Vehicle control method, electronic equipment, vehicle, medium and product

Abstract

The invention discloses a vehicle control method, electronic equipment, a vehicle, a computer readable storage medium and a computer program product, and the method comprises the steps: controlling a vehicle door to move to a target position according to the first state information of the vehicle door, and then maintaining a steady state. Thus, according to the first state information of the vehicle door, the vehicle door can be controlled to move to the target position and then maintain the steady state, vehicle door control can be achieved based on the state information of the vehicle door, and therefore it can be avoided that sensors such as a torque sensor and a ramp sensor need to be installed in the vehicle; the situation that the vehicle door is controlled according to the data collected by the sensor is avoided, and therefore the situation that a multi-sensor system which is complex in design and high in development difficulty and time can be avoided, the hardware cost and the software cost of the vehicle are reduced, the system design of the vehicle door is simplified, the vehicle door installation and maintenance process is more efficient, and the maintenance efficiency is improved. And the fault rate and the maintenance difficulty of the vehicle door can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, electronic equipment, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] In related technologies, electric door systems typically use torque sensors or slope angle sensors to sense the door's position and state on different slopes to control door movement. However, these electric door control solutions require additional sensors such as torque sensors and slope angle sensors, resulting in high hardware production and system development costs, making them difficult to implement across different vehicle models. Summary of the Invention

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

[0004] A vehicle control method provided in an embodiment of the present application includes:

[0005] According to the first state information of the vehicle door, the vehicle door is controlled to move to a target position and then maintain a steady state.

[0006] Thus, in the embodiments of the present application, the vehicle door can be controlled to move to a target position and maintain a steady state based on the first state information of the vehicle door. This allows door control to be implemented based on the state information of the vehicle door itself, thereby avoiding the need to install sensors such as torque sensors and slope sensors in the vehicle to control the vehicle door based on the data collected by the sensors. This also avoids the need to design a complex multi-sensor system that is both difficult and time-consuming to develop. This reduces both the hardware and software costs of the vehicle, simplifies the system design of the vehicle door, and makes the door installation and maintenance process more efficient. This, in turn, reduces the door failure rate and maintenance difficulty, making it applicable to most vehicle models. Furthermore, because the door is controlled based on the first state information of the vehicle door, compared to door control systems that rely on fixed parameters, the door control can be more flexible and robust.

[0007] In certain embodiments of the present application, controlling the vehicle door to move to a target position and maintain a steady state based on the first state information of the vehicle door includes:

[0008] According to the slope information of the road on which the vehicle is currently located, the vehicle door is controlled to move to the target position and then maintain a steady state, wherein the slope information is determined according to the first state information.

[0009] In this way, in the embodiment of the present application, the vehicle door can be controlled to move to the target position and maintain a steady state based on the slope information of the road surface on which the vehicle is located determined by the first state information, so that the slope information of the road surface on which the vehicle is located can be determined based on the first state information of the vehicle door, thereby avoiding the need to install a sensor for detecting the slope of the road surface in the vehicle, and the hardware cost of the vehicle can be reduced.

[0010] In certain embodiments of the present application, the method further comprises:

[0011] The slope information is determined according to the first state information and predetermined second state information.

[0012] In this way, in the embodiment of the present application, the slope information of the road on which the vehicle is located can be determined based on the first state information and the second state information, thereby achieving the determination of the slope information.

[0013] In certain embodiments of the present application, the vehicle door includes a door body and an electric limiter, the electric limiter drives the door body to move, the first state information includes the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, and the second state information includes the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface.

[0014] In this way, in an embodiment of the present application, the slope information of the road surface on which the vehicle is located can be determined based on the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, and the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface, thereby realizing the determination of the slope information.

[0015] In certain embodiments of the present application, the slope of the preset road surface is less than or equal to a preset slope threshold.

[0016] In this way, in an embodiment of the present application, the slope information of the road surface on which the vehicle is currently located can be determined based on the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface with a slope less than or equal to a preset slope threshold, thereby ensuring the effectiveness and reliability of the slope information to a certain extent.

[0017] In certain embodiments of the present application, determining the slope information according to the first state information and predetermined second state information includes:

[0018] The slope information is determined according to a difference between the first driving current and the second driving current, and / or a difference between the first moving speed and the second moving speed.

[0019] In this way, in the embodiment of the present application, the slope information of the road surface on which the vehicle is currently located can be determined based on the difference between the first driving current and the second driving current, and / or the difference between the first moving speed and the second moving speed, thereby achieving the determination of the slope information and ensuring the credibility of the slope information to a certain extent.

[0020] In certain embodiments of the present application, controlling the vehicle door to move to the target position and maintain a steady state based on the slope information of the road on which the vehicle is currently located includes:

[0021] determining an initial torque for driving the door to move according to the slope information;

[0022] According to the initial torque, the vehicle door is controlled to move to the target position and then maintain a steady state.

[0023] In this way, in the embodiment of the present application, the initial torque used to drive the movement of the door can be determined based on the slope information of the road surface on which the vehicle is currently located, and the door can be controlled to move to the target position based on the initial torque to maintain a steady state, so that the control of the door can match the slope information of the current road surface, thereby ensuring the stable operation of the door.

[0024] In certain embodiments of the present application, controlling the door to move to the target position and maintain a steady state according to the initial torque includes:

[0025] When the vehicle door is moving or stopped, the initial torque is updated according to the initial torque and the position of the vehicle door to determine an updated torque;

[0026] According to the updated torque, the vehicle door is controlled to move to the target position and then maintain a steady state.

[0027] In this way, in the embodiment of the present application, the initial torque can be updated according to the initial torque and the position of the vehicle door when the vehicle door is moving or stopped, the updated torque can be determined, and the vehicle door can be controlled to move to the target position and maintain a steady state according to the updated torque, thereby ensuring the steady movement of the vehicle door and ensuring that the vehicle door can maintain a steady state when reaching the target position.

[0028] In certain embodiments of the present application, the slope information is stored in the vehicle, and the method further includes:

[0029] When the vehicle door is closed or the vehicle has moved a preset distance, the stored slope information is deleted.

[0030] In this way, in the embodiment of the present application, the stored slope information can be deleted when the vehicle door is closed or the vehicle has moved a preset distance, thereby ensuring the validity and reliability of the slope information.

[0031] In certain embodiments of the present application, the method comprises:

[0032] The first state information is acquired when the vehicle door starts to move.

[0033] In this way, in the embodiment of the present application, the first state information of the door can be obtained when the door starts to move, and then the movement of the door can be controlled according to the first state information when the door starts to move, and the door can be controlled to maintain a steady state after reaching a preset position, thereby ensuring the robustness of the door control.

[0034] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0035] An embodiment of the present application provides a vehicle, comprising the above-mentioned electronic device.

[0036] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0037] An embodiment of the present application provides a computer program product, including a computer program / instruction, which implements the above-mentioned vehicle control method when executed by a processor.

[0038] The electronic device, vehicle, computer-readable storage medium, and computer program product provided by the embodiments of the present application can control a vehicle door to move to a target position and maintain a steady state thereafter based on first door state information. This allows door control to be implemented based on the door's own state information, thereby avoiding the need to install sensors such as torque sensors and ramp sensors in the vehicle to control the door based on data collected by the sensors. This also avoids the need to design a complex, difficult, and time-consuming multi-sensor system, reducing both vehicle hardware and software costs, simplifying door system design, and making door installation and maintenance more efficient. This, in turn, reduces door failure rates and maintenance difficulties, making it suitable for widespread use in most vehicle models. Furthermore, because the door is controlled based on the first door state information, compared to door control systems that rely on fixed parameters, door control can be more flexible and robust.

[0039] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0042] Figure 2 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0043] Figure 3 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0044] Figure 4 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0045] Figure 5 This is a flow chart of a vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0047] In related technologies, electric door control systems typically use mechanical or electronic limiters to control the opening and closing of electric doors. These control systems often employ torque sensors or slope angle sensors to sense the position and state of the door on different slopes, adjusting the motor's motion and torque accordingly to ensure the motor-driven door stops smoothly regardless of the vehicle's slope. However, while effective to a certain extent, these electric door control systems suffer from at least three significant drawbacks:

[0048] First, there is the cost issue, that is, the above-mentioned electric door control system requires additional high-cost sensors, such as torque sensors, slope sensors, etc., which not only increases production costs, but also increases subsequent maintenance costs.

[0049] Second, there is the issue of complexity. The aforementioned electric door control system relies on a multi-sensor system, which is difficult and complex to design and requires precise calibration and complex algorithms to ensure control accuracy. Therefore, the system development is difficult and time-consuming.

[0050] Third, the adaptability issue: Under extreme or irregular slope changes, or under the influence of external forces such as strong winds, the system that relies on fixed parameters may not be able to accurately reflect the actual force conditions of the door, thereby affecting the operability and safety of the door.

[0051] Based on the above problems you may encounter, please refer to Figure 1 , an embodiment of the present application provides a vehicle control method, comprising:

[0052] 01: According to the first state information of the door, control the door to move to the target position and maintain a steady state.

[0053] Embodiments of the present application also provide an electronic device comprising a memory and a processor. The vehicle control method of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, the memory stores a computer program, and the processor is configured to control the vehicle door to move to a target position and maintain a steady state after the door is moved based on first state information of the vehicle door.

[0054] Specifically, an embodiment of the present application provides an adaptive hill hold control algorithm that can actively determine the current slope of the vehicle door and automatically adjust the motor force value to keep the vehicle door stably stopped at any angle without the support of external high-cost sensors, thereby reducing costs, simplifying the complexity of the vehicle door control system, and improving the safety and reliability of vehicle door operation.

[0055] Specifically, in an embodiment of the present application, the vehicle (or electronic device) can control the door to move to the target position and maintain a steady state based on the first state information of the door, such as the moving speed, moving direction, current moving position, etc., such as maintaining a steady state after moving to 60% or 40% of the maximum stroke, that is, controlling the door to maintain the current position.

[0056] Thus, in the embodiments of the present application, the vehicle door can be controlled to move to a target position and maintain a steady state based on the first state information of the vehicle door. This allows door control to be implemented based on the state information of the vehicle door itself, thereby avoiding the need to install sensors such as torque sensors and slope sensors in the vehicle to control the vehicle door based on the data collected by the sensors. This also avoids the need to design a complex multi-sensor system that is both difficult and time-consuming to develop. This reduces both the hardware and software costs of the vehicle, simplifies the system design of the vehicle door, and makes the door installation and maintenance process more efficient. This, in turn, reduces the door failure rate and maintenance difficulty, making it applicable to most vehicle models. Furthermore, because the door is controlled based on the first state information of the vehicle door, compared to door control systems that rely on fixed parameters, the door control can be more flexible and robust.

[0057] In one example, the first state information of the vehicle door includes the movement speed, movement direction, rotation angle, current movement position, etc. of the vehicle door at the current moment, which can be used to indicate the movement state of the vehicle door at the current moment.

[0058] In one example, the vehicle can determine whether the vehicle's current position meets expectations based on the first state information of the door, thereby determining the slope of the road on which the vehicle is located and controlling the movement of the door accordingly. For example, during the active door opening process, the vehicle can determine whether the door's rotation angle at the current moment meets the expected angle. If the door's rotation angle at the current moment is less than the expected angle, it may be because the "height of the front of the vehicle relative to the horizontal plane" is higher than the "height of the rear of the vehicle relative to the horizontal plane", resulting in the door being affected by gravity and tending to close. Therefore, the force applied to the door can be increased to ensure that the vehicle can steadily reach the target position and maintain stability at the target position.

[0059] Conversely, if the door's rotation angle is greater than the expected angle at the current moment, it may be because the "height of the front of the vehicle relative to the horizontal plane" is lower than the "height of the rear of the vehicle relative to the horizontal plane", so the door tends to open due to the influence of gravity. Therefore, the force applied to the door can be reduced so that the vehicle can reach the target position steadily and maintain a steady state at the target position.

[0060] In one example, a vehicle door includes a door body and an electric limiter, and the electric limiter can apply a force to the door body to drive the door body to move or maintain a stable state.

[0061] In one example, the target position is a position specified by the user or a default position pre-stored in the vehicle, such as 100%, 80%, 60%, 40% of the maximum travel of the door.

[0062] In one example, the vehicle can display an interactive user interface through a display component (such as a central control display) for the user to set and adjust door-related functions, such as setting and adjusting the target position, and can also display the door status and related information.

[0063] In one example, considering that different users may have different door operation preferences, after the vehicle displays an interactive user interface through a display component (such as a central control display), the user can use the user interface to personalize the door's operating parameters such as stopping angle, movement speed, etc., thereby ensuring a wider range of user satisfaction and maintaining a high degree of safety and reliability.

[0064] In one example, to avoid sudden vibrations of the vehicle door when starting or stopping, the vehicle can gradually increase or decrease the force applied to the door to achieve smooth speed changes of the door, thereby ensuring the comfort of the occupants in the vehicle, reducing wear on mechanical components, and extending the service life of the vehicle.

[0065] In one example, to prevent potential safety risks, the vehicle may initiate an emergency stop procedure for the door when an abnormal condition is detected, such as motor overheating or abnormal increase in current.

[0066] See also Figure 2 In certain embodiments of the present application, step 01 includes:

[0067] 010: According to the slope information of the current road surface on which the vehicle is located, control the door to move to the target position and maintain a steady state, wherein the slope information is determined according to the first state information.

[0068] The processor of the embodiment of the present application is also used to control the vehicle door to move to the target position and maintain a steady state according to the slope information of the road on which the vehicle is currently located, wherein the slope information is determined according to the first state information.

[0069] Specifically, in an embodiment of the present application, the vehicle can determine the slope information of the road on which the vehicle is located based on the first state information of the door, and control the door to move to the target position according to the slope information of the road on which the vehicle is currently located, and then maintain a steady state.

[0070] In one example, the vehicle can determine the difference between the current vehicle position and the expected position based on the first door state information, thereby determining the slope of the road the vehicle is on. For example, during active door opening, the vehicle can determine the difference or quotient between the current door rotation angle and the expected angle to determine the current road slope.

[0071] In one example, a vehicle can determine the force applied to a door based on slope information. For example, if the vehicle determines based on the slope information that it is on an uphill road, meaning that the "height of the front of the vehicle relative to the horizontal plane" is higher than the "height of the rear of the vehicle relative to the horizontal plane," the vehicle determines the force applied to the door based on the determined slope. The magnitude of this force is proportional to the magnitude of the slope, thereby preventing the door from closing due to the influence of gravity. Conversely, if the vehicle determines based on the slope information that it is on a downhill road, meaning that the "height of the front of the vehicle relative to the horizontal plane" is lower than the "height of the rear of the vehicle relative to the horizontal plane," the vehicle determines the force applied to the door based on the determined slope. The magnitude of this force is inversely proportional to the magnitude of the slope, thereby preventing the door from opening due to the influence of gravity.

[0072] In one example, considering the accuracy of the first state information, the slope information is a range of values, thereby ensuring the validity and reliability of the slope information.

[0073] In this way, in the embodiment of the present application, the vehicle door can be controlled to move to the target position and maintain a steady state based on the slope information of the road surface on which the vehicle is located determined by the first state information, so that the slope information of the road surface on which the vehicle is located can be determined based on the first state information of the vehicle door, thereby avoiding the need to install a sensor for detecting the slope of the road surface in the vehicle, and the hardware cost of the vehicle can be reduced.

[0074] In certain embodiments of the present application, the vehicle control method further includes:

[0075] Gradient information is determined based on the first state information and predetermined second state information.

[0076] The processor of the embodiment of the present application is further configured to determine slope information based on the first state information and predetermined second state information.

[0077] Specifically, in the embodiment of the present application, the vehicle can determine the slope of the road on which the vehicle is located based on the door state information at the current moment (ie, the first state information) and the predetermined second state information.

[0078] In one example, the second status information is used to indicate door status information when the vehicle is on a flat road.

[0079] In one example, the vehicle may determine the slope information of the road on which the vehicle is located based on the difference between the first state information and the second state information.

[0080] In one example, after the vehicle determines the slope information of the road surface on which the vehicle is located based on the first state information and the second state information, the slope information of the road surface on which the vehicle is located can be stored for use the next time the door is controlled to open and close, thereby avoiding the situation where the slope information of the road surface on which the vehicle is located needs to be re-determined based on the first state information and the second state information the next time the door is controlled to open and close.

[0081] In this way, in the embodiment of the present application, the slope information of the road on which the vehicle is located can be determined based on the first state information and the second state information, thereby achieving the determination of the slope information.

[0082] In certain embodiments of the present application, the vehicle door includes a door body and an electric limiter, the electric limiter drives the door body to move, the first state information includes the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, and the second state information includes the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface.

[0083] Specifically, in the embodiment of the present application, the vehicle can determine the slope information of the road on which the vehicle is located based on the driving current of the electric limiter and / or the moving speed of the door.

[0084] In one example, the electric limiter can apply a force to the door body to move the door body according to the received driving current.

[0085] In one example, the electric limiter can have a built-in Hall sensor and a current detection module, so the electric limiter can monitor the movement state (such as moving speed) and current changes (such as driving current) of the door in real time based on the Hall sensor and the current detection module.

[0086] In one example, the vehicle may apply a driving current to the electric check according to a predetermined initial driving current value, causing the electric check to apply a force to the door body, thereby causing the door body to move under the force. Furthermore, the vehicle may adjust the driving current applied to the electric check according to the position of the door body. For example, if the door body does not move despite the force applied by the electric check, the vehicle may increase the driving current applied to the electric check. Alternatively, if the door body moves too far forward despite the force applied by the electric check, the vehicle may decrease the driving current applied to the electric check.

[0087] Furthermore, in one example, when the vehicle door body begins to move due to the force applied by the electric check, the current value of the electric check's driving current may be used as the aforementioned first driving current, and the speed of movement of the door body when the force applied by the electric check is applied may be used as the aforementioned first speed. Alternatively, after the vehicle applies a driving current to the electric check according to a predetermined initial driving current value so that the electric check applies a force to the door body, if the door body does not move despite the force applied by the electric check, the vehicle may increase the driving current applied to the electric check until the door body begins to move, at which point the current value of the electric check's driving current may be used as the aforementioned first driving current, and the speed of movement of the door body when the force applied by the electric check is used as the aforementioned first speed. It will be understood that the first driving current and first speed determined in this manner may, to a certain extent, reflect forces applied to the door body by objects other than the electric check, such as friction, gravity, or wind in the environment outside the cabin.

[0088] Furthermore, in one example, when the vehicle is on a preset road surface and the door body begins to move due to the force applied by the electric limiter, the value of the driving current of the electric limiter can be used as the above-mentioned second driving current, and the movement speed of the vehicle door body when the force applied by the electric limiter begins to move can be used as the above-mentioned second movement speed. Alternatively, when the vehicle is on a preset road surface, after the vehicle applies a driving current to the electric limiter according to a predetermined initial value of the driving current so that the electric limiter applies a force to the door body, if the door body is subjected to the force applied by the electric limiter but does not move, the vehicle can increase the value of the driving current applied to the electric limiter until the door body begins to move, and the current value of the driving current of the electric limiter can be used as the above-mentioned second driving current, and the movement speed of the door body when the force applied by the electric limiter begins to move can be used as the above-mentioned second movement speed.

[0089] In this way, in an embodiment of the present application, the slope information of the road surface on which the vehicle is located can be determined based on the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, and the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface, thereby realizing the determination of the slope information.

[0090] In certain embodiments of the present application, the slope of the preset road surface is less than or equal to a preset slope threshold.

[0091] Specifically, in an embodiment of the present application, the slope information of the road surface on which the vehicle is currently located can be determined based on the driving current of the electric limiter and / or the moving speed of the door when the vehicle is on a preset road surface with a slope less than or equal to a preset slope threshold, combined with the driving current of the electric limiter and / or the moving speed of the door at the current moment.

[0092] In one example, the preset slope threshold value has a value interval of [3%, 5%], and the value interval in angle units may be [1.7°, 2.9°].

[0093] In one example, the slope in the embodiments of the present application may be a longitudinal slope.

[0094] It can be understood that based on the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface with a slope less than or equal to a preset slope threshold, and the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, the difference between the slope of the road surface on which the vehicle is currently located and the slope of the preset road surface can be determined by comparing the second driving current with the first driving current, and / or comparing the first moving speed with the second moving speed, thereby determining the slope of the road surface on which the vehicle is currently located, that is, the above-mentioned slope information.

[0095] In this way, in the embodiment of the present application, the slope information of the road surface on which the vehicle is currently located can be determined based on the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface with a slope less than or equal to a preset slope threshold, thereby ensuring the effectiveness and reliability of the slope information to a certain extent.

[0096] In certain embodiments of the present application, the step of determining the slope information based on the first state information and the predetermined second state information includes:

[0097] The slope information is determined according to a difference between the first driving current and the second driving current, and / or a difference between the first moving speed and the second moving speed.

[0098] The processor of the embodiment of the present application is further configured to determine slope information based on a difference between the first driving current and the second driving current, and / or a difference between the first moving speed and the second moving speed.

[0099] Specifically, in the embodiment of the present application, the vehicle can determine the slope information of the road surface on which the vehicle is currently located based on the difference between the first driving current and the second driving current, and / or based on the difference between the first moving speed and the second moving speed.

[0100] In one example, the vehicle can determine the slope corresponding to the "current difference between the first drive current and the second drive current" based on the current difference between the first drive current and the second drive current, and predetermined current difference-slope mapping data, thereby determining the slope information of the road surface on which the vehicle is currently located.

[0101] In one example, the vehicle can determine the slope corresponding to the "current difference between the first moving speed and the second moving speed" based on the speed difference between the first moving speed and the second moving speed, and predetermined speed difference-slope mapping data, thereby determining the slope information of the road surface on which the vehicle is currently located.

[0102] In one example, the vehicle can determine the slope corresponding to the "current difference between the first drive current and the second drive current, the current difference between the first moving speed and the second moving speed" based on the current difference between the first drive current and the second drive current, the speed difference between the first moving speed and the second moving speed, and predetermined current difference-speed difference-slope mapping data, thereby determining the slope information of the road surface on which the vehicle is currently located.

[0103] In one example, a vehicle may determine the slope information of the road surface on which the vehicle is currently located by determining the return value of a pre-set function for calculating the slope of the road surface on which the vehicle is located, and using the first driving current, the second driving current, the first moving speed, and the second moving speed as input parameters of the function.

[0104] In this way, in the embodiment of the present application, the slope information of the road surface on which the vehicle is currently located can be determined based on the difference between the first driving current and the second driving current, and / or the difference between the first moving speed and the second moving speed, thereby achieving the determination of the slope information and ensuring the credibility of the slope information to a certain extent.

[0105] See also Figure 3 In certain embodiments of the present application, step 010 includes:

[0106] 0100: Determine the initial torque used to drive the door according to the slope information;

[0107] 0101: Based on the initial torque, control the door to move to the target position and maintain steady state.

[0108] The processor of the embodiment of the present application is also used to determine the initial torque for driving the vehicle door to move based on the slope information, and to control the vehicle door to move to the target position and maintain a steady state based on the initial torque.

[0109] Specifically, in an embodiment of the present application, the vehicle can determine the initial torque used to drive the movement of the door based on the slope information of the road on which the vehicle is located. Then, the vehicle can control the equipment used to drive the displacement of the door (such as an electric limiter) to apply force to the door based on the initial torque, so that the door maintains a steady state after moving to the target position.

[0110] In one example, the vehicle door includes a door body and an electric limiter, which can apply a force to the door body to move the door based on the received driving current. Furthermore, the initial torque refers to the basic value of the torque applied by the electric limiter to the door body to move the door.

[0111] In one example, the vehicle door includes a door body and an electric limiter, which can apply a force to the door body to move the door based on the received driving current. Furthermore, the initial torque refers to the basic value of the torque applied by the electric limiter to the door body to enable the door to move at a preset speed.

[0112] In one example, the vehicle can collect and analyze door operation data under different conditions and continuously optimize the accuracy of slope estimation and motor force adjustment through machine learning technology. This optimization of slope estimation and motor force adjustment allows the vehicle to adapt to long-term usage changes, providing a more intelligent and personalized user experience.

[0113] In this way, in the embodiment of the present application, the initial torque used to drive the movement of the door can be determined based on the slope information of the road surface on which the vehicle is currently located, and the door can be controlled to move to the target position based on the initial torque to maintain a steady state, so that the control of the door can match the slope information of the current road surface, thereby ensuring the stable operation of the door.

[0114] See also Figure 4 In certain embodiments of the present application, step 0101 includes:

[0115] 01010: When the door is moving or stopped, the initial torque is updated according to the initial torque and the position of the door to determine the updated torque;

[0116] 01011: According to the updated torque, control the door to move to the target position and maintain steady state.

[0117] The processor of the embodiment of the present application is also used to update the initial torque according to the initial torque and the position of the vehicle door when the vehicle door is moving or stopped, determine the updated torque, and control the vehicle door to move to the target position and maintain a steady state based on the updated torque.

[0118] Specifically, in this embodiment of the present application, the vehicle can continuously monitor the door position and compare the detected real-time position with the desired position, thereby implementing feedback adjustments based on the comparison results. For example, if an unexpected movement of the door position is detected, such as falling back or continuing forward, the motor force value will be adjusted based on the real-time data.

[0119] Specifically, in an embodiment of the present application, the vehicle can update the initial torque based on the position of the door and the initial torque determined by the slope information when the door is moving or stopped, and control the door to move to the target position and maintain steady state according to the updated initial path (i.e., the updated torque).

[0120] In one example, the vehicle stores a movement trajectory of the door, which is used to determine the position of the door at any time during the movement of the door. Furthermore, the relative relationship between P1 and P2 can be determined based on the position P1 of the door at the current moment and the position P2 corresponding to the current moment in the stored movement trajectory. If P1 lags behind P2, the vehicle can increase the initial torque so that P1 at the next moment can approach P2 at the next moment. Conversely, if P1 is ahead of P2, the vehicle can reduce the initial torque so that P1 at the next moment can approach P2 at the next moment.

[0121] In one example, the vehicle may update the initial torque based on the position of the door, the initial torque, and a program implementing a PI (Proportional-Integral Controller) algorithm.

[0122] In one example, in order to avoid excessive adjustment of the initial torque causing rapid movement of the door, the vehicle changes the torque output of the electric limiter based on a progressive adjustment method after determining the updated torque, thereby ensuring safety and stability during the movement of the door.

[0123] In this way, in the embodiment of the present application, the initial torque can be updated according to the initial torque and the position of the vehicle door when the vehicle door is moving or stopped, the updated torque can be determined, and the vehicle door can be controlled to move to the target position and maintain a steady state according to the updated torque, thereby ensuring the steady movement of the vehicle door and ensuring that the vehicle door can maintain a steady state when reaching the target position.

[0124] Not only that, when the car door is subject to sudden external force interference, such as being blown by strong wind, the current position of the car door fails to match the expected position due to external force interference. Therefore, the vehicle can adjust the initial torque according to the current position of the car door to stabilize the door position, thereby further ensuring the safety of the passengers.

[0125] In certain embodiments of the present application, the slope information is stored in the vehicle, and the vehicle control method further includes:

[0126] The stored grade information is deleted when the door is closed or the vehicle has moved a preset distance.

[0127] The processor of the embodiment of the present application is also used to delete the stored slope information when the vehicle door is closed or the vehicle has moved a preset distance.

[0128] Specifically, in an embodiment of the present application, the vehicle can determine the slope information of the road on which the vehicle is located based on the first state information of the vehicle door, and store the slope information in the vehicle's memory, so that the vehicle can read the slope information in the memory to move the door or control the door to maintain a steady state the next time it controls the door to move or control the door to maintain a steady state.

[0129] Furthermore, in order to prevent the vehicle from controlling the door according to the slope of the road (i.e., A) when the vehicle moves from a road with a slope of A to another road with a slope of B, the vehicle of the embodiment of the present application can delete the stored slope (such as A) when the door is closed or the vehicle has moved a preset distance. Furthermore, since the outdated slope information (such as A) has been stored in the memory, the memory does not store any slope information. Therefore, the vehicle can determine the new slope information (such as B) based on the status information of the door at the current moment (i.e., the first status information), and control the door according to the slope information (such as B).

[0130] In this way, in the embodiment of the present application, the stored slope information can be deleted when the vehicle door is closed or the vehicle has moved a preset distance, thereby ensuring the validity and reliability of the slope information.

[0131] In certain embodiments of the present application, the vehicle control method further includes:

[0132] First state information is acquired when the vehicle door starts to move.

[0133] The processor of the embodiment of the present application is further configured to obtain first status information when the vehicle door starts to move.

[0134] Specifically, in the embodiment of the present application, the first state information can be acquired when the vehicle door starts to move, so that the first state information can reflect the state of the vehicle door when it is able to move.

[0135] It is understandable that due to the influence of external forces such as wind force outside the cabin, friction force on the door, gravity, etc., the force required to move the door is different in different scenarios. Therefore, in the embodiment of the present application, the vehicle can obtain the status information of the door when the door starts to move, and perform subsequent control based on the status information, so that the subsequent control logic can match the external force acting on the door.

[0136] In one example, a vehicle door includes a door body and an electric check lever. The electric check lever can apply a force to the door body to drive the door body to move or maintain a steady state. Furthermore, the vehicle can apply a driving current to the electric check lever based on a predetermined initial driving current value, causing the electric check lever to apply a force to the door body, thereby causing the door body to move under the force. Furthermore, the vehicle can adjust the driving current applied to the electric check lever based on the position of the door body. For example, if the door body is subjected to a force applied by the electric check lever but does not move, the vehicle can increase the driving current applied to the electric check lever. Alternatively, if the door body is subjected to a force applied by the electric check lever but moves to an excessively forward position, the vehicle can reduce the driving current applied to the electric check lever.

[0137] Furthermore, in one example, when the vehicle door body begins to move due to the force applied by the electric limiter, the current value of the driving current of the electric limiter is used as the above-mentioned first driving current, and the moving speed of the door body when it begins to move due to the force applied by the electric limiter is used as the above-mentioned first moving speed. Alternatively, after the vehicle applies a driving current to the electric limiter according to a predetermined initial value of the driving current so that the electric limiter applies a force to the door body, if the door body is subjected to the force applied by the electric limiter but does not move, the vehicle may increase the value of the driving current applied to the electric limiter until the door body begins to move, and use the current value of the driving current of the electric limiter as the above-mentioned first driving current, and the moving speed of the door body when it begins to move due to the force applied by the electric limiter as the above-mentioned first moving speed, thereby obtaining the above-mentioned first state information.

[0138] In this way, in the embodiment of the present application, the first state information of the door can be obtained when the door starts to move, and then the movement of the door can be controlled according to the first state information when the door starts to move, and the door can be controlled to maintain a steady state after reaching a preset position, thereby ensuring the robustness of the door control.

[0139] To more clearly illustrate the control logic of the vehicle door in the embodiment of the present application, please refer to Figure 5 , Figure 5 This is a flow chart of a vehicle control method in certain embodiments of the present application, that is, Figure 5 As shown, in this embodiment of the present application, when a vehicle door is first opened, the vehicle can record the current driving current of the electric stopper and the door movement speed at that moment, and compare the recorded data with the data recorded before leaving the factory on a flat road. The vehicle then determines the current slope range of the road the vehicle is on by comparing the comparison results with a program for calculating the slope of the road the vehicle is on. It will be appreciated that the process of determining the slope does not rely on external, costly slope sensors or torque sensors.

[0140] Next, when the user wants the door to stay in a certain position, the vehicle calculates the required motor holding force based on the determined and estimated slope. If the door fails to stay stable (e.g., falls back or continues to move), the system adjusts the motor force again based on the door's position changes detected by the Hall effect sensor. This process repeats until the door is stable, during which the vehicle updates the slope value and the corresponding motor force in real time, ensuring door stability on any slope.

[0141] Finally, if the vehicle moves, or a door is closed and then opened, the system will re-monitor status information and determine the slope to adapt to the new environmental conditions.

[0142] In addition, after the door maintains a steady state, the vehicle stores the currently determined slope value as the "actual slope value" and uses this "actual slope value" for subsequent door control. It is understood that the next time the door is opened, the vehicle can quickly and accurately adjust based on this "actual slope value" without having to re-determine the slope value.

[0143] Also, to ensure that the vehicle can adapt to the new environment after moving, each time the vehicle is started and moves a certain distance, the vehicle can delete the stored "actual slope value", thereby ensuring that the vehicle can adjust the motor force value according to the latest environmental conditions, ensuring the high adaptability and accuracy of the door operation.

[0144] An embodiment of the present application further provides a vehicle, which includes the above-mentioned electronic device.

[0145] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0146] The embodiment of the present application also provides a computer program product, including a computer program / instruction, which implements the above-mentioned vehicle control method when executed by a processor.

[0147] In the description of this specification, the descriptions with reference to the terms "particularly", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0148] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0149] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: According to the first state information of the vehicle door, the vehicle door is controlled to move to a target position and then maintain a steady state.

2. The method according to claim 1, characterized in that The controlling the vehicle door to move to a target position and maintain a steady state according to the first state information of the vehicle door comprises: According to the slope information of the road on which the vehicle is currently located, the vehicle door is controlled to move to the target position and then maintain a steady state, wherein the slope information is determined according to the first state information.

3. The method according to claim 2, characterized in that The method further comprises: The slope information is determined according to the first state information and predetermined second state information.

4. The method according to claim 3, characterized in that The vehicle door includes a door body and an electric limiter, the electric limiter drives the door body to move, the first state information includes the first driving current of the electric limiter and / or the first moving speed of the door body at the current moment, and the second state information includes the second driving current of the electric limiter and / or the second moving speed of the door body when the vehicle is on a preset road surface.

5. The method according to claim 4, characterized in that The slope of the preset road surface is less than or equal to a preset slope threshold.

6. The method according to claim 4, characterized in that The determining the slope information according to the first state information and predetermined second state information includes: The slope information is determined according to a difference between the first driving current and the second driving current, and / or a difference between the first moving speed and the second moving speed.

7. The method according to claim 2, characterized in that The controlling the vehicle door to move to the target position and maintain a steady state based on the slope information of the road on which the vehicle is currently located comprises: determining an initial torque for driving the door to move according to the slope information; According to the initial torque, the vehicle door is controlled to move to the target position and then maintain a steady state.

8. The method according to claim 7, characterized in that The controlling the door to move to the target position and maintain a steady state according to the initial torque includes: When the vehicle door is moving or stopped, the initial torque is updated according to the initial torque and the position of the vehicle door to determine an updated torque; According to the updated torque, the vehicle door is controlled to move to the target position and then maintain a steady state.

9. The method according to claim 2, characterized in that The slope information is stored in the vehicle, and the method further includes: When the vehicle door is closed or the vehicle has moved a preset distance, the stored slope information is deleted.

10. The method according to claim 1, characterized in that The method further comprises: The first state information is acquired when the vehicle door starts to move.

11. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 1 to 10 is implemented.

12. A vehicle, characterized in that: The vehicle comprises the apparatus of claim 11.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 10 is implemented.

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

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