Control method of vehicle electric suction door, electronic equipment and vehicle

Abstract

The invention provides a vehicle electric suction door control method, electronic equipment and a vehicle, and is applied to the field of vehicle electric suction door control. The method comprises the steps that firstly, in response to a received door closing instruction, the spring bolt state of a spring bolt on an electric suction door is determined, and when the determined spring bolt state is a target state (a full-lock state or a half-lock state), the electric suction door is closed. The vehicle door state of the electric suction door needs to be continuously determined, when the determined vehicle door state is a vehicle door unclosed state, it is indicated that the vehicle door state represented by the determined spring bolt state is inconsistent with the actually determined vehicle door state, the situation that the spring bolt state is abnormal due to mistaken touch occurs, and the spring bolt is driven to retract to the full-open state; according to the method and the device, the electric suction door is closed again to remind a user of closing the electric suction door again, so that the electric suction door can be normally closed when the user closes the electric suction door again, and the safety and the sealing performance of the vehicle are ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a control method for a vehicle electric suction door, an electronic device, and a vehicle. Background Art

[0002] The vehicle's electric suction door is a common safety feature in vehicles. It is an automatic door closing system driven by a motor. When the door is not completely closed, the system will automatically and gently suck the door closed to a fully closed state without the need for passengers to slam the door hard.

[0003] The feedback on the door status of the vehicle's electric suction door comes from the lock tongue status of the door lock module. However, in actual use, the lock tongue status feedback may show that the door is closed, but the actual door status is open. In this case, since the door status feedback from the lock tongue status is inconsistent with the facts, there is no reminder that the door is not closed, so the user cannot know that the door is not closed, affecting the safety and sealing of the vehicle. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a control method, electronic equipment and vehicle for a vehicle electric suction door, so as to solve the problem that there is no reminder that the door is not closed because the door status feedback from the lock tongue status is inconsistent with the facts.

[0005] Based on the above objectives, the first aspect of the present application provides a method for controlling a vehicle electric suction door, comprising:

[0006] In response to receiving a door closing command, determining a lock tongue state of a lock tongue on an electric suction door;

[0007] In response to determining that the lock tongue state is the target state, determining the door state of the electric suction door, wherein the target state is a fully locked state or a half-locked state

[0008] In response to the vehicle door being in an open state, the locking tongue is driven to retract to a fully open state.

[0009] By determining the lock tongue status and the door status separately to accurately determine the actual state of the door, the accuracy of the door status determination can be improved, and the electric suction door can be accurately and effectively controlled to ensure that the electric suction door can be completely closed, thereby ensuring the safety of the vehicle and the user, and ensuring that the door is not closed and there is no door open reminder due to the inconsistency between the door status feedback of the lock tongue status and the actual door status.

[0010] Optionally, a signal switch is provided on the door frame corresponding to the electric suction door, and the electric signal emitted by the signal switch is a door not closed signal or a door closed signal;

[0011] The determining the door state of the electric suction door includes:

[0012] Obtaining the electrical signal of the signal switch on the door frame;

[0013] In response to the electrical signal being a door not closed signal, it is determined that the door state of the electric suction door is a door not closed state.

[0014] The door status of the electric suction door is determined based on the lock tongue status and the electrical signal of the signal switch respectively. When the door status determined by the two are inconsistent, it means that the lock tongue has been mislocked or malfunctioned, and it is necessary to drive the lock tongue to retract to the fully open state to ensure that the door status is fully open when the door is not closed, to ensure that the electric suction door can be closed normally when the user closes it again, to ensure the safety and sealing of the vehicle.

[0015] Optionally, determining the door state of the electric suction door includes:

[0016] Obtain image information of the electric suction door;

[0017] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0018] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0019] When determining the door status of the electric suction door, in addition to determining the door status of the electric suction door based on the electrical signal of the signal switch, the door status of the electric suction door can also be determined based on the image information of the electric suction door. However, when determining the door status of the electric suction door based on the signal switch, if there is a problem with the sensitivity or accuracy of the signal switch, it will also cause the door status determined based on the electrical signal to be inaccurate; although the door status determined based on image information is not affected by electrical signals and sensitivity, it has higher requirements on the accuracy of the camera that obtains image information, the accuracy and precision of image information processing, etc.

[0020] Optionally, determining the door state of the electric suction door includes:

[0021] Obtaining the electrical signal of the signal switch on the door frame;

[0022] In response to the electrical signal being a door not closed signal, acquiring image information of the electric suction door;

[0023] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0024] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0025] In order to verify whether the electrical signal of the micro signal switch is accurate or solve the problem that the micro signal switch may be inaccurate, the door status of the electric suction door is determined based on the lock tongue status, the electrical signal of the signal switch and the image information of the electric suction door. When the door status determined by the three is inconsistent, it means that the lock tongue is mislocked or has a fault. The lock tongue needs to be driven back to the fully open state to ensure that the door status is fully open when the door is not closed, to ensure that the electric suction door can be closed normally when the user closes the electric suction door again, to ensure the safety and sealing of the vehicle.

[0026] Optionally, driving the lock tongue to retract to a fully open state comprises:

[0027] Obtaining door information of the vehicle's electric suction door, the door information including the duration of the door handle contact signal, electric suction door acceleration information, and / or door opening change rate;

[0028] In response to the duration of the door handle contact signal being greater than or equal to the preset contact time, the electric suction door acceleration information being greater than or equal to the preset acceleration, and / or the door opening change rate being greater than or equal to the preset change rate, the lock tongue is driven to retract to the fully open state.

[0029] Whether the user intends to close the door is determined based on the duration of the door handle contact signal, the electric suction door acceleration information and / or the door opening change rate. Only when it is determined that the user intends to close the door can the lock tongue be driven to retract to the fully open state, avoiding driving the lock tongue to retract when the user intentionally controls the lock tongue to extend, ensuring that it will not affect the user's car experience.

[0030] Optionally, driving the lock tongue to retract to a fully open state comprises:

[0031] Real-time monitoring of the lock tongue position of the lock tongue;

[0032] determining a rate of change of the lock tongue position at adjacent moments based on the lock tongue position;

[0033] In response to the position change rate of the lock tongue being less than a preset position change rate, repeatedly executing the retraction strategy until the lock tongue is retracted to a fully open state or the number of repetitions reaches a preset number, and stopping driving the lock tongue;

[0034] The retractable strategy includes: driving the lock tongue to extend to a fully locked state, and then driving the lock tongue to retract to a position where it cannot be further retracted.

[0035] In the process of driving the lock tongue to retract to the fully open state, the lock tongue position is monitored in real time and the rate of change of the lock tongue position at adjacent moments is determined to determine whether the lock tongue retraction process has encountered a failure. If a failure is encountered, an attempt can be made to solve it by repeatedly executing the extension and retraction strategy to ensure that the lock tongue can be smoothly retracted to the fully open state, thereby ensuring that the user can close the electric suction door normally next time.

[0036] Optionally, a projection structure is integrated into the lower portion of the outer wall of the electric suction door;

[0037] The method further comprises:

[0038] Control the projection structure to project a reminder to re-close the electric suction door on the ground area corresponding to the electric suction door, and / or send the reminder to re-close the electric suction door to the vehicle's central control screen.

[0039] After driving the lock tongue to retract to the fully open state, the vehicle door state is now the vehicle door unclosed state, and the lock tongue state is the lock tongue fully open state, and the two are consistent, ensuring that the user can successfully close the electric suction door when closing the electric suction door again. At this time, a reminder to reclose the electric suction door is sent to the user to remind the user to close the electric suction door again. When sending the reminder to reclose the electric suction door, the projection structure can be controlled to project the reminder to reclose the electric suction door on the ground area corresponding to the electric suction door. At this time, the reminder to reclose the electric suction door can be a light strip with an arrow to guide the user to reclose the electric suction door, or it can be a text reminder to remind the user to reclose the electric suction door. Alternatively, the reminder to reclose the electric suction door can be sent to the vehicle's central control screen or a mobile phone connected to the vehicle, etc., to remind the user to reclose the electric suction door.

[0040] Optionally, the electric suction door is provided with a door lock mechanism, and the door lock structure includes a lock tongue and a lock rod connected to the lock tongue;

[0041] Determining the lock tongue state of the electric suction door lock tongue includes:

[0042] Get the position information of the lock rod;

[0043] In response to the position information of the lock rod being within the preset position range, determining that the lock tongue state is a target state;

[0044] In response to the position information of the lock rod not being located within the preset position range, the lock tongue state is determined to be a non-target state.

[0045] The lock tongue status is determined by monitoring the position information of the lock rod. Compared with the method in the related art of determining the lock tongue status by monitoring the lock tongue position of a very small lock tongue, in this application, due to the longer size of the lock rod, the position monitoring of the lock rod will be easier and more accurate, which can improve the accuracy of the determined lock tongue status.

[0046] Based on the same inventive concept, the second aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the method described in any one of the first aspects above.

[0047] Based on the same inventive concept, the third aspect of the present application provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute any method described in the first aspect.

[0048] Based on the same inventive concept, the fourth aspect of the present application provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes any one of the methods described in the first aspect.

[0049] Based on the same inventive concept, the fifth aspect of the present application provides a control device for a vehicle electric suction door, comprising:

[0050] a determination module configured to determine a lock tongue state of a lock tongue on an electric suction door in response to receiving a door closing instruction;

[0051] a judgment module configured to determine a door state of the electric suction door in response to determining that the lock tongue state is a target state, wherein the target state is a fully locked state or a half-locked state;

[0052] The execution module is configured to drive the lock tongue to retract to a fully open state in response to the vehicle door being in an open state.

[0053] Based on the same inventive concept, the sixth aspect of this application provides a vehicle, comprising the electronic device described in the second aspect, the computer-readable storage medium provided in the third aspect, the computer program product provided in the fourth aspect, and the control device for the vehicle electric suction door provided in the fifth aspect.

[0054] As can be seen from the above, the control method, electronic device and vehicle of the vehicle electric suction door provided by the present application first determine the lock tongue state of the lock tongue on the electric suction door in response to receiving the door closing command. When the determined lock tongue state is the target state (fully locked state or half locked state), it is necessary to continue to determine the door state of the electric suction door. When the determined door state is the door not closed state, it means that the door state represented by the determined lock tongue state is inconsistent with the actual determined door state, and an abnormal lock tongue state caused by an accidental touch has occurred. The lock tongue is driven to retract to the fully open state to ensure that the lock tongue state is also fully open when the door state is the door not closed. The fully open lock tongue can ensure that the lock tongue can be extended when the user closes the electric suction door again, thereby ensuring that the electric suction door can be closed normally, ensuring the safety and sealing of the vehicle. In addition, by respectively determining the lock tongue state and the door state to accurately determine the actual state of the door, the accuracy of the door state determination can be improved, and the electric suction door can be accurately and effectively controlled to ensure that the electric suction door can be completely closed, thereby ensuring the safety of the vehicle and the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 A flow chart of a method for controlling a vehicle electric suction door according to an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a control device for a vehicle electric suction door according to an embodiment of the present application;

[0058] Figure 3 A schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0060] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0061] The vehicle's electric suction door is a common safety feature in vehicles. It is an automatic door closing system driven by a motor. When the door is not completely closed, the system will automatically and gently suck the door closed to a fully closed state without the need for passengers to slam the door hard.

[0062] It's worth noting that the electric suction door isn't fully automatic and still requires manual activation. The door will only automatically close when the user pushes it to a "half-closed position" (not fully locked, typically leaving a gap of approximately 5 to 10 cm). Some models can also be activated automatically via a button, touch sensor, or foot signal.

[0063] When the door is pushed to the trigger position, a sensor on the door frame or handle (such as a Hall sensor) detects the door's position. The control module activates a hidden motor, which slowly pulls the door lock mechanism through gears or cables, closing the door smoothly. When the door lock is fully engaged, the system provides feedback, such as through lights, sounds, or instrument panel displays.

[0064] For example, the working process of the electric suction door is as follows:

[0065] 1. Triggering stage: The user gently pushes the car door to a semi-closed position (about a 10cm gap), and the door frame sensor detects a signal.

[0066] 2. Lock tongue action: The motor drives the lock tongue to slowly extend, and the lock position is adaptively adjusted at the same time;

[0067] 3. Closure confirmation: The Hall sensor detects that the lock tongue and lock catch are fully engaged and sends a "door locked" signal to the instrument panel;

[0068] 4. Abnormal handling: If resistance is detected (such as a foreign object getting stuck), the motor reverses to release the lock tongue and trigger the alarm.

[0069] The two key elements of the power-closed door are the sensor and the motor. The sensor detects any moderately violent closing of the door. For example, when the door closes to its starting position (for example, halfway closed, approximately 6 mm from the lock), the sensor detects this. The sensor detects the intention to close the door, and once the door lock engages the handle, the motor (installed in each door, including the trunk) activates. The motor's primary task is to securely close the door with virtually no noise.

[0070] In addition, the electric suction door is not only a comfort and safety configuration but also practical. It can improve the efficiency of door closing, improve the sealing of the door, reduce noise and wind resistance, and improve the sound insulation effect in the car, allowing passengers to enjoy a quieter environment during driving.

[0071] Current automobile electric suction door systems generally use an electric lock tongue mechanism to achieve automatic door closing. When the door is open, the lock tongue installed on the door is fully retracted to the fully open state; when the door reaches the trigger position, the lock tongue installed on the door is controlled to extend until the lock tongue is fully engaged with the lock mechanism installed on the door frame. At this time, the lock tongue is in a fully locked state or a half-locked state. In this way, under normal circumstances, during the use of the electric suction door, the state of the lock tongue can represent the state of the door. When the lock tongue is in a fully open state, it means that the door is open; when the lock tongue is in a fully locked state or a half-locked state, it means that the door is closed.

[0072] Therefore, on existing vehicles, the door state is directly determined by the detected lock tongue state, and no other detection of the door state is performed. That is, when the lock tongue state is detected to be fully open, the door state is directly determined to be open; when the lock tongue state is detected to be fully locked or half locked, the door state is directly determined to be closed.

[0073] However, in actual use, human or environmental factors may cause the lock tongue to be in the fully locked or partially locked state when the car door is opened. For example, a child's fingers are thinner and they may accidentally push the door lock tongue into the half-locked or fully locked state when getting in the car.

[0074] In this case, the lock tongue is in a fully locked state or a half-locked state, and the car door is determined to be in a closed state based on the lock tongue state. Then, when the user pushes the car door to the trigger position, since the lock tongue is already in a fully locked state or a half-locked state at this time, the car door closing process may not be able to close normally due to the mechanical jamming of the lock tongue.

[0075] However, since the feedback of the door status of the electric suction door comes from the lock tongue status of the door lock module, at this time, since the vehicle lock status is fully locked or half locked, the door status determined based on the lock tongue status is that the door is closed. Therefore, the door lock module will not send a reminder that the door is not closed, and the user will not know that the door is not closed, which affects the safety and sealing of the vehicle.

[0076] Therefore, how to more accurately determine the door status of the electric suction door and then accurately and effectively control the electric suction door is a problem that needs to be solved urgently.

[0077] Based on this, see Figure 1 The present application provides a method for controlling an electric suction door of a vehicle, wherein the electric suction door is provided with a lock tongue. The method is executed by a vehicle controller or an electronic control unit, and the method specifically comprises the following steps:

[0078] Step S100: In response to receiving a door closing instruction, determining a lock tongue state of a lock tongue on an electric suction door;

[0079] Step S200: In response to determining that the lock tongue state is a target state, determining the door state of the electric suction door, wherein the target state is a fully locked state or a half-locked state;

[0080] Step S300: In response to the vehicle door being in an open state, driving the lock tongue to retract to a fully open state.

[0081] Specifically, the trigger instruction for the electronic control unit to control the electric suction door is to determine the lock tongue status of the lock tongue on the electric suction door when receiving the door closing instruction. The door closing instruction is issued by the user, which can be a door closing instruction issued by the user touching the control button or virtual key, or it can be a door closing instruction issued by the user manually pushing the electric suction door.

[0082] The lock tongue states include fully locked, half locked, and fully open. The fully locked state refers to the state where the lock tongue is fully extended, the half locked state refers to the state where the lock tongue is partially extended, and the fully open state refers to the state where the lock tongue is fully retracted.

[0083] When determining the lock tongue state of a lock tongue on an electric suction door, a position sensor can be provided on the lock tongue. The lock tongue position is determined based on a position signal collected by the position sensor, and the lock tongue state is then determined based on the lock tongue position. For example, when the lock tongue position is A, the lock tongue state is determined to be fully open; when the lock tongue position is B, the lock tongue state is determined to be fully locked; and when the lock tongue position is between A and B or approximately B / 2, the lock tongue state is determined to be half locked.

[0084] Of course, the lock tongue state of the lock tongue on the electric suction door can also be determined in other ways.

[0085] After the lock tongue state is determined, the determined lock tongue state may be a fully open state, a fully locked state, or a half-locked state.

[0086] When the determined lock tongue state is the target state (which can be a fully locked state or a partially locked state), the lock tongue is determined to be fully locked or partially locked. Theoretically, according to the existing electric suction door door state determination rules, when the lock tongue state is a fully locked state or a partially locked state, the electric suction door door state is directly determined to be closed.

[0087] However, in special circumstances, the lock tongue may be in a fully locked or half-locked state, but the electric suction door may not be closed, resulting in inaccurate determination of the door state of the electric suction door, and thus inability to accurately and effectively control the electric suction door.

[0088] Therefore, in this application, even if it is determined that the lock tongue state is in a fully locked state or a half-locked state, it is still necessary to continue to determine the door state of the electric suction door. When the door state is that the door is not closed, it means that although the lock tongue is in a fully locked or half-locked state, the door is not closed. Therefore, the lock tongue is driven to retract to a fully open state to solve the problem of abnormal lock tongue state caused by accidental touching of the lock tongue. Then, a reminder to re-close the electric suction door is sent to remind the user to manually or electrically close the electric suction door again to ensure that the electric suction door can be closed normally.

[0089] In this application, the lock tongue status and the vehicle door status are determined respectively. When the vehicle door status represented by the determined lock tongue status is inconsistent with the actually determined vehicle door status, it indicates that an abnormal lock tongue status has occurred due to an accidental touch. At this time, the lock tongue is automatically driven to retract to the fully open state to ensure that the lock tongue status is also fully open when the vehicle door status is not closed, to ensure that the electric suction door can be closed normally when the user closes the electric suction door again, thereby ensuring the safety and sealing of the vehicle.

[0090] In addition, by accurately determining the actual state of the door by separately determining the lock tongue state and the door state, the accuracy of the door state determination can be improved, and the electric suction door can be accurately and effectively controlled to ensure that the electric suction door can be completely closed, thereby ensuring the safety of the vehicle and the user, and ensuring that the door is not closed and there is no door open reminder due to the inconsistency between the door state feedback from the lock tongue state and the actual door state.

[0091] In some embodiments, a signal switch is provided on the door frame corresponding to the electric suction door, and the electrical signal emitted by the signal switch is a door not closed signal or a door closed signal.

[0092] Specifically, the signal switch is arranged on the door frame corresponding to the electric suction door. For example, the signal switch is installed on the hinge of the door frame, the lock of the door frame or other positions of the door frame.

[0093] The signal switch can be a micro switch (physical contact type) or a proximity switch (non-contact type). When the vehicle door is fully closed, the signal switch is pressed and closed, forming a closed circuit. The electrical signal sent by the signal switch to the vehicle controller or electronic control unit is a door closing signal. For example, the door closing signal can be a preset signal such as "1" or "a".

[0094] When the door is not closed, the signal switch is not pressurized to close and no closed loop is formed. At this time, the electrical signal sent by the signal switch to the vehicle controller or electronic control unit is a door not closed signal. For example, it can be a preset signal "0" or "b".

[0095] Alternatively, when the vehicle door is not closed, the signal switch does not actively send an electrical signal. At this time, the electrical signal of the signal switch on the door frame obtained by the vehicle controller or the electronic control unit is a preset default signal, representing a signal that the vehicle door is not closed. For example, the preset default signal can be a preset signal "0" or "b", etc.

[0096] In some embodiments, determining the door status of the electric suction door in step S200 includes:

[0097] Obtaining the electrical signal of the signal switch on the door frame;

[0098] In response to the electrical signal being a door not closed signal, it is determined that the door state of the electric suction door is a door not closed state.

[0099] Specifically, an electrical signal of a signal switch on a door frame is obtained. When the electrical signal is a door not closed signal, the door state of the electric suction door is determined to be a door not closed state; when the electrical signal is a door closed signal, the door state of the electric suction door is determined to be a door closed state.

[0100] A signal switch is set on the door frame, and the electric signal emitted by the signal switch is used to determine whether the electric suction door and the door frame are closed. If closed, the electric signal emitted by the signal switch is a door closing signal; if not closed, the electric signal emitted by the signal switch is a door not closed signal. In this way, the actual door status of the electric suction door can be accurately determined based on whether the electric suction door and the door frame are closed, thereby improving the accuracy of door status determination.

[0101] After accurately determining the door status, if the door status determined based on the electrical signal of the signal switch is inconsistent with the door status determined based on the lock tongue status, it means that the lock tongue is mistakenly locked at this time, and the lock tongue status is inconsistent with the actual door status of the electric suction door. Therefore, it is necessary to drive the lock tongue to retract to the fully open state to ensure that the door status is fully open when the door is not closed, to ensure that the electric suction door can be closed normally when the user closes the electric suction door again, to ensure the safety and sealing of the vehicle.

[0102] In this application, the door status of the electric suction door is determined based on the lock tongue status and the electrical signal of the signal switch respectively. When the door status determined by the two are inconsistent, it means that the lock tongue has been mislocked or malfunctioned, and it is necessary to drive the lock tongue to retract to the fully open state to ensure that the door status is fully open when the door is not closed, to ensure that the electric suction door can be closed normally when the user closes the electric suction door again, to ensure the safety and sealing of the vehicle.

[0103] When determining the door status of an electric suction door, in addition to determining the door status based on the electrical signal from the signal switch as described in the above embodiment, other methods can also be used to determine the door status of the electric suction door, such as determining the door status based on image information. However, how to accurately determine the door status of the electric suction door based on image information is another issue that needs to be resolved.

[0104] Specifically, in some embodiments, determining the door state of the electric suction door in step S200 includes:

[0105] Obtain image information of the electric suction door;

[0106] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0107] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0108] Specifically, an in-vehicle camera or an outside-vehicle camera is used to obtain image information of the electric suction door, and the image information at least includes images of the entire electric suction door and the inner edge of the door frame near the outer edge of the electric suction door.

[0109] After acquiring image information, a determination is made based on the image information as to whether a gap exists between the electric suction door and the door frame. For example, the determination can be based on grayscale values. A first grayscale value of the electric suction door, a second grayscale value of the inner edge of the door frame near the outer edge of the electric suction door, and a third grayscale value of the area between the outer edge of the electric suction door and the inner edge of the door frame are acquired from the image information.

[0110] When the absolute value of the difference between the third grayscale value and the first grayscale value, and / or the absolute value of the difference between the third grayscale value and the second grayscale value is less than or equal to the preset absolute value, it indicates that the difference between the third grayscale value and the first grayscale value and / or the second grayscale value is small, and the third grayscale value of the area between the outer edge of the electric suction door and the inner edge of the vehicle door frame is close to the first grayscale value of the electric suction door, and / or close to the second grayscale value of the inner edge area of the vehicle door frame. At this time, it indicates that the area between the outer edge of the electric suction door and the inner edge of the vehicle door frame is the outer edge of the electric suction door, or is the inner edge area of the vehicle door frame, and therefore, it indicates that there is no gap between the electric suction door and the vehicle door frame.

[0111] When the absolute value of the difference between the third grayscale value and the first grayscale value, and / or the absolute value of the difference between the third grayscale value and the second grayscale value is greater than the preset absolute value, it means that the difference between the third grayscale value and the first grayscale value and / or the second grayscale value is large, and the third grayscale value of the area between the outer edge of the electric suction door and the inner edge of the vehicle door frame is very different from the first grayscale value of the electric suction door, and / or very different from the second grayscale value of the inner edge area of the vehicle door frame. At this time, it means that the area between the outer edge of the electric suction door and the inner edge of the vehicle door frame is neither the outer edge of the electric suction door nor the inner edge area of the vehicle door frame. Therefore, it means that there is a gap between the electric suction door and the vehicle door frame.

[0112] When there is a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0113] In this application, the image information is more intuitive and accurate. By directly obtaining the image information of the electric suction door to determine the door status of the electric suction door, the door status of the electric suction door can be determined efficiently and accurately.

[0114] When determining the door status of the electric suction door, in addition to determining the door status of the electric suction door based on the electrical signal of the signal switch, the door status of the electric suction door can also be determined based on the image information of the electric suction door. However, when determining the door status of the electric suction door based on the signal switch, if there is a problem with the sensitivity or accuracy of the signal switch, it will also cause the door status determined based on the electrical signal to be inaccurate; although the door status determined based on image information is not affected by electrical signals and sensitivity, it has higher requirements on the accuracy of the camera that obtains image information, the accuracy and precision of image information processing, etc.

[0115] Therefore, in actual processing, based on actual needs, the door status of the electric suction door can be determined based solely on the electrical signal of the signal switch as described in the above embodiment, or based solely on the image information of the electric suction door as described in the above embodiment. Determining the door status of the electric suction door based on a single method may still have certain drawbacks. Therefore, how to further improve the accuracy of the determined door status of the electric suction door is another issue that needs to be considered.

[0116] Based on this, in some embodiments, determining the door status of the electric suction door in step S200 includes:

[0117] Obtaining the electrical signal of the signal switch on the door frame;

[0118] In response to the electrical signal being a door not closed signal, acquiring image information of the electric suction door;

[0119] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0120] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0121] Specifically, first obtain the electrical signal of the signal switch on the door frame. When the electrical signal is a door not closed signal, determine that the door state of the electric suction door is the door not closed state; when the electrical signal is a door closed signal, determine that the door state of the electric suction door is the door closed state.

[0122] A signal switch is set on the door frame, and the electric signal emitted by the signal switch is used to determine whether the electric suction door and the door frame are closed. If closed, the electric signal emitted by the signal switch is a door closing signal; if not closed, the electric signal emitted by the signal switch is a door not closed signal. In this way, the actual door status of the electric suction door can be determined more accurately based on whether the electric suction door and the door frame are closed.

[0123] However, since the signal switch is a micro switch (physical contact type) or a proximity switch (non-contact type), it is possible that mechanical failure may cause the electrical signal of the signal switch to be erroneous. For example, although the electric suction door and the door frame are not closed, that is, the electric suction door does not squeeze the signal switch to form a circuit, due to some other mechanical failure (for example, after the signal switch was pressed and closed last time, the signal switch did not disconnect when the door was opened, causing the signal switch to remain in the closed state), or environmental factors or human factors may cause the signal switch to be pressed and closed even though the door is open, resulting in the electrical signal of the signal switch being a door closed signal. In this case, the door state determined based on the signal switch is inaccurate, which is not conducive to the precise control of the electric suction door.

[0124] Therefore, in some cases where the precision requirement is very high, when obtaining the electrical signal of the signal switch on the door frame and determining that the electrical signal is a door not closed signal, continue to obtain the image information of the electric suction door, and determine whether there is a gap between the electric suction door and the door frame based on the image information; when there is a gap between the electric suction door and the door frame, determine that the door state of the electric suction door is the door not closed state.

[0125] In this way, the door status of the electric suction door is determined based on the lock tongue status, the electrical signal of the signal switch and the image information of the electric suction door respectively. When the door status determined by the three are inconsistent, it means that the lock tongue is mislocked or has a fault, and it is necessary to drive the lock tongue to retract to the fully open state to ensure that the door status is fully open when the door is not closed, to ensure that the electric suction door can be closed normally when the user closes it again, thereby ensuring the safety and sealing of the vehicle.

[0126] In addition, as mentioned above, although the door status determined based on image information is not affected by electrical signals and sensitivity, it has high requirements for the accuracy of the camera that obtains the image information, the accuracy and precision of the image information processing, etc., which increases the cost of the vehicle. Therefore, in actual use, it is only necessary to determine the door status based on the signal switch of the electrical signal and the image information of the electric suction door in sequence under special circumstances or when the accuracy of the signal switch needs to be verified. In normal use scenarios or when there is no problem in determining the accuracy of the signal switch, there is no need to determine the door status based on the signal switch of the electrical signal and the image information of the electric suction door in sequence. It is only necessary to determine the door status based on the signal switch of the electrical signal or the image information of the electric suction door. This can reduce costs and simplify the program execution steps while ensuring the accuracy of the determined door status.

[0127] Under normal circumstances, when the lock tongue is in the fully locked state or half locked state, but the door state is not closed, it means that the lock tongue is abnormal due to accidental touch. In order to allow the electric suction door to close normally, the lock tongue needs to be driven to retract to the fully open state to ensure that the lock tongue is in the fully open state when the door state is not closed, and to ensure that the door can be closed normally when the electric suction door is closed again.

[0128] However, in some special cases, the user may intentionally move the lock tongue to a semi-locked state without closing the door. For example, the user may intentionally leave the door ajar to a semi-locked position to allow for short-term ventilation. In this case, it is not a case of accidental locking, but rather an active control by the user. Therefore, in this case, there is no need to drive the lock tongue to retract to the fully open state, nor is there a need to send a reminder to close the electric suction door again, otherwise it will affect the user's car experience.

[0129] Therefore, before driving the lock tongue to retract to the fully open state, it is necessary to determine whether the user intends to close the door. Only when the user intends to close the door, it is necessary to drive the lock tongue to retract to the fully open state to ensure that the next door closing can be carried out normally. Otherwise, there is no need to actively intervene to avoid affecting the user experience.

[0130] Based on this, in some embodiments, driving the lock tongue to retract to the fully open state in step S300 includes:

[0131] Obtaining door information of the vehicle's electric suction door, the door information including the duration of the door handle contact signal, electric suction door acceleration information, and / or door opening change rate;

[0132] In response to the duration of the door handle contact signal being greater than or equal to the preset contact time, the electric suction door acceleration information being greater than or equal to the preset acceleration, and / or the door opening change rate being greater than or equal to the preset change rate, the lock tongue is driven to retract to the fully open state.

[0133] Specifically, first, the door information of the electric suction door of the vehicle is obtained, and the door information of the electric suction door is used to represent various types of information related to the door.

[0134] The vehicle door information is the information of the vehicle door at the current moment or the information recorded in the vehicle storage space when the vehicle door last changed state. Exemplarily, the vehicle door information includes the duration of the door handle contact signal, the electric suction door acceleration information and / or the vehicle door opening rate, wherein the vehicle door opening rate is the opening change information of the vehicle door at the current moment, and the duration of the door handle contact signal and the electric suction door acceleration information can be the information of the vehicle door at the current moment. If there is no door handle contact signal duration and electric suction door acceleration information at the current moment, then the door handle contact signal duration and electric suction door acceleration information recorded in the storage space when the vehicle door last changed state are determined as the vehicle door information obtained this time.

[0135] Obtain door information of the vehicle's electric suction door, and determine whether the user intends to actively close the door based on the door information.

[0136] Specifically, it is necessary to determine whether the duration of the door handle contact signal is greater than or equal to the preset contact time, whether the electric suction door acceleration information is greater than or equal to the preset acceleration, and / or whether the door opening change rate is greater than or equal to the preset change rate.

[0137] The door handle is equipped with a capacitive sensor that detects the duration of the door handle contact signal. A short duration indicates that the user "lightly touched" or "instantly touched" the door handle, or did not touch the door handle at all, indicating that the user had no intention of closing the door. A long duration indicates that the user "continuously touched" the door handle, indicating that the user intended to close the door.

[0138] Therefore, after obtaining the duration of the door handle contact signal, it is determined whether the duration of the door handle contact signal is greater than or equal to a preset contact time. The preset contact time is the minimum time a user needs to touch the door handle to close the door. For example, the preset contact time can be 1 second or 2 seconds.

[0139] When it is determined that the duration of the door handle contact signal is greater than or equal to the preset contact time, it means that the duration is long at this time, and it is determined that the user has the intention to actively close the door.

[0140] And / or, after obtaining the acceleration information of the electric suction door, determine whether the acceleration information is greater than or equal to a preset acceleration, the preset acceleration being the minimum acceleration applied to the door when the user actively closes the door. For example, the preset acceleration may be 2 m / s 2 or 3m / s 2 wait.

[0141] When the acceleration information is greater than or equal to the preset acceleration, it indicates that the acceleration information is large, and it is determined that the user has the intention to actively close the door.

[0142] And / or, when the door opening change rate is obtained, determining whether the door opening change rate is greater than or equal to a preset change rate. The preset change rate is the minimum change rate of the door opening when the user actively closes the door. For example, the preset change rate may be 2° / s or 3° / s. When it is determined that the door opening change rate is greater than or equal to the preset change rate, it is determined that the user has the intention to actively close the door.

[0143] The door opening angle refers to the angle of the door's opening relative to the vehicle body when fully closed, typically measured in degrees (HOH). For example, 0° indicates a fully closed door, 30° indicates a slightly open door (e.g., for reaching in or out), and 90° indicates a wide open door (e.g., for getting in or out of the vehicle). In practice, an angle sensor can be installed at the door hinge to monitor the door opening angle in real time.

[0144] The door opening change rate refers to the change rate between the door openings at adjacent moments.

[0145] Therefore, when it is determined that the duration of the door handle contact signal is greater than or equal to the preset contact time, the electric suction door acceleration information is greater than or equal to the preset acceleration, and / or the door opening change rate is greater than or equal to the preset change rate, it is determined that the user has the intention to actively close the door. At this time, since the state is fully locked or half locked, the user cannot close the door normally, so it is necessary to drive the lock tongue to retract to the fully open state to ensure that the user will not be unable to close the door normally when closing the door next time due to the extension of the lock tongue, and to avoid driving the lock tongue to retract when the user deliberately controls the lock tongue to extend, to ensure that it will not affect the user's car experience.

[0146] It's worth noting that, as described above, the user may intentionally move the lock tongue to a semi-locked state without the door being closed. For example, the user may intentionally leave the door ajar to a semi-locked position to provide a brief ventilation. In this case, since the user only closes the door to the semi-locked position and does not need to fully close the door, the duration of the door handle contact signal must be less than the preset contact time, the electric door suction acceleration information must be less than the preset acceleration, and the door opening rate of change must be less than the preset rate of change. Therefore, based on the duration of the door handle contact signal, the electric door suction acceleration information, and / or the door opening rate of change, it can be determined that the user did not intend to close the door. This can rule out the possibility that the user intentionally moved the lock tongue to a semi-locked state without the door being closed, thus avoiding a negative impact on the user experience.

[0147] In this application, whether the user intends to close the door is determined based on the duration of the door handle contact signal, the electric suction door acceleration information and / or the door opening change rate. Only when it is determined that the user intends to close the door can the lock tongue be driven to retract to the fully open state, avoiding driving the lock tongue to retract when the user intentionally controls the lock tongue to extend, ensuring that it will not affect the user's car experience.

[0148] In some embodiments, driving the lock tongue to retract to the fully open state includes:

[0149] Real-time monitoring of the lock tongue position of the lock tongue;

[0150] determining a rate of change of the lock tongue position at adjacent moments based on the lock tongue position;

[0151] In response to the position change rate of the lock tongue being less than a preset position change rate, repeatedly executing the retraction strategy until the lock tongue is retracted to a fully open state or the number of repetitions reaches a preset number, and stopping driving the lock tongue;

[0152] The retractable strategy includes: driving the lock tongue to extend to a fully locked state, and then driving the lock tongue to retract to a position where it cannot be further retracted.

[0153] Specifically, during the process of driving the lock tongue to retract to the fully open state, the lock tongue position is monitored in real time, for example, based on a position sensor provided on the lock tongue.

[0154] Then, based on the lock tongue position, a position change rate of the lock tongue at adjacent moments is determined, and it is determined whether the position change rate is less than a preset position change rate.

[0155] The preset position change rate is a preset minimum position change rate for the lock tongue to retract normally. If the position change rate is less than the preset position change rate, it indicates that the lock tongue cannot retract normally and has encountered a fault or obstacle during retraction. If the position change rate is greater than or equal to the preset position change rate, it indicates that the lock tongue can retract normally.

[0156] Therefore, when it is determined that the lock tongue position change rate is less than the preset position change rate, it means that the lock tongue cannot retract normally and a fault or obstacle is encountered during the retraction process of the lock tongue. At this time, the telescopic strategy is repeated until the lock tongue is retracted to the fully open state or the number of repeated executions reaches the preset number of times, and the lock tongue is stopped from being driven.

[0157] The retraction strategy includes driving the lock tongue to extend to a fully locked state and then retracting it to a point where it cannot retract further. The lock tongue is controlled to repeatedly execute the retraction strategy, allowing it to cyclically extend and retract. The force of the extension and retraction of the lock tongue can then be used to remove smaller obstacles, such as small solid particles, in the lock tongue's retraction path, allowing the lock tongue to retract normally to the fully open state, thus resolving the issue of the lock tongue being unable to retract normally due to small obstacles.

[0158] However, the lock tongue may not retract properly due to other reasons, such as mechanical failure. Such failures cannot be resolved by repeatedly executing the retraction strategy. Therefore, when the retraction strategy is repeated until the number of repetitions reaches a preset number, the lock tongue is stopped and a "lock tongue cannot retract" reminder is issued to inform the user that an abnormality has occurred during the lock tongue retraction process.

[0159] The preset number of times is the maximum number of times the retraction strategy is repeatedly executed, as determined through testing. If the lock tongue still cannot be retracted to the fully open position after the preset number of repetitions, the retraction strategy will be stopped if the problem of the lock tongue being unable to retract cannot be solved even if the retraction strategy is continued.

[0160] In the present application, in the process of driving the lock tongue to retract to the fully open state, the lock tongue position is monitored in real time and the rate of change of the lock tongue position at adjacent moments is determined to determine whether the lock tongue retraction process has encountered a failure. If a failure is encountered, an attempt can be made to solve it by repeatedly executing the telescopic strategy to ensure that the lock tongue can be smoothly retracted to the fully open state, thereby ensuring that the user can close the electric suction door normally next time.

[0161] In some embodiments, a projection structure is integrated into the lower portion of the outer wall of the electric suction door;

[0162] The sending of the reminder to re-close the electric suction door in step S300 includes:

[0163] The projection structure is controlled to project a reminder to re-close the electric suction door on the ground area corresponding to the electric suction door, and / or the reminder to re-close the electric suction door is sent to the vehicle's central control screen.

[0164] Specifically, the projection structure can be a micro laser projector or an LED array projector, integrated into the lower portion of the outer wall of the electric suction door, such as the lower edge of the door. Optionally, the power of the projection structure is ≤5W to avoid heat generation. Optionally, the wavelength of the projection light projected by the projection structure on the ground area corresponding to the electric suction door to remind users to close the electric suction door again is selected to be green light (520nm) or blue light (450nm). Blue and green light have better ground visibility than red light.

[0165] When sending a reminder to re-close the electric suction door, the projection structure can be controlled to project the reminder to re-close the electric suction door on the ground area corresponding to the electric suction door. At this time, the reminder to re-close the electric suction door can be a light strip with an arrow to guide the user to re-close the electric suction door, or it can be a text reminder to remind the user to re-close the electric suction door.

[0166] And / or, a reminder to re-close the electric suction door is sent to the vehicle's central control screen or a mobile phone connected to the vehicle, etc., to remind the user to re-close the electric suction door;

[0167] And / or, the user is reminded to close the electric suction door again by voice.

[0168] In the present application, after the lock tongue is driven to retract to the fully open state, the vehicle door state is now the vehicle door unclosed state, and the lock tongue state is the fully open state, and the two remain consistent, ensuring that the user can successfully close the electric suction door when closing it again. At this time, a reminder to close the electric suction door again is sent to the user to remind the user to close the electric suction door again. In most cases, the user needs to manually close the electric suction door, but in some cases, the user can close the electric suction door by controlling the button.

[0169] In the process of controlling the electric suction door, it is very important to accurately determine the door status of the electric suction door and the lock tongue status of the lock tongue on the electric suction door. Once the door status of the electric suction door or the lock tongue status of the electric suction door are determined inaccurately, the control of the electric suction door will be inaccurate, which is not conducive to actual control.

[0170] Based on this, in some embodiments, the electric suction door is provided with a door lock mechanism, and the door lock structure includes a lock tongue and a lock rod connected to the lock tongue;

[0171] The step S100 determines the lock tongue state of the electric suction door lock tongue, including:

[0172] Get the position information of the lock rod;

[0173] In response to the position information of the lock rod being within the preset position range, determining that the lock tongue state is a target state;

[0174] In response to the position information of the lock rod not being located within the preset position range, the lock tongue state is determined to be a non-target state.

[0175] Specifically, a door lock mechanism is provided on the electric suction door, and the door lock structure includes a lock tongue and a lock rod connected to the lock tongue. The lock rod is connected to the motor, and the motor drives the lock rod to move. The moving lock rod drives the lock tongue to move, thereby realizing the extension or retraction of the lock tongue.

[0176] The locking rod is provided with a position switch to monitor the position of the locking rod.

[0177] When determining the lock tongue state of the lock tongue on the electric suction door, first obtain the position information of the lock rod. Specifically, obtain the position signal of the position switch, and determine the position information of the lock rod based on the position signal.

[0178] Then, it is determined whether the position information of the lock rod is within a preset position range. The preset position range is the position range of the lock rod when the lock tongue is in a fully locked state or a half-locked state.

[0179] When the position information of the lock rod is determined to be within the preset position range, the lock tongue is determined to be in the fully locked state or the partially locked state, and the lock tongue state is determined to be the target state. When the position information of the lock rod is not within the preset position range, the lock tongue is determined to be in the fully open state, and the lock tongue state is determined to be the non-target state, i.e., the fully open state.

[0180] In the present application, the lock tongue status is determined by monitoring the position information of the lock rod. Compared with the method in the related art of determining the lock tongue status by monitoring the lock tongue position of a very small lock tongue, in the present application, due to the longer size of the lock rod, the position monitoring of the lock rod will be easier and more accurate, which can improve the accuracy of the determined lock tongue status.

[0181] In some embodiments, due to the misjudgment of the door status by the existing electric suction door lock assembly, the electric suction door may be unable to close the car door because the lock tongue is in a fully locked / half-locked state. This abnormal situation may not be detected, thereby posing a safety hazard.

[0182] In order to solve this problem, this application verifies the actual open and closed status of the vehicle door through camera visual detection and door lock module status comparison verification, or adopts a dual redundant mechanical detection mechanism of door lock assembly position switch + micro / proximity switch at the hinge to verify the closed status of the vehicle door, and then electrically controls the lock tongue to the fully open position.

[0183] Specifically, the following three implementation plans can be included:

[0184] Solution 1: Determine the door status based on image information

[0185] The actual door status is detected by cameras inside or outside the vehicle. When the vehicle is powered on, if the door lock module indicates the door is closed, but the camera detects that the door is actually open, the electronic control unit drives the lock tongue to the fully open position and simultaneously notifies the corresponding door through voice or pop-up notifications on the vehicle computer that the lock tongue is open and the door can be closed.

[0186] Solution 2: Determine door status based on electrical signals - Use two mechanical detection mechanisms for door status at the same time.

[0187] A built-in position switch is used to monitor the lock rod position: the switch is disconnected when the lock tongue is pushed to the fully locked position, and is connected when pushed to the half-locked or fully open position. This mechanical linkage reflects the door status.

[0188] On this basis, another door status monitoring method is added. A micro switch (physical contact type) or proximity switch (non-contact type) is installed on the door hinge or lock of the door frame. When the door is fully closed, the micro switch is pressurized and closed, forming a closed circuit, and sending an electrical signal to the electronic control unit.

[0189] If the door status feedback from the position switch is closed, and the door status reflected by the electrical signal of the micro switch (physical contact type) or proximity switch (non-contact type) is open, the electronic control unit drives the lock tongue to the fully open position, and at the same time prompts through voice or a pop-up window on the central control screen that the lock tongue of the corresponding door is open and the door can be closed.

[0190] Solution 3: Determine the door status based on electrical signals and image information in sequence

[0191] A built-in position switch is used to monitor the lock rod position: the switch is disconnected when the lock tongue is pushed to the fully locked position, and is connected when pushed to the half-locked or fully open position. This mechanical linkage reflects the door status.

[0192] On this basis, another door status monitoring method is added. A micro switch (physical contact type) or proximity switch (non-contact type) is installed on the door hinge or lock of the door frame. When the door is fully closed, the micro switch is pressurized and closed, forming a closed circuit, and sending an electrical signal to the electronic control unit.

[0193] If the position switch indicates the door is closed, but the electrical signal from the microswitch (physical contact type) or proximity switch (non-contact type) indicates the door is open, a camera inside or outside the vehicle detects the door's actual open / closed state. When the vehicle is powered on, if the camera detects the door is open, the electronic control unit drives the lock tongue to the fully open position and simultaneously notifies the user, via voice or pop-up notification on the system, that the corresponding door's lock tongue is open and the door can be closed.

[0194] In this application, multi-sensor cross-verification is used to eliminate misjudgments and systematically improve the reliability of door status recognition. This solves the problem of the door being unable to be closed when the door is open and the door lock tongue is in a fully locked / half-locked state. It actively prompts abnormal conditions and reduces safety accidents or energy waste (such as reduced air conditioning cooling efficiency) caused by the door not being closed tightly.

[0195] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0196] It should be noted that the above describes some embodiments of the present application. In some cases, the actions or steps described in the above embodiments can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0197] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a control device for a vehicle electric suction door, wherein the electric suction door is provided with a lock tongue.

[0198] refer to Figure 2 The control device for the vehicle electric suction door comprises:

[0199] The determination module 100 is configured to determine a lock tongue state of a lock tongue on an electric suction door in response to receiving a door closing instruction;

[0200] The judgment module 200 is configured to determine the door state of the electric suction door in response to determining that the lock tongue state is a target state, wherein the target state is a fully locked state or a half-locked state;

[0201] The execution module 200 is configured to drive the lock tongue to retract to a fully open state in response to the vehicle door being in an open state.

[0202] In some embodiments, a signal switch is provided on the door frame corresponding to the electric suction door, and the electrical signal emitted by the signal switch is a door not closed signal or a door closed signal.

[0203] In some embodiments, the determination module 200 is further configured to:

[0204] Obtaining the electrical signal of the signal switch on the door frame;

[0205] In response to the electrical signal being a door not closed signal, it is determined that the door state of the electric suction door is a door not closed state.

[0206] In some embodiments, the determination module 200 is further configured to:

[0207] Obtain image information of the electric suction door;

[0208] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0209] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0210] In some embodiments, the determination module 200 is further configured to:

[0211] Obtaining the electrical signal of the signal switch on the door frame;

[0212] In response to the electrical signal being a door not closed signal, acquiring image information of the electric suction door;

[0213] determining whether there is a gap between the electric suction door and the door frame based on the image information;

[0214] In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

[0215] In some embodiments, the execution module 200 is further configured to:

[0216] Obtaining door information of the vehicle's electric suction door, the door information including the duration of the door handle contact signal, electric suction door acceleration information, and / or door opening change rate;

[0217] In response to the duration of the door handle contact signal being greater than or equal to the preset contact time, the electric suction door acceleration information being greater than or equal to the preset acceleration, and / or the door opening change rate being greater than or equal to the preset change rate, the lock tongue is driven to retract to the fully open state.

[0218] In some embodiments, the execution module 200 is further configured to:

[0219] Real-time monitoring of the lock tongue position of the lock tongue;

[0220] determining a rate of change of the lock tongue position at adjacent moments based on the lock tongue position;

[0221] In response to the position change rate of the lock tongue being less than a preset position change rate, repeatedly executing the retraction strategy until the lock tongue is retracted to a fully open state or the number of repetitions reaches a preset number, and stopping driving the lock tongue;

[0222] The retractable strategy includes: driving the lock tongue to extend to a fully locked state, and then driving the lock tongue to retract to a position where it cannot be further retracted.

[0223] In some embodiments, a projection structure is integrated into the lower portion of the outer wall of the electric suction door.

[0224] In some embodiments, the execution module 200 is further configured to:

[0225] The projection structure is controlled to project a reminder to re-close the electric suction door on the ground area corresponding to the electric suction door, and / or the reminder to re-close the electric suction door is sent to the vehicle's central control screen.

[0226] In some embodiments, the electric suction door is provided with a door lock mechanism, and the door lock structure includes a lock tongue and a lock rod connected to the lock tongue.

[0227] In some embodiments, the determining module 100 is further configured to:

[0228] Get the position information of the lock rod;

[0229] In response to the position information of the lock rod being within the preset position range, determining that the lock tongue state is a target state;

[0230] In response to the position information of the lock rod not being located within the preset position range, the lock tongue state is determined to be a non-target state.

[0231] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0232] The device of the above embodiment is used to implement the control method of the vehicle electric suction door corresponding to any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0233] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the control method of the vehicle electric suction door described in any of the above embodiments is implemented.

[0234] Figure 3 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0235] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0236] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0237] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0238] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0239] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0240] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0241] The electronic device of the above embodiment is used to implement the control method of the corresponding vehicle electric suction door in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0242] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle electric suction door control method as described in any of the above embodiments.

[0243] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0244] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle electric suction door control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0245] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the vehicle electric suction door control method as described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0246] Based on the same inventive concept and corresponding to any of the aforementioned embodiments and methods, the present application further provides a vehicle, comprising the control device, electronic device, storage medium, or computer program product for the vehicle electric suction door described in any of the aforementioned embodiments. The vehicle has the beneficial effects of any of the aforementioned embodiments, which are not further elaborated herein.

[0247] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0248] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the disclosed technical solution based on the prompt message.

[0249] As an optional but non-limiting implementation, in response to a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0250] It is understandable that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0251] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0252] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0253] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0254] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a vehicle electric suction door, characterized in that: include: In response to receiving a door closing command, determining a lock tongue state of a lock tongue on an electric suction door; In response to determining that the lock tongue state is a target state, determining a door state of the electric suction door, wherein the target state is a fully locked state or a half-locked state; In response to the vehicle door being in an open state, the locking tongue is driven to retract to a fully open state.

2. The method according to claim 1, characterized in that A signal switch is provided on the door frame corresponding to the electric suction door, and the electric signal emitted by the signal switch is a door not closed signal or a door closed signal; The determining the door state of the electric suction door includes: Obtaining the electrical signal of the signal switch on the door frame; In response to the electrical signal being a door not closed signal, it is determined that the door state of the electric suction door is a door not closed state.

3. The method according to claim 1, characterized in that The determining the door state of the electric suction door includes: Obtain image information of the electric suction door; determining whether there is a gap between the electric suction door and the door frame based on the image information; In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

4. The method according to claim 1, wherein The determining the door state of the electric suction door includes: Obtaining the electrical signal of the signal switch on the door frame; In response to the electrical signal being a door not closed signal, acquiring image information of the electric suction door; determining whether there is a gap between the electric suction door and the door frame based on the image information; In response to a gap between the electric suction door and the door frame, it is determined that the door state of the electric suction door is an open door state.

5. The method according to claim 1, wherein Driving the lock tongue to retract to the fully open state includes: Obtaining door information of the vehicle's electric suction door, the door information including the duration of the door handle contact signal, electric suction door acceleration information, and / or door opening change rate; In response to the duration of the door handle contact signal being greater than or equal to the preset contact time, the electric suction door acceleration information being greater than or equal to the preset acceleration, and / or the door opening change rate being greater than or equal to the preset change rate, the lock tongue is driven to retract to the fully open state.

6. The method according to claim 1, characterized in that Driving the lock tongue to retract to the fully open state includes: Real-time monitoring of the lock tongue position of the lock tongue; determining a rate of change of the lock tongue position at adjacent moments based on the lock tongue position; In response to the position change rate of the lock tongue being less than a preset position change rate, repeatedly executing the retraction strategy until the lock tongue is retracted to a fully open state or the number of repetitions reaches a preset number, and stopping driving the lock tongue; The retractable strategy includes: driving the lock tongue to extend to a fully locked state, and then driving the lock tongue to retract to a position where it cannot be further retracted.

7. The method according to claim 1, characterized in that The lower part of the outer wall of the electric suction door is integrated with a projection structure; The method further comprises: The projection structure is controlled to project a reminder to re-close the electric suction door on the ground area corresponding to the electric suction door, and / or the reminder to re-close the electric suction door is sent to the vehicle's central control screen.

8. The method according to claim 1, characterized in that The electric suction door is provided with a door lock mechanism, and the door lock structure includes a lock tongue and a lock rod connected to the lock tongue; Determining the lock tongue state of the electric suction door lock tongue includes: Get the position information of the lock rod; In response to the position information of the lock rod being within the preset position range, determining that the lock tongue state is a target state; In response to the position information of the lock rod not being located within the preset position range, the lock tongue state is determined to be a non-target state.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The electronic device comprising claim 9.

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