door control method in this application may specifically include:

[0084] S10, when the door meets the door closing control condition, adjusting the operating parameters of the driving device corresponding to the door to drive the door to close.

[0085] It should be noted that, in this embodiment, the door may be a car door, a refrigerator door, a room door, etc., and this embodiment does not specifically limit the type of door.

[0086] The following describes the door closing control process in detail using a car door as an example.

[0087] On this basis, users can operate the function buttons on the vehicle (such as physical door closing buttons, virtual door closing buttons, etc.) to trigger the corresponding door closing request.

[0088] The vehicle can respond to the door closing request and control the door to close.

[0089] It should be noted that, in this embodiment, the preset door closing control condition may specifically indicate that the vehicle door is in a small-angle closing scenario.

[0090] It is understandable that when closing the door at a medium or large angle, the closing speed is sufficient to successfully overcome the semi-locking reaction force, but when closing the door at a small angle, it may not be overcome. Therefore, this application can solve the problem that when closing the door at a small angle, the slow closing speed makes it impossible to overcome the semi-locking reaction force, and thus the door cannot be closed electrically.

[0091] On this basis, in this embodiment, during the process of closing the door, if the vehicle detects that the position of the door meets the preset door closing control conditions, the operating parameters of the driving device corresponding to the door can be adjusted to drive the door to close, so that the door enters a semi-locked state.

[0092] The semi-locked state can be understood as the intermediate state in which the door is partially locked, but not yet fully locked. This prevents the door from accidentally popping open due to external forces (such as wind or vehicle vibrations). Even if the door is subjected to external forces while semi-locked, the contact between the lock tongue and the striker provides some resistance, preventing it from being easily opened.

[0093] It can be seen that compared with the door closing control strategy in the prior art, in the embodiment of the present application, when controlling the door closing process, when it is detected that the door meets the door closing control conditions, the operating parameters of the driving device corresponding to the door can be adjusted to close the door through at least two different driving forces, thereby achieving fine control of door closing and ensuring that the door can be closed smoothly.

[0094] In one embodiment, the operating parameter of the driving device includes at least one of power, speed and torque.

[0095] In this embodiment, the driving device may be an electric limiter, which is installed between the vehicle door and the vehicle body to drive the vehicle door to open and close. The electric limiter is driven by its built-in motor.

[0096] Correspondingly, the operating parameters of the driving device may include at least one of power, speed and torque, which is not specifically limited.

[0097] In one embodiment, the door closing control condition includes at least one of the following:

[0098] The position of the door satisfies a preset position; the opening of the door satisfies a preset opening; and the angle of the door satisfies a preset closing angle.

[0099] The door closing control conditions in this embodiment may include a preset position, a preset opening, and a preset door closing angle, etc. These conditions can be used to indicate that the car door enters a small angle, at which time small-angle door closing can be performed. Combined with the above description, small-angle door closing refers to the process in which the car door is closing and, when the car door is close to the fully closed position, the closing operation is performed only at a smaller angle.

[0100] The door closing control conditions in this embodiment can be calibrated according to different vehicle models and are not specifically limited thereto.

[0101] Specifically, in this embodiment, the door detection signal triggered by the electric limiter of the door can be used to determine whether the door position meets the preset position, whether the door opening meets the preset opening, and whether the door angle meets the preset closing angle.

[0102] As you can understand, a Hall effect sensor detects changes in a magnetic field and converts them into a voltage signal. In a power door system, the Hall effect sensor is paired with a magnet mounted on the door, while the Hall effect sensor is mounted on a fixed part of the door, such as the door frame. As the door moves, the distance between the magnet and the Hall effect sensor changes, causing the voltage signal output by the Hall effect sensor to change.

[0103] Specifically, this embodiment can obtain the door detection signal triggered by the electric limiter, and determine the door's position, opening, angle and other parameters based on the door detection signal, and detect whether the door's position, opening, angle, etc. meet the corresponding door closing control conditions.

[0104] In one embodiment, the door control method in the present application further includes:

[0105] S20 , determining operating parameters of the driving device by applying a control signal to the driving device.

[0106] It should be noted that the control signal in this embodiment may specifically be a PWM signal.

[0107] The domain controller sends a PWM signal to the drive device, controlling the drive device to close the door according to the operating parameters corresponding to the PWM signal.

[0108] In one embodiment, the door control method in the present application further includes:

[0109] S30, adjusting the operating parameters of the driving device by adjusting the duty cycle of the control signal.

[0110] In this embodiment, the duty cycle of the PWM signal can be adjusted to adjust the operating parameters of the built-in motor in the electric limiter to control the door to close.

[0111] Among them, PWM speed regulation has the advantages of good speed regulation performance, high efficiency, fast dynamic response, good stability, and easy automation control, so it has been widely used in many fields.

[0112] In one embodiment, the control signal includes a pulse width modulation signal having a preset duty cycle, where the preset duty cycle represents a proportion of a preset level in the pulse width modulation signal.

[0113] In this embodiment, the preset duty cycle can be the duty cycle used for historical door closing, or can be a pre-set duty cycle, which is not specifically limited.

[0114] Specifically, the preset level includes any one of a high level and a low level.

[0115] For example, Figure 2As shown, the preset level is a high level, and the operating parameters of the driving device can be adjusted by adjusting the duty cycle of the high level in the PWM signal.

[0116] In one embodiment, in the above S10, “adjusting the operating parameters of the driving device corresponding to the door” may include:

[0117] S101, controlling a driving device corresponding to the door to drive the door to close according to a first operating parameter.

[0118] In this embodiment, the first operating parameter may be at least one of the power, rotational speed, and torque of the driving device, which is not specifically limited.

[0119] In one embodiment, when the door does not meet the door closing control condition, the driving device corresponding to the door is controlled to drive the door to close with a second operating parameter.

[0120] In this embodiment, the second operating parameter can be the same as or different from the first operating parameter. For example, the second operating parameter can be greater than the first operating parameter, or the second operating parameter can be greater than the first operating parameter. This is related to many factors such as the vehicle environment and the door hardware structure, and is not specifically limited to this.

[0121] Specifically, for example, since the second operating parameter can be continuously adjusted before the preset control condition is reached, for example, it can be continuously increased, or continuously decreased, or first decreased and then increased, or first increased and then decreased, etc., and when the preset control condition is reached, the door driven by the first operating parameter is closed, so the first operating parameter and the second operating parameter can be different, and the size relationship between the two can be uncertain.

[0122] In a specific embodiment, the second operating parameter is greater than the first operating parameter.

[0123] It can be understood that when the car door is driven to close with the first operating parameter and it is detected that the car door is still not closed, the driving device corresponding to the door can be controlled to continue to drive the car door to close with the second operating parameter. At this time, in order to improve the door closing efficiency and ensure that the car door is closed smoothly, the operating parameter can be increased, that is, the second operating parameter is greater than the first operating parameter.

[0124] In one embodiment, the door control method in the present application may further include:

[0125] S40, determining a first operating parameter of the driving device according to a first control signal applied to the driving device; and

[0126] S50, determining a second operating parameter of the driving device according to a second control signal applied to the driving device;

[0127] The duty cycle of the second control signal is greater than the duty cycle of the first control signal.

[0128] In combination with the above description, the operating parameters of the driving device are determined according to the PWM signal applied to the driving device.

[0129] On this basis, combined with Figure 2 The first control signal may specifically be a PWM signal. For example, the preset duty cycle may be 65%, and the preset control time may be 1s.

[0130] In this way, the vehicle can drive the limiter with a duty cycle of 65% to pull the door to perform the closing movement, and the driving time is 1 second.

[0131] After the driving is completed, the domain control can determine whether the half-lock signal jumps; when the car door is fully open, the full lock signal and the half-lock signal are both low level; when the car door is half-locked, the full lock signal is low level and the half-lock signal is high level; when the car door is fully locked, the full lock signal and the half-lock signal are both high level; therefore, the half-lock signal can be used to determine whether the car door has entered half-lock.

[0132] At this time, if the half-lock signal is detected to jump from a low level to a high level, it means that the duty cycle at this time can pull the door into the half-lock state. Otherwise, it is determined that the door has not yet entered the half-lock state, that is, the door has not yet been closed.

[0133] When it is detected that the vehicle door is still not closed, the vehicle door may be controlled to continue closing using the duty cycle of the second control signal.

[0134] Specifically, for example, if the half-lock signal does not change to a low level, the duty cycle is increased by 5% and the electric limiter motor is continued to be driven for 1 second, and the electric limiter pulls the door to close.

[0135] If it is detected that the car door is still not closed, the duty cycle of the control signal can be continuously increased, and the door closing steps can be controlled according to the adjusted control signal until the half-lock signal is detected to jump from a low level to a high level, and the car door enters a half-locked state.

[0136] It can be understood that the duty cycle adjustment method is not specifically limited in this embodiment. For example, the duty cycle can be increased evenly each time, such as increasing the duty cycle by 5% each time to continue driving the electric limiter motor for 1s. Alternatively, the duty cycle can be increased by 5% first. If it is detected that the car door is still not closed, the duty cycle can be increased by 10% to continue driving the motor limiter, etc.

[0137] In one embodiment, the door control method in the present application may further include:

[0138] S60, when the driving device corresponding to the door drives the door with the first operating parameter but does not close, adjusting the first operating parameter to drive the door to close; or

[0139] S70: When the door is not closed after the driving device corresponding to the door is driven with the first operating parameter for the first time period, adjusting the first operating parameter to drive the door to close.

[0140] It can be understood that when the driving device drives the door to be open with the first operating parameter, the first operating parameter can be adjusted to drive the door to be closed.

[0141] Alternatively, when the door is not closed after the driving device corresponding to the door is driven with the first operating parameter for the first time period, the first operating parameter can be adjusted to drive the door to close.

[0142] In one embodiment, the door control method in the present application may further include:

[0143] S80: When the driving device corresponding to the door drives the door to be closed with the first operating parameter, controlling the driving device based on the third operating parameter to drive the door to be closed.

[0144] Wherein, the third operating parameter is greater than the first operating parameter.

[0145] In this embodiment, when the driving device drives the door to be open with the first operating parameter, a third operating parameter can be determined based on the first operating parameter so that the third operating parameter is greater than the first operating parameter, and the driving device can be controlled based on the third operating parameter to drive the door to close.

[0146] In one embodiment, the signal duty cycle of the first control signal corresponding to the third operating parameter is greater than the signal duty cycle of the first control signal corresponding to the first operating parameter.

[0147] With reference to the above embodiment, the operating parameters of the driving device are determined based on the PWM signal applied to the driving device. Based on this, the corresponding operating parameters can be increased by increasing the duty cycle of the PWM signal. Therefore, the signal duty cycle of the first control signal corresponding to the third operating parameter is greater than the signal duty cycle of the first control signal corresponding to the first operating parameter.

[0148] In conjunction with the above-described embodiments, the signal parameters of the PWM signal may include at least one of a duty cycle and a control duration. It is understood that, because the duty cycle of the PWM signal before adjustment is insufficient to control the closing of the vehicle door, the signal duty cycle of the first control signal may be increased to increase the closing speed of the vehicle door until the vehicle door is closed. Furthermore, the control duration of the adjusted first control signal may be longer than the control duration of the adjusted first control signal, or the two durations may be the same, without specific limitation.

[0149] In one embodiment, the door control method in the present application may further include:

[0150] S90, after running for a control time corresponding to the third operating parameter, when it is detected that the door is not closed, adjusting the third operating parameter to increase the operating parameter of the driving device.

[0151] It is understandable that, when it is detected that the vehicle door is not yet closed, this embodiment can adjust the duty cycle of the PWM signal to continuously increase the operating parameters of the driving device to drive the vehicle door to close.

[0152] In one embodiment, when the door is in the first door closing mode, a step is performed of adjusting operating parameters of a driving device corresponding to the door to drive the door to close when the door meets a door closing control condition.

[0153] When the door is in the second door closing mode, the driving device is controlled to drive the door to close with a fourth operating parameter.

[0154] In this embodiment, there can be at least two modes to control the closing of the vehicle door. One is to use at least two operating parameters to control the closing of the door; the other is to directly use a fixed operating parameter (i.e., the fourth operating parameter in this embodiment) to control the closing of the vehicle door.

[0155] In one embodiment, the door being closed includes the door being in a half-locked state.

[0156] In combination with the above-mentioned embodiment, the door closing can specifically be a semi-locked state. The semi-locked state can prevent the door from accidentally popping open due to external forces (such as wind, vibration during vehicle driving, etc.) during the closing process, which will not be elaborated here.

[0157] In one embodiment, before the above S10, “adjusting the operating parameters of the drive device corresponding to the door”, the following steps may also be included:

[0158] In a case where historical operating parameters and / or historical control signals are stored, driving the door to close according to the historical operating parameters and / or historical control signals;

[0159] The control signal is used to determine the operating parameters of the driving device.

[0160] When controlling the closing of a door, the vehicle may detect whether historical operating parameters and / or historical control signals are stored.

[0161] When the vehicle detects that historical operating parameters and / or historical control signals are stored, the vehicle door can be driven to close directly according to the historical operating parameters and / or historical control signals.

[0162] In one embodiment, when no historical operating parameters and / or historical control signals are stored, the operating parameters of the driving device and / or the control signals corresponding to the driving device are determined based on the user's physiological data.

[0163] When the vehicle detects that no historical operating parameters and / or historical control signals are stored, the vehicle may set the operating parameters and / or control signals according to the user's physiological data.

[0164] The user physiological data includes historical user physiological data collected when the door is closed, and the historical user physiological data includes at least one of user ear pressure information, user heart rate information and user body temperature data.

[0165] The user physiological data may be historical user physiological data collected during historical door closing times.

[0166] It is understandable that in order to reduce the door closing sound, meet the sound quality requirements, and alleviate the user's ear pressure caused by airtightness, the duty cycle and control duration can be determined based on historical user physiological data to obtain the first control signal.

[0167] The historical user physiological data in this embodiment includes at least user ear pressure information, user heart rate information, and user body temperature data, which are not listed one by one.

[0168] In one embodiment, when door closing is detected, signal parameters and / or operating parameters of the control signal when the door is completely closed are stored.

[0169] Specifically, the signal parameter includes at least one of a duty cycle and a control duration of the control signal when the door completes closing.

[0170] In this embodiment, combined with the above description, if it is detected that the half-lock signal jumps from a low level to a high level, it means that the signal parameters and / or operating parameters of the control signal at this time can pull the car door into half-lock. Therefore, the signal parameters and / or operating parameters of the control signal at this time can be stored, so that when the door is closed subsequently (such as the next time the door is closed at a small angle), the stored signal parameters and / or operating parameters of the control signal can be directly used to control the closing of the car door, which can effectively improve the closing of the car door and, on the basis of ensuring the smooth closing of the car door, effectively optimize the closing noise and enhance the user experience.

[0171] In one embodiment, in response to a setting operation by a user, operating parameters of a driving device corresponding to the door are adjusted.

[0172] In this embodiment, the user can also actively set the operating parameters of the driving device. The vehicle can adjust the operating parameters of the driving device corresponding to the door according to the user's setting operation to control the closing of the door.

[0173] In one embodiment, the door includes a house door, and / or a door of a target device.

[0174] In combination with the above description, the target device may be a vehicle, a refrigerator, or a door of a house. This embodiment does not specifically limit the target object and the type of the door of the object.

[0175] In a specific embodiment, when the door comprises a door of a target device, the target device comprises a vehicle.

[0176] Specifically, the door in this embodiment may be a door of a vehicle. Please refer to the above embodiment and will not elaborate on it here.

[0177] In general, if Figure 4 As shown, the door closing control process in this application may at least include the following steps:

[0178] (1) The domain control reads back the Hall signal of the electric limiter. When the number of Hall signals reaches a certain value (depending on the specific situation), it is determined to be a small-angle door closing, and this value is set as the small-angle door closing threshold;

[0179] (2) When it is determined that the door is closed at a small angle, the half-lock reaction force self-learning system is started, and the domain control gives the electric limiter motor PWM speed regulation, with an initial duty cycle of 65% to drive the limiter to pull the door to perform the closing movement, and the driving time is 1 second;

[0180] (3) After the drive is completed, the domain control determines whether the half-lock signal jumps; when the door is fully open, the full lock signal and the half-lock signal are both low level; when the door is half-locked, the full lock signal is low level and the half-lock signal is high level; when the door is fully locked, the full lock signal and the half-lock signal are both high level; therefore, the half-lock signal can be used to determine whether the door is in half-lock;

[0181] (4) If the half-lock signal jumps from a low level to a high level, it means that the duty cycle at this time can pull the car door into the half-lock state. The duty cycle at this time is memorized and each subsequent small-angle door closing is driven with this duty cycle. If the half-lock signal does not jump from a low level, the duty cycle is increased by 5% and the electric limiter motor is continued to be driven for 1 second. The electric limiter pulls the car door to close and returns to the judgment of (3).

[0182] In general, this application allows the electric limiter to slowly pull the door into a semi-locked position when the door reaches a small angle during closing, reducing the impact force between the door and the body, thereby reducing the closing sound, meeting sound quality requirements, and alleviating the ear-squeezing sensation caused by airtightness. Pulling the door at a low speed can improve safety and reduce the risk of passengers being pinched by rapid door closing. In addition, the semi-lock reaction force self-learning system in this application not only ensures the door is closed, but also enables the electric door to adapt to different sealing reaction forces that change with the environment.

[0183] Accordingly, an embodiment of the present application further provides a door control device, which may include:

[0184] The first adjustment module is used to adjust the operating parameters of the driving device corresponding to the door to drive the door to close when the door meets the door closing control condition.

[0185] Optionally, the operating parameters of the driving device include at least one of power, speed and torque.

[0186] Optionally, the door closing control condition includes at least one of the following:

[0187] The position of the door satisfies a preset position; the opening of the door satisfies a preset opening; and the angle of the door satisfies a preset closing angle.

[0188] Optionally, the control device in the present application further includes:

[0189] The operating parameter determination module is used to determine the operating parameters of the driving device by applying a control signal to the driving device.

[0190] Optionally, the control device in the present application further includes:

[0191] The second adjustment module is configured to adjust the operating parameters of the driving device by adjusting the duty cycle of the control signal.

[0192] Optionally, the control signal includes a pulse width modulation signal with a preset duty cycle, where the preset duty cycle represents a proportion of a preset level in the pulse width modulation signal.

[0193] Optionally, the preset level includes any one of a high level or a low level.

[0194] Optionally, the first adjustment module is further configured to:

[0195] The driving device corresponding to the door is controlled to drive the door to close according to the first operating parameter.

[0196] Optionally, the control device in the present application is further used to:

[0197] When the door does not meet the door closing control condition, the operating parameters of the driving device corresponding to the door are continuously adjusted.

[0198] Optionally, the control device in the present application is further used to:

[0199] When the door does not meet the door closing control condition, the driving device corresponding to the door is controlled to drive the door to close with a second operating parameter.

[0200] Optionally, the second operating parameter is greater than the first operating parameter.

[0201] Optionally, the control device in the present application is further used to:

[0202] determining a first operating parameter of the driving device according to a first control signal applied to the driving device; and

[0203] determining a second operating parameter of the driving device according to a second control signal applied to the driving device;

[0204] The duty cycle of the second control signal is greater than the duty cycle of the first control signal.

[0205] Optionally, the control device in the present application is further used to:

[0206] When the driving device corresponding to the door drives the door with the first operating parameter and the door is not closed, adjusting the first operating parameter to drive the door to close; or

[0207] When the door is not closed after the driving device corresponding to the door is driven with the first operating parameter for the first time period, the first operating parameter is adjusted to drive the door to close.

[0208] Optionally, the control device in the present application is further used to:

[0209] When the driving device corresponding to the door drives the door to remain closed with the first operating parameter, the driving device is controlled based on the third operating parameter to drive the door to close.

[0210] Optionally, the third operating parameter is greater than the first operating parameter.

[0211] Optionally, a signal duty cycle of the first control signal corresponding to the third operating parameter is greater than a signal duty cycle of the first control signal corresponding to the first operating parameter.

[0212] Optionally, the control device in the present application is further used to:

[0213] After the control time corresponding to the third operating parameter is run, when it is detected that the door is not closed, the third operating parameter is adjusted to increase the operating parameter of the driving device.

[0214] Optionally, the control device in the present application is further used to:

[0215] When the door is in the first door closing mode, the step of adjusting the operating parameters of the driving device corresponding to the door to drive the door to close is performed when the door meets the door closing control condition.

[0216] Optionally, the control device in the present application is further used to:

[0217] When the door is in the second door closing mode, the driving device is controlled to drive the door to close with a fourth operating parameter.

[0218] Optionally, the door closing includes the door being in a half-locked state.

[0219] Optionally, the control device in the present application is further used to:

[0220] In a case where historical operating parameters and / or historical control signals are stored, driving the door to close according to the historical operating parameters and / or historical control signals;

[0221] The control signal is used to determine the operating parameters of the driving device.

[0222] Optionally, the control device in the present application is further used to:

[0223] In the case that no historical operating parameters and / or historical control signals are stored, the operating parameters of the driving device and / or the control signals corresponding to the driving device are determined according to the user's physiological data.

[0224] Optionally, the user physiological data includes historical user physiological data collected when the door is closed, and the historical user physiological data includes at least one of user ear pressure information, user heart rate information and user body temperature data.

[0225] Optionally, the control device in the present application is further used to:

[0226] When the door closing is detected, the signal parameters and / or the operating parameters of the control signal when the door is completely closed are stored.

[0227] Optionally, the signal parameter includes at least one of a duty cycle and a control duration of the control signal when the door completes closing.

[0228] Optionally, the control device in the present application is further used to:

[0229] In response to the user's setting operation, the operating parameters of the driving device corresponding to the door are adjusted.

[0230] Optionally, the door includes a house door, and / or a door of a target device.

[0231] Optionally, in the case where the door comprises a door of a target device, the target device comprises a vehicle.

[0232] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0233] Accordingly, the embodiment of the present application further provides an electronic device, such as Figure 5 As shown, Figure 5 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art will understand that the vehicle structure shown in the figure does not constitute a limitation of the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0234] Processor 1101 is the control center of electronic device 1100. It connects the various components of electronic device 1100 using various interfaces and lines. It executes various functions of electronic device 1100 and processes data by running or loading software programs and / or units stored in memory 1102 and calling data stored in memory 1102, thereby monitoring electronic device 1100 as a whole. Processor 1101 can be a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic blocks disclosed in the embodiments of this application.

[0235] In the embodiment of the present application, the processor 1101 in the electronic device 1100 loads instructions corresponding to one or more application processes into the memory 1102 according to the following steps, and the processor 1101 runs the application stored in the memory 1102 to implement various functions, such as:

[0236] When the door meets the door closing control condition, the operating parameters of the driving device corresponding to the door are adjusted to drive the door to close.

[0237] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0238] Optional, such as Figure 5 As shown, the electronic device 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. Among them, the processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107 respectively. Those skilled in the art will understand that Figure 5The vehicle structure shown in the figure does not constitute a limitation to the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0239] The touchscreen display 1103 can be used to display a graphical user interface (GUI) and receive user-generated operational commands generated by the GUI. The touchscreen display 1103 may include a display panel and a touch panel. The display panel can be used to display information input by or provided to the user, as well as various graphical user interfaces (GUIs) of the vehicle. These GUIs can be composed of graphics, text, icons, videos, or any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), an organic light-emitting diode (OLED), or other form. The touch panel can be used to collect user touch operations on or near it (e.g., operations performed on or near the touch panel using a finger, stylus, or any other suitable object or accessory), generate corresponding operational commands, and execute corresponding programs in response to the operational commands. Optionally, the touch panel can include a touch display system and a touch controller. Among them, the touch display system detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch display system, converts it into touch point coordinates, and then sends it to the processor 1101, and can receive commands sent by the processor 1101 and execute them. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. The processor 1101 then provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to realize the input function.

[0240] The RF circuit 1104 may be used to transmit and receive RF signals, thereby establishing wireless communication with network devices or other vehicles through wireless communication, and transmitting and receiving signals with network devices or other vehicles.

[0241] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and microphone. Audio circuit 1105 converts received audio data into electrical signals and transmits them to the speaker, which then converts them into sound signals for output. The microphone, on the other hand, converts collected sound signals into electrical signals, which are received by audio circuit 1105 and converted into audio data. This audio data is then output to processor 1101 for processing, then transmitted via RF circuit 1104 to, for example, another vehicle, or to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to allow communication between an external headset and the vehicle.

[0242] The input unit 1106 may be configured to receive input numbers, character information, or user feature information (such as fingerprint, iris, or facial information), and generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0243] Power supply 1107 is used to supply power to various components of electronic device 1100. Optionally, power supply 1107 can be logically connected to processor 1101 via a power management device, thereby enabling the power management device to manage charging, discharging, and power consumption. Power supply 1107 can also include one or more DC or AC power supplies, a recharging power supply fault detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0244] although Figure 5 Not shown, the electronic device 1100 may further include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0245] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0246] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0247] To this end, an embodiment of the present application provides a computer-readable storage medium storing a plurality of computer programs. The computer programs can be loaded by a processor to execute any of the door control methods provided in the embodiments of the present application. The computer programs can execute the following steps of the door control method:

[0248] When the door meets the door closing control condition, the operating parameters of the driving device corresponding to the door are adjusted to drive the door to close.

[0249] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0250] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0251] Since the computer program stored in the computer-readable storage medium can execute any door control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any door control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0252] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0253] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0254] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0255] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0256] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0257] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0258] Computer-readable media includes both permanent and non-permanent, removable and non-removable media, and can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated communication signals and carrier waves.

[0259] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0260] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0261] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0262] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A door control method, characterized in that: The method comprises: When the door meets the door closing control condition, adjusting the operating parameters of the driving device corresponding to the door to drive the door to close; The method further comprises: When the driving device corresponding to the door drives the door with the first operating parameter and the door is not closed, adjusting the first operating parameter to drive the door to close; or When the door is not closed after the driving device corresponding to the door is driven with the first operating parameter for the first time period, the first operating parameter is adjusted to drive the door to close.

2. The door control method according to claim 1, characterized in that: The operating parameter of the driving device includes at least one of power, speed and torque.

3. The door control method according to claim 1, characterized in that: The door closing control condition includes at least one of the following: The position of the door satisfies a preset position; the opening of the door satisfies a preset opening; and the angle of the door satisfies a preset closing angle.

4. The door control method according to claim 1, characterized in that: The method further comprises: The operating parameters of the drive device are determined by the control signal applied to the drive device.

5. The door control method according to claim 4, characterized in that: The method further comprises: The operating parameters of the driving device are adjusted by adjusting the duty cycle of the control signal.

6. The door control method according to claim 4, characterized in that: The control signal includes a pulse width modulation signal with a preset duty cycle, where the preset duty cycle represents a proportion of a preset level in the pulse width modulation signal.

7. The door control method according to claim 6, characterized in that: The preset level includes any one of a high level and a low level.

8. The door control method according to claim 1, characterized in that: The adjusting the operating parameters of the driving device corresponding to the door includes: The driving device corresponding to the door is controlled to drive the door to close according to the first operating parameter.

9. The door control method according to claim 1, characterized in that: The method further comprises: When the door does not meet the door closing control condition, the operating parameters of the driving device corresponding to the door are continuously adjusted.

10. The door control method according to claim 8, characterized in that: The method further comprises: When the door does not meet the door closing control condition, the driving device corresponding to the door is controlled to drive the door to close with a second operating parameter.

11. The door control method according to claim 10, characterized in that: The second operating parameter is greater than the first operating parameter.

12. The door control method according to claim 10, characterized in that: The method further comprises: determining a first operating parameter of the driving device according to a first control signal applied to the driving device; and determining a second operating parameter of the driving device according to a second control signal applied to the driving device; The duty cycle of the second control signal is greater than the duty cycle of the first control signal.

13. The door control method according to claim 1, characterized in that: The method further comprises: When the driving device corresponding to the door drives the door to remain closed with the first operating parameter, the driving device is controlled based on the third operating parameter to drive the door to close.

14. The door control method according to claim 13, characterized in that: The third operating parameter is greater than the first operating parameter.

15. The door control method according to claim 13, characterized in that: The signal duty cycle of the first control signal corresponding to the third operating parameter is greater than the signal duty cycle of the first control signal corresponding to the first operating parameter.

16. The door control method according to claim 13, characterized in that: The method further comprises: After the control time corresponding to the third operating parameter is run, when it is detected that the door is not closed, the third operating parameter is adjusted to increase the operating parameter of the driving device.

17. The door control method according to claim 1, characterized in that: The method further comprises: When the door is in the first door closing mode, the step of adjusting the operating parameters of the driving device corresponding to the door to drive the door to close is performed when the door meets the door closing control condition.

18. The door control method according to claim 1, wherein: The method further comprises: When the door is in the second door closing mode, the driving device is controlled to drive the door to close with a fourth operating parameter.

19. The door control method according to claim 1, wherein: The door being closed includes the door being in a half-locked state.

20. The door control method according to claim 1, wherein: Before adjusting the operating parameters of the driving device corresponding to the door, the method further includes: In a case where historical operating parameters and / or historical control signals are stored, driving the door to close according to the historical operating parameters and / or historical control signals; The control signal is used to determine the operating parameters of the driving device.

21. The door control method according to claim 1, wherein: The method further comprises: In the case that no historical operating parameters and / or historical control signals are stored, the operating parameters of the driving device and / or the control signals corresponding to the driving device are determined according to the user's physiological data.

22. The door control method according to claim 21, characterized in that: The user physiological data includes historical user physiological data collected when the door is closed, and the historical user physiological data includes at least one of user ear pressure information, user heart rate information, and user body temperature data.

23. The door control method according to any one of claims 1 to 22, characterized in that: The method further comprises: When the door closing is detected, the signal parameters and / or the operating parameters of the control signal when the door is completely closed are stored.

24. The door control method according to claim 23, characterized in that: The signal parameter includes at least one of a duty cycle and a control duration of the control signal when the door completes closing.

25. The door control method according to claim 1, characterized in that: The method further comprises: In response to the user's setting operation, the operating parameters of the driving device corresponding to the door are adjusted.

26. The door control method according to claim 1, characterized in that: The door includes a house door and / or a door of a target device.

27. The door control method according to claim 26, characterized in that: In a case where the door comprises a door of a target device, the target device comprises a vehicle.

28. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to perform the method according to any one of claims 1 to 27.

29. A computer-readable storage medium, characterized in that The method comprises a computer program, which is used to cause an electronic device to execute the method according to any one of claims 1 to 27 when the computer program is run on the electronic device.

30. A computer program product, characterized in that The method comprises a computer program stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes any one of the methods described in claims 1 to 27.

31. A vehicle, characterized in that: The vehicle is provided with at least one of the electronic device according to claim 28, the computer-readable storage medium according to claim 29, and the computer program product according to claim 30.

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