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

Abstract

The invention relates to a vehicle door control method and device, a medium, a product and a vehicle, a vehicle door comprises a motor, and the method comprises the steps that when it is determined that the vehicle door is in the opening and closing process, if it is determined that the vehicle door is subjected to other external force except for motor driving force, the vehicle door is controlled to be opened and closed at the target speed. Thus, in the opening and closing process of the vehicle door, if it is determined that the vehicle door is subjected to other external force except the motor driving force, the vehicle door is controlled to be opened and closed at the target speed, the vehicle door shaking and jamming phenomena can be effectively avoided, the vehicle door opening and closing smoothness can be effectively improved, the user experience is improved, and the vehicle door opening and closing safety is improved. And the stability and the reliability of vehicle door control can be effectively improved.

Description

Technical Field

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

[0002] With the rapid development of intelligent automotive technology, electric tailgates have become standard features in modern vehicles due to their convenience and excellent user experience. However, in actual use, they may be subject to unpredictable external interference factors, such as manual pushing and pulling, strong winds, resistance from ice and snow, accidental contact, and other dynamic external forces. When the electric tailgate encounters such external forces during opening or closing, it often experiences noticeable jitter and jitter, which not only affects the smooth opening and closing of the electric tailgate and reduces the user experience, but can also adversely affect the long-term stability and reliability of the electric tailgate control. Summary of the Invention

[0003] The present disclosure provides a method for controlling a vehicle door, wherein the vehicle door includes a motor. The method includes: When it is determined that the vehicle door is in the opening and closing process, if it is determined that the vehicle door is subjected to other external forces except the driving force of the motor, the vehicle door is controlled to open and close at a target speed.

[0004] Optionally, if it is determined that the vehicle door is subjected to an external force other than the motor driving force, controlling the vehicle door to open and close at a target speed includes: When the direction in which the external force is applied to the vehicle door is consistent with the direction in which the vehicle door opens and closes, the current duty cycle of the motor is reduced so that the vehicle door opens and closes at a target speed.

[0005] Optionally, if it is determined that the vehicle door is subjected to an external force other than the motor driving force, controlling the vehicle door to open and close at a target speed further includes: In a case where the direction of the external force acting on the door is inconsistent with the direction in which the door opens and closes, if it is determined that there is a component of the external force that is opposite to the direction in which the door opens and closes, increasing the current duty cycle of the motor so that the door opens and closes at a target speed; If it is determined that a component of the external force is in the same direction as the door opening and closing direction, the current duty cycle is reduced so that the door opens and closes at a target speed.

[0006] Optionally, if it is determined that the vehicle door is subjected to an external force other than the motor driving force, controlling the vehicle door to open and close at a target speed further includes: When the current duty cycle of the motor continues to increase or decrease within a first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle to enable the vehicle door to open and close at the target speed.

[0007] Optionally, the method further includes: When the vehicle door is disturbed by the external force, if it is determined that the duty cycle of the motor continues to decrease to below a preset second duty cycle, controlling the motor to enter a released state; Obtaining the current speed of the motor after it enters the release state; When it is determined that the current rotation speed is less than or equal to the preset rotation speed threshold, the rotation direction of the motor before the motor enters the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

[0008] Optionally, the method further includes: When it is determined that the current duty cycle is less than or equal to a preset first duty cycle, obtaining a current current of the motor; When it is determined that the current current is greater than or equal to a preset current threshold, the vehicle door is controlled according to the current opening and closing state of the vehicle door.

[0009] Optionally, the opening and closing state includes a first state from closed to open and a second state from open to closed, and when it is determined that the current current is greater than or equal to a preset current threshold, controlling the door according to the current opening and closing state of the door includes: When it is determined that the opening and closing state is the first state, controlling the motor to stop rotating so that the door stops opening; When it is determined that the opening and closing state is the second state, the motor is controlled to rotate in reverse so that the vehicle door enters the first state.

[0010] Optionally, when determining that the vehicle door is in the process of opening and closing, if it is determined that the vehicle door is subjected to an external force other than the driving force of the motor, controlling the vehicle door to open and close at a target speed includes: When it is determined that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces except the motor driving force, the vehicle door is controlled to open and close at a target speed.

[0011] Optionally, determining that the vehicle door is in a uniform motion state includes: Obtaining speed information of the motor in the vehicle door within a second preset time period; When it is determined according to the speed information that the speed of the motor in the second preset time period all falls within the preset speed range, it is determined that the vehicle door is in a uniform motion state.

[0012] According to a second aspect of an embodiment of the present disclosure, a vehicle door control device is provided, wherein the vehicle door includes a motor, and the device includes: The adjustment module is used to control the vehicle door to open and close at a target speed if it is determined that the vehicle door is in the process of opening and closing and if it is determined that the vehicle door is subjected to other external forces in addition to the motor driving force.

[0013] Optionally, the adjustment module is used to: When the direction in which the external force is applied to the vehicle door is consistent with the direction in which the vehicle door opens and closes, the current duty cycle of the motor is reduced so that the vehicle door opens and closes at a target speed.

[0014] Optionally, the adjustment module is further configured to: In a case where the direction of the external force acting on the door is inconsistent with the direction in which the door opens and closes, if it is determined that there is a component of the external force that is opposite to the direction in which the door opens and closes, increasing the current duty cycle of the motor so that the door opens and closes at a target speed; If it is determined that a component of the external force is in the same direction as the door opening and closing direction, the current duty cycle is reduced so that the door opens and closes at a target speed.

[0015] Optionally, the adjustment module is further configured to: When the current duty cycle of the motor continues to increase or decrease within a first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle to enable the vehicle door to open and close at the target speed.

[0016] Optionally, the device further includes a first control module, wherein the first control module is configured to: When the vehicle door is subjected to the external force, if it is determined that the duty cycle of the motor continues to decrease to below a preset second duty cycle, controlling the motor to enter a released state; Obtaining the current speed of the motor after it enters the release state; When it is determined that the current rotation speed is less than or equal to the preset rotation speed threshold, the rotation direction of the motor before the motor enters the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

[0017] Optionally, the device further includes a second control module, wherein the second control module is configured to: When it is determined that the current duty cycle is less than or equal to a preset first duty cycle, obtaining a current current of the motor; When it is determined that the current current is greater than or equal to a preset current threshold, the vehicle door is controlled according to the current opening and closing state of the vehicle door.

[0018] Optionally, the opening and closing state includes a first state from closed to open and a second state from open to closed, and the second control module is further configured to: When it is determined that the opening and closing state is the first state, controlling the motor to stop rotating so that the door stops opening; When it is determined that the opening and closing state is the second state, the motor is controlled to rotate in reverse so that the vehicle door enters the first state.

[0019] Optionally, the adjustment module is further configured to: When it is determined that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces except the motor driving force, the vehicle door is controlled to open and close at a target speed.

[0020] Optionally, the adjustment module is further configured to: Obtaining speed information of the motor in the vehicle door within a second preset time period; When it is determined according to the speed information that the speed of the motor in the second preset time period all falls within the preset speed range, it is determined that the vehicle door is in a uniform motion state.

[0021] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method provided in the first aspect of the present disclosure are implemented.

[0022] According to a fourth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which implements the steps of the method provided in the first aspect of the present disclosure when executed by a processor.

[0023] According to a fifth aspect of the embodiment of the present disclosure, a vehicle is provided, comprising processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the method described in the first aspect.

[0024] Through the above technical solution, when it is determined that the vehicle door is in the process of opening and closing, if it is determined that the vehicle door is subjected to other external forces in addition to the motor driving force, the vehicle door is controlled to open and close at the target speed, which can effectively avoid the occurrence of vehicle door shaking and jamming, thereby effectively improving the smoothness of vehicle door opening and closing, improving the user experience, and further effectively improving the stability and reliability of vehicle door control.

[0025] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a flow chart showing a vehicle door control method according to an exemplary embodiment; Figure 2 is based on Figure 1 The illustrated embodiment shows a flow chart of a vehicle door control method; Figure 3 is a schematic diagram showing a vehicle door control method according to an exemplary embodiment; Figure 4 is a schematic diagram showing a vehicle door control method according to an exemplary embodiment; Figure 5 is based on Figure 1 A flow chart of another vehicle door control method shown in the illustrated embodiment; Figure 6 is based on Figure 1 A flow chart of another vehicle door control method shown in the illustrated embodiment; Figure 7 is based on Figure 6 The illustrated embodiment shows a flow chart of a vehicle door control method; Figure 8 is based on Figure 1 A flow chart of another vehicle door control method shown in the illustrated embodiment; Figure 9 is a block diagram of a vehicle door control device according to an exemplary embodiment; Figure 10 is a block diagram of an electronic device according to an exemplary embodiment; Figure 11 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0028] Before introducing the specific implementation methods of the present disclosure in detail, the application scenarios of the present disclosure will be described below. The present disclosure can be applied to the application scenario of controlling the opening and closing of car doors. Through creative work, the inventors found that during the movement of the car door, the existing technology for detecting the interference of external forces on the car door is mainly reflected in the anti-pinch detection aspect, and the external force detection in the movement direction of the car door is less involved. In particular, the forward thrust in the same direction as the movement of the car door is often difficult to identify because the forward thrust is in the same direction as the movement of the car door. In addition, since the car door is interfered with by external forces, the opening and closing process of the car door is unstable, which makes the car door prone to obvious shaking and jamming during operation, or fails to achieve the expected smooth opening and closing effect, affecting the user experience and further affecting the long-term stability and reliability of the door control.

[0029] In order to solve the above problems, the solution disclosed in the present invention can effectively avoid the occurrence of electric tailgate shaking and jamming by controlling the vehicle door to open and close at a target speed if it is determined that the vehicle door is in the process of opening and closing and is subjected to external forces other than the motor driving force. This can effectively improve the smoothness of the vehicle door opening and closing, improve the user experience, and further effectively improve the stability and reliability of the vehicle door control.

[0030] Figure 1 is a flow chart showing a vehicle door control method according to an exemplary embodiment, wherein the vehicle door includes a motor, such as Figure 1 As shown, the vehicle door control method includes the following steps.

[0031] Step 101 : When it is determined that the vehicle door is in the process of opening and closing, if it is determined that the vehicle door is subjected to other external forces in addition to the driving force of the motor, the vehicle door is controlled to open and close at a target speed.

[0032] The vehicle door may be an electric tailgate or other type of electric door. The target speed may be within a preset speed range. The other external force may be human force (thrust or pull), wind force, collision force, or other types of external forces.

[0033] In this step, if the direction of the external force acting on the door is consistent with the door opening and closing direction, the current duty cycle of the motor is reduced to enable the door to open and close at the target speed. If the direction of the external force acting on the door is inconsistent with the door opening and closing direction, if it is determined that the external force has a component opposite to the door opening and closing direction, the current duty cycle of the motor is increased to enable the door to open and close at the target speed. If it is determined that the external force has a component in the same direction as the door opening and closing direction, the current duty cycle is reduced to enable the door to open and close at the target speed.

[0034] The above technical solution can effectively avoid door shaking and jamming by determining that the door is in the process of opening and closing, and if it is determined that the door is subjected to other external forces in addition to the motor driving force, controlling the door to open and close at a target speed, thereby effectively improving the smoothness of door opening and closing, improving the user experience, and further effectively improving the stability and reliability of door control.

[0035] Optionally, Figure 1 If it is determined in step 101 that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed may include: When the direction in which the external force is applied to the vehicle door is consistent with the direction in which the vehicle door opens and closes, the current duty cycle of the motor is reduced so that the vehicle door opens and closes at a target speed.

[0036] In this step, the real-time speed and current of the motor are acquired in real time. If the real-time speed is less than or equal to a preset first instantaneous speed threshold, and the real-time current is less than or equal to a preset first instantaneous current threshold, it can be determined that the door is being disturbed by an external force other than the motor's driving force, and that the direction of the external force is consistent with the direction of the door opening and closing, or that the external force contains a component in the same direction as the door opening and closing. In this case, the current duty cycle of the motor needs to be reduced to stabilize the motor speed within the target range to prevent the door from shaking.

[0037] It should be noted that the real-time speed is less than or equal to the preset first instantaneous speed threshold, and the real-time current is less than or equal to the preset first instantaneous current threshold because it is interfered with by external forces other than the motor driving force, and the direction of the external force is consistent with the direction of the door opening and closing or there is a component force in the external force that is the same as the direction of the door opening and closing. At this time, the motor is running at the current duty cycle, and the current duty cycle of the motor has not been adjusted. If it continues to run at the current duty cycle, it will further cause the real-time speed to increase, causing the door opening and closing speed to accelerate, resulting in door shaking or jamming. At this time, it is necessary to reduce the current duty cycle of the motor so that the motor speed is stabilized within the target range to prevent the door from shaking.

[0038] The above technical solution can enable the vehicle door to open and close at a target speed by reducing the current duty cycle when the direction of the external force acting on the vehicle door is consistent with the direction of the vehicle door opening and closing, thereby effectively avoiding the occurrence of vehicle door shaking and jamming, thereby effectively improving the smoothness of vehicle door opening and closing, improving the user experience, and further effectively improving the stability and reliability of vehicle door control.

[0039] Figure 2 is based on Figure 1The embodiment shown is a flow chart of a door control method, as shown in FIG. Figure 2 As shown, Figure 1 If it is determined in step 101 that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed may further include: Step 201: When the direction of the external force acting on the door is inconsistent with the direction of the door opening and closing, if it is determined that there is a component force in the external force that is opposite to the direction of the door opening and closing, increase the current duty cycle of the motor to make the door open and close at the target speed.

[0040] In this step, the real-time speed and current of the motor are acquired in real time. If the real-time speed is greater than or equal to a preset second instantaneous speed threshold, and the real-time current is greater than or equal to a preset second instantaneous current threshold, it can be determined that the door is subject to external forces other than the motor's driving force, that the direction of the external force is inconsistent with the door's opening and closing direction, and that the external force contains a force component that is opposite to the door's opening and closing direction. In this case, the motor's current duty cycle needs to be increased to stabilize the motor's speed within a target range to prevent door shudder.

[0041] It should be noted that the real-time speed is greater than or equal to the preset first instantaneous speed threshold, and the real-time current is greater than or equal to the preset first instantaneous current threshold because it is subjected to external forces other than the motor driving force, the direction of the external force is inconsistent with the direction of opening and closing of the door, and there is a component of the external force that is opposite to the direction of opening and closing of the door. At this time, the motor is running at the current duty cycle, and the current duty cycle of the motor has not been adjusted. If it continues to run at the current duty cycle, it will further cause the real-time speed to decrease, causing the opening and closing speed of the door to decrease faster, resulting in door shaking or jamming. At this time, it is necessary to increase the current duty cycle of the motor so that the speed of the motor is stabilized within the target range to prevent the door from shaking.

[0042] Step 202: If it is determined that there is a component force in the same direction as the door opening and closing in the external force, reduce the current duty cycle to enable the door to open and close at a target speed.

[0043] In this step, the real-time speed and current of the motor are acquired in real time. If the real-time speed is less than or equal to a preset first instantaneous speed threshold, and the real-time current is less than or equal to a preset first instantaneous current threshold, it can be determined that the door is being disturbed by an external force other than the motor's driving force, and that the direction of the external force is consistent with the direction of the door opening and closing, or that the external force contains a component in the same direction as the door opening and closing. In this case, the current duty cycle of the motor needs to be reduced to stabilize the motor speed within the target range to prevent the door from shaking.

[0044] It should be noted that the real-time speed is less than or equal to the preset first instantaneous speed threshold, and the real-time current is less than or equal to the preset first instantaneous current threshold because it is interfered with by external forces other than the motor driving force, and the direction of the external force is consistent with the direction of the door opening and closing or there is a component force in the external force that is the same as the direction of the door opening and closing. At this time, the motor is running at the current duty cycle, and the current duty cycle of the motor has not been adjusted. If it continues to run at the current duty cycle, it will further cause the real-time speed to increase, causing the door opening and closing speed to accelerate, resulting in door shaking or jamming. At this time, it is necessary to reduce the current duty cycle of the motor so that the motor speed is stabilized within the target range to prevent the door from shaking.

[0045] The above technical solution, when the direction of the external force acting on the door is inconsistent with the direction of opening and closing of the door, if it is determined that there is a component force in the external force opposite to the opening and closing direction of the door, the current duty cycle is increased; if it is determined that there is a component force in the external force in the same direction as the opening and closing direction of the door, the current duty cycle is reduced. This can enable the door to always open and close at the target speed, thereby effectively avoiding door shaking and jamming, thereby effectively improving the smoothness of door opening and closing, improving the user experience, and further effectively improving the stability and reliability of door control.

[0046] Optionally, Figure 1 If it is determined in step 101 that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed may further include: When the current duty cycle of the motor continues to increase or decrease within a first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle to enable the vehicle door to open and close at the target speed.

[0047] The standby duty cycle may be a calibration value obtained through multiple tests, the purpose of which is to control the motor of the vehicle door to operate at the standby duty cycle under various external force interventions to achieve smooth door opening and closing.

[0048] In this step, if the current duty cycle of the motor continues to increase or decrease within a first preset time period, it can be determined that the vehicle door is subject to external force interference. If the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle can be used as the adjusted target duty cycle, and the vehicle door motor can be controlled to operate at the target duty cycle to open and close the vehicle door at the target speed.

[0049] For example, Figure 3is a schematic diagram showing a door control method according to an exemplary embodiment. Figure 3 As shown, Figure 3 The horizontal axis represents time in milliseconds (ms), and the vertical axis represents the duty cycle, whose proportional value is calibrated in units of 1 / 10000. The first duty cycle is M. Figure 3 The solid line in the figure represents the change in the current duty cycle of the motor, and the dashed line represents the standby duty cycle, which is set to 30%. The circled portion of the figure shows that the vehicle door is subjected to an external force during the period from 2000ms to 2800ms. The current duty cycle of the motor decreases continuously during the period from 2000ms to 2400ms, and during the period from 2400ms to 2800ms, the current duty cycle of the motor is less than the first duty cycle M. The motor can be controlled to operate at the standby duty cycle of 30% during the period from 2400ms to 2800ms to enable the vehicle door to open and close at the target speed. At 2800ms, the current duty cycle of the motor is equal to the first duty cycle M, and after 2800ms, the current duty cycle is greater than the first duty cycle M. The motor can be controlled to operate at the current duty cycle during the period from 2800ms to enable the vehicle door to open and close at the target speed.

[0050] As another example, Figure 4 is a schematic diagram showing a door control method according to an exemplary embodiment. Figure 4 As shown, Figure 4 The horizontal axis represents time in milliseconds (ms), and the vertical axis represents the duty cycle, whose proportional value is calibrated in units of 1 / 10000. The first duty cycle is M. Figure 4 The solid line in the figure represents the change in the current duty cycle of the motor, and the dashed line represents the standby duty cycle, which is set to 30%. The circled portion of the figure shows that the motor is subjected to an external force during the period from 2000ms to 2600ms. The current duty cycle of the motor decreases continuously during this period, and at 2400ms, the current duty cycle of the motor is less than the first duty cycle M. The motor can be controlled to operate at the standby duty cycle of 30% during the period from 2400ms to 2600ms to enable the door to open and close at the target speed.

[0051] In the above technical solution, when the current duty cycle of the motor continues to increase or decrease within the first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle, which can effectively avoid the occurrence of door shaking and jamming, thereby effectively improving the smoothness of door opening and closing.

[0052] Figure 5 is based on Figure 1 The embodiment shown is a flow chart of another door control method, as shown in FIG. Figure 5 As shown, the method may further include: Step 501 : When the vehicle door is disturbed by the external force, if it is determined that the duty cycle of the motor continues to decrease to below a preset second duty cycle, the motor is controlled to enter a released state.

[0053] The release state is when the motor stops actively driving, allowing external force to operate the door, and entering a "free rotation" or "passive follow" mode. The door may be an electric tailgate of the vehicle.

[0054] In this step, due to the external force interference on the vehicle door, the motor may passively follow the rotation, and the motor speed may not be zero. If it is determined that the duty cycle of the motor continues to decrease below a preset second duty cycle when the vehicle door is interfered with by the external force, the motor can be controlled to stop actively driving by cutting off the motor drive current.

[0055] Step 502: Acquire the current rotation speed of the motor after it enters the release state.

[0056] Step 503 : When it is determined that the current rotation speed is less than or equal to a preset rotation speed threshold, the rotation direction of the motor before the motor enters the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

[0057] In this step, when it is determined that the current speed is less than or equal to the preset speed threshold, if the rotation direction of the motor before entering the release state is forward, the motor is driven forward again; if the rotation direction of the motor before entering the release state is reverse, the motor is driven reverse again.

[0058] Still Figure 4 For example, Figure 4 The horizontal axis represents time in milliseconds (ms), and the vertical axis represents the duty cycle, whose proportional value is calibrated in units of 1 / 10000. The second duty cycle is N. Figure 4 The solid line portion in represents the change of the current duty cycle of the motor, and the dotted line portion represents the standby duty cycle. The value of the standby duty cycle is set to 30%, and the speed threshold is Q.

[0059] As can be seen from the figure, the motor speed continuously decreases between 2000ms and 2800ms, and at 2800ms, the motor duty cycle continuously decreases to a preset second duty cycle N. The motor is controlled to enter a release state at 2800ms, and the current speed of the motor after entering the release state is obtained. At 3800ms, it is determined that the current speed is less than or equal to a preset speed threshold Q, the rotation direction of the motor before entering the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

[0060] The above technical solution, when the vehicle door is disturbed by external force, if it is determined that the duty cycle of the motor continues to decrease to below the preset second duty cycle, the motor is controlled to enter the release state; and when it is determined that the current speed is less than or equal to the preset speed threshold, the motor is driven to rotate again according to the rotation direction of the motor before entering the release state. This can avoid the situation where the vehicle door is not fully opened or closed after the external force is removed, thereby improving the user experience and effectively improving the stability and reliability of vehicle door control.

[0061] Figure 6 is based on Figure 1 The embodiment shown is a flow chart of another door control method, as shown in FIG. Figure 6 As shown, the method may further include: Step 601: When it is determined that the current duty cycle is less than or equal to a preset first duty cycle, obtain the current current of the motor.

[0062] Step 602 : When it is determined that the current current is greater than or equal to a preset current threshold, control the vehicle door according to the current opening and closing state of the vehicle door.

[0063] The opening and closing states may include a first state from closed to open and a second state from open to closed.

[0064] In this step, when it is determined that the current current is greater than or equal to the preset current threshold, if the opening and closing state is determined to be the first state, the motor can be controlled to stop rotating so that the car door stops opening; if the opening and closing state is determined to be the second state, the motor can be controlled to reverse so that the car door enters the first state.

[0065] The above technical solution, when it is determined that the current duty cycle is less than or equal to the preset first duty cycle, if it is determined that the current current of the motor is greater than or equal to the preset current threshold, controls the door according to the current opening and closing state of the door, thereby avoiding the situation where obstacles are clamped when the door is in the opening and closing state, thereby effectively improving the safety and reliability of the door control.

[0066] Figure 7 is based on Figure 6 The embodiment shown is a flow chart of a door control method, as shown in FIG. Figure 7 As shown, Figure 6 In step 602, when it is determined that the current current is greater than or equal to a preset current threshold, controlling the door according to the current open / closed state of the door may include: Step 701: When it is determined that the opening and closing state is the first state, control the motor to stop rotating so that the vehicle door stops opening.

[0067] The opening and closing states include a first state from closed to open and a second state from open to closed.

[0068] In this step, when it is determined that the opening and closing state of the vehicle door is the first state from closed to open, the motor is controlled to stop rotating so that the vehicle door stops opening.

[0069] Step 702: When it is determined that the opening and closing state is the second state, control the motor to rotate in reverse so that the door enters the first state.

[0070] In this step, when it is determined that the door is in the second state from open to closed, the motor is controlled to rotate in reverse so that the door enters the first state from closed to open.

[0071] The above technical solution controls the motor to stop rotating when it is determined that the opening and closing state is the first state, and controls the motor to reverse when it is determined that the opening and closing state is the second state. This can avoid the situation where obstacles are clamped when the door is in the opening and closing state, thereby effectively improving the safety and reliability of the door control.

[0072] Optionally, Figure 1 In step 101, if it is determined that the vehicle door is in the process of opening and closing, and it is determined that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed may include: When it is determined that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces except the motor driving force, the vehicle door is controlled to open and close at a target speed.

[0073] The above technical solution, by determining that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces in addition to the motor driving force, controls the vehicle door to open and close at the target speed, thereby avoiding the vehicle door being unstable in the initial stage of startup and causing misoperation, thereby effectively improving the reliability of vehicle door control.

[0074] Figure 8is based on Figure 1 The embodiment shown is a flow chart of another door control method, as shown in FIG. Figure 8 As shown, determining that the vehicle door is in a uniform motion state may include: Step 801: Obtain the speed information of the motor in the vehicle door within a second preset time period.

[0075] Step 802: When it is determined according to the speed information that the speed of the motor in the second preset time period all falls within a preset speed range, it is determined that the vehicle door is in a uniform motion state.

[0076] The speed information may be the real-time speed of the motor.

[0077] In this step, when it is determined that the real-time rotation speed of the motor within the second preset time period falls within the preset rotation speed range, it can be determined that the vehicle door is in a uniform motion state.

[0078] The above technical solution determines that the vehicle door is in a uniform motion state when it is determined based on the speed information that the speed of the motor within the second preset time period belongs to the preset speed range. It can ensure that when the vehicle door is disturbed by external forces, the current duty cycle of the motor is adjusted, thereby effectively avoiding the occurrence of vehicle door shaking and jamming, improving the smoothness of vehicle door opening and closing, and thus effectively improving the stability and reliability of vehicle door control.

[0079] Figure 9 FIG. 1 is a block diagram of a vehicle door control device according to an exemplary embodiment. Figure 9 , the device comprises: The adjustment module 901 is configured to control the vehicle door to open and close at a target speed if it is determined that the vehicle door is subjected to external forces other than the motor driving force.

[0080] Optionally, the adjustment module 901 is configured to: When the direction in which the external force is applied to the vehicle door is consistent with the direction in which the vehicle door opens and closes, the current duty cycle of the motor is reduced so that the vehicle door opens and closes at a target speed.

[0081] Optionally, the adjustment module 901 is further configured to: In a case where the direction of the external force acting on the door is inconsistent with the direction in which the door opens and closes, if it is determined that there is a component of the external force that is opposite to the direction in which the door opens and closes, increasing the current duty cycle of the motor so that the door opens and closes at a target speed; If it is determined that a component of the external force is in the same direction as the door opening and closing direction, the current duty cycle is reduced so that the door opens and closes at a target speed.

[0082] Optionally, the adjustment module 901 is further configured to: When the current duty cycle of the motor continues to increase or decrease within a first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle to enable the vehicle door to open and close at the target speed.

[0083] Optionally, the apparatus further includes a first control module 902, wherein the first control module 902 is configured to: When the vehicle door is subjected to the external force, if it is determined that the duty cycle of the motor continues to decrease to below a preset second duty cycle, controlling the motor to enter a released state; Obtaining the current speed of the motor after it enters the release state; When it is determined that the current rotation speed is less than or equal to the preset rotation speed threshold, the rotation direction of the motor before the motor enters the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

[0084] Optionally, the apparatus further includes a second control module 903, wherein the second control module 903 is configured to: When it is determined that the current duty cycle is less than or equal to a preset first duty cycle, obtaining a current current of the motor; When it is determined that the current current is greater than or equal to a preset current threshold, the vehicle door is controlled according to the current opening and closing state of the vehicle door.

[0085] Optionally, the opening and closing state includes a first state from closed to open and a second state from open to closed, and the second control module 903 is further configured to: When it is determined that the opening and closing state is the first state, controlling the motor to stop rotating so that the door stops opening; When it is determined that the opening and closing state is the second state, the motor is controlled to rotate in reverse so that the vehicle door enters the first state.

[0086] Optionally, the adjustment module 901 is further configured to: When it is determined that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces except the motor driving force, the vehicle door is controlled to open and close at a target speed.

[0087] Optionally, the adjustment module 901 is further configured to: Obtaining speed information of the motor in the vehicle door within a second preset time period; When it is determined according to the speed information that the speed of the motor in the second preset time period all falls within the preset speed range, it is determined that the vehicle door is in a uniform motion state.

[0088] Through the above technical solution, when it is determined that the vehicle door is in the opening and closing process, if it is determined that the vehicle door is subjected to other external forces in addition to the motor driving force, the vehicle door is controlled to open and close at the target speed, which can effectively avoid the occurrence of vehicle door shaking and jamming, thereby effectively improving the smoothness of vehicle door opening and closing, improving the user experience, and further effectively improving the stability and reliability of vehicle door control.

[0089] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0090] Figure 10 FIG. 1 is a block diagram of an electronic device 1000 according to an exemplary embodiment. Figure 10 As shown, the electronic device 1000 may include: a processor 1001 , a memory 1002 , and may further include one or more of a multimedia component 1003 , an input / output (I / O) interface 1004 , and a communication component 1005 .

[0091] The processor 1001 is used to control the overall operation of the electronic device 1000 to complete all or part of the steps in the transaction processing method described above. The memory 1002 is used to store various types of data to support the operation of the electronic device 1000. This data may include, for example, instructions for any application or method operating on the electronic device 1000, as well as application-related data, such as contact information, sent and received messages, images, audio, video, etc. The memory 1002 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 1003 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 1002 or transmitted via the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules, such as a keyboard, a mouse, and buttons. These buttons may be virtual or physical. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 and other devices. Wireless communication may include Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G networks, or a combination thereof, without limitation. Accordingly, the communication component 1005 may include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0092] In an exemplary embodiment, the electronic device 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned transaction processing method.

[0093] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the transaction processing method described above are implemented. For example, the computer-readable storage medium may be the memory 1002 including the program instructions described above. The program instructions may be executed by the processor 1001 of the electronic device 1000 to perform the transaction processing method described above.

[0094] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the transaction processing method described above when executed by the programmable device.

[0095] Figure 11 is a block diagram of a vehicle 1100 according to an exemplary embodiment. Figure 11 As shown, the vehicle includes the above-mentioned door control device 900.

[0096] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0097] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0098] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle door control method, characterized in that: The vehicle door includes a motor, and the method includes: When it is determined that the vehicle door is in the opening and closing process, if it is determined that the vehicle door is subjected to other external forces except the driving force of the motor, the vehicle door is controlled to open and close at a target speed.

2. The vehicle door control method according to claim 1, characterized in that: If it is determined that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed includes: When the direction in which the external force is applied to the vehicle door is consistent with the direction in which the vehicle door opens and closes, the current duty cycle of the motor is reduced so that the vehicle door opens and closes at a target speed.

3. The vehicle door control method according to claim 1, characterized in that: If it is determined that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed further includes: In a case where the direction of the external force acting on the door is inconsistent with the direction in which the door opens and closes, if it is determined that there is a component of the external force that is opposite to the direction in which the door opens and closes, increasing the current duty cycle of the motor so that the door opens and closes at a target speed; If it is determined that a component of the external force is in the same direction as the door opening and closing direction, the current duty cycle is reduced so that the door opens and closes at a target speed.

4. The vehicle door control method according to claim 1, characterized in that: If it is determined that the vehicle door is subjected to external forces other than the motor driving force, controlling the vehicle door to open and close at a target speed further includes: When the current duty cycle of the motor continues to increase or decrease within a first preset time period, if it is determined that the current duty cycle is less than or equal to the preset first duty cycle, the preset standby duty cycle is used as the adjusted target duty cycle to enable the vehicle door to open and close at the target speed.

5. The vehicle door control method according to claim 1, characterized in that: The method further comprises: When the vehicle door is subjected to the external force, if it is determined that the duty cycle of the motor continues to decrease to below a preset second duty cycle, controlling the motor to enter a released state; Obtaining the current speed of the motor after it enters the release state; When it is determined that the current rotation speed is less than or equal to the preset rotation speed threshold, the rotation direction of the motor before the motor enters the release state is obtained, and the motor is driven to rotate again according to the rotation direction.

6. The vehicle door control method according to claim 1, characterized in that: The method further comprises: When it is determined that the current duty cycle of the motor is less than or equal to a preset first duty cycle, obtaining a current current of the motor; When it is determined that the current current is greater than or equal to a preset current threshold, the vehicle door is controlled according to the current opening and closing state of the vehicle door.

7. The vehicle door control method according to claim 6, characterized in that: The opening and closing state includes a first state from closed to open and a second state from open to closed, and when it is determined that the current current is greater than or equal to a preset current threshold, controlling the door according to the current opening and closing state of the door includes: When it is determined that the opening and closing state is the first state, controlling the motor to stop rotating so that the door stops opening; When it is determined that the opening and closing state is the second state, the motor is controlled to rotate in reverse so that the vehicle door enters the first state.

8. The vehicle door control method according to claim 1, characterized in that: If it is determined that the vehicle door is in the process of opening or closing, and it is determined that the vehicle door is subjected to an external force other than the driving force of the motor, controlling the vehicle door to open or close at a target speed includes: When it is determined that the vehicle door is in a uniform motion state, if it is determined that the vehicle door is subjected to other external forces except the motor driving force, the vehicle door is controlled to open and close at a target speed.

9. The vehicle door control method according to claim 8, characterized in that: Determining that the vehicle door is in a uniform motion state includes: Obtaining speed information of the motor in the vehicle door within a second preset time period; When it is determined according to the speed information that the speed of the motor in the second preset time period all falls within the preset speed range, it is determined that the vehicle door is in a uniform motion state.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 9.

12. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the method according to any one of claims 1 to 9.

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