Vehicle door control method, vehicle door control system, and vehicle

Abstract

The application provides a vehicle door control method, a vehicle door control system and a vehicle. The vehicle door control method comprises: obtaining current door state information, the door state information comprising at least one of a door movement speed, a door movement acceleration, a door movement distance and a door position; if the door state information meets a switching condition, controlling the door to switch from an electric control mode to a manual assistance mode; wherein in the manual assistance mode, assistance is provided to the door movement according to the current door movement speed under manual action. In this way, the switching timing of the door control mode is determined according to the actual operation of the door, the interference from the user on the door state information is considered during the operation of the electric control mode, the control accuracy of the door is improved, and thus the user experience is optimized. Meanwhile, unnecessary damage to the door body of the vehicle is avoided.

Description

TECHNICAL FIELD

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

[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 an electric opening process or an electric closing process according to a set parameter, without the need for the user to separately exert force. However, in actual application, the user may artificially exert additional force on the vehicle door due to current needs. In the related art, the electric control mode is still continued when this situation occurs, which causes the additional exerted force and the operation process of the electric control mode to interfere with each other, and thus the user experience is poor. SUMMARY

[0003] The present application provides a vehicle door control method, a vehicle door control system and a vehicle to improve the control accuracy of the vehicle door, thereby optimizing the user experience.

[0004] The present application provides a vehicle door control method, comprising: obtaining current vehicle door state information, the vehicle door state information comprising at least one of a vehicle door movement speed, a vehicle door movement acceleration, a vehicle door movement distance and a vehicle door position; if the vehicle door state information meets a switching condition, controlling the vehicle door to switch from an electric control mode to a manual assist mode; wherein in the manual assist mode, assist force is provided to the vehicle door movement according to the current vehicle door movement speed under manual action.

[0005] Optionally, the vehicle door control method further comprises: obtaining a current electric control phase of the vehicle door; if the vehicle door state information meets the switching condition, controlling the vehicle door to switch from the electric control mode to the manual assist mode, comprising: if the vehicle door state information meets the switching condition in the current electric control phase, controlling the vehicle door to switch from the electric control mode to the manual assist mode.

[0006] Optionally, obtaining the current vehicle door state information comprises: in a case where the current electric control phase of the vehicle door indicates that the vehicle door is in a movement process, obtaining the current vehicle door movement speed and / or the vehicle door position.

[0007] Optionally, the electric control phase in which the vehicle door is characterized as being in motion includes an electric opening phase in which the vehicle door is automatically opened by electric drive; and the control of the vehicle door from the electric control mode to the manual assist mode is performed if the vehicle door state information meets the switching condition under the current electric control phase, including: if the vehicle door state information and the corresponding state information in the first set state change condition have a difference greater than a first difference threshold, the vehicle door is controlled from the electric control mode to the manual assist mode, in the case that the current control phase is the electric opening phase; wherein the first set state change condition includes a first corresponding relationship between time and the vehicle door state information.

[0008] Optionally, the electric control phase in which the vehicle door is characterized as being in motion includes an electric closing phase in which the vehicle door is automatically closed by electric drive; and the control of the vehicle door from the electric control mode to the manual assist mode is performed if the vehicle door state information meets the switching condition under the current electric control phase, including: if the current electric control phase is the electric closing phase, the triggering condition of the vehicle door anti-pinch mode is obtained; and the vehicle door is controlled from the electric control mode to the manual assist mode if the vehicle door state information meets the switching condition under the current execution phase of the vehicle door anti-pinch mode when the vehicle door anti-pinch mode is triggered.

[0009] Optionally, the execution phase of the vehicle door anti-pinch mode includes a anti-pinch braking phase in which the vehicle door is controlled to stop closing after receiving the vehicle door anti-pinch mode start instruction; and the control of the vehicle door from the electric control mode to the manual assist mode is performed if the vehicle door state information meets the switching condition under the current execution phase of the vehicle door anti-pinch mode, including: if the vehicle door state information indicates that the vehicle door moves in the opening direction, the vehicle door is controlled from the electric control mode to the manual assist mode, in the case that the current execution phase of the vehicle door anti-pinch mode is the anti-pinch braking phase.

[0010] Optionally, the execution phase of the vehicle door anti-pinch mode includes a anti-pinch reversing phase in which the vehicle door is controlled to reverse to open after receiving the vehicle door anti-pinch mode start instruction; the vehicle door state information under the anti-pinch reversing phase includes the vehicle door movement speed and / or the vehicle door position; and the control of the vehicle door from the electric control mode to the manual assist mode is performed if the vehicle door state information meets the switching condition under the current execution phase of the vehicle door anti-pinch mode, including: if the vehicle door state information and the corresponding state in the second set state change condition have a difference greater than a second difference threshold, the vehicle door is controlled from the electric control mode to the manual assist mode, in the case that the current execution phase of the vehicle door anti-pinch mode is the anti-pinch reversing phase; wherein the second set state change condition includes a second corresponding relationship between time and the vehicle door state information.

[0011] Optionally, the electric control phase in which the vehicle door is represented as being in motion includes a door closing braking phase in which the vehicle door is controlled to stop closing; and if the vehicle door state information meets the switching condition under the current control phase, the vehicle door is controlled to switch from the electric control mode to the manual assist mode, including: if the vehicle door state information represents that the vehicle door moves in the opening direction, the vehicle door is controlled to switch from the electric control mode to the manual assist mode, in the case that the current control phase is the door closing braking phase.

[0012] Optionally, the current vehicle door state information is obtained, including: in the case that the current electric control phase of the vehicle door represents that the vehicle door is in a stationary process, the current vehicle door movement speed and / or the distance that the vehicle door has moved are obtained.

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

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

[0015] The application provides a vehicle door control system of a vehicle, including one or more processors, configured to implement the vehicle door control method.

[0016] The application provides a vehicle, including a vehicle door and the vehicle door control system of the vehicle, the vehicle door control system being configured to control the vehicle door.

[0017] The vehicle door control method, vehicle door control system and vehicle provided by the application can obtain current state information of a vehicle door in real time, and can accurately determine whether the vehicle door meets the condition for switching from an electric control mode to a manual assist mode through monitoring and analyzing the current state information. When the state information of the vehicle door meets the switching condition, the system can quickly respond to control the vehicle door to switch to the manual assist mode, and provide assist force for the movement of the vehicle door according to the current movement speed of the vehicle door under manual action in the mode. In this way, the switching time of the vehicle door control mode is determined according to the actual operation of the vehicle door, the interference of a user on the state information of the vehicle door is considered during the operation of the electric control mode, the control accuracy of the vehicle door is improved, and thus the user experience is optimized. Meanwhile, unnecessary damage to the door body of the vehicle can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flowchart of a vehicle door control method provided by an embodiment of the application;

[0019] Figure 2 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0020] Figure 3 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0021] Figure 4 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0022] Figure 5 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0023] Figure 6 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0024] Figure 7 is a flowchart of a vehicle door control method provided by another embodiment of the application;

[0025] Figure 8 is a flowchart of a vehicle door control method provided by another embodiment of the application. DETAILED DESCRIPTION

[0026] Hereinafter, the exemplary embodiments will be described in detail with reference to the accompanying drawings.

[0027] In conjunction Figure 1 with the drawings, the embodiments of the application provide a vehicle door control method, which includes steps S10 to S20.

[0028] Step S10, obtaining current door status information. The door status information includes at least one of door movement speed, door movement acceleration, door movement distance and door position. In the implementation process, the door status information of the vehicle is detected by one or more door movement sensors.

[0029] Step S20, if the door status information meets the switching condition, controlling the door to switch from the electric control mode to the manual assist mode.

[0030] In the manual assist mode, assist force is provided to the door movement according to the current door movement speed under manual action. In the manual assist mode, appropriate assist force is provided according to the current door movement speed during the process of manually opening or closing the door. When the door movement speed is fast, the door control system provides stronger assist force to reduce the force required for manually opening or closing the door, and to improve the convenience and comfort of user operation. When the door movement speed is slow, the door control system provides less assist force to ensure the balance and safety of manual operation.

[0031] The door control method of the vehicle provided by the embodiment of the present application can obtain the current status information of the door in real time, accurately determine whether the door meets the condition of switching from the electric control mode to the manual assist mode through monitoring and analyzing the current status information, and quickly respond when the door status information meets the switching condition to control the door to switch to the manual assist mode and provide assist force to the door movement according to the current door movement speed under manual action in the manual assist mode. In this way, the switching time of the door control mode is determined according to the actual running condition of the door, the interference from the user on the door status information is considered during the running process of the electric control mode, which is beneficial to improving the control accuracy of the door and optimizing the user experience. At the same time, it is beneficial to avoid unnecessary damage to the door body of the vehicle.

[0032] Before receiving the electric control mode starting instruction, the electric control mode of the door is in standby state. After receiving the electric control mode, the starting prerequisite condition of the vehicle is judged. If the starting prerequisite condition is met, the electric door opening action instruction or the 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 to perform electric door opening or electric door closing. The starting prerequisite condition herein includes, for example, vehicle stationary, door unlocked, anti-collision radar signal normal, and drive motor fault-free.

[0033] In combination with Figure 2 As shown in the figure, the embodiment of the present application provides a door control method of a vehicle, which includes steps S10 to S21.

[0034] Step S10, obtaining current door status information.

[0035] Step S11, obtaining a current electric control phase of the vehicle door.

[0036] The electric control phase of the vehicle door includes at least part of a static phase in which no electric door opening action instruction and no electric door closing action instruction are received, an electric door opening phase in which the vehicle door is automatically opened by electric driving, a door opening braking phase in which the vehicle door is controlled to stop continuous opening during the electric door opening, an electric door closing phase in which the vehicle door is automatically closed by electric driving, and a door closing braking phase in which the vehicle door is controlled to stop continuous closing during the electric door closing. The current electric control phase of the vehicle door is one of the electric control phases.

[0037] Step S21, if the door state information meets a switching condition corresponding to the current electric control phase, controlling the vehicle door to switch from the electric control mode to the manual assist mode. In the manual assist mode, assist force is provided to the vehicle door movement according to the current vehicle door movement speed under manual action.

[0038] In the implementation process, a corresponding relationship between the electric control phase of the vehicle door and the switching condition can be stored in advance, and the switching condition corresponding to the current electric control phase can be determined according to the corresponding relationship.

[0039] By using the vehicle door control method provided in the embodiments of the present application, the current electric control phase of the vehicle door in actual operation is obtained, and the door state information corresponding to the current electric control phase is obtained. In the case where the door state information meets the switching condition corresponding to the current control phase, the vehicle door is controlled to switch from the electric control mode to the manual assist mode. In this way, the switching timing of the vehicle door control mode is determined according to the actual operation of the vehicle door, the interference from the user to the door state information is considered during the operation of the electric control mode, the control accuracy of the vehicle door is improved, and thus the user experience is optimized. At the same time, unnecessary damage to the vehicle door body is avoided.

[0040] Further, in the implementation process, the current door state information is obtained by: obtaining the door state information corresponding to the current electric control phase. In this way, the obtained door state information is not too miscellaneous, and unnecessary data processing process and data storage space requirement are avoided. In the implementation process, a corresponding relationship between the electric control phase of the vehicle door and the door state information can be stored in advance, and the door state information corresponding to the current control phase can be determined according to the corresponding relationship.

[0041] Specifically, in some embodiments, the current door state information is obtained by: in the case where the current electric control phase of the vehicle door represents that the vehicle door is in a static process, obtaining the current vehicle door movement speed and / or the distance of the vehicle door movement.

[0042] In some embodiments, the electric control phase in which the vehicle door is characterized as being in a stationary process includes a stationary phase in which no electric door opening action instruction and no electric door closing action instruction are received. If the door state information meets the switching condition in the current electric control phase, the vehicle door is controlled 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 a set threshold, the vehicle door is controlled to switch from the electric control mode to the manual assist mode. In the case where the current electric control phase is the stationary phase, the force applied by the user to the door body can be accurately judged through the door movement speed and / or the door movement distance. 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 is not formally awakened, so the manual assist mode is switched to meet the current door control requirement of the user. In this way, the accuracy of door control is improved, thereby optimizing the user experience.

[0043] The present application provides an embodiment to make a more specific description of the vehicle door control method at this time. As shown in Figure 3 The vehicle door control method includes steps S11 to S211.

[0044] Step S11, obtain the current electric control phase of the vehicle door.

[0045] Step S101, in the case where the current electric control phase of the vehicle door is the stationary phase, obtain the door state information in the stationary phase.

[0046] Here, the door state information includes the door movement speed and / or the door movement distance.

[0047] Step S211, if the door state information is greater than a set threshold, the vehicle door is controlled to switch from the electric control mode to the manual assist mode. In the manual assist mode, the assist force is provided to the door movement according to the current door movement speed under manual action.

[0048] In some embodiments, if the door state information is greater than a set threshold, the vehicle door is controlled to switch from the electric control mode to the manual assist mode, including: if the door movement speed is greater than a set speed threshold, the vehicle door is controlled to switch from the electric control mode to the manual assist mode. If the door movement speed is greater than the first speed threshold at this time in the stationary phase, it indicates that the current user has a requirement to move the door, and the electric control mode is not started, so the manual assist mode is switched to respond to the current user requirement. In this way, the control accuracy of the door is improved.

[0049] In some embodiments, the controlling the door to switch from the electric control mode to the manual assist mode if the door status information is greater than a set threshold value comprises: controlling the door to switch from the electric control mode to the manual assist mode if a distance that the door has moved is greater than a set distance threshold value. If the door has moved a distance greater than the first distance threshold value at the time of the stationary phase, it indicates that the current user has a demand to move the door, and the electric control mode has not been started, so the manual assist mode is switched to in response to the current user demand. In this way, the control accuracy of the door is improved.

[0050] In some embodiments, the controlling the door to switch from the electric control mode to the manual assist mode if the door status information is greater than a set threshold value comprises: controlling the door to switch from the electric control mode to the manual assist mode if a speed of the door movement is greater than a set speed threshold value and a distance that the door has moved is greater than a set distance threshold value. Compared with taking the speed of the door movement or the distance that the door has moved as an independent basis for judgment, combining the speed of the door movement and the distance that the door has moved to jointly determine the timing of switching to the manual assist mode helps to reduce the risk of misjudgment and further improve the accuracy of the door control.

[0051] In some embodiments, the obtaining the current door status information comprises: obtaining a current door movement speed and / or a door position in a case that the door is in a movement process in a current electric control phase of the door.

[0052] In some embodiments, the electric control phase of the vehicle door in the process of movement includes an electric opening phase in which the vehicle door is automatically opened by electric driving. That is, a phase in which the vehicle door is automatically opened after receiving an electric opening action instruction. The vehicle door state information in the electric opening phase includes a vehicle door movement speed and / or a vehicle door position. If the vehicle door state information meets the switching condition in the current electric control phase, the vehicle 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 opening phase, if the difference between the vehicle door state information and the corresponding state information in the first set state change condition is greater than the first difference threshold, the vehicle door is switched from the electric control mode to the manual assistance mode. Wherein, the first set state change condition includes a first correspondence relationship between time and vehicle door state information. In the electric opening phase, there is a specific first correspondence relationship between time and vehicle door state information. Taking the start of the vehicle door opening as the time starting point, the door state information changes according to a specific manner, i.e. the first correspondence relationship here, until the door is fully opened, reaching the time endpoint. In the electric opening phase, if the difference between the actual vehicle door state information and the corresponding state information in the first set state change condition is greater than the first difference threshold, it means that the user's control demand for the door at this time does not conform to the theoretical operation mode of the electric control mode, indicating that the actual operation has been disturbed by additional human power. At this time, the manual assistance mode is switched in, which is beneficial to improve the accuracy of door control, thereby optimizing the user experience. The present application provides an embodiment to make more specific description of the vehicle door control method of the vehicle at this time. In combination with Figure 4 As shown in the figure, the vehicle door control method of the vehicle includes steps S11 to S212.

[0053] Step S11, obtaining the current control phase of the vehicle door.

[0054] Step S102, in the case where the current electric control phase is the electric opening phase, obtaining the vehicle door state information in the electric opening phase.

[0055] The vehicle door state information in the electric opening phase includes a vehicle door movement speed and / or a vehicle door position.

[0056] Step S212, if the difference between the vehicle door state information and the corresponding state information in the first set state change condition is greater than the first difference threshold, the vehicle door is switched from the electric control mode to the manual assistance mode. Wherein, the first set state change condition includes a first correspondence relationship between time and vehicle door state information. In the manual assistance mode, the current vehicle door movement speed under manual action provides assistance for the vehicle door movement.

[0057] In some embodiments, the door state information comprises a door movement speed, and the first set state change condition comprises a 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, the control of the door switching from the electric control mode to the manual assistance mode comprises: 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, the control of the door switching from the electric control mode to the manual assistance mode. Here, the first set speed change condition comprises a corresponding relationship between time and door movement speed. It can be embodied in the form of a change curve containing time and door movement speed. The corresponding movement speed here refers to the movement speed at the same time. Specifically, in the implementation process, the target door movement speed corresponding to the current time is determined according to the first set speed change condition, the difference between the current actual door movement speed and the target door movement speed is calculated, and then it is judged whether the difference is greater than the first speed difference threshold. If the difference is greater than the first speed difference threshold, it means that the user's control demand for the door body at this time does not conform to the theoretical operation mode of the electric control mode, and it means that the actual operation situation is disturbed by additional human force. At this time, the manual assistance mode is switched in, which is conducive to improving the accuracy of door body control, thereby optimizing the user experience.

[0058] In some embodiments, the door state information comprises a door position, and the first set state change condition comprises a 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, the control of the door switching from the electric control mode to the manual assistance mode comprises: 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, the control of the door switching from the electric control mode to the manual assistance mode. Here, the first set position change condition comprises a corresponding relationship between time and door position. It can be embodied in the form of a change curve containing time and door position. In the implementation process, the target door position corresponding to the current time is determined according to the first set position change condition, the difference between the current actual door position and the target door position, i.e. the distance between the actual door position and the target door position, is calculated, and then it is judged whether the difference is greater than the first distance difference threshold. If the difference is greater than the first distance difference threshold, it means that the user's control demand for the door body at this time does not conform to the theoretical operation mode of the electric control mode, and it means that the actual operation situation is disturbed by additional human force. At this time, the manual assistance mode is switched in, which is conducive to improving the accuracy of door body control, thereby optimizing the user experience.

[0059] In some embodiments, the door state information includes a door movement speed and a door position, the first set state change condition includes a first set speed change condition and a 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, the control of the door switching 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 condition 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 condition is greater than the first position difference threshold, the control of the door switching from the electric control mode to the manual assist mode. For specific implementation details, refer to the implementation details in the judgment mode taking the door movement speed and the door position as independent basis. Here, it is not repeated. It should be noted that, compared to taking the door movement speed and the door position as independent judgment basis, combining the door movement speed and the door position to jointly judge the timing of switching to the manual assist mode is beneficial to reduce the risk of misjudgment and further improve the accuracy of door control.

[0060] In some embodiments, the electric control phase in which the door is in the process of movement includes an electric closing phase of automatically closing the door by electric drive. If the door state information meets the switching condition under the current electric control phase, the control of the door switching from the electric control mode to the manual assist mode includes: if the current electric control phase is the electric closing phase, the triggering condition of the door anti-pinch mode is obtained; under the condition that the door anti-pinch mode is triggered, if the door state information meets the switching condition under the current execution phase of the door anti-pinch mode, the control of the door switching from the electric control mode to the manual assist mode. During the process of electric closing of the door, manual pulling in the door opening direction will trigger the door anti-pinch mode. The door anti-pinch mode involves multiple execution phases, and the movement state of the door is different under different execution phases. Corresponding to different execution phases of the door anti-pinch mode, different switching conditions are set, and the switching condition under the current execution is taken as the switching basis of the manual assist mode in the implementation process, which is beneficial to guarantee the accuracy of the switching control of the manual assist mode.

[0061] The execution stage of the door anti-pinch mode includes a door anti-pinch braking stage in which the door is controlled to stop continuing to close after receiving a door anti-pinch mode starting instruction. The door state information in the anti-pinch braking stage includes a door movement speed and / or a door position. If the door state information meets the switching condition in the current execution stage of the door anti-pinch mode, the door is controlled to switch from the electric control mode to the manual assist mode, including: if the door state information indicates that the door moves in the opening direction, the door is controlled to switch from the electric control mode to the manual assist mode in the case that the current execution stage of the door anti-pinch mode is the anti-pinch braking stage. 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 indicates that the door movement is disturbed by the user. The current user demand does not match the operation of the current anti-pinch braking stage. At this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and thus optimize the user experience.

[0062] The present application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. As shown in the combination Figure 5 The door control method of the vehicle includes steps S11 to S2131.

[0063] Step S11, obtaining the current electric control stage of the door.

[0064] Step S103, in the case that the current electric control stage of the door includes the electric closing stage, obtaining the door state information in the electric closing stage and obtaining the triggering condition of the door anti-pinch mode.

[0065] The door state information includes a door movement speed and / or a door position.

[0066] The triggering condition of the door anti-pinch mode is to determine whether the door anti-pinch mode is triggered.

[0067] Step S2131, in the case that 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, the door is controlled to switch from the electric control mode to the manual assist mode. In the manual assist mode, the current door movement speed under the manual action is used to provide assist for the door movement.

[0068] The door movement speed here includes the direction of the door movement speed. The direction of the door movement speed is used to determine whether the door moves in the opening direction.

[0069] In some embodiments, the door state information comprises a door movement speed. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door movement speed indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode. According to the direction of the door movement speed, it can be determined whether the door moves in the opening direction. If the detected door movement speed indicates that the door moves in the opening direction, it means that the door movement is interfered by the user. The current user demand is inconsistent with the operation of the current anti-pinch braking stage. Therefore, at this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and optimize the user experience.

[0070] Further, in some embodiments, if the door movement speed indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door movement speed indicates that the door moves in the opening direction within a second preset time length, the control of switching the door 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 comprises a door position. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door position indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode. According to the change of the door position, it can be determined whether the door moves in the opening direction. If the detected door position indicates that the door moves in the opening direction, it means that the door movement is interfered by the user. The current user demand is inconsistent with the operation of the current anti-pinch braking stage. Therefore, at this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and optimize the user experience.

[0071] In some embodiments, if the door position indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door position indicates that the door moves in the opening direction within a second preset time length, the control of switching the door 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.

[0072] In some embodiments, the door state information comprises a door movement speed and a door position. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: 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, the control of switching the door from the electric control mode to the manual assist mode. Compared with the door movement speed and the door position as independent judgment basis, the combination of the door movement speed and the door position for jointly determining the timing of switching into the manual assist mode is beneficial to reduce the risk of misjudgment and further improve the accuracy of door control.

[0073] In some embodiments, if the door movement speed indicates that the door moves to the opening direction and the door position indicates that the door moves to the opening direction, the control of switching the door from the electric control mode to the manual assistance mode comprises: if the door movement speed indicates that the door moves to the opening direction in the second preset time length and the door position indicates that the door moves to the opening direction in the second preset time length, the control of switching the door 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.

[0074] In some embodiments, the execution stage of the door anti-pinch mode comprises a door anti-pinch reverse stage in which the door is reversely controlled to open after receiving a door anti-pinch mode starting instruction; the door state information in the anti-pinch reverse stage comprises 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, the control of switching the door from the electric control mode to the manual assistance mode comprises: if the difference between the door state information and the corresponding state in the second set state change condition is greater than the second difference threshold value, the control of switching the door from the electric control mode to the manual assistance mode in the case that the current execution stage of the door anti-pinch mode is the anti-pinch reverse stage. The second set state change condition comprises a second corresponding relationship between time and the door state information. In the electric control mode, there is a specific second corresponding relationship between time and the door state information during the anti-pinch reverse stage. Taking the start of the vehicle door opening as the time starting point, the door state information changes according to the specific second corresponding relationship until the door is completely opened, reaching the time ending point. If the difference between the actual door state information and the corresponding state information in the second set state change condition is greater than the second difference threshold value in the electric door opening stage, it indicates that the user's control demand for the door at this time does not conform to the theoretical operation mode of the electric control mode, and it indicates that the actual operation situation is disturbed by additional human force. At this time, the manual assistance mode is switched in, which is beneficial to improve the accuracy of door control and thus optimize the user experience.

[0075] The present application provides an embodiment to make a more specific description of the vehicle door control method at this time. As shown in Figure 6 The vehicle door control method comprises steps S11 to S2132.

[0076] Step S11, obtaining the current electric control stage of the door.

[0077] Step S103, in the case that the current electric control stage of the door comprises the electric door closing stage, obtaining the door state information in the electric door closing stage and obtaining the triggering condition of the door anti-pinch mode.

[0078] The door state information comprises the door movement speed and / or the door position.

[0079] A triggering condition of the door anti-pinch mode is obtained, i.e., whether the door anti-pinch mode is triggered is determined.

[0080] In the step S2132, if the difference between the door state information and the corresponding state in the second set state change condition is greater than the second difference threshold, the door is switched from the electric control mode to the manual assist mode when the door anti-pinch mode is triggered and the current execution stage of the door anti-pinch mode is the anti-pinch reversing stage. The second set state change condition includes a second corresponding relationship between time and the door state information. In the manual assist mode, the assist force for the door movement is provided according to the current door movement speed under the manual action.

[0081] In some embodiments, the door state information includes the door movement speed, and the second set state change condition includes a second set speed change condition. If the difference between the door state information and the corresponding state in the second set state change condition is greater than the second difference threshold, the door is switched from the electric control mode to the manual assist mode, including: if the difference between the door movement speed and the corresponding movement speed in the second set speed change condition is greater than the second speed difference threshold, the door is switched from the electric control mode to the manual assist mode. Here, the second set speed change condition includes a corresponding relationship between time and the door movement speed. Specifically, it can be embodied in the form of a change curve containing time and door movement speed. The corresponding movement speed here refers to the movement speed at the same time. Specifically, in the implementation process, the target door movement speed corresponding to the current time is determined according to the second set speed change condition, the difference between the current actual door movement speed and the target door movement speed is calculated, and then it is judged 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 demand for the door body at this time does not conform to the theoretical operation mode of the electric control mode, which means that the actual operation condition is disturbed by additional human force. At this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door body control, thereby optimizing the user experience.

[0082] In some embodiments, the door state information comprises a door position, and the second set state change condition comprises a second set position change condition. If the difference between the door state information and the corresponding state information in the second set state change condition is greater than the second difference threshold, the door is controlled 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 second set position change condition is greater than the second position difference threshold, the door is controlled to switch from the electric control mode to the manual assistance mode. Here, the second set position change condition comprises a corresponding relationship between time and the door position. It can be embodied in the form of a change curve containing time and the door position. In the implementation process, the target door position corresponding to the current time is determined according to the second set position change condition, the difference between the current actual door position and the target door position, i.e. the distance between the actual door position and the target door position, is calculated, and then it is judged whether the difference is greater than the second distance difference threshold. If the difference is greater than the second distance difference threshold, it means that the user's control demand for the door body at this time does not conform to the theoretical operation mode of the electric control mode, and it means that the actual operation condition has been disturbed by additional human force. At this time, the manual assistance mode is switched in, which is beneficial to improve the accuracy of door body control, thereby optimizing the user experience.

[0083] In some embodiments, the door state information comprises a door position, and the second set state change condition comprises a second set position change condition. If the difference between the door state information and the corresponding state information in the second set state change condition is greater than the second difference threshold, the door is controlled 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 second set position change condition is greater than the second position difference threshold, the door is controlled to switch from the electric control mode to the manual assistance mode. Here, the second set position change condition comprises a corresponding relationship between time and the door position. It can be embodied in the form of a change curve containing time and the door position. In the implementation process, the target door position corresponding to the current time is determined according to the second set position change condition, the difference between the current actual door position and the target door position, i.e. the distance between the actual door position and the target door position, is calculated, and then it is judged whether the difference is greater than the second distance difference threshold. If the difference is greater than the second distance difference threshold, it means that the user's control demand for the door body at this time does not conform to the theoretical operation mode of the electric control mode, and it means that the actual operation condition has been disturbed by additional human force. At this time, the manual assistance mode is switched in, which is beneficial to improve the accuracy of door body control, thereby optimizing the user experience.

[0084] In some embodiments, the current electric control phase includes a door closing brake phase in which the door is controlled to stop closing during the electric door closing process. That is, the phase after the electric door closing phase is interrupted by the user input door opening interrupt instruction. The door state information in the door closing brake 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 door is switched from the electric control mode to the manual assist mode, including: if the door state information indicates that the door moves in the opening direction when the current electric control phase is the door closing brake phase, the door is switched from the electric control mode to the manual assist mode. In the conventional door closing brake phase, 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 disturbed by the user. The current user demand does not match the operation of the current door closing brake phase. At this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and thus optimize the user experience.

[0085] The present application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. As shown in Figure 7 The door control method of the vehicle includes steps S111 to S126.

[0086] Step S11, obtaining the current electric control phase of the door.

[0087] Step S104, obtaining the door state information in the door closing phase when the current electric control phase of the door is the door closing brake phase.

[0088] The door state information here includes the door movement speed and / or the door position.

[0089] Step S214, if the door state information indicates that the door moves in the opening direction, the door is switched from the electric control mode to the manual assist mode; wherein in the manual assist mode, the current door movement speed under the manual action is used to provide assist force for the door movement.

[0090] The door movement speed here includes the direction of the door movement speed. The direction of the door movement speed is used to determine whether the door moves in the opening direction.

[0091] In some embodiments, the door state information comprises a door movement speed. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door movement speed indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode. According to the direction of the door movement speed, it can be determined whether the door moves in the opening direction. If the detected door movement speed indicates that the door moves in the opening direction, it means that the door movement is disturbed by the user. The current user demand is inconsistent with the operation of the current door closing brake stage. Therefore, at this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and optimize the user experience.

[0092] Further, in some embodiments, if the door movement speed indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door movement speed indicates that the door moves in the opening direction within a second preset time length, the control of switching the door 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 comprises a door position. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door position indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode. According to the change of the door position, it can be determined whether the door moves in the opening direction. If the detected door position indicates that the door moves in the opening direction, it means that the door movement is disturbed by the user. The current user demand is inconsistent with the operation of the current door closing brake stage. Therefore, at this time, the manual assist mode is switched in, which is beneficial to improve the accuracy of door control and optimize the user experience.

[0093] In some embodiments, if the door position indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: if the door position indicates that the door moves in the opening direction within a second preset time length, the control of switching the door 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.

[0094] In some embodiments, the door state information comprises a door movement speed and a door position. If the door state information indicates that the door moves in the opening direction, the control of switching the door from the electric control mode to the manual assist mode comprises: 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, the control of switching the door from the electric control mode to the manual assist mode. Compared with the door movement speed and the door position as independent judgment basis, the combination of the door movement speed and the door position to jointly determine the timing of switching into the manual assist mode is beneficial to reduce the risk of misjudgment and further improve the accuracy of door control.

[0095] 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, the control of switching the door from the electric control mode to the manual assistance mode comprises: if the door movement speed indicates that the door moves in the opening direction in the second preset time length, and the door position indicates that the door moves in the opening direction in the second preset time length, the control of switching the door 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.

[0096] In some embodiments, the electric control phase of the door in the movement process includes a door opening braking phase in the electric door opening process, in which the door is controlled to stop continuing to open. That is, the phase after the electric door opening phase is interrupted due to the existence of an obstacle, or the phase after the electric door opening phase is interrupted due to the user inputting a door opening suspension instruction. 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 in the current control phase, the control of switching the door from the electric control mode to the manual assistance mode comprises: if the door state information is greater than the historical door state information before the first preset time length in the case that the current control phase is the door opening braking phase, the control of switching the door from the electric control mode to the manual assistance mode. In the door opening braking phase, the door movement speed should show a downward trend, and the door movement acceleration should change to a reverse negative value. If the door state information in the door opening braking phase is greater than the historical door state information before the first preset time length, it indicates that the door opening braking phase is disturbed by additional human power. At this time, the manual assistance mode is switched in, which is beneficial to improve the accuracy of door control and thus optimize the user experience. It should be noted that the acceleration takes the opening direction of the door as the positive direction. In the size judgment process between the door state information and the historical door state information before the first preset time length, the direction of the acceleration should be considered.

[0097] The present application provides an embodiment to make a more specific description of the door control method of the vehicle at this time. As shown in Figure 8 The door control method of the vehicle comprises steps S11 to S213.

[0098] Step S11, obtaining the current electric control phase of the door.

[0099] Step S105, obtaining the door state information in the door opening braking phase in the case that the current electric control phase of the door is the door opening braking phase.

[0100] Here, the door state information includes the door movement speed and / or the door movement acceleration.

[0101] In step S215, if the door state information is greater than the historical door state information before the first preset time length, the door is controlled to switch from the electric control mode to the manual assist mode. In the manual assist mode, the current door movement speed under manual action is used to provide assist for the door movement.

[0102] In some embodiments, the door state information includes a door movement speed. If the door state information is greater than the historical door state information before the first preset time length, the door is controlled to switch from the electric control mode to the manual assist mode, including: if the door movement speed is greater than the historical door movement speed before the first preset time length, the door is controlled to switch from the electric control mode to the manual assist mode. In the door opening braking process, the door movement speed does not decrease but increases, so that the user interference can be accurately determined, and accurate door control is achieved.

[0103] In some embodiments, the door state information includes a door movement acceleration. If the door state information is greater than the historical door state information before the first preset time length, the door is controlled to switch from the electric control mode to the manual assist mode, including: if the door movement acceleration is greater than the historical door movement acceleration before the first preset time length, the door is controlled 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 in the process is more obvious. Here, the acceleration is used as the judgment basis, which is beneficial to improve the judgment accuracy of the manual assist mode switching time.

[0104] In some embodiments, the door state information includes a door movement speed and a door movement acceleration. If the door state information is greater than the historical door state information before the first preset time length, the door is controlled to switch from the electric control mode to the manual assist mode, including: if the door movement speed is greater than the historical door movement speed before the first preset time length, and the door movement acceleration is greater than the historical door movement acceleration before the first preset time length, the door is controlled 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 basis, combining the door movement acceleration and the door movement speed to jointly judge the manual assist mode switching time is beneficial to reduce the risk of misjudgment and further improve the accuracy of door control.

[0105] The application provides a door control system of a vehicle, including one or more processors, which are used to implement the door control method of the vehicle.

[0106] The application also provides a vehicle, including a door and the door control system of the vehicle, which is used to control the door.

[0107] In the description of the application, it needs to be understood that the terms "first", "second" and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

Claims

1. A method for controlling vehicle doors, characterized in that, include: Obtain current door status information, which includes at least one of door movement speed, door movement acceleration, door movement distance, and door position; If the door status information meets the switching conditions, control the door to switch from electric control mode to manual power assist mode; In the manual assistance mode, assistance is provided to the door movement based on the current door movement speed under manual operation; The electric control mode includes multiple electric control stages, and the control method further includes: Obtain the current electric control stage of the door among the multiple electric control stages; If the door status information meets the switching conditions, controlling the door to switch from electric mode to manual power assist mode includes: If the door status information meets the switching conditions under the current electric control stage, control the door to switch from electric control mode to manual power assist mode; The current electric control phase includes the door opening braking phase during the electric door opening process, in which the door is controlled to stop opening further; the door status information during the door opening braking phase includes the door movement speed and the door movement acceleration. If the door status information meets the switching conditions under the current electric control stage, control the door to switch from electric control mode to manual power assist mode, including: If the current electric control phase is the door opening and braking phase, and the door status information is greater than the historical door status information before a first preset time period, then the door is controlled to switch from electric control mode to manual assistance mode.

2. The control method according to claim 1, characterized in that, Obtaining the current door status information includes: When the current electric control phase of the door indicates that the door is in motion, the current door movement speed and / or door position are obtained.

3. The door control method according to claim 2, characterized in that, The electric control phase that characterizes the door in motion includes the electric door opening phase in which the door is automatically opened by electric drive. If the door status information meets the switching conditions under the current electric control stage, control the door to switch from electric control mode to manual power assist mode, including: When the current electric control phase is the electric door opening phase, if the difference between the door status information and the corresponding status information in the first set state change situation is greater than the first difference threshold, then the door is controlled to switch from electric control mode to manual assistance mode. The first set state change includes a first correspondence between time and the door state information.

4. The door control method according to claim 2, characterized in that, The electric control phase that characterizes the door in motion includes the electric closing phase in which the door is automatically closed by electric drive. If the door status information meets the switching conditions under the current electric control stage, control the door to switch from electric control mode to manual power assist mode, including: If the current electric control phase is the electric door closing phase, then the triggering status of the door anti-pinch mode is obtained. When the door anti-pinch mode is triggered, if the door status information meets the switching conditions under the current execution stage of the door anti-pinch mode, the door is controlled to switch from electric control mode to manual assistance mode.

5. The door control method according to claim 4, characterized in that, The execution phase of the door anti-pinch mode includes an anti-pinch braking phase in which the door is controlled to stop closing after receiving the door anti-pinch mode activation command; If the door status information meets the switching conditions for the current execution stage of the door anti-pinch mode, control the door to switch from electric control mode to manual assistance mode, including: When the current execution phase of the door anti-pinch mode is the anti-pinch braking phase, if the door status information indicates that the door is moving in the opening direction, the door is controlled to switch from electric control mode to manual assistance mode.

6. The door control method according to claim 4, characterized in that, The execution phase of the door anti-pinch mode includes an anti-pinch reversal phase in which the door is controlled to reverse and open after receiving the door anti-pinch mode activation command; the door status information during the anti-pinch reversal phase includes the door movement speed and / or door position. If the door status information meets the switching conditions for the current execution stage of the door anti-pinch mode, control the door to switch from electric control mode to manual assistance mode, including: When the current execution stage of the door anti-pinch mode is the anti-pinch reversal stage, if the difference between the door status information and the corresponding state in the second set state change situation is greater than the second difference threshold, the door is controlled to switch from electric control mode to manual power assist mode. The second set state change includes a second correspondence between time and the door state information.

7. The door control method according to claim 2, characterized in that, The electric control phase characterizing the door in motion includes the closing braking phase during the electric closing process, in which the door is controlled to stop closing. If the door status information meets the switching conditions under the current control stage, control the door to switch from electric control mode to manual power assist mode, including: When the current control phase is the door closing and braking phase, if the door status information indicates that the door is moving in the opening direction, the door is controlled to switch from electric control mode to manual assistance mode.

8. The control method according to claim 1, characterized in that, Obtaining the current door status information includes: When the current electric control phase of the door represents the door being stationary, the current door movement speed and / or the distance the door has moved are obtained.

9. The door control method according to claim 8, characterized in that, The electric control phase that characterizes the door as being stationary includes the stationary phase in which no electric door opening or closing command is received. If the door status information meets the switching conditions under the current electric control stage, control the door to switch from electric control mode to manual power assist mode, including: If the door status information is greater than a set threshold when the current electric control phase is the stationary phase, the door will be controlled to switch from electric control mode to manual assistance mode.

10. A vehicle door control system, characterized in that, It includes one or more processors for implementing the vehicle door control method as described in any one of claims 1-9.

11. A vehicle, characterized in that, include: Car door; and The vehicle door control system as described in claim 10, wherein the vehicle door control system is used to control the vehicle door.

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