Vehicle door control method, vehicle door control system and vehicle

Abstract

The invention provides a vehicle door control method and system and a vehicle. The vehicle door control method of the vehicle comprises the steps that current vehicle door state information is obtained, and the vehicle door state information comprises at least one of the vehicle door movement speed, the vehicle door movement acceleration, the vehicle door moved distance and the vehicle door position; if the vehicle door state information meets the switching condition, the vehicle door is controlled to be switched to a manual power assisting mode from an electric control mode; wherein in the manual assistance mode, assistance is provided for vehicle door movement according to the current vehicle door movement speed under the manual action. Therefore, the switching opportunity of the vehicle door control mode is determined according to the actual operation condition of the vehicle door, the interference of the user on the vehicle door state information is considered in the operation process of the electric control mode, the control accuracy of the vehicle door is improved, and the user experience is optimized. And meanwhile, unnecessary damage to the vehicle door body can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a method for controlling a vehicle door, a vehicle door control system, and a vehicle. Background Art

[0002] To improve the comfort of user operation, more and more vehicles are equipped with an electric control mode. In the electric control mode, the vehicle door completes the electric door-opening process or the electric door-closing process with set parameters, without the user applying force separately. However, in actual application, due to current requirements, the user may artificially apply additional force to the vehicle door. When this situation occurs in the related art, the electric control mode continues to be executed, resulting in interference between this part of the additionally applied force and the operation process of the electric control mode, thereby leading to a poor user experience. Summary of the Invention

[0003] The present application provides a method for controlling a vehicle door, a vehicle door control system, and a vehicle, so as to improve the control accuracy of the vehicle door and thus optimize the user experience.

[0004] The present application provides a method for controlling a vehicle door, including: obtaining current vehicle door state information, where the vehicle door state information includes at least one of a vehicle door movement speed, a vehicle door movement acceleration, a distance the vehicle door has moved, and a vehicle door position; if the vehicle door state information meets the switching condition, controlling the vehicle door to switch from the electric control mode to the manual assistance mode; where, in the manual assistance mode, provide assistance for the vehicle door movement according to the current vehicle door movement speed under manual action.

[0005] Optionally, the vehicle door control method further includes: obtaining the current electric control stage of the vehicle door; if the vehicle door state information meets the switching condition, controlling the vehicle door to switch from the electric mode to the manual assistance mode, including: if the vehicle door state information meets the switching condition in the current electric control stage, controlling the vehicle door to switch from the electric control mode to the manual assistance mode.

[0006] Optionally, obtaining the current vehicle door state information includes: when the current electric control stage of the vehicle door indicates that the vehicle door is in the movement process, obtaining the current vehicle door movement speed and / or the vehicle door position.

[0007] Optionally, the electric control phase representing the door in the movement process includes an electric door opening phase for automatically driving the door to open; if the door state information meets the switching condition in the current electric control phase, controlling the door to switch from the electric control mode to the manual assistance mode, including: when the current control phase is the electric door opening phase, if the difference between the door state information and the corresponding state information in the first set state change situation is greater than the first difference threshold, controlling the door to switch from the electric control mode to the manual assistance mode; wherein, the first set state change situation includes the first corresponding relationship between time and the door state information.

[0008] Optionally, the electric control phase representing the door in the movement process includes an electric door closing phase for automatically driving the door to close; if the door state information meets the switching condition in the current electric control phase, controlling the door to switch from the electric control mode to the manual assistance mode, including: if the current electric control phase is the electric door closing phase, obtaining the triggering situation of the door anti-pinch mode; when the door anti-pinch mode is triggered, if the door state information meets the switching condition in the current execution phase of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assistance mode.

[0009] Optionally, the execution phase of the door anti-pinch mode includes an anti-pinch braking phase in which after receiving the door anti-pinch mode start instruction, the door is controlled to brake to stop closing; if the door state information meets the switching condition in the current execution phase of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assistance mode, including: when the current execution phase of the door anti-pinch mode is the anti-pinch braking phase, if the door state information indicates that the door moves in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode.

[0010] Optionally, the execution phase of the door anti-pinch mode includes an anti-pinch reverse phase in which after receiving the door anti-pinch mode start instruction, the door is controlled to reverse to open; the door state information in the anti-pinch reverse phase includes the door movement speed and / or the door position; if the door state information meets the switching condition in the current execution phase of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assistance mode, including: when the current execution phase of the door anti-pinch mode is the anti-pinch reverse phase, if the difference between the door state information and the corresponding state in the second set state change situation is greater than the second difference threshold, controlling the door to switch from the electric control mode to the manual assistance mode; wherein, the second set state change situation includes the second corresponding relationship between time and the door state information.

[0011] Optionally, the electric control phase characterizing the door in the movement process includes a door closing braking phase during the electric door closing process, in which the door is controlled to brake to stop further closing; if the door state information meets the switching condition under the current control phase, controlling the door to switch from the electric control mode to the manual assist mode, including: in the case where the current control phase is the door closing braking phase, if the door state information characterizes that the door moves in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode.

[0012] Optionally, obtaining the current door state information includes: in the case where the current electric control phase of the door characterizes the door in the stationary process, obtaining the current door movement speed and / or the distance the door has moved.

[0013] Optionally, the electric control phase characterizing the door in the stationary process includes a stationary phase in which no electric door opening action instruction and electric door closing action instruction are received; if the door state information meets the switching condition under the current electric control phase, controlling the door to switch from the electric control mode to the manual assist mode, including: in the case where the current electric control phase is the stationary phase, if the door state information is greater than the set threshold value, controlling the door to switch from the electric control mode to the manual assist mode.

[0014] Optionally, the current control phase includes a door opening braking phase during the electric door opening process, in which the door is controlled to brake to stop further opening; the door state information in the door opening braking phase includes the door movement speed and / or the door movement acceleration; if the door state information meets the switching condition under the current electric control phase, controlling the door to switch from the electric control mode to the manual assist mode, including: in the case where the current electric control phase is the door opening braking phase, if the door state information is greater than the historical door state information before the first preset duration, controlling the door to switch from the electric control mode to the manual assist mode.

[0015] The present application provides a door control system for a vehicle, including one or more processors for implementing the foregoing door control method for a vehicle.

[0016] The present application provides a vehicle, including: a door and the foregoing door control system for a vehicle, and the door control system is used to control the door.

[0017] The door control method, door control system and vehicle provided by this application can obtain the current state information of the vehicle door in real time. Through the monitoring and analysis of the current state information, it can accurately judge whether the door meets the condition for switching from the electric control mode to the manual assistance mode. When the door state information meets the switching condition, the system can respond quickly, control the door to switch to the manual assistance mode, and provide assistance for the door movement according to the current door movement speed under manual action in this mode. In this way, the switching timing of the door control mode is determined according to the actual operation of the door, and the interference from the user to the door state information is considered during the operation of the electric control mode, which is beneficial to improving the control accuracy of the door, thereby optimizing the user experience. At the same time, it is beneficial to avoid unnecessary damage to the vehicle door body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic flowchart of a door control method for a vehicle provided by an embodiment of this application; Figure 2 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 3 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 4 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 5 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 6 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 7 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application; Figure 8 is a schematic flowchart of a door control method for a vehicle provided by another embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings.

[0020] Combined Figure 1 As shown, an embodiment of this application provides a door control method for a vehicle, including steps S10 to S20.

[0021] Step S10, obtain the current door state information. The door state information includes at least one of the door movement speed, door movement acceleration, door movement distance, and door position. During implementation, the door state information of the vehicle is detected by one or more door movement sensors.

[0022] Step S20, if the door state information meets the switching condition, control the door to switch from the electric control mode to the manual assistance mode.

[0023] Among them, in the manual assistance mode, provide assistance for the door movement according to the current door movement speed under manual action. The manual assistance mode means that during the process of manually opening and closing the door, appropriate assistance is provided according to the current movement speed of the door. When the movement speed of the door is relatively fast, the door control system will provide stronger assistance to reduce the force required for manually opening and closing the door, improving the convenience and comfort of user operation. When the movement speed of the door is relatively slow, the assistance provided by the door control system is less, thus ensuring the balance and safety of manual operation.

[0024] Adopting the vehicle door control method provided by the embodiment of the present application, the current state information of the door can be obtained in real time. Through the monitoring and analysis of the current state information, it can be accurately determined whether the door meets the condition for switching from the electric control mode to the manual assistance mode. When the door state information meets the switching condition, the system can respond quickly, control the door to switch to the manual assistance mode, and provide assistance for the door movement according to the current door movement speed under manual action in this mode. In this way, the switching timing of the door control mode is determined according to the actual operation situation of the door, and the interference from the user to the door state information is considered during the operation of the electric control mode, which is beneficial to improving the control accuracy of the door, thereby optimizing the user experience. At the same time, it is beneficial to avoid unnecessary damage to the vehicle door body.

[0025] Before receiving the electric control mode start instruction, the electric control mode of the door is in the standby state. After receiving the electric control mode, judge the pre-start conditions of the vehicle. If the pre-start conditions are met, an electric door opening action instruction or an electric door closing action instruction is issued. In response to the electric door opening action instruction or the electric door closing action instruction, the electric control mode is started, and electric door opening or electric door closing is executed. The pre-start conditions here include, for example: the vehicle is stationary, the door is unlocked, the anti-collision radar signal is normal, and the drive motor has no fault.

[0026] Combined with Figure 2 As shown, the embodiment of the present application provides a vehicle door control method, including steps S10 to S21.

[0027] Step S10, obtain the current door state information.

[0028] Step S11, obtain the current electric control stage of the vehicle door.

[0029] The electric control stages of the vehicle door include at least part of a stationary stage where no electric door opening action instruction and electric door closing action instruction are received, an electric door opening stage where the door is electrically driven to open automatically, a door opening braking stage where the door is controlled to brake during the electric door opening process to stop further opening, an electric door closing stage where the door is electrically driven to close automatically, and a door closing braking stage where the door is controlled to brake during the electric door closing process to stop further closing. The current electric control stage of the vehicle door is one of the electric control stages.

[0030] Step S21, if the vehicle door state information meets the switching condition under the current electric control stage, control the vehicle door to switch from the electric control mode to the manual assistance mode. Wherein, in the manual assistance mode, provide assistance for the movement of the vehicle door according to the current movement speed of the vehicle door under manual action.

[0031] During the implementation process, the corresponding relationship between the electric control stage of the vehicle door and the switching condition can be stored in advance, and the switching condition corresponding to the current electric control stage can be determined according to this corresponding relationship.

[0032] Adopt the vehicle door control method provided by the embodiment of the present application, obtain the current electric control stage of the vehicle door and the vehicle door state information corresponding to the current electric control stage during the actual operation process. When the vehicle door state information meets the switching condition corresponding to the current control stage, control the vehicle door to switch from the electric control mode to the manual assistance mode. In this way, determine the switching timing of the vehicle door control mode according to the actual operation situation of the vehicle door, and consider the interference from the user to the vehicle door state information during the operation of the electric control mode, which is beneficial to improving the control accuracy of the vehicle door, thereby optimizing the user experience. At the same time, it is beneficial to avoid unnecessary damage to the vehicle door body.

[0033] Further, during the implementation process, obtaining the current vehicle door state information includes: obtaining the vehicle door state information corresponding to the current electric control stage. In this way, it is possible to avoid the vehicle door state information being too redundant, resulting in unnecessary data processing processes and data storage space requirements. During the implementation process, the corresponding relationship between the electric control stage of the vehicle door and the vehicle door state information can be stored in advance, and the vehicle door state information corresponding to the current control stage can be determined according to this corresponding relationship.

[0034] Specifically, in some embodiments, obtaining the current vehicle door state information includes: when the current electric control stage of the vehicle door indicates that the door is in a stationary process, obtaining the current movement speed of the vehicle door and / or the distance the door has moved.

[0035] In some embodiments, the electric control phase characterizing the door in the stationary process includes a stationary phase in which no electric door opening action instruction and electric door closing action instruction are received. If the door state information meets the switching condition in the current electric control phase, controlling the door to switch from the electric control mode to the manual assistance mode includes: when the current electric control phase is the stationary phase, if the door state information is greater than the set threshold, controlling the door to switch from the electric control mode to the manual assistance mode. When the current electric control phase is the stationary phase, the force exerted by the user on the door body can be accurately judged through the door movement speed and / or the distance the door has moved. When the door state information is greater than the set threshold, it indicates that the user has a door control requirement at this time, but the electric control mode has not been officially awakened, so it is switched to the manual assistance mode to meet the user's current door control requirement. In this way, it is beneficial to improve the accuracy of door body control, thereby optimizing the user experience.

[0036] This application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. In combination with Figure 3 As shown, the door control method of the vehicle includes steps S11 to S211.

[0037] Step S11, obtain the current electric control phase of the door.

[0038] Step S101, when the current electric control phase of the door is the stationary phase, obtain the door state information in the stationary phase.

[0039] Here, the door state information includes the door movement speed and / or the distance the door has moved.

[0040] Step S211, if the door state information is greater than the set threshold, control the door to switch from the electric control mode to the manual assistance mode. Among them, in the manual assistance mode, the door movement is assisted according to the current door movement speed under manual action.

[0041] In some embodiments, if the door state information is greater than the set threshold, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door movement speed is greater than the set speed threshold, controlling the door to switch from the electric control mode to the manual assistance mode. If the door movement speed is greater than the first speed threshold when in the stationary phase at this time, it indicates that the current user has a need to move the door, and the electric control mode has not been started, so it is switched to the manual assistance mode to respond to the current user's need. In this way, it is beneficial to improve the control accuracy of the door.

[0042] In some embodiments, if the door state information is greater than a set threshold, controlling the door to switch from the electric control mode to the manual assist mode includes: if the distance the door has moved is greater than a set distance threshold, controlling the door to switch from the electric control mode to the manual assist mode. If the door has moved a distance greater than a first distance threshold during a stationary phase at this time, it indicates that the current user has a need to move the door, and the electric control mode has not been activated. Therefore, it switches to the manual assist mode to respond to the current user demand. In this way, it is beneficial to improve the control accuracy of the door.

[0043] In some embodiments, if the door state information is greater than a set threshold, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door movement speed is greater than a set speed threshold and the distance the door has moved is greater than a set distance threshold, controlling the door to switch from the electric control mode to the manual assist mode. Compared with using the door movement speed or the distance the door has moved as an independent judgment basis, combining the door movement speed and the distance the door has moved to jointly judge the timing of switching to the manual assist mode is beneficial to reducing the risk of misjudgment and further improving the control accuracy of the door.

[0044] In some embodiments, obtaining the current door state information includes: when the current electric control stage of the door indicates that the door is in a moving process, obtaining the current door movement speed and / or the door position.

[0045] In some embodiments, the electric control phase characterizing the door in the movement process includes an electric door opening phase in which the door is automatically opened by electric drive. That is, the phase in which the door automatically opens after receiving the electric door opening action instruction. The door state information in the electric door opening phase includes the door movement speed and / or the door position. If the door state information meets the switching condition in the current electric control phase, the control of the door is switched from the electric control mode to the manual assistance mode, including: in the case where the current electric control phase is the electric door opening phase, if the difference between the door state information and the corresponding state information in the first set state change situation is greater than the first difference threshold, the control of the door is switched from the electric control mode to the manual assistance mode. Wherein, the first set state change situation includes the first corresponding relationship between time and the door state information. In the electric door opening phase, there is a specific first corresponding relationship between time and the door state information. Taking the start of the vehicle door body opening as the time starting point, the door body state information changes in a specific manner, that is, the first corresponding relationship here, until the door body is fully opened and reaches the time end point. In the electric door opening phase, if the difference between the actual door state information and the corresponding state information in the first set state change situation is greater than the first difference threshold, it indicates that the user's control requirement for the door body does not match the theoretical operation mode of the electric control mode at this time, indicating that the actual operation situation is subject to additional human interference. At this time, switching to the manual assistance mode is beneficial to improving the accuracy of door body control, thereby optimizing the user experience. The present application provides an embodiment to make a more specific description of the vehicle door control method at this time. Combining Figure 4 As shown, the vehicle door control method includes steps S11 to S212.

[0046] Step S11, obtaining the current control phase of the door.

[0047] Step S102, in the case where the current electric control phase is the electric door opening phase, obtaining the door state information in the electric door opening phase.

[0048] The door state information in the electric door opening phase includes the door movement speed and / or the door position.

[0049] Step S212, if the difference between the door state information and the corresponding state information in the first set state change situation is greater than the first difference threshold, controlling the door to switch from the electric control mode to the manual assistance mode. Wherein, the first set state change situation includes the first corresponding relationship between time and the door state information. In the manual assistance mode, the door movement is assisted according to the current door movement speed under manual action.

[0050] In some embodiments, the door state information includes the door movement speed, and the first set change condition includes the first set speed change condition. If the difference between the door state information and the corresponding state information in the first set state change condition is greater than the first difference threshold, then control the door to switch from the electric control mode to the manual assistance mode, including: if the difference between the door movement speed and the corresponding movement speed in the first set speed change condition is greater than the first speed difference threshold, then control the door to switch from the electric control mode to the manual assistance mode. Here, the first set speed change condition includes the correspondence between time and the door movement speed. Specifically, it can be embodied in the form of a change curve including time and the door movement speed. The corresponding movement speed mentioned here is the movement speed at the same time. Specifically, in the implementation process, according to the first set speed change condition, determine the target door movement speed corresponding to the current time, calculate the difference between the current actual door movement speed and the target door movement speed, and then determine whether the difference is greater than the first speed difference threshold. If the difference is greater than the first speed difference threshold, it indicates that the user's control requirement for the door body does not conform to the theoretical operation mode of the electric control mode at this time, indicating that the actual operation situation is affected by additional human interference. At this time, switching to the manual assistance mode is beneficial to improving the accuracy of door body control, thereby optimizing the user experience.

[0051] In some embodiments, the door state information includes the door position, and the first set state change condition includes the first set position change condition. If the difference between the door state information and the corresponding state information in the first set state change condition is greater than the first difference threshold, then control the door to switch from the electric control mode to the manual assistance mode, including: if the difference between the door position and the corresponding position in the first set position change condition is greater than the first position difference threshold, then control the door to switch from the electric control mode to the manual assistance mode. Here, the first set position change condition includes the correspondence between time and the door position. Specifically, it can be embodied in the form of a change curve including time and the door position. In the implementation process, according to the first set position change condition, determine the target door position corresponding to the current time, calculate the difference between the current actual door position and the target door position, that is, the distance between the actual door position and the target door position, and then determine whether the difference is greater than the first distance difference threshold. If the difference is greater than the first distance difference threshold, it indicates that the user's control requirement for the door body does not conform to the theoretical operation mode of the electric control mode at this time, indicating that the actual operation situation is affected by additional human interference. At this time, switching to the manual assistance mode is beneficial to improving the accuracy of door body control, thereby optimizing the user experience.

[0052] In some embodiments, the door state information includes the door movement speed and the door position, and the first set state change includes the first set speed change and the first set position change. If the difference between the door state information and the corresponding state information in the first set state change is greater than the first difference threshold, controlling the door to switch from the electric control mode to the manual assist mode includes: if the difference between the door movement speed and the corresponding movement speed in the first set speed change is greater than the first speed difference threshold, and the difference between the door position and the corresponding position in the first set position change is greater than the first position difference threshold, controlling the door to switch from the electric control mode to the manual assist mode. The specific implementation details can be referred to the implementation details in the judgment method with the door movement speed and the door position as independent bases, which will not be elaborated here. It should be noted that, compared with using the door movement speed and the door position as independent judgment bases, combining the door movement speed and the door position to jointly judge the timing of switching to the manual assist mode is beneficial to reducing the risk of misjudgment and further improving the accuracy of door control.

[0053] In some embodiments, the electric control stage representing that the door is in the movement process includes the electric door closing stage of automatically closing the door by electric drive. If the door state information meets the switching conditions in the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: if the current electric control stage is the electric door closing stage, obtaining the triggering situation of the door anti-pinch mode; when the door anti-pinch mode is triggered, if the door state information meets the switching conditions in the current execution stage of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assist mode. During the process of electric door closing, if the door is manually pulled in the opening direction, the door anti-pinch mode will be triggered. There are multiple execution stages involved in the door anti-pinch mode, and the movement states of the door are different in different execution stages. Corresponding to different execution stages of the door anti-pinch mode, different switching conditions are set. Using the switching conditions in the current execution as the switching basis for the manual assist mode during the implementation process is beneficial to ensuring the accuracy of the switching control of the manual assist mode.

[0054] The execution stage of the door anti-pinch mode includes the anti-pinch braking stage in which the door is controlled to brake to stop closing after receiving the door anti-pinch mode start instruction; the door state information in the anti-pinch braking stage includes the door movement speed and / or the door position. If the door state information meets the switching condition in the current execution stage of the door anti-pinch mode, control the door to switch from the electric control mode to the manual assist mode, including: in the case where the current execution stage of the door anti-pinch mode is the anti-pinch braking stage, if the door state information indicates that the door moves in the opening direction, control the door to switch from the electric control mode to the manual assist mode. In the conventional anti-pinch braking stage, the door should move in the closing direction and gradually stop moving. If the detected door state information indicates that the door moves in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current anti-pinch braking stage. Switching to the manual assist mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0055] This application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. Combining Figure 5 As shown, the door control method of the vehicle includes steps S11 to step S2131.

[0056] Step S11, obtain the current electric control stage of the door.

[0057] In step S103, when the current electric control stage of the door includes the electric door closing stage, obtain the door state information in the electric door closing stage and obtain the triggering situation of the door anti-pinch mode.

[0058] The door state information includes the door movement speed and / or the door position.

[0059] Obtaining the triggering situation of the door anti-pinch mode means judging whether the door anti-pinch mode is triggered.

[0060] In step S2131, when the door anti-pinch mode is triggered and the current execution stage of the door anti-pinch mode is the anti-pinch braking stage, if the door state information indicates that the door moves in the opening direction, control the door to switch from the electric control mode to the manual assist mode. Among them, in the manual assist mode, provide assistance for the door movement according to the current door movement speed under manual action.

[0061] The door movement speed here includes the direction of the door movement speed. Determine whether the door moves in the opening direction according to the direction of the door movement speed.

[0062] In some embodiments, the door state information includes the door movement speed. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door movement speed indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode. Whether the door is moving in the opening direction can be determined according to the direction of the door movement speed. If the detected door movement speed indicates that the door is moving in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current anti-pinch braking stage. Therefore, switching to the manual assistance mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0063] Further, in some embodiments, if the door movement speed indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door movement speed indicates that the door is moving in the opening direction within a second preset duration, controlling the door to switch from the electric control mode to the manual assistance mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy. In some embodiments, the door state information includes the door position. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode. Whether the door is moving in the opening direction can be determined according to the change of the door position. If the detected door position indicates that the door is moving in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current anti-pinch braking stage. Therefore, switching to the manual assistance mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0064] In some embodiments, if the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door position indicates that the door is moving in the opening direction within a second preset duration, controlling the door to switch from the electric control mode to the manual assistance mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy.

[0065] In some embodiments, the door state information includes the door movement speed and the door position. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door movement speed indicates that the door is moving in the opening direction and the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode. Compared with using the door movement speed and the door position as independent judgment bases, combining the door movement speed and the door position to jointly judge the timing of switching to the manual assistance mode is beneficial to reducing the misjudgment risk and further improving the accuracy of door control.

[0066] In some embodiments, if the door movement speed indicates that the door moves in the opening direction and the door position indicates that the door moves in the opening direction, controlling the door to switch from the electric control mode to the manual assistance mode includes: if the door movement speed indicates that the door moves in the opening direction within a second preset duration and the door position indicates that the door moves in the opening direction within the second preset duration, controlling the door to switch from the electric control mode to the manual assistance mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy.

[0067] In some embodiments, the execution stage of the door anti-pinch mode includes an anti-pinch reverse stage in which the door is controlled to reverse and open after receiving the door anti-pinch mode start instruction; the door state information in the anti-pinch reverse stage includes the door movement speed and / or the door position. If the door state information meets the switching condition in the current execution stage of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assistance mode includes: when the current execution stage of the door anti-pinch mode is the anti-pinch reverse stage, if the difference between the door state information and the corresponding state in the second set state change situation is greater than the second difference threshold, then control the door to switch from the electric control mode to the manual assistance mode. Among them, the second set state change situation includes the second corresponding relationship between time and the door state information. In the electric control mode, during the process of the anti-pinch reverse stage, there is a specific second corresponding relationship between time and the door state information. Taking the start of the vehicle door body opening as the time starting point, the door body state information changes in a specific manner, that is, the second corresponding relationship here, until the door body is fully opened and reaches the time end point. During the electric door opening stage, if the difference between the actual door state information and the corresponding state information in the second set state change situation is greater than the second difference threshold, it means that the user's control requirement for the door body does not match the theoretical operation mode of the electric control mode at this time, indicating that the actual operation situation is affected by additional human interference. At this time, switching to the manual assistance mode is beneficial to improve the accuracy of door body control, thereby optimizing the user experience.

[0068] This application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. Combining Figure 6 As shown, the door control method of the vehicle includes steps S11 to step S2132.

[0069] Step S11, obtaining the current electric control stage of the door.

[0070] Step S103, when the current electric control stage of the door includes the electric door closing stage, obtaining the door state information in the electric door closing stage and obtaining the triggering situation of the door anti-pinch mode.

[0071] The door state information includes the door movement speed and / or the door position.

[0072] Obtaining the triggering situation of the door anti-pinch mode means determining whether the door anti-pinch mode is triggered.

[0073] Step S2132, when the door anti-pinch mode is triggered and the current execution stage of the door anti-pinch mode is the anti-pinch reverse stage, if the difference between the door state information and the corresponding state in the second set state change situation is greater than the second difference threshold, then control the door to switch from the electric control mode to the manual assistance mode. Among them, the second set state change situation includes the second corresponding relationship between time and the door state information. In the manual assistance mode, provide assistance for the door movement according to the current door movement speed under manual action.

[0074] In some embodiments, the door state information includes the door movement speed, and the second set state change situation includes the second set speed change situation. If the difference between the door state information and the corresponding state in the second set state change situation is greater than the second difference threshold, then controlling the door to switch from the electric control mode to the manual assistance mode includes: if the difference between the door movement speed and the corresponding movement speed in the second set speed change situation is greater than the second speed difference threshold, then control the door to switch from the electric control mode to the manual assistance mode. Here, the second set speed change situation includes the corresponding relationship between time and the door movement speed. Specifically, it can be embodied in the form of a change curve including time and the door movement speed. The corresponding movement speed mentioned here is the movement speed at the same time. Specifically, in the implementation process, determine the target door movement speed corresponding to the current time according to the second set speed change situation, calculate the difference between the current actual door movement speed and the target door movement speed, and then determine whether the difference is greater than the second speed difference threshold. If the difference is greater than the second speed difference threshold, it means that the user's control requirement for the door body at this time does not match the theoretical operation mode of the electric control mode, indicating that the actual operation situation is affected by additional manual interference. At this time, switching to the manual assistance mode is beneficial to improving the accuracy of door body control, thereby optimizing the user experience.

[0075] In some embodiments, the door state information includes the door position, and the second set state change includes the second set position change. If the difference between the door state information and the corresponding state information in the second set state change is greater than the second difference threshold, controlling the door to switch from the electric control mode to the manual assist mode includes: if the difference between the door position and the corresponding position in the second set position change is greater than the second position difference threshold, controlling the door to switch from the electric control mode to the manual assist mode. Here, the second set position change includes the correspondence between time and the door position, which can be specifically reflected in the form of a change curve including time and the door position. During implementation, the target door position corresponding to the current time is determined according to the second set position change, the difference between the current actual door position and the target door position is calculated, that is, the distance between the actual door position and the target door position, and then it is determined whether the difference is greater than the second distance difference threshold. If the difference is greater than the second distance difference threshold, it indicates that the user's control requirement for the door body at this time does not conform to the theoretical operation mode of the electric control mode, indicating that the actual operation situation is affected by additional manual interference. Switching to the manual assist mode at this time is beneficial to improving the accuracy of door body control, thereby optimizing the user experience.

[0076] In some embodiments, the door state information includes the door movement speed and the door position, and the second set state change includes the second set speed change and the second set position change. If the difference between the door state information and the corresponding state information in the second set state change is greater than the second difference threshold, controlling the door to switch from the electric control mode to the manual assist mode includes: if the difference between the door movement speed and the corresponding movement speed in the second set speed change is greater than the second speed difference threshold, and the difference between the door position and the corresponding position in the second set position change is greater than the second position difference threshold, controlling the door to switch from the electric control mode to the manual assist mode. For the specific implementation details, refer to the implementation details settings in the judgment method with the door movement speed and the door position as independent bases, which will not be elaborated here. It should be noted that compared with using the door movement speed and the door position as independent judgment bases, combining the door movement speed and the door position to jointly judge the timing of switching to the manual assist mode is beneficial to reducing the risk of misjudgment and further improving the accuracy of door control.

[0077] In some embodiments, the current electric control phase includes a door closing braking phase during the electric door closing process, in which the door is controlled to brake to stop further closing. That is, in the aforementioned electric door closing phase, it is the phase after the electric door closing phase is interrupted due to the user inputting an open door abort instruction. The door state information in the door closing braking phase includes the door movement speed and / or the door position. If the door state information meets the switching condition in the current electric control phase, the control switches the door from the electric control mode to the manual assist mode, including: in the case where the current electric control phase is the door closing braking phase, if the door state information indicates that the door is moving in the opening direction, the control switches the door from the electric control mode to the manual assist mode. In the conventional door closing braking phase, the door should move in the closing direction and gradually stop moving. If the detected door state information indicates that the door is moving in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current door closing braking phase. Switching to the manual assist mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0078] This application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. In combination with Figure 7 As shown, the door control method of the vehicle includes steps S111 to step S126.

[0079] Step S11, obtain the current electric control phase of the door.

[0080] Step S104, in the case where the current electric control phase of the door is the door closing braking phase, obtain the door state information in the door closing phase.

[0081] The door state information here includes the door movement speed and / or the door position.

[0082] Step S214, if the door state information indicates that the door is moving in the opening direction, control the door to switch from the electric control mode to the manual assist mode; wherein, in the manual assist mode, provide assistance for the door movement according to the current door movement speed under manual action.

[0083] The door movement speed here includes the direction of the door movement speed. Determine whether the door is moving in the opening direction according to the direction of the door movement speed.

[0084] In some embodiments, the door state information includes the door movement speed. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door movement speed indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode. Whether the door is moving in the opening direction can be determined according to the direction of the door movement speed. If the detected door movement speed indicates that the door is moving in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current closing braking stage. Therefore, switching to the manual assist mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0085] Further, in some embodiments, if the door movement speed indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door movement speed indicates that the door is moving in the opening direction within a second preset duration, controlling the door to switch from the electric control mode to the manual assist mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy. In some embodiments, the door state information includes the door position. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode. Whether the door is moving in the opening direction can be determined according to the change of the door position. If the detected door position indicates that the door is moving in the opening direction at this time, it means that the door movement is interfered by the user. The current user demand does not match the operation of the current closing braking stage. Therefore, switching to the manual assist mode at this time is beneficial to improving the accuracy of door control, thereby optimizing the user experience.

[0086] In some embodiments, if the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door position indicates that the door is moving in the opening direction within a second preset duration, controlling the door to switch from the electric control mode to the manual assist mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy.

[0087] In some embodiments, the door state information includes the door movement speed and the door position. If the door state information indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door movement speed indicates that the door is moving in the opening direction and the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode. Compared with using the door movement speed and the door position as independent judgment bases, combining the door movement speed and the door position to jointly judge the timing of switching to the manual assist mode is beneficial to reducing the misjudgment risk and further improving the accuracy of door control.

[0088] In some embodiments, if the door movement speed indicates that the door is moving in the opening direction and the door position indicates that the door is moving in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode includes: if the door movement speed indicates that the door is moving in the opening direction within a second preset duration and the door position indicates that the door is moving in the opening direction within the second preset duration, controlling the door to switch from the electric control mode to the manual assist mode. In this way, it is beneficial to further reduce the possibility of misjudgment and improve the judgment accuracy.

[0089] In some embodiments, the electric control stage representing that the door is in the movement process includes the door braking stage during electric door opening, where the door is controlled to stop further opening. That is, in the aforementioned electric door opening stage, after the electric door opening stage is interrupted due to the presence of an obstacle, or after the electric door opening stage is interrupted due to the user inputting an opening abort instruction. The door state information in the door braking stage includes the door movement speed and / or the door movement acceleration. If the door state information meets the switching conditions in the current control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: when the current control stage is the door braking stage, if the door state information is greater than the historical door state information before the first preset duration, then control the door to switch from the electric control mode to the manual assist mode. In the door braking stage, the door movement speed should show a downward trend and the door movement acceleration should change to a negative value in the reverse direction. If the door state information in the door braking stage is greater than the historical door state information before the first preset duration, it indicates that the door braking stage has been interfered with by additional human force. At this time, switching to the manual assist mode is beneficial to improving the accuracy of door body control, thereby optimizing the user experience. It should be noted that the acceleration is in the positive direction with the direction of the door opening. During the process of judging the magnitude between the door state information and the historical door state information before the first preset duration, the direction of the acceleration should be considered.

[0090] This application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. Combining Figure 8 As shown, the door control method of the vehicle includes steps S11 to step S213.

[0091] Step S11, obtain the current electric control stage of the door.

[0092] Step S105, when the current electric control stage of the door is the door braking stage, obtain the door state information in the door braking stage.

[0093] Here, the door state information includes the door movement speed and / or the door movement acceleration.

[0094] Step S215: If the door state information is greater than the historical door state information before the first preset duration, control the door to switch from the electric control mode to the manual assist mode. In the manual assist mode, provide assistance for the door movement according to the current door movement speed under manual action.

[0095] In some embodiments, the door state information includes the door movement speed. If the door state information is greater than the historical door state information before the first preset duration, controlling the door to switch from the electric control mode to the manual assist mode includes: If the door movement speed is greater than the historical door movement speed before the first preset duration, control the door to switch from the electric control mode to the manual assist mode. During the door opening braking process, the door movement speed does not decrease but increases instead, which can accurately determine the situation of user interference and achieve accurate door control.

[0096] In some embodiments, the door state information includes the door movement acceleration. If the door state information is greater than the historical door state information before the first preset duration, controlling the door to switch from the electric control mode to the manual assist mode includes: If the door movement acceleration is greater than the historical door movement acceleration before the first preset duration, control the door to switch from the electric control mode to the manual assist mode. Compared with the door position or the door movement distance, the change of the door movement acceleration is more obvious in this process. Using the acceleration as the judgment basis here is beneficial to improving the judgment accuracy of the cut-in timing of the manual assist mode.

[0097] In some embodiments, the door state information includes the door movement speed and the door movement acceleration. If the door state information is greater than the historical door state information before the first preset duration, controlling the door to switch from the electric control mode to the manual assist mode includes: If the door movement speed is greater than the historical door movement speed before the first preset duration and the door movement acceleration is greater than the historical door movement acceleration before the first preset duration, control the door to switch from the electric control mode to the manual assist mode. Compared with using the door movement acceleration and the door movement speed as independent judgment bases, combining the door movement acceleration and the door movement speed to jointly judge the cut-in timing of the manual assist mode is beneficial to reducing the misjudgment risk and further improving the accuracy of door control.

[0098] This application provides a door control system for a vehicle, including one or more processors for implementing the above-mentioned door control method for the vehicle.

[0099] This application also provides a vehicle, including a door and the above-mentioned door control system for the vehicle, and this door control system is used to control the door.

[0100] In the description of the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

Claims

1. A door control method for a vehicle, characterized in that, Including: Obtaining current door state information, where the door state information includes at least one of door movement speed, door movement acceleration, door traveled distance, and door position; If the door state information meets the switching condition, controlling the door to switch from the electric control mode to the manual assist mode; Wherein, in the manual assist mode, providing assistance for the door movement according to the current door movement speed under manual action.

2. The door control method according to claim 1, characterized in that, Also including: Obtaining the current electric control stage of the door; The step of, if the door state information meets the switching condition, controlling the door to switch from the electric mode to the manual assist mode includes: If the door state information meets the switching condition under the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode.

3. The control method according to claim 2, characterized in that The step of obtaining the current door state information includes: When the current electric control stage of the door indicates that the door is in the movement process, obtaining the current door movement speed and / or door position.

4. The door control method according to claim 3, wherein The electric control stage indicating that the door is in the movement process includes the electric door opening stage of electrically driving the door to open automatically; The step of, if the door state information meets the switching condition under the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current electric control stage is the electric door opening stage, if the difference between the door state information and the corresponding state information in the first set state change situation is greater than the first difference threshold, controlling the door to switch from the electric control mode to the manual assist mode; Wherein, the first set state change situation includes the first corresponding relationship between time and the door state information.

5. The door control method according to claim 3, characterized in that, The electric control stage indicating that the door is in the movement process includes the electric door closing stage of electrically driving the door to close automatically; The step of, if the door state information meets the switching condition under the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: If the current electric control stage is the electric door closing stage, obtaining the triggering situation of the door anti-pinch mode; When the door anti-pinch mode is triggered, if the door state information meets the switching condition under the current execution stage of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assist mode.

6. The door control method according to claim 5, characterized in that, The execution stage of the door anti-pinch mode includes the anti-pinch braking stage in which after receiving the door anti-pinch mode start instruction, the door is controlled to brake to stop closing continuously; The step of, if the door state information meets the switching condition under the current execution stage of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current execution stage of the door anti-pinch mode is the anti-pinch braking stage, if the door state information indicates that the door moves in the opening direction, controlling the door to switch from the electric control mode to the manual assist mode.

7. The door control method according to claim 5, characterized in that The execution stage of the door anti-pinch mode includes an anti-pinch reverse stage in which the door is controlled to reverse and open after receiving a door anti-pinch mode start instruction; the door state information in the anti-pinch reverse stage includes the door movement speed and / or the door position; If the door state information meets the switching conditions in the current execution stage of the door anti-pinch mode, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current execution stage of the door anti-pinch mode is the anti-pinch reverse stage, if the difference between the door state information and the corresponding state in the second set state change situation is greater than the second difference threshold, then control the door to switch from the electric control mode to the manual assist mode; Wherein, the second set state change situation includes a second corresponding relationship between time and the door state information.

8. The door control method according to claim 3, characterized in that The electric control stage indicating that the door is in the movement process includes a door closing braking stage in which the door is controlled to brake and stop closing during the electric door closing process; If the door state information meets the switching conditions in the current control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current control stage is the door closing braking stage, if the door state information indicates that the door moves in the opening direction, control the door to switch from the electric control mode to the manual assist mode.

9. The control method according to claim 2, characterized in that, Obtaining the current door state information includes: When the current electric control stage of the door indicates that the door is in a stationary process, obtaining the current door movement speed and / or the door movement distance.

10. The door control method according to claim 9, wherein The electric control stage indicating that the door is in a stationary process includes a stationary stage in which no electric door opening action instruction and electric door closing action instruction are received; If the door state information meets the switching conditions in the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current electric control stage is the stationary stage, if the door state information is greater than the set threshold, then control the door to switch from the electric control mode to the manual assist mode.

11. The door control method according to claim 2, characterized in that, The current control stage includes a door opening braking stage in which the door is controlled to brake and stop opening during the electric door opening process; the door state information in the door opening braking stage includes the door movement speed and / or the door movement acceleration; If the door state information meets the switching conditions in the current electric control stage, controlling the door to switch from the electric control mode to the manual assist mode includes: When the current electric control stage is the door opening braking stage, if the door state information is greater than the historical door state information before the first preset duration, then control the door to switch from the electric control mode to the manual assist mode.

12. A door control system for a vehicle, characterized in that, Including one or more processors for implementing the vehicle door control method according to any one of claims 1-11.

13. A vehicle, characterized in that, Including: A door; And The vehicle door control system according to claim 12, the door control system being used to control the door.

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