Vehicle door control method, vehicle, electronic device, medium and product

Abstract

The invention discloses a vehicle door control method, a vehicle, an electronic device, a computer readable storage medium and a computer program product. The method comprises the steps that when a target vehicle door is in an automatic opening and closing mode, the target vehicle door is controlled according to obtained driving electric parameters of the target vehicle door. Thus, by collecting and analyzing the target vehicle door driving electrical parameters in real time and combining logic control over the vehicle door automatic opening and closing mode, the external force action in the vehicle door movement can be recognized, the running speed of the vehicle door can be automatically increased or decreased according to the external force action, and therefore the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly relates to a method for controlling a vehicle door, a vehicle, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0002] In related technologies, the automatic opening / closing mode of vehicle doors often can only operate based on a preset speed. However, in this way, during the automatic opening / closing process of the vehicle doors, the running speed of the vehicle doors cannot be adjusted according to the actual needs of users, resulting in poor user experience. Summary of the Invention

[0003] The present application provides a method for controlling a vehicle door, a vehicle, an electronic device, a computer-readable storage medium, and a computer program product.

[0004] An embodiment of the present application provides a method for controlling a vehicle door, the method including:

[0005] When a target vehicle door is in an automatic opening / closing mode, controlling the target vehicle door according to the obtained driving electrical parameters of the target vehicle door.

[0006] In this way, when the target vehicle door is in the automatic opening / closing mode, the vehicle controls the target vehicle door according to the obtained driving electrical parameters of the target vehicle door. Thus, through real-time collection and analysis of the driving electrical parameters of the target vehicle door, combined with the logical control of the automatic opening / closing mode of the vehicle door, the external force acting on the vehicle door during movement can be identified, and the running speed of the vehicle door can be automatically increased or decreased according to the external force, thereby improving the user's driving experience.

[0007] In some embodiments, the target vehicle door includes a Hall sensor and a driving motor, the driving electrical parameters include the current number of Hall signals and the current driving current, the current number of Hall signals is monitored based on the Hall sensor, and the current driving current is monitored based on the current monitoring sensor of the driving motor.

[0008] In this way, the target vehicle door includes a Hall sensor and a driving motor, the driving electrical parameters include the current number of Hall signals and the current driving current, the current number of Hall signals is monitored based on the Hall sensor, and the current driving current is monitored based on the current monitoring sensor of the driving motor. Thus, accurate measurement of the running speed of the target vehicle door can be achieved based on the signal collection of the Hall sensor. Moreover, by monitoring the current number of Hall signals based on the Hall sensor and monitoring the current driving current based on the current monitoring sensor, the external force acting on the target vehicle door can be accurately measured, thereby achieving accurate control of the automatic opening / closing running speed of the target vehicle door.

[0009] In some embodiments, when the target vehicle door is in the automatic opening and closing mode, controlling the target vehicle door according to the acquired driving electrical parameters of the target vehicle door includes:

[0010] Determining the current running speed of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals;

[0011] Based on a preset running speed - drive current value fitting curve, determining the calibrated value of the current drive current according to the current running speed;

[0012] Determining the force state of the target vehicle door according to the current drive current and the calibrated value of the current drive current;

[0013] Controlling the target vehicle door according to the current running speed and the force state.

[0014] In this way, the vehicle determines the current running speed of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals. Then, based on the preset running speed - drive current value fitting curve, the vehicle determines the calibrated value of the current drive current according to the current running speed. Next, the vehicle determines the force state of the target vehicle door according to the current drive current and the calibrated value of the current drive current. Finally, the vehicle controls the target vehicle door according to the current running speed and the force state. In this way, after determining the current running speed of the target vehicle door, based on the preset running speed - drive current value fitting curve established in advance, the calibrated value of the current drive current is calculated. By performing differential operation and data analysis on the calibrated value and the measured value of the current drive current, the force state of the target vehicle door can be identified, so as to achieve precise control of the automatic opening and closing running speed of the target vehicle door.

[0015] In some embodiments, when the target vehicle door is in the automatic opening and closing mode, controlling the target vehicle door according to the acquired driving electrical parameters of the target vehicle door includes:

[0016] Determining the current running speed and the current deployed opening degree of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals;

[0017] Determining the calibrated value of the total change rate of Hall signals according to the current deployed opening degree;

[0018] Determining the force state of the target vehicle door according to the change rate of the current number of Hall signals and the calibrated value of the total change rate of Hall signals;

[0019] Controlling the target vehicle door according to the current running speed and the force state.

[0020] In this way, the vehicle determines the current running speed and the current deployment opening of the target door according to the current number of Hall signals and the calibrated number of Hall signals. Then, the vehicle determines the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening. Next, the vehicle determines the force state of the target door according to the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals. Finally, the vehicle controls the target door according to the current running speed and the force state. In this way, after determining the current deployment opening of the target door, and then determining the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening, through differential operation and data analysis of the calibrated value and the change rate of the current number of Hall signals, the force state of the target door can be identified, so as to realize the precise control of the automatic opening and closing running speed of the target door.

[0021] In some embodiments, when the target door is in the automatic opening and closing mode, controlling the target door according to the obtained driving electrical parameters of the target door includes:

[0022] Determining the current running speed and the current deployment opening of the target door according to the current number of Hall signals and the calibrated number of Hall signals;

[0023] Based on the preset running speed - drive current value fitting curve, determining the calibrated value of the current drive current according to the current running speed;

[0024] Determining the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening;

[0025] Determining the force state of the target door according to the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals;

[0026] Controlling the target door according to the current running speed and the force state.

[0027] In this way, the vehicle determines the current running speed and the current opening degree of the target door based on the current number of Hall signals and the calibrated number of Hall signals. Then, based on the preset running speed - drive current value fitting curve, the vehicle determines the calibrated value of the current drive current according to the current running speed. Next, the vehicle determines the calibrated value of the change rate of the total number of Hall signals according to the current opening degree. Subsequently, the vehicle determines the force state of the target door according to the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals. Finally, the vehicle controls the target door according to the current running speed and the force state. In this way, by jointly analyzing the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals, the force state of the target door can be accurately identified, avoiding misidentification, and thus achieving precise control of the automatic opening and closing running speed of the target door.

[0028] In some embodiments, determining the force state of the target door according to the current drive current and the calibrated value of the current drive current includes:

[0029] When the current drive current is less than the calibrated value of the current drive current, it is determined that the target door is subjected to a first acting force, and the first acting force is in the same direction as the movement direction of the target door;

[0030] When the current drive current is greater than the calibrated value of the current drive current, it is determined that the target door is subjected to a second acting force, and the second acting force is in the opposite direction to the movement direction of the target door.

[0031] In this way, when the current drive current is less than the calibrated value of the current drive current, the vehicle determines that the target door is subjected to a first acting force, and the first acting force is in the same direction as the movement direction of the target door. Then, when the current drive current is greater than the calibrated value of the current drive current, the vehicle determines that the target door is subjected to a second acting force, and the second acting force is in the opposite direction to the movement direction of the target door. In this way, by the deviation direction between the current drive current and the calibrated value of the current drive current, the force direction of the target door is distinguished, so that the abnormal situation of the automatic opening and closing of the door can be quickly responded to, improving the user's vehicle use experience.

[0032] In some embodiments, controlling the target door according to the current running speed and the force state includes:

[0033] When the target door is subjected to a first acting force, determine the duty cycle of the first target pulse signal, where the duty cycle of the first target pulse signal is greater than the duty cycle of the current pulse signal, and the duty cycle of the current pulse signal corresponds to the current drive current;

[0034] Control the target vehicle door according to the duty ratio of the first target pulse signal, wherein when the target vehicle door is opened and closed based on the duty ratio of the first target pulse signal, the first target running speed of the target vehicle door is greater than the current running speed.

[0035] In this way, when the target vehicle door is subjected to a first acting force, the vehicle determines the duty ratio of the first target pulse signal, where the duty ratio of the first target pulse signal is greater than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current driving current. Then, the vehicle controls the target vehicle door according to the duty ratio of the first target pulse signal. When the target vehicle door is opened and closed based on the duty ratio of the first target pulse signal, the first target running speed of the target vehicle door is greater than the current running speed. Thus, when it is determined that the target vehicle door is subjected to a first acting force in the same direction as the moving direction, it is confirmed that the user needs to increase the automatic opening and closing running speed of the vehicle door. The vehicle directly increases the output of the current driving current by increasing the duty ratio of the pulse signal, so that the motor torque is increased, and further the running speed of the target vehicle door is increased to the first target running speed, thereby improving the user's vehicle use experience.

[0036] In some embodiments, the automatic opening and closing mode includes an automatic opening mode. The controlling the target vehicle door according to the current running speed and the force state includes:

[0037] When the target vehicle door is subjected to a second acting force and the target vehicle door is in the automatic opening mode, if the difference between the current driving current and the calibrated value of the current driving current is less than a first preset current difference threshold, determine a second target pulse signal duty ratio, where the second target pulse signal duty ratio is less than the current pulse signal duty ratio, and the current pulse signal duty ratio corresponds to the current driving current;

[0038] Control the target vehicle door according to the second target pulse signal duty ratio, wherein when the target vehicle door is opened based on the second target pulse signal duty ratio, the second target running speed of the target vehicle door is less than the current running speed.

[0039] Thus, when the target vehicle door is subject to a second force and the target vehicle door is in the automatic opening mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, the vehicle determines the duty ratio of the second target pulse signal, where the duty ratio of the second target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle controls the target vehicle door according to the duty ratio of the second target pulse signal. When the target vehicle door is opened based on the duty ratio of the second target pulse signal, the second target running speed of the target vehicle door is less than the current running speed. In this way, when it is determined that the target vehicle door is subject to a second force opposite to the moving direction and the target vehicle door is in the automatic opening mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, it is confirmed that the user needs to slow down the automatic opening running speed of the vehicle door. The vehicle reduces the output of the current drive current by reducing the duty ratio of the pulse signal, reducing the motor torque, and further reducing the running speed of the target vehicle door to the second target running speed, thereby enhancing the user experience of using the vehicle.

[0040] In some embodiments, the method further includes:

[0041] When the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the first preset current difference threshold, control the target vehicle door to stop running.

[0042] Thus, when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the first preset current difference threshold, the vehicle controls the target vehicle door to stop running. In this way, when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the first preset current difference threshold, the vehicle controls the target vehicle door to stop running, which can effectively prevent accidents such as collisions, protect the user, the vehicle door and the drive motor, and enhance the user experience.

[0043] In some embodiments, the automatic opening and closing mode includes an automatic closing mode. Controlling the target vehicle door according to the current running speed and the force state includes:

[0044] When the target vehicle door is subject to a second force and the target vehicle door is in the automatic closing mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the second preset current difference threshold, determine the duty ratio of the third target pulse signal, where the duty ratio of the third target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current;

[0045] Control the target vehicle door according to the duty ratio of the third target pulse signal. When the target vehicle door is opened based on the duty ratio of the third target pulse signal, the third target running speed of the target vehicle door is less than the current running speed.

[0046] In this way, when the target vehicle door is subjected to a second acting force and the target vehicle door is in the automatic closing mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the second preset current difference threshold, the vehicle determines the duty ratio of the third target pulse signal, where the duty ratio of the third target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle controls the target vehicle door according to the duty ratio of the third target pulse signal. When the target vehicle door is opened based on the duty ratio of the third target pulse signal, the third target running speed of the target vehicle door is less than the current running speed. In this way, when it is determined that the target vehicle door is subjected to a second acting force opposite to the direction of movement and the target vehicle door is in the automatic closing mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the second preset current difference threshold, it is confirmed that the user needs to slow down the running speed of the automatic closing of the vehicle door. The vehicle reduces the duty ratio of the pulse signal, reduces the output of the current drive current, reduces the motor torque, and further reduces the running speed of the target vehicle door to the third target running speed, thereby improving the user's vehicle use experience.

[0047] In some embodiments, the method further includes:

[0048] When the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the second preset current difference threshold, control the target vehicle door to retreat a predetermined distance and stop running.

[0049] In this way, when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the second preset current difference threshold, control the target vehicle door to retreat a predetermined distance and stop running. In this way, when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the second preset current difference threshold, the vehicle controls the target vehicle door to stop running, which can effectively prevent accidents such as pinching, protect the user, the vehicle door and the drive motor, and improve the user experience.

[0050] An embodiment of the present application provides a vehicle, which includes a domain controller configured to:

[0051] When the target vehicle door is in the automatic opening and closing mode, control the target vehicle door according to the obtained drive electrical parameters of the target vehicle door.

[0052] Thus, when the target vehicle door is in the automatic opening and closing mode, the vehicle controls the target vehicle door according to the obtained driving electrical parameters of the target vehicle door. In this way, through the real-time acquisition and analysis of the driving electrical parameters of the target vehicle door, combined with the logical control of the automatic opening and closing mode of the vehicle door, the external force acting on the vehicle door during movement can be identified, and the running speed of the vehicle door can be automatically increased or decreased according to the external force, thereby enhancing the driving experience of the user.

[0053] An embodiment of the present application provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the above method are implemented.

[0054] An embodiment of the present application provides a vehicle, including the above-mentioned electronic device, and implements the steps of the above method.

[0055] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the steps of the above method are implemented.

[0056] An embodiment of the present application provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, the steps of the above method are implemented.

[0057] For the electronic device, vehicle, computer-readable storage medium, and computer program product provided by the embodiments of the present application, when the target vehicle door is in the automatic opening and closing mode, the vehicle controls the target vehicle door according to the obtained driving electrical parameters of the target vehicle door. In this way, through the real-time acquisition and analysis of the driving electrical parameters of the target vehicle door, combined with the logical control of the automatic opening and closing mode of the vehicle door, the external force acting on the vehicle door during movement can be identified, and the running speed of the vehicle door can be automatically increased or decreased according to the external force, thereby enhancing the driving experience of the user.

[0058] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0060] Figure 1 is one of the flow diagrams of the control method of the vehicle door in some embodiments of the present application;

[0061] Figure 2 is the structural diagram of the vehicle in some embodiments of the present application;

[0062] Figure 3 It is the second flow schematic diagram of the door control method in some embodiments of the present application;

[0063] Figure 4 It is the third flow schematic diagram of the door control method in some embodiments of the present application;

[0064] Figure 5 It is the fourth flow schematic diagram of the door control method in some embodiments of the present application;

[0065] Figure 6 It is the fifth flow schematic diagram of the door control method in some embodiments of the present application;

[0066] Figure 7 It is the sixth flow schematic diagram of the door control method in some embodiments of the present application;

[0067] Figure 8 It is the seventh flow schematic diagram of the door control method in some embodiments of the present application;

[0068] Figure 9 It is the eighth flow schematic diagram of the door control method in some embodiments of the present application;

[0069] Figure 10 It is the ninth flow schematic diagram of the door control method in some embodiments of the present application;

[0070] Figure 11 It is the tenth flow schematic diagram of the door control method in some embodiments of the present application;

[0071] Figure 12 It is the flow schematic diagram of the door control in some embodiments of the present application. Specific Embodiments

[0072] The following details the embodiments of the present application. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application and should not be construed as a limitation on the embodiments of the present application.

[0073] In the related art, the automatic opening / closing mode of the door in the vehicle-mounted intelligent system usually runs at a fixed preset speed, which has functional limitations and usage risks and cannot meet the personalized needs of users in different scenarios.

[0074] For example, in the passenger gathering areas of high-speed railway stations and bus stations, due to the dense traffic flow and the need to effectively relieve the traffic congestion pressure, the operation management department usually strictly controls the vehicle parking duration. Under this management specification, an automated opening and closing system with a fixed preset speed has been difficult to meet the actual needs of passengers to quickly get on and off the vehicle. Especially in emergency situations, passengers often need to manually operate the door to open it. It should be noted that when passengers carry large luggage items with both hands, they cannot precisely control the door opening speed with both hands, which will significantly reduce their passing efficiency, and then lead to negative evaluations of the vehicle's service quality by passengers.

[0075] Moreover, when children or people with mobility impairments use the doors of this vehicle, the excessive automatic closing speed of the doors may pose safety hazards. It is necessary to reduce the automatic opening of the doors. The doors operating at a fixed preset speed cannot meet the user's needs, resulting in a poor user experience.

[0076] Based on the above problems, please refer to Figure 1 , the embodiments of the present application provide a method for controlling a vehicle door. The method includes:

[0077] 01: When the target door is in the automatic opening and closing mode, control the target door according to the obtained driving electrical parameters of the target door.

[0078] The embodiments of the present application provide a vehicle. The method for controlling the vehicle door in the embodiments of the present application can be implemented by the vehicle in the embodiments of the present application. Specifically, the vehicle includes a door control module. The door control module is used to control the target door according to the obtained driving electrical parameters of the target door when the target door is in the automatic opening and closing mode.

[0079] The embodiments of the present application also provide an electronic device. The electronic device includes a memory and a processor. The method for controlling the vehicle door in the embodiments of the present application can be implemented by the electronic device in the embodiments of the present application. Specifically, a computer program is stored in the memory, and the processor is used to control the target door according to the obtained driving electrical parameters of the target door when the target door is in the automatic opening and closing mode.

[0080] Specifically, the automatic opening and closing mode of the door means that the vehicle can automatically complete the functions of opening and closing the door through an electronic control system. It should be noted that please refer to Figure 2 , Figure 2 is a schematic diagram of the vehicle structure. The vehicle includes a domain controller, a Hall sensor, a drive motor, and a current monitoring sensor. The domain controller, as the central control unit, is responsible for managing and coordinating all relevant functions of opening and closing the door, including signal processing, control decision-making, drive control, and safety protection, etc., so as to achieve the adaptive switch speed control and safety control of the door operation.

[0081] Signal processing refers to the domain controller receiving signals from various sensors associated with the vehicle door (such as Hall sensors and current monitoring sensors, etc.), and processing these signals to determine the current position, motion state, and force condition of the vehicle door.

[0082] Control decision-making means that based on the processed sensor signals and preset control logic, the domain controller needs to make control decisions. For example, whether to continue opening or closing the vehicle door, whether to increase or decrease the vehicle door operating speed, whether to activate the safety protection mechanism, etc.

[0083] Drive control refers to the domain controller controlling the operation of the drive motor by sending Pulse Width Modulation (PWM) signals, thereby realizing the opening and operation of the vehicle door. By adjusting the duty cycle of the pulse width modulation, the domain controller can precisely control the operating speed of the vehicle door, thus enhancing the user's driving experience.

[0084] Safety protection means that the domain controller includes safety protection mechanisms, such as anti-collision functions and anti-pinch functions, etc. When the vehicle door encounters an obstacle or abnormal situation during the opening or closing process, the domain controller will activate corresponding protection measures according to the sensor signals to ensure the safety of the user and the vehicle.

[0085] Drive electrical parameters refer to the key electrical parameters related to the operating state of the drive motor, including the current number of Hall signals and the current drive current.

[0086] After receiving the vehicle door automatic opening instruction or the vehicle door automatic closing instruction, the vehicle controls the target vehicle door to automatically open or close according to the obtained drive electrical parameters of the target vehicle door.

[0087] In summary, in the control method, vehicle, and electronic device of the vehicle door provided by the embodiment of the present application, when the target vehicle door is in the automatic opening and closing mode, the vehicle controls the target vehicle door according to the obtained drive electrical parameters of the target vehicle door. In this way, through the real-time collection and analysis of the drive electrical parameters of the target vehicle door, combined with the logical control of the automatic opening and closing mode of the vehicle door, the external force acting on the vehicle door during movement can be identified, and the operating speed of the vehicle door can be automatically increased or decreased according to the external force, thereby enhancing the user's driving experience.

[0088] In some embodiments, the target vehicle door includes a Hall sensor and a drive motor, the drive electrical parameters include the current number of Hall signals and the current drive current, the current number of Hall signals is monitored based on the Hall sensor, and the current drive current is monitored based on the current monitoring sensor of the drive motor.

[0089] Specifically, the vehicle further includes a Hall sensor, a drive motor, and a current monitoring sensor. Among them, the Hall sensor refers to a magnetic field induction device designed based on the Hall effect. When magnetic flux passes through the Hall sensor, a Hall voltage will be generated inside the Hall sensor, which can be used to detect the motion state of the target door. That is, by monitoring the change in the magnetic field during the movement of the door, the mechanical displacement is converted into an electrical signal to provide real-time position feedback to the control system.

[0090] The drive motor refers to an electric actuator used to drive the target door to perform opening and closing actions. Its function is to convert the control instruction into mechanical power, drive the strut to operate through a gear set or a cable, so as to control the door to open or close.

[0091] The current monitoring sensor can monitor the current of the drive motor in real time and feedback it to the domain control.

[0092] The current Hall signal quantity refers to the number of Hall signals detected by the Hall sensor at the current moment. The Hall sensor will generate a series of Hall signals. Each Hall signal quantity corresponds to a specific position of the limiter, that is, each Hall signal quantity corresponds to the unfolding opening of a target door. By counting the current Hall signal quantity, the current position of the target door can be determined.

[0093] The current drive current refers to the current value of the drive motor at the current moment. The magnitude of the current of the drive motor is related to the rotation speed and load of the motor. By monitoring the current drive current, the operating state of the motor and the force state of the target door can be judged.

[0094] In this way, the target door includes a Hall sensor and a drive motor, the drive electrical parameters include the current Hall signal quantity and the current drive current, the current Hall signal quantity is obtained based on the monitoring of the Hall sensor, and the current drive current is obtained based on the monitoring of the current monitoring sensor of the drive motor. In this way, based on the signal acquisition of the Hall sensor, the accurate measurement of the running speed of the target door can be realized. And by monitoring the current Hall signal quantity based on the Hall sensor and monitoring the current drive current based on the current monitoring sensor, the external force acting on the target door can be accurately measured, so as to realize the accurate control of the automatic opening and closing running speed of the target door.

[0095] Please refer to Figure 3 , in some embodiments, step 01 (when the target door is in the automatic opening and closing mode, control the target door according to the obtained drive electrical parameters of the target door) includes:

[0096] 011: Determine the current running speed of the target door according to the current Hall signal quantity and the calibrated Hall signal quantity;

[0097] 012: Based on the preset operating speed - drive current value fitting curve, determine the calibration value of the current drive current according to the current operating speed;

[0098] 013: Determine the force state of the target door according to the current drive current and the calibration value of the current drive current;

[0099] 014: Control the target door according to the current operating speed and the force state.

[0100] In some embodiments, the vehicle further includes a determination module. The determination module is configured to determine the current operating speed of the target door according to the current number of Hall signals and the calibrated number of Hall signals, and based on the preset operating speed - drive current value fitting curve, determine the calibration value of the current drive current according to the current operating speed, and determine the force state of the target door according to the current drive current and the calibration value of the current drive current. The door control module is further configured to control the target door according to the current operating speed and the force state.

[0101] In some embodiments, the processor is further configured to determine the current operating speed of the target door according to the current number of Hall signals and the calibrated number of Hall signals, and based on the preset operating speed - drive current value fitting curve, determine the calibration value of the current drive current according to the current operating speed. The processor is further configured to determine the force state of the target door according to the current drive current and the calibration value of the current drive current, and control the target door according to the current operating speed and the force state.

[0102] Specifically, the vehicle further includes a stay bar and an electric limiter. The stay bar refers to a rod-shaped component connecting the door and the door hinge, which can transmit the driving force of the electric limiter to realize the opening and closing of the door. The electric limiter is used to be installed on the door to detect the opening and closing states of the door. In some embodiments, the electric limiter is usually installed at one end of the stay bar, and the other end of the stay bar is used to connect the door and the door hinge.

[0103] It should be noted that the domain controller is responsible for receiving information from the Hall sensor, the electric limiter, and the current monitoring sensor, and according to the preset programs and algorithms, controls the rotation speed and direction of the drive motor by sending pulse width modulation signals, thereby controlling the movement of the stay bar, and further realizing the automatic increase and decrease of the door operating speed, improving the driving experience of the user. The Hall sensor is installed inside the stay bar and is used to detect the movement position and state of the stay bar. When the stay bar moves, the Hall sensor generates corresponding numbers of Hall signals according to the magnetic field change and transmits them to the domain controller. The drive motor is the power source for the movement of the stay bar. The domain controller controls the rotation speed and direction of the drive motor according to the position information provided by the Hall sensor and the preset programs, thereby controlling the movement of the stay bar.

[0104] The number of Hall signal calibrations refers to the number of Hall signals generated by the Hall sensor during the total stroke of the strut from fully closed to fully open.

[0105] The current operating speed refers to the opening or closing speed of the target door at the current moment. It is calculated by the ratio of the current number of Hall signals to the number of Hall signal calibrations. This ratio reflects the opening angle proportion of the strut and thus the opening degree of the door. For example, if the total stroke of the door from fully closed to fully open is set to 70°, the corresponding number of Hall signal calibrations is 300, the current number of Hall signals is 115, and the number of Hall signals Δt time ago was 100, then the current operating speed is (70° / 300)*((115 - 100) / Δt). If Δt is 0.1 s, then the current operating speed is 35° / s.

[0106] The preset operating speed - drive current value fitting curve is a fitting curve plotted in advance according to different operating speeds and drive current values without external force, used to determine the calibrated drive current value at the current operating speed. In some embodiments, the preset operating speed - drive current value fitting curve is obtained by fitting experimental data and reflects the drive current values required by the target door at different speeds.

[0107] The calibrated value of the current drive current refers to the theoretical drive current value calculated according to the preset operating speed - drive current value fitting curve at the current operating speed of the target door. It should be noted that during the actual measurement by the current sensor, due to reasons such as component accuracy and environmental factors, there is a certain measurement error. Therefore, the calibrated value of the current drive current is allowed to fluctuate within a certain range to ensure the robustness of the door control method.

[0108] The force state refers to whether the target door is subjected to external force at the current moment and the direction of the external force.

[0109] First, the vehicle obtains the current position information of the strut in real time through the Hall sensor, that is, the current number of Hall signals. And processes the current number of Hall signals and the number of Hall signal calibrations to determine the current operating speed of the target door.

[0110] Next, according to the preset operating speed - drive current value fitting curve, obtain the calibrated value of the current drive current corresponding to the current operating speed.

[0111] Then, compare the current drive current with the calibrated current value to determine whether the target door is subjected to external force and the direction of the external force, that is, the force state.

[0112] Finally, according to the current running speed and the force-bearing state of the target vehicle door, adjust the running speed of the target vehicle door to achieve adaptive control. In this way, when an external force acts on the target vehicle door, the vehicle can detect and adjust the running speed in a timely manner to avoid collision or pinching accidents. Moreover, users can adjust the running speed of the target vehicle door by applying an external force according to their own needs, enhancing the user's vehicle usage experience. In addition, the vehicle can automatically adjust the running speed according to the running state and the force-bearing condition of the target vehicle door, reflecting the intelligence of the vehicle door.

[0113] In this way, the vehicle determines the current running speed of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals. Then, based on the pre-set running speed-driving current value fitting curve, the vehicle determines the calibrated value of the current driving current according to the current running speed. Next, the vehicle determines the force-bearing state of the target vehicle door according to the current driving current and the calibrated value of the current driving current. Finally, the vehicle controls the target vehicle door according to the current running speed and the force-bearing state. In this way, after determining the current running speed of the target vehicle door, according to the pre-established running speed-driving current value fitting curve, the calibrated value of the current driving current is calculated. By performing a differential operation and data analysis on the calibrated value and the measured value of the current driving current, the force-bearing state of the target vehicle door can be identified, thereby achieving precise control of the automatic opening and closing running speed of the target vehicle door.

[0114] Please refer to Figure 4 , in some embodiments, step 01 (when the target vehicle door is in the automatic opening and closing mode, control the target vehicle door according to the obtained driving electrical parameters of the target vehicle door) includes:

[0115] 015: Determine the current running speed and the current unfolding opening degree of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals;

[0116] 016: Determine the calibrated value of the change rate of the total number of Hall signals according to the current unfolding opening degree;

[0117] 017: Determine the force-bearing state of the target vehicle door according to the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals;

[0118] 018: Control the target vehicle door according to the current running speed and the force-bearing state.

[0119] In some embodiments, the vehicle further includes a determination module configured to determine the current running speed and the current deployment opening degree of the target door based on the current number of Hall signals and the calibrated number of Hall signals. And determine the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening degree. And determine the force state of the target door according to the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals. The door control module is further configured to control the target door according to the current running speed and the force state.

[0120] In some embodiments, the processor is further configured to determine the current running speed and the current deployment opening degree of the target door based on the current number of Hall signals and the calibrated number of Hall signals. And determine the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening degree. The processor is further configured to determine the force state of the target door according to the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals. And control the target door according to the current running speed and the force state.

[0121] Specifically, the current deployment opening degree refers to the degree to which the target door is currently open, usually expressed in terms of an angle or a percentage. In some embodiments, the current deployment opening degree is determined based on the current number of Hall signals and the calibrated number of Hall signals. For example, if the door needs 100 Hall signals (i.e., the calibrated number of Hall signals) to open from closed to fully open (when fully open, the deployment opening degree of the door is 70°), and the current number of Hall signals is 50, then the current deployment opening degree is 50 / 100 * 70° = 35°.

[0122] The calibrated value of the change rate of the total number of Hall signals refers to the pre-determined expected rate at which the number of Hall signals changes over time at a specific deployment opening degree.

[0123] The current change rate of Hall signals refers to how fast the number of Hall signals changes per unit time, which can reflect how fast the door is running, that is, the running speed of the door. In some embodiments, the current change rate of Hall signals = ΔN / Δt, where ΔN is the difference in the number of Hall signals obtained by the Hall sensor in real time within Δt time.

[0124] In some embodiments, the force state of the target door can also be determined in the following manner:

[0125] First, the vehicle obtains the current position information of the strut in real time through the Hall sensor, that is, the current number of Hall signals. And processes the current number of Hall signals and the calibrated number of Hall signals to determine the current running speed and the current deployment opening degree of the target door.

[0126] Next, according to the current deployment opening degree, obtain the calibrated value of the change rate of the total number of Hall signals corresponding to the current running speed.

[0127] Then, compare the current change rate of the Hall signal with the calibration value of the change rate of the total number of Hall signals to determine whether an external force acts on the target door and the direction of the external force, i.e., the force state.

[0128] Finally, according to the current running speed and the force state of the target door, adjust the running speed of the target door to achieve adaptive control. In this way, when an external force acts on the target door, the vehicle can detect and adjust the running speed in a timely manner to avoid collision or pinching accidents. Moreover, users can adjust the running speed of the target door by applying an external force according to their own needs, improving the user's vehicle use experience. In addition, the vehicle can automatically adjust the running speed according to the running state and the force condition of the target door, reflecting the intelligence of the vehicle door.

[0129] In this way, the vehicle determines the current running speed and the current opening degree of the target door according to the current number of Hall signals and the calibrated number of Hall signals. Then, the vehicle determines the calibration value of the change rate of the total number of Hall signals according to the current opening degree. Then, the vehicle determines the force state of the target door according to the change rate of the current number of Hall signals and the calibration value of the change rate of the total number of Hall signals. Finally, the vehicle controls the target door according to the current running speed and the force state. In this way, after determining the current opening degree of the target door, and then determining the calibration value of the change rate of the total number of Hall signals according to the current opening degree, through differential operation and data analysis of the calibration value and the change rate of the current number of Hall signals, the force state of the target door can be identified, so as to achieve precise control of the automatic opening and closing running speed of the target door.

[0130] Please refer to Figure 5 , in some embodiments, step 01 (when the target door is in the automatic opening and closing mode, control the target door according to the obtained driving electrical parameters of the target door) includes:

[0131] 019: Determine the current running speed and the current opening degree of the target door according to the current number of Hall signals and the calibrated number of Hall signals;

[0132] 020: Based on the preset running speed - drive current value fitting curve, determine the calibration value of the current drive current according to the current running speed;

[0133] 021: Determine the calibration value of the change rate of the total number of Hall signals according to the current opening degree;

[0134] 022: Determine the force state of the target door according to the current drive current, the calibration value of the current drive current, the change rate of the current number of Hall signals, and the calibration value of the change rate of the total number of Hall signals;

[0135] 023: Control the target door according to the current running speed and the force state.

[0136] In some embodiments, the vehicle further includes a determination module configured to determine the current running speed and the current deployment opening degree of the target door based on the current number of Hall signals and the calibrated number of Hall signals. And based on a preset running speed - drive current value fitting curve, determine the calibrated value of the current drive current according to the current running speed. And determine the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening degree. The determination module is further configured to determine the force state of the target door based on the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals. The door control module is further configured to control the target door according to the current running speed and the force state.

[0137] In some embodiments, the processor is further configured to determine the current running speed and the current deployment opening degree of the target door based on the current number of Hall signals and the calibrated number of Hall signals. And based on a preset running speed - drive current value fitting curve, determine the calibrated value of the current drive current according to the current running speed. The processor is further configured to determine the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening degree. And determine the force state of the target door based on the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals. And control the target door according to the current running speed and the force state.

[0138] Specifically, the vehicle determines the force state of the target door based on the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals. It can be understood that based on a certain determination logic, the force state of the target door is jointly determined according to the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals.

[0139] In some embodiments, the current drive current deviation ratio is calculated based on the current drive current and the calibrated value of the current drive current, and the calculation formula can be where I now is the current drive current, and I ref is the calibrated value of the current drive current. Then, the rate deviation ratio of the change rate of the current number of Hall signals is calculated based on the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals, and the calculation formula can be where R now is the change rate of the current number of Hall signals, and R ref is the calibrated value of the change rate of the total number of Hall signals at the current deployment opening degree.

[0140] The determination logic can be as follows: First, if -20% < ΔI < 20% and -10% < ΔR < 10%, it is considered that no external force acts on the target door. Second, if ΔI ∈ [20%, 50%] and ΔR ∈ [10%, 30%], it is considered that the target door is subject to a slight resistance. Third, if ΔI > 50% and ΔR > 30%, it is considered that the target door is subject to a severe resistance. Fourth, if ΔI ∈ [-50%, -20%] and ΔR ∈ [-30%, -10%], it is considered that the target door is subject to a slight thrust. Fifth, if ΔI < -50% and ΔR < -30%, it is considered that the target door is subject to a strong thrust. Sixth, if it is not within the above range, it is considered that there is a problem with the relevant vehicle components and maintenance is required.

[0141] In some embodiments, the force state of the target door can also be determined in the following manner:

[0142] First, the vehicle obtains the current position information of the strut, that is, the current number of Hall signals, in real time through a Hall sensor. And processes the current number of Hall signals and the calibrated number of Hall signals to determine the current running speed and the current deployment opening of the target door.

[0143] Next, according to the preset running speed - drive current value fitting curve, the calibrated value of the current drive current corresponding to the current running speed is obtained.

[0144] Subsequently, according to the current deployment opening, the calibrated value of the total change rate of Hall signals corresponding to the current running speed is obtained.

[0145] Then, based on a certain determination logic, the vehicle jointly determines whether an external force acts on the target door and the direction of the external force, that is, the force state, according to the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the total change rate of Hall signals.

[0146] Finally, according to the current running speed and the force state of the target door, the running speed of the target door is adjusted to achieve adaptive control. In this way, when an external force acts on the target door, the vehicle can detect and adjust the running speed in a timely manner to avoid collision or pinching accidents. And, users can adjust the running speed of the target door by applying an external force according to their own needs, improving the user's vehicle use experience. In addition, the vehicle can automatically adjust the running speed according to the running state and force condition of the target door, reflecting the intelligence of the vehicle door.

[0147] In this way, the vehicle determines the current running speed and the current unfolding degree of the target door according to the current number of Hall signals and the calibrated number of Hall signals. Then, based on the preset running speed-drive current value fitting curve, the vehicle determines the calibrated value of the current drive current according to the current running speed. Next, the vehicle determines the calibrated value of the change rate of the total number of Hall signals according to the current unfolding degree. Subsequently, the vehicle determines the force state of the target door according to the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals. Finally, the vehicle controls the target door according to the current running speed and the force state. In this way, by jointly analyzing the data of the current drive current, the calibrated value of the current drive current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals, the force state of the target door can be accurately identified, avoiding misidentification, and thus achieving precise control of the automatic opening and closing running speed of the target door.

[0148] Please refer to Figure 6 , in some embodiments, step 013 (determining the force state of the target door according to the current drive current and the calibrated value of the current drive current) includes:

[0149] 0131: When the current drive current is less than the calibrated value of the current drive current, it is determined that the target door is subjected to a first acting force;

[0150] 0132: When the current drive current is greater than the calibrated value of the current drive current, it is determined that the target door is subjected to a second acting force.

[0151] In some embodiments, the determining module is further configured to determine that the target door is subjected to a first acting force when the current drive current is less than the calibrated value of the current drive current. And to determine that the target door is subjected to a second acting force when the current drive current is greater than the calibrated value of the current drive current.

[0152] In some embodiments, the processor is further configured to determine that the target door is subjected to a first acting force when the current drive current is less than the calibrated value of the current drive current. And to determine that the target door is subjected to a second acting force when the current drive current is greater than the calibrated value of the current drive current.

[0153] Specifically, the first acting force refers to the external force acting in the same direction as the door movement direction, which causes the current drive current of the drive motor to be lower than the calibrated value of the drive current at the current running speed.

[0154] The second acting force refers to the external force acting in the opposite direction to the door movement direction, which causes the current drive current of the drive motor to be higher than the calibrated value of the drive current at the current running speed.

[0155] When the current driving current is less than the calibrated value of the current driving current, the vehicle determines that the target door is subjected to a first acting force, and the first acting force is in the same direction as the moving direction of the target door, that is, the vector direction of the first acting force is consistent with the door movement trajectory. Then, when the current driving current is greater than the calibrated value of the current driving current, the vehicle determines that the target door is subjected to a second acting force, and the second acting force is in the opposite direction to the moving direction of the target door, that is, the vector direction of the first acting force is consistent with the negative direction of the door movement trajectory.

[0156] Thus, when the current driving current is less than the calibrated value of the current driving current, the vehicle determines that the target door is subjected to a first acting force, and the first acting force is in the same direction as the moving direction of the target door. Then, when the current driving current is greater than the calibrated value of the current driving current, the vehicle determines that the target door is subjected to a second acting force, and the second acting force is in the opposite direction to the moving direction of the target door. In this way, through the deviation direction between the current driving current and the calibrated value of the current driving current, the acting force direction of the target door can be quickly distinguished, so as to quickly respond to the abnormal situation of automatic door opening and closing, and improve the user's vehicle use experience.

[0157] Please refer to Figure 7 , in some embodiments, according to the current running speed and the acting force state, controlling the target door (step 014, step 018, step 023) includes:

[0158] 0141: When the target door is subjected to a first acting force, determining the duty ratio of the first target pulse signal;

[0159] 0142: Controlling the target door according to the duty ratio of the first target pulse signal.

[0160] In some embodiments, the determining module is further configured to determine the duty ratio of the first target pulse signal when the target door is subjected to a first acting force. The door control module is further configured to control the target door according to the duty ratio of the first target pulse signal.

[0161] In some embodiments, the processor is further configured to determine the duty ratio of the first target pulse signal when the target door is subjected to a first acting force. And control the target door according to the duty ratio of the first target pulse signal.

[0162] Specifically, the duty ratio of the pulse signal refers to the ratio of the time length of the pulse signal in the high level (ON) state to the entire cycle time length within one cycle, usually expressed as a percentage. For example, a pulse signal with a duty ratio of 50% means that within one cycle, it is in the high level state for half of the time and in the low level (OFF) state for the other half of the time. By changing the duty ratio of the pulse signal, the average voltage of the drive motor circuit can be changed, thereby controlling the speed of the motor. The higher the duty ratio of the pulse signal, the faster the drive motor rotates.

[0163] The duty ratio of the first target pulse signal refers to the duty ratio of the target pulse signal determined to achieve a specific function, which is adjusted based on the duty ratio of the current pulse signal to achieve the expected result. When the target door is subjected to a first acting force, in order to increase the running speed of the target door, it is necessary to set a duty ratio of the first target pulse signal, which is higher than the duty ratio of the current pulse signal, so as to increase the average voltage of the drive motor circuit, thereby increasing the rotational speed of the drive motor, and further increasing the running speed of the target door. The running speed of the target door after being increased is the first target running speed. The first target running speed refers to the running speed that the target door is expected to reach through a control strategy when the target door is subjected to a first acting force. It should be noted that there is a safety threshold for the first target running speed, that is, the maximum value of the first target running speed cannot exceed this safety threshold.

[0164] In some embodiments, the actual running speed data of the target door at different duty ratios can be collected. And by using methods such as data fitting or curve regression, a relationship model between the running speed of the door and the duty ratio of the pulse signal is established, and then the first target running speed at the duty ratio of the first target pulse signal can be determined using this relationship model.

[0165] First, judge the force state of the target door. Then, when the target door is subjected to a first acting force, the vehicle determines the duty ratio of the first target pulse signal, where the duty ratio of the first target pulse signal is greater than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle determines the drive current corresponding to the duty ratio of the first target pulse signal according to the duty ratio of the first target pulse signal, and then controls the target door, where when the target door opens and closes based on the duty ratio of the first target pulse signal, the first target running speed of the target door is greater than the current running speed.

[0166] In this way, when the target door is subjected to a first acting force, the vehicle determines the duty ratio of the first target pulse signal, where the duty ratio of the first target pulse signal is greater than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle controls the target door according to the duty ratio of the first target pulse signal, where when the target door opens and closes based on the duty ratio of the first target pulse signal, the first target running speed of the target door is greater than the current running speed. In this way, when it is determined that the target door is subjected to a first acting force in the same direction as the moving direction, it is confirmed that the user needs to increase the automatic opening and closing running speed of the door. The vehicle directly increases the output of the current drive current by increasing the duty ratio of the pulse signal, increases the motor torque, and further increases the running speed of the target door to the first target running speed, thereby improving the user's vehicle use experience.

[0167] Please refer to Figure 8 , in some embodiments, the automatic opening and closing mode includes an automatic opening mode. According to the current running speed and the force state, controlling the target door (step 014, step 018, step 023) includes:

[0168] 0143: When the target door is subjected to a second force and the target door is in the automatic opening mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, determine the duty ratio of the second target pulse signal;

[0169] 0144: Control the target door according to the duty ratio of the second target pulse signal.

[0170] In some embodiments, the determination module is further configured to determine the duty ratio of the second target pulse signal when the target door is subjected to a second force and the target door is in the automatic opening mode, and if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold. The door control module is further configured to control the target door according to the duty ratio of the second target pulse signal.

[0171] In some embodiments, the processor is further configured to determine the duty ratio of the second target pulse signal when the target door is subjected to a second force and the target door is in the automatic opening mode, and if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold. And control the target door according to the duty ratio of the second target pulse signal.

[0172] Specifically, the first preset current difference threshold refers to a preset current difference standard used to determine whether the external force received by the intelligent electric vehicle door is sufficient to trigger the anti-collision function.

[0173] The duty ratio of the second target pulse signal refers to the duty ratio of the target pulse signal determined to achieve a specific function, which is adjusted on the basis of the current pulse signal duty ratio to achieve the expected result. When the target door is subjected to a second force, in order to reduce the running speed of the target door, a duty ratio of the second target pulse signal needs to be set. The duty ratio of the second target pulse signal is lower than the duty ratio of the current pulse signal, thereby reducing the average voltage of the drive motor circuit, further slowing down the speed of the drive motor, and further reducing the running speed of the target door. The running speed of the target door after reduction is the second target running speed. The second target running speed refers to the running speed that the target door is expected to reach through the control strategy when the target door is subjected to a second force and the target door is in the automatic opening mode.

[0174] First, confirm that the target vehicle door is in the automatic opening mode and detect whether the target vehicle door is subject to a second force. When the target vehicle door is subject to a second force and the target vehicle door is in the automatic opening mode, calculate the difference between the current drive current and the calibrated value of the current drive current, and compare the difference with the first preset current difference threshold. If the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, it is determined that the second force is small and the anti-collision function will not be triggered. Moreover, the vehicle will determine the duty ratio of the second target pulse signal, where the duty ratio of the second target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle determines the drive current corresponding to the duty ratio of the second target pulse signal according to the duty ratio of the second target pulse signal, and further controls the target vehicle door. When the target vehicle door is opened based on the duty ratio of the second target pulse signal, the second target running speed of the target vehicle door is less than the current running speed.

[0175] Thus, when the target vehicle door is subject to a second force and the target vehicle door is in the automatic opening mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, the vehicle determines the duty ratio of the second target pulse signal, where the duty ratio of the second target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current drive current. Then, the vehicle controls the target vehicle door according to the duty ratio of the second target pulse signal. When the target vehicle door is opened based on the duty ratio of the second target pulse signal, the second target running speed of the target vehicle door is less than the current running speed. In this way, when it is determined that the target vehicle door is subject to a second force in the opposite direction of the movement direction and the target vehicle door is in the automatic opening mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the first preset current difference threshold, it is confirmed that the user needs to slow down the automatic opening running speed of the vehicle door. The vehicle reduces the output of the current drive current by reducing the duty ratio of the pulse signal, reduces the motor torque, and further reduces the running speed of the target vehicle door to the second target running speed, thereby enhancing the user's vehicle use experience.

[0176] Please refer to Figure 9 , in some embodiments, the method further includes:

[0177] 0145: When the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the first preset current difference threshold, control the target vehicle door to stop running.

[0178] In some embodiments, the vehicle door control module is configured to control the target vehicle door to stop running when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the first preset current difference threshold.

[0179] In some embodiments, the processor is further configured to control the target door to stop operating when the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the first preset current difference threshold.

[0180] Specifically, first, confirm that the target door is in the automatic opening mode and detect whether the target door is subjected to a second force. When the target door is subjected to a second force and the target door is in the automatic opening mode, calculate the difference between the current driving current and the calibrated value of the current driving current, and compare the difference with the first preset current difference threshold. If the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the first preset current difference threshold, it is determined that the second force is relatively large and there may be a risk of injury. The vehicle immediately stops supplying power to the drive motor, and the target door stops operating.

[0181] In this way, when the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the first preset current difference threshold, the vehicle controls the target door to stop operating. In this way, when the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the first preset current difference threshold, the vehicle controls the target door to stop operating, which can effectively prevent accidents such as collisions, protect the door and the motor, and improve the user experience.

[0182] Please refer to Figure 10 In some embodiments, the automatic opening and closing mode includes an automatic closing mode. According to the current running speed and the force-bearing state, controlling the target door (step 014, step 018, step 023) includes:

[0183] 0146: When the target door is subjected to a second force and the target door is in the automatic closing mode, if the difference between the current driving current and the calibrated value of the current driving current is less than the second preset current difference threshold, determine the duty ratio of the third target pulse signal;

[0184] 0147: Control the target door according to the duty ratio of the third target pulse signal.

[0185] In some embodiments, the determining module is further configured to determine the duty ratio of the third target pulse signal when the target door is subjected to a second force and the target door is in the automatic closing mode, and if the difference between the current driving current and the calibrated value of the current driving current is less than the second preset current difference threshold. The door control module is further configured to control the target door according to the duty ratio of the third target pulse signal.

[0186] In some embodiments, the processor is further configured to determine a third target pulse signal duty ratio when the target vehicle door is subjected to a second acting force and the target vehicle door is in the automatic closing mode, if the difference between the current driving current and the calibrated value of the current driving current is less than a second preset current difference threshold. And control the target vehicle door according to the third target pulse signal duty ratio.

[0187] Specifically, the second preset current difference threshold refers to a preset current difference standard for determining whether the external force applied to the intelligent vehicle door is sufficient to trigger the anti-pinch function.

[0188] The third target pulse signal duty ratio refers to the target pulse signal duty ratio determined to achieve a specific function, which is adjusted based on the current pulse signal duty ratio to achieve the expected result. When the target vehicle door is subjected to a second acting force, in order to reduce the running speed of the target vehicle door, a third target pulse signal duty ratio needs to be set, and the third target pulse signal duty ratio is lower than the duty ratio of the current pulse signal, so as to reduce the average voltage of the drive motor circuit, thereby slowing down the speed of the drive motor, and further reducing the running speed of the target vehicle door. The running speed of the target vehicle door after reduction is the third target running speed. The third target running speed refers to the running speed that the target vehicle door is expected to reach through the control strategy when the target vehicle door is subjected to a second acting force and the target vehicle door is in the automatic closing mode.

[0189] First, confirm that the target vehicle door is in the automatic closing mode and detect whether the target vehicle door is subjected to a second acting force. When the target vehicle door is subjected to a second acting force and the target vehicle door is in the automatic closing mode, calculate the difference between the current driving current and the calibrated value of the current driving current, and compare the difference with the second preset current difference threshold. If the difference between the current driving current and the calibrated value of the current driving current is less than the second preset current difference threshold, it is determined that the second acting force is small and the anti-pinch function will not be triggered. And the vehicle will determine a third target pulse signal duty ratio, where the third target pulse signal duty ratio is less than the duty ratio of the current pulse signal. Then, the vehicle determines the driving current corresponding to the third target pulse signal duty ratio according to the third target pulse signal duty ratio, and further controls the target vehicle door, where when the target vehicle door is closed based on the third target pulse signal duty ratio, the third target running speed of the target vehicle door is less than the current running speed.

[0190] Thus, when the target vehicle door is subjected to a second force and the target vehicle door is in the automatic closing mode, if the difference between the current drive current and the calibrated value of the current drive current is less than a second preset current difference threshold, the vehicle determines a third target pulse signal duty ratio, where the third target pulse signal duty ratio is less than the current pulse signal duty ratio, and the current pulse signal duty ratio corresponds to the current drive current. Then, the vehicle controls the target vehicle door according to the third target pulse signal duty ratio. When the target vehicle door is opened based on the third target pulse signal duty ratio, the third target running speed of the target vehicle door is less than the current running speed. In this way, when it is determined that the target vehicle door is subjected to a second force opposite to the moving direction and the target vehicle door is in the automatic closing mode, if the difference between the current drive current and the calibrated value of the current drive current is less than the second preset current difference threshold, it is confirmed that the user needs to slow down the running speed of the automatic closing of the vehicle door. The vehicle reduces the output of the current drive current by reducing the pulse signal duty ratio, reduces the motor torque, and further reduces the running speed of the target vehicle door to the third target running speed, thereby enhancing the user's vehicle use experience.

[0191] Please refer to Figure 11 , in some embodiments, the method further includes:

[0192] 0148: When the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to a second preset current difference threshold, control the target vehicle door to retract a predetermined distance and stop running.

[0193] In some embodiments, the vehicle door control module is further configured to control the target vehicle door to retract a predetermined distance and stop running when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to a second preset current difference threshold.

[0194] In some embodiments, the processor is further configured to control the target vehicle door to retract a predetermined distance and stop running when the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to a second preset current difference threshold.

[0195] Specifically, first, confirm that the target vehicle door is in the automatic closing mode and detect whether the target vehicle door is subjected to a second force. When the target vehicle door is subjected to a second force and the target vehicle door is in the automatic closing mode, calculate the difference between the current drive current and the calibrated value of the current drive current, and compare the difference with the second preset current difference threshold. If the difference between the current drive current and the calibrated value of the current drive current is greater than or equal to the second preset current difference threshold, it is determined that the second force is relatively large and there may be a risk of pinching. The vehicle immediately retracts the target vehicle door a predetermined distance and stops running the target vehicle door.

[0196] Thus, when the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the second preset current difference threshold, the target vehicle door is controlled to retract a predetermined distance and stop running. In this way, when the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the second preset current difference threshold, the vehicle controls the target vehicle door to stop running, which can effectively prevent accidents such as pinching, protect users, vehicle doors and drive motors, and improve the user experience.

[0197] The following uses a complete example to illustrate the control method for vehicle doors provided by the embodiments of the present application. Please refer to Figure 12 , Figure 12 which is a schematic diagram of the vehicle door control process taking the determination of the force state of the target vehicle door based on the current driving current and the calibrated value of the current driving current as an example. First, the vehicle determines whether the vehicle door is currently in an open state or a closed state.

[0198] Next, when the vehicle door is in the open state, the current monitoring sensor monitors the current of the drive motor in real time and compares it with the calibrated current when the strut drive motor operates. Then, according to the comparison result, it is determined whether an external force acts on the vehicle door: if the actual current I_real is consistent with the calibrated current I_cal, no action is taken, and the vehicle door normally completes the opening or closing operation. If the actual current I_real is inconsistent with the calibrated current I_cal, the type of external force is determined: 1. If I_real is less than I_cal, it is determined as a co-directional acting force, and the vehicle increases the duty cycle of the pulse signal to increase the running speed of the vehicle door. 2. If I_real is greater than I_cal, it is determined as a reverse acting force, and the vehicle performs an anti-collision logic judgment. The anti-collision logic judgment is the same as the judgment logic in the aforementioned vehicle door control method and will not be elaborated here. If the vehicle door triggers the anti-collision mechanism, the anti-collision program is executed and the vehicle door hovers. If the vehicle door does not trigger the anti-collision mechanism, the vehicle reduces the duty cycle of the pulse signal to reduce the running speed of the vehicle door.

[0199] When the vehicle door is in the closed state, the current monitoring sensor monitors the current of the drive motor in real time and compares it with the calibrated current when the strut drive motor operates. Then, according to the comparison result, it is determined whether an external force acts on the vehicle door: if the actual current I_real is consistent with the calibrated current I_cal, no action is taken, and the vehicle door normally completes the opening or closing operation. If the actual current I_real is inconsistent with the calibrated current I_cal, the type of external force is determined: 1. If I_real is less than I_cal, it is determined as a co-directional acting force, and the vehicle increases the duty cycle of the pulse signal to increase the running speed of the vehicle door. 2. If I_real is greater than I_cal, it is determined as a reverse acting force, and the vehicle performs an anti-pinch logic judgment. The anti-pinch logic judgment is the same as the judgment logic in the aforementioned vehicle door control method and will not be elaborated here. If the vehicle door triggers the anti-pinch mechanism, the anti-pinch program is executed and the vehicle door retracts and hovers. If the vehicle door does not trigger the anti-pinch mechanism, the vehicle reduces the duty cycle of the pulse signal to reduce the running speed of the vehicle door.

[0200] An embodiment of the present application further provides a vehicle, which includes the above-mentioned electronic device.

[0201] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the above method.

[0202] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0203] It can be understood that the computer program includes computer program code. The computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution medium, etc.

[0204] An embodiment of the present application further provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the above method.

[0205] In the description of this specification, the descriptions with reference to terms such as "specifically", "further", "specially", "understandably", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0206] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of executable request code including one or more steps for implementing a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0207] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A control method for a vehicle door, characterized in that, The method includes: When the target vehicle door is in the automatic opening and closing mode, controlling the target vehicle door according to the obtained driving electrical parameters of the target vehicle door.

2. The method according to claim 1, characterized in that, The target vehicle door includes a Hall sensor and a driving motor. The driving electrical parameters include the current number of Hall signals and the current driving current. The current number of Hall signals is monitored based on the Hall sensor, and the current driving current is monitored based on the current monitoring sensor of the driving motor.

3. The method according to claim 2, wherein The step of controlling the target vehicle door according to the obtained driving electrical parameters of the target vehicle door when the target vehicle door is in the automatic opening and closing mode includes: Determining the current running speed of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals; Based on the preset running speed - driving current value fitting curve, determining the calibrated value of the current driving current according to the current running speed; Determining the force state of the target vehicle door according to the current driving current and the calibrated value of the current driving current; Controlling the target vehicle door according to the current running speed and the force state.

4. The method according to claim 2, wherein The step of controlling the target vehicle door according to the obtained driving electrical parameters of the target vehicle door when the target vehicle door is in the automatic opening and closing mode includes: Determining the current running speed and the current deployment opening of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals; Determining the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening; Determining the force state of the target vehicle door according to the change rate of the current number of Hall signals and the calibrated value of the change rate of the total number of Hall signals; Controlling the target vehicle door according to the current running speed and the force state.

5. The method according to claim 2, wherein The step of controlling the target vehicle door according to the obtained driving electrical parameters of the target vehicle door when the target vehicle door is in the automatic opening and closing mode includes: Determining the current running speed and the current deployment opening of the target vehicle door according to the current number of Hall signals and the calibrated number of Hall signals; Based on the preset running speed - driving current value fitting curve, determining the calibrated value of the current driving current according to the current running speed; Determining the calibrated value of the change rate of the total number of Hall signals according to the current deployment opening; Determining the force state of the target vehicle door according to the current driving current, the calibrated value of the current driving current, the change rate of the current number of Hall signals, and the calibrated value of the change rate of the total number of Hall signals; Controlling the target vehicle door according to the current running speed and the force state.

6. The method according to claim 3, characterized in that, The step of determining the force state of the target vehicle door according to the current driving current and the calibrated value of the current driving current includes: When the current driving current is less than the calibrated value of the current driving current, determining that the target vehicle door is subject to a first acting force, and the first acting force is in the same direction as the movement direction of the target vehicle door; When the current driving current is greater than the calibrated value of the current driving current, determining that the target vehicle door is subject to a second acting force, and the second acting force is in the opposite direction to the movement direction of the target vehicle door.

7. The method according to any one of claims 3 to 5, characterized in that Controlling the target door according to the current running speed and the force state includes: When the target door is subject to a first acting force, determining a duty ratio of a first target pulse signal, where the duty ratio of the first target pulse signal is greater than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current driving current; Controlling the target door according to the duty ratio of the first target pulse signal, where when the target door opens and closes based on the duty ratio of the first target pulse signal, a first target running speed of the target door is greater than the current running speed.

8. The method according to any one of claims 3 to 5, characterized in that, The automatic opening and closing mode includes an automatic opening mode. Controlling the target door according to the current running speed and the force state includes: When the target door is subject to a second acting force and the target door is in the automatic opening mode, if a difference between the current driving current and a calibrated value of the current driving current is less than a first preset current difference threshold, determining a duty ratio of a second target pulse signal, where the duty ratio of the second target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current driving current; Controlling the target door according to the duty ratio of the second target pulse signal, where when the target door opens based on the duty ratio of the second target pulse signal, a second target running speed of the target door is less than the current running speed.

9. The method according to claim 8, characterized in that, The method further includes: When the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the first preset current difference threshold, controlling the target door to stop running.

10. The method according to any one of claims 3-5, characterized in that, The automatic opening and closing mode includes an automatic closing mode. Controlling the target door according to the current running speed and the force state includes: When the target door is subject to a second acting force and the target door is in the automatic closing mode, if a difference between the current driving current and a calibrated value of the current driving current is less than a second preset current difference threshold, determining a duty ratio of a third target pulse signal, where the duty ratio of the third target pulse signal is less than the duty ratio of the current pulse signal, and the duty ratio of the current pulse signal corresponds to the current driving current; Controlling the target door according to the duty ratio of the third target pulse signal, where when the target door opens based on the duty ratio of the third target pulse signal, a third target running speed of the target door is less than the current running speed.

11. The method according to claim 10, characterized in that, The method further includes: When the difference between the current driving current and the calibrated value of the current driving current is greater than or equal to the second preset current difference threshold, controlling the target door to retreat a predetermined distance and stop running.

12. A vehicle, characterized in that, The vehicle includes a domain controller configured to: When the target door is in the automatic opening and closing mode, control the target door according to the obtained driving electrical parameters of the target door.

13. An electronic device, characterized in that, It includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the method according to any one of claims 1-11 is implemented.

14. A vehicle, characterized in that, The vehicle includes the electronic device according to claim 13.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the method according to any one of claims 1-11 is implemented.

16. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, the method according to any one of claims 1-11 is implemented.

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