Vehicle door manual power-assisted control method, device, equipment, medium and product

Abstract

The invention relates to the technical field of automatic auxiliary driving, and discloses a manual power-assisted control method, device and equipment for a vehicle door, a medium and a product, and the method comprises the following steps: obtaining real-time motion state data of the vehicle door; when the motion state data meets the manual power assisting condition, manual power assisting control is triggered; in response to the manual power-assisted control instruction, real-time power-assisted parameters of the driving motor are determined according to the real-time motion state data; the real-time power assisting parameters are determined according to the external environment, the vehicle posture, the current vehicle door position, the vehicle door speed and the accelerated speed. When the automobile electric side door is manually pushed and pulled, electric assistance can be provided according to the motion state of the automobile door, the blocking feeling is reduced, and the experience of manually pushing and pulling the automobile door is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive door control, and particularly relates to a manual door assistance control method, device, equipment, medium and product. Background Art

[0002] The statements in this part merely provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] At present, when the electric sliding side door is driven by a motor, it generally opens and closes at a relatively slow and uniform speed as a whole, and cannot flexibly adjust the opening speed and stop position of the door according to the user's intention. In some scenarios, such as bad weather or getting on the vehicle by the roadside, users need to get on the vehicle more quickly, and waiting for the door to open and close automatically obviously takes a lot of time, which cannot meet the user's needs. Without motor interference, there will be a large sense of blockage when opening and closing the door manually, that is, the existing electric and manual door opening or closing methods cannot meet the user's flexible adjustment requirements for the opening size and speed of the door. Summary of the Invention

[0004] To overcome the deficiencies of the above-mentioned prior art, the present invention provides a manual door assistance control method, device, equipment, medium and product, which is used to provide appropriate electric assistance in a timely manner when the user manually pushes or pulls the door, reduce the sense of blockage, reduce the control difficulty of the door opening degree and speed, and make it more in line with the user's intention.

[0005] To achieve the above object, the first aspect of the present invention provides a manual door assistance control method, including the following steps:

[0006] Obtain the real-time motion state data of the door;

[0007] When the motion state data meets the manual assistance condition, trigger the manual assistance control;

[0008] In response to the manual assistance control instruction, determine the real-time assistance parameter of the drive motor according to the real-time motion state data; the real-time assistance parameter is determined according to the current door position, door speed and acceleration.

[0009] In some embodiments, during the movement of the door, the real-time operating parameters of the drive motor are also obtained, including the rotation direction and the motor running mileage; according to the rotation direction and the motor running mileage of the drive motor, the current speed and acceleration of the door are calculated.

[0010] In some embodiments, the method for determining whether the motion state data meets the manual assistance condition is: set a speed threshold and an acceleration threshold, and when both the door movement speed and acceleration meet the set thresholds, it is considered that the user has the intention to manually open / close the door.

[0011] In some embodiments, determining whether the motion state data meets the manual assistance condition further includes determining whether the door position is within the manual assistance area.

[0012] In some embodiments, the real-time assistance parameter is the duty cycle operation parameter of the drive motor; the relationship between the compensated motor operation parameter S and the actual motor operation parameter M is:

[0013]

[0014] where C1 and C2 are system parameters, and x and y are the acceleration coefficient and deceleration coefficient respectively; the acceleration coefficient and deceleration coefficient are determined according to the external environment, vehicle attitude, door position, speed and acceleration.

[0015] In some embodiments, after obtaining the compensated duty cycle operation parameter of the drive motor, a compensation coefficient is calculated and corrected based on the current health state of the motor.

[0016] A second aspect of the present invention provides a door manual assistance control device, including:

[0017] A motion state monitoring module configured to obtain real-time motion state data of the door;

[0018] A manual assistance discrimination module configured to trigger manual assistance control when the motion state data meets the manual assistance condition;

[0019] A real-time assistance compensation module configured to, in response to a manual assistance control instruction, determine a real-time assistance parameter of the drive motor according to real-time motion state data; the real-time assistance parameter is determined according to the current door position, door speed and acceleration.

[0020] A third aspect of the present invention provides an electronic device, including a processor and a memory, and a computer instruction is stored on the memory. When the computer instruction is executed by the processor, the electronic device executes the method described above.

[0021] A fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method described above is implemented.

[0022] A fifth aspect of the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method described above is implemented.

[0023] The above one or more technical solutions are applied to the scenario where a user manually pushes or pulls a car side door. By real-time monitoring the movement state of the door to reflect the change in the force exerted by the user on the door, and compensating the operating parameters of the drive motor according to this movement state, the problem of strong blocking feeling when the user manually pushes or pulls an electric side door is effectively solved, the control difficulty of the door opening degree and speed is reduced, and the movement of the door during manual pushing or pulling can match the user's intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings forming a part of this invention are used to provide a further understanding of the invention. The schematic embodiments and descriptions thereof of the invention are used to explain the invention and do not constitute an improper limitation to the invention.

[0025] Figure 1 It is an example application scenario of the door manual assistance control method in an embodiment of the present invention;

[0026] Figure 2 It is a flowchart of the door manual assistance control method in an embodiment of the present invention;

[0027] Figure 3 It is a program module architecture diagram of the door manual assistance control device in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0029] In the description of the embodiments of the present application, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on".

[0030] As described in the background art, currently, when the electric push-pull side door is driven by a motor, it generally opens and closes at a relatively slow and uniform speed, and cannot flexibly adjust the opening speed and stop position of the door according to the user's intention. In some scenarios, such as bad weather or getting on the vehicle by the roadside, users need to get on the vehicle more quickly, and waiting for the door to open and close automatically obviously takes a lot of time, which cannot meet the user's needs. To solve this problem, the prior art proposes that during the stage of uniform opening or closing of the door, certain measures can be taken, such as pressing a specified area on the side door frame, to intervene in the opening speed, and different opening speeds are associated with the length of the pressing time. In essence, it is still an electric door opening, and still cannot meet the user's flexible adjustment requirements for the opening size and speed of the door. While manual door opening seems to be able to meet the user's flexible adjustment requirements for the opening size and speed of the door, however, it should be noted that when the door is opened and closed without motor drive, a relatively large force is required, and users will feel a relatively large sense of blockage. It is very difficult to control the opening and closing of the door with an appropriate force, and the force is uneven, making it difficult to control the opening size and speed of the door.

[0031] Figure 1 An example environment in which the method of one or more embodiments of the present invention is applied is shown. In the example environment, an electric side door controller, a gyroscope sensor, and an electric side door drive motor are included. The gyroscope sensor is provided on the electric side door and is connected to the electric side door controller for detecting the speed and acceleration of the door and transmitting them to the electric side door controller. Exemplarily, the gyroscope sensor can be provided on the control board of the electric side door controller, and the electric side door controller is provided on the electric side door. An angle sensor is also provided on the drive motor shaft. When the door is pushed or pulled, the motor shaft rotates. When the angle sensor senses an angle change, it transmits a signal to the electric side door controller to control the motor to be powered on, and then obtains the motor operation parameters. Based on the motor operation parameters and / or the gyroscope sensor signal, the assist threshold condition is compared and judged in real time, and the enabling and exiting of the electric assist are controlled in real time. After the condition recognition is passed, according to the input, specific motor parameters are obtained by using a specific algorithm, and then the motor is driven in real time to execute the corresponding output.

[0032] Figure 2The flowchart of an exemplary method 200 for manual power assist control of a vehicle door provided by one or more embodiments of the present invention is shown, which is applied to an electric side door controller. When a user manually pushes or pulls the vehicle door, by monitoring the real-time position of the door, the acceleration and angular velocity and other motion states brought by the manual pushing and pulling force, it is determined whether the power assist condition is met, and then the electric power assist is intervened in a timely manner, so that the process of the user manually opening or closing the door is smoother. And throughout the process, the movement of the door is based on the force given by the user, and the speed and opening degree can conform to the user's intention, and can adapt to the personalized needs of the user. It should be noted that the method 200 is applied to the working condition of manually opening and closing the vehicle door. Therefore, it is necessary to identify that the electric side door is in the manual operation mode before the method 200 can be executed. Exemplarily, an automatic door opening and closing trigger button can be set on the vehicle key / door / central control. When the user operates through the button, the automatic opening and closing of the electric side door is executed. When there is no button operation and the door is directly pushed or pulled manually, it is regarded that the electric side door is in the manual operation mode, preventing crosstalk between other working conditions that do not require manual power assist and the manual power assist function. Based on this, in response to the confirmation of the manual operation mode of the electric side door, the method 200 is executed.

[0033] The method 200 is described in detail below. Specifically, the method 200 includes the following steps:

[0034] S201. Obtain the real-time motion state data of the vehicle door;

[0035] S202. When the motion state data meets the manual power assist condition, trigger the manual power assist control;

[0036] S203. In response to the manual power assist control instruction, determine the real-time power assist parameters of the drive motor according to the real-time motion state data; the real-time power assist parameters are determined according to the external environment, vehicle attitude, current vehicle door position, vehicle door speed and acceleration.

[0037] It can be understood that the movement of the vehicle door can be understood as the opening or closing of the vehicle door.

[0038] In step S201, the real-time monitoring data of the vehicle door motion state includes the speed and acceleration of the vehicle door motion. Monitoring the speed and acceleration of the vehicle door motion aims to identify the change in the force exerted by the user on the door, and based on this, to judge whether power assist is needed and how much power assist is needed.

[0039] The speed and acceleration can be calculated based on the real-time operation parameters of the motor, or detected by sensors provided on the vehicle door. It can be understood that it can also be obtained through both methods at the same time, and the reliability is determined by comparison. For example, when the data difference between the two is within the set range, the data is considered reliable.

[0040] Exemplarily, when the user manually pushes or pulls the car door, the movement of the car door will drive the motor. In step S101, real-time monitoring data of the operating parameters of the driving motor is also obtained. The operating parameters of the driving motor include the rotation direction and the motor running mileage. Specifically, real-time monitoring data of the signal period, Hall and other operating parameters of the driving motor is obtained. The rotation direction of the driving motor is determined according to the built-in Hall module of the motor. The forward and reverse rotations of the motor respectively show different Hall rising edge sequences. In addition to the Hall direction, the Hall count value within the cycle time also needs to be obtained, which is used to represent the motor running mileage within the cycle time. For example, the motor runs 5 Hall in 10 ms. Through the rotation direction and the motor running mileage within the signal period, the speed and acceleration of the car door are calculated.

[0041] Exemplarily, a gyroscope sensor is provided on the car door to sense the acceleration and angular velocity of the car door.

[0042] In step S202, the real-time monitoring data of the car door movement state is used as the opening judgment condition for the manual assistance control function. When the car door is stationary or moving at a very low speed, the user may not have the intention to perform manual operation, and the manual assistance function does not need to be enabled. Therefore, a speed threshold and an acceleration threshold are set. When both the movement speed and acceleration of the car door meet the set thresholds, it is considered that the user has the intention to manually open / close the car door, so as to ensure that the manual assistance function works under appropriate circumstances. It can be seen that the speed and acceleration of the electric side door are not only the necessary input parameters for assisting parameter adjustment, but also one of the thresholds for the manual assistance function.

[0043] In addition, generally speaking, during the process of pushing the car door open, when the opening degree of the car door is close to being fully opened, or during the process of pulling the car door closed, when the closing degree of the car door is close to being fully closed, due to the inertia of the car door opening and closing, the closer it is to being fully opened or fully closed, the less the need for additional assistance. Therefore, a manual assistance action area is also set. The manual assistance action area is the area range where the manual assistance control is allowed to be triggered. In some embodiments, the manual assistance action area is defined by the car door opening range. For example, the width of the car door is 1.2 m, and the manual assistance action area is set as [0.2 m, 1 m], that is, when the car door opening is [0.2 m, 1 m], the car door is in the manual assistance action area. In step S202, first judge whether the car door position is in the manual assistance action area, and then judge whether the movement state monitoring data meets the manual assistance condition. When both are satisfied, the manual assistance control is triggered.

[0044] In actual use, when the user performs an opening or closing operation on the door, the force acting on the door is uneven. Moreover, the door control system has a certain lag in responding to the user's intention to open or close the door (such as accelerating or decelerating). For example, when the door is closed and the user wants to open the door, a relatively large force needs to be applied at this time, and the speed will increase relatively slowly. The system will also have a lag in sensing the user's need to accelerate the opening of the door. Therefore, in step S203, a boosting model is constructed, and based on the real-time motion state data, the real-time boosting parameters of the drive motor are determined according to the boosting model.

[0045] During the manual boosting process, the system needs to adjust the magnitude and direction of the boost according to the real-time motion state of the door to achieve the best boosting effect. Exemplarily, by analyzing the relationship between the operating parameters output by the motor and the door motion state parameters, the variation law of the motor operating parameters with the door speed and acceleration can be obtained. Accordingly, the boosting parameter is regarded as the adjustment parameter of the drive motor operating parameter. Exemplarily, the operating parameter includes the rotational speed adjustment parameter. According to the actual rotational speed of the motor corresponding to different speed and acceleration combinations of the door in the electric drive state, and then through a calibration test, the gap between the door motion state brought by the user's manual push and pull and the desired door motion state is determined, and the boost required for the motor to rotate is determined accordingly. There are many factors affecting this boost. We regard the external environment, vehicle attitude, the position where the door is currently located (door opening), the speed and acceleration brought by the user's manual push and pull, etc. as factors for assisting in judging the real-time boost.

[0046] External environmental factors such as temperature, humidity, and wind. In a low-temperature environment, due to changes in materials such as the sealing strip, the door will fit more tightly with the vehicle body, and the resistance will increase. High humidity may cause the door sealing strip to adsorb moisture and expand, increasing the contact area with the vehicle body and increasing the resistance. The vehicle attitude mainly refers to the tilted attitude of the vehicle, such as the opening resistance brought by the gravity of the door caused by a ramp. The speed and acceleration of the electric side door reflect the current motion trend of the door, thereby reflecting the magnitude of the force exerted by the user on the door. For example, when the door is accelerating to open, the system may need to increase the boost to help the user complete the opening action more easily; while when the door is decelerating to close, the system may need to reduce the boost to prevent the door from closing too quickly. Since there are many influencing factors involved, it is difficult to guarantee the accuracy of directly establishing the relationship formula between the operating parameters and each influencing factor. Even if a relationship formula that conforms to a certain vehicle model is established, when changing to another vehicle model, the relationship formula needs to be recalibrated. Based on this, in some embodiments, a relationship formula between the compensated motor operating parameter and the current motor operating parameter is established, where two influencing variables, namely the acceleration coefficient and the deceleration coefficient, are set, and the relationship between these two coefficients and each influencing factor is established, simplifying the correction difficulty during calibration for different vehicle models and improving the universality of the model.

[0047] Exemplarily, the relationships between the acceleration coefficient x, the deceleration coefficient y, and the external environment parameters, vehicle attitude, door position, speed, and acceleration are established respectively. Generally speaking, when the door opening is very small, the speed is very small, and the acceleration is very large, it means that the user wants to open the door, and a larger acceleration coefficient is required. The acceleration coefficient increases, and the deceleration coefficient decreases; when the door is already in the process of opening and the opening is at a medium level, the movement of the door has inertia, and when it is sensed that the door acceleration increases, there is no need for excessive compensation, and the values of the acceleration coefficient and the deceleration coefficient are relatively balanced; when the door opening is very large, the speed is relatively high, and the reverse acceleration is very large, it means that the user wants to stop the door. At this time, a larger deceleration coefficient is required, the deceleration coefficient increases, and the acceleration coefficient decreases. By controlling the motor output through the two parameters of the acceleration coefficient and the deceleration coefficient, the motor output can be made more sensitive to the change in the force on the door, the response speed of the door position and speed adjustment can be faster, the real-time performance of the manual assistance can be improved, and the lag effect caused by factors such as the response time of the sensor, the delay of signal processing, or the inertia of the mechanical system can be reduced. Exemplarily, the relationships between the acceleration coefficient and the deceleration coefficient and various influencing factors can be established by methods such as linear regression, nonlinear regression, or neural network models.

[0048] An example relationship between the motor operating parameters after compensation and the current motor operating parameters is as follows:

[0049]

[0050] Among them, C1 and C2 are system parameters and can be regarded as constants. x and y are the acceleration coefficient and the deceleration coefficient respectively, and M is the current motor operating parameter.

[0051] The above-mentioned assistance needs to be compensated by the drive motor. The duty cycle and current are the power parameters of the motor. The duty cycle ranges from 1 to 100, and the current value is relatively small. It can be amplified to improve the accuracy. For example, it is amplified 100 times to measure the current power output of the motor. Exemplarily, by obtaining the proportion of the energization time in a pulse cycle relative to the total time and the current during the overall energization, the power output status of the motor at this time can be determined. The relationship between the motor output power and the motor speed increment can be established. Then, when the required motor speed increment is determined based on the above method, an appropriate power is output for adjustment.

[0052] Based on the pre-calibrated relationships between the acceleration coefficient, deceleration coefficient, and the door position, speed, and acceleration, the system can quickly adjust the door's motion parameters after sensing the door's motion state to compensate for this lag. That is, it is more sensitive to changes in the force exerted by the user on the door. According to the changes in the force when the user manually opens or closes the door, it provides adaptive assistance. While maintaining the user's manual operation of opening and closing the door, it reduces the sense of blockage, making the actual opening degree and actual speed of the door more in line with the user's intention, thus improving the user's operation experience.

[0053] It can be understood that the operating states and health states of the motors of the same vehicle may vary in different scenarios, and there are also differences in the motor models and the hardware structure settings related to door driving between different vehicle models. Therefore, when applied in different scenarios or different vehicle models, the above relationships need to be adjusted as required. Thus, a compensation coefficient is also set. The compensated motor operating parameters obtained above are regarded as the theoretical values, and the compensated motor operating parameters = theoretical value + compensation coefficient. The above compensation coefficient is affected not only by input signals such as the door motion state data obtained above but also by various system calibration parameters within the software.

[0054] In some embodiments, the compensation coefficient includes an environmental compensation coefficient and a system compensation coefficient. Without considering the change in vehicle model, for the same vehicle, the environmental compensation coefficient needs to be calculated in combination with the environment. For example, when the motor temperature is relatively high, the compensation coefficient is appropriately reduced to avoid adverse effects on the motor operation. Exemplarily, the motor temperature, vibration, and environmental temperature and humidity are used as factors affecting the motor health state to establish a motor health state evaluation model. Based on the motor health state evaluation model, the motor health state is evaluated in real time to obtain a score value, and the compensation coefficient is adjusted based on the score value. The lower the health state score value, the smaller the compensation coefficient. Exemplarily, the training of the motor health state evaluation model can be performed based on existing machine learning models, such as support vector machines, random forests, or neural networks. Collect the motor operation data in normal and faulty states and label them: the normal state is 1, and the faulty state is 0 to obtain a training data set. The prediction probability of the model is used as the health state score. By correcting the compensation coefficient in combination with the motor health state, the protection of the drive motor is achieved, which helps to extend the service life of the system.

[0055] It can be understood that when the vehicle model changes or relevant hardware such as the door and motor changes, the system compensation coefficient needs to be obtained through calibration.

[0056] The execution process of the above method 100 requires the assistance of a drive motor. However, the drive motor may malfunction and fail to provide assistance. To avoid executing the above method when the motor fails, in some embodiments, the operating state data of the drive motor, such as current signals, is also obtained in real time. Whether the drive motor has a fault is judged based on the operating state data. When a fault occurs, even if the manual operation mode is recognized, the above method 100 is not executed, thereby realizing the protection against abnormal conditions of the electric side door system.

[0057] Taking the example of a user manually opening the door, when manually opening the door, the electric side door controller will read the signal parameters of the signal acquisition module, such as the motor movement direction, motor duty cycle, Hall direction, Hall value, etc. The signal parameters are processed twice by the controller software and then conditionally identified in the manual assistance module. If the conditions for enabling the manual assistance function are met, the motor direction and motor output power required by the drive module are calculated based on the obtained signal parameters, the pre-calibrated acceleration coefficient, deceleration coefficient, and compensation coefficient calculated in combination with environmental factors, etc. Then it transfers to the assisted drive to control the drive motor to make a reasonable output, and the manual door opening assistance can be realized.

[0058] The above assistance control process not only considers the change in the force exerted by the user on the door and responds in a timely manner, but also considers the possible effects of environmental factors, system factors, etc. on the accuracy of the assistance function or the health state of the motor, so that the tuning result can better adapt to the complex operating conditions, external environment, and door speed changes during manual assistance. Moreover, while meeting the user's needs, it also meets the safety requirements.

[0059] The signal acquisition covers multiple types of signals such as the motor, door acceleration and angular velocity, door fault information, CAN bus signal, etc., making the input system of the determined assistance tuning algorithm more robust and reliable. The manual assistance tuning algorithm and compensation strategy is a high-performance, high-integration, and high-real-time motor control method. The tuning result obtained through the input system drives the motor and can better adapt to the complex operating conditions, external environment, and door speed changes during manual assistance. In summary, this technical solution can not only reflect a good manual assistance effect through the precise real-time control of the motor, but also ensure no safety hazards according to the fault information, and can meet the control requirements of the current intelligent door manual assistance.

[0060] Figure 3The program module diagram of the door manual assistance control device 300 is shown, including: a motion state monitoring module configured to obtain real-time motion state data of the door; a manual assistance determination module configured to trigger manual assistance control when the motion state data meets the manual assistance condition; a real-time assistance compensation module configured to determine real-time assistance parameters of the drive motor according to the real-time motion state data in response to a manual assistance control instruction; the real-time assistance parameters are determined according to the current door position, door speed and acceleration.

[0061] In addition, one or more embodiments of the present invention further provide an electronic device, which can be used to implement the door manual assistance control method in the above embodiments. The electronic device includes one or more processors, one or more memories coupled to the processor, and a communication module coupled to the processor.

[0062] The memory may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, at least one of the following: Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), flash memory, hard disk, Compact Disc (CD), Digital Versatile Disc (DVD), or other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, at least one of the following: Random Access Memory (RAM), or other volatile memories that do not persist during a power outage duration. The computer program may be stored in the ROM. When the processor executes the computer program, the above door manual assistance control method is implemented.

[0063] In some embodiments, the program may be tangibly embodied in a computer-readable medium, which may be included in the device (such as in the memory) or other storage devices accessible by the device. The program can be loaded from the computer-readable medium into the RAM for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk. The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the above door manual assistance control method is implemented.

[0064] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a server or a terminal, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial optical cable, optical fiber, digital subscriber line) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by the server or the terminal or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, and a magnetic tape, etc.), an optical medium (such as a digital video disk (DVD), etc.), or a semiconductor medium (such as a solid-state drive, etc.).

[0065] In addition, although the operations are depicted in a particular order, this should be understood as requiring that the operations be performed in the particular order shown or in a sequential order, or that all of the illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present application. Certain features described in the context of separate embodiments may also be implemented in combination in a single implementation. Conversely, the various features described in the context of a single implementation may also be implemented separately or in any suitable sub-combination in multiple implementations.

[0066] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A manual assist control method for a vehicle door, characterized in that, It includes the following steps: Obtain the real-time motion state data of the vehicle door; When the motion state data meets the manual assistance condition, trigger the manual assistance control; In response to the manual assistance control instruction, determine the real-time assistance parameters of the drive motor according to the real-time motion state data; the real-time assistance parameters are determined according to the external environment, vehicle attitude, current vehicle door position, vehicle door speed and acceleration.

2. The manual assist control method for a vehicle door according to claim 1, wherein During the movement of the vehicle door, also obtain the real-time operation parameters of the drive motor, including the rotation direction and the motor rotation mileage; calculate the current speed and acceleration of the vehicle door according to the rotation direction and the motor rotation mileage of the drive motor.

3. The manual power assist control method for vehicle door according to claim 1, characterized in that, The method for judging whether the motion state data meets the manual assistance condition is: set a speed threshold and an acceleration threshold, and when both the vehicle door movement speed and acceleration meet the set thresholds, it is considered that the user has the intention to manually open / close the vehicle door.

4. The manual assist control method for a vehicle door according to claim 3, wherein Judging whether the motion state data meets the manual assistance condition also includes judging whether the vehicle door position is in the manual assistance area.

5. The manual assist control method for a vehicle door according to claim 1, wherein The real-time assistance parameter is the drive motor operation parameter; the relationship between the compensated motor operation parameter S and the actual motor operation parameter M is: Wherein, C1 and C2 are system parameters, and x and y are the acceleration coefficient and the deceleration coefficient respectively; the acceleration coefficient and the deceleration coefficient are determined according to the external environment, vehicle attitude, vehicle door position, speed and acceleration.

6. The manual assistance control method for a vehicle door according to claim 5, wherein, After obtaining the compensated drive motor operation parameter, also calculate the compensation coefficient based on the current health state of the motor and perform correction.

7. A manual power assist control device for a vehicle door, characterized in that, It includes: A motion state monitoring module configured to obtain the real-time motion state data of the vehicle door; A manual assistance discrimination module configured to trigger the manual assistance control when the motion state data meets the manual assistance condition; A real-time assistance compensation module configured to determine the real-time assistance parameters of the drive motor according to the real-time motion state data in response to the manual assistance control instruction; the real-time assistance parameters are determined according to the current vehicle door position, vehicle door speed and acceleration.

8. An electronic device, comprising a processor and a memory, wherein computer instructions are stored on the memory, characterized in that When the computer instruction is executed by the processor, the electronic device is caused to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the program is executed by the processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 6 is implemented.

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