Vehicle door control circuit, control method and controller

Abstract

The embodiment of the invention relates to the technical field of vehicle door hovering control, and discloses a vehicle door control circuit and method and a controller, and the method comprises the steps that the controller generates a first pulse signal and a second pulse signal according to vehicle information; the first pulse signal and the second pulse signal have the same phase and different duty ratios. Based on different duty ratios, the controller controls the driving motor to execute braking when the first pulse signal and the second pulse signal are equal in level, and controls the driving motor to execute driving when the first pulse signal and the second pulse signal are different in level. According to the technical scheme, the hovering effect of the vehicle door can be improved, and the execution effect of short-time driving in the hovering process of the vehicle door is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicle door hovering control, and in particular to a vehicle door hovering control method and a vehicle door hovering control circuit. Background Art

[0002] When a power door is in a hovering state, the controller must output a continuous, stable, low voltage to maintain the door's position. However, existing PWM control technology, limited by the MOSFET's drive capability and conduction characteristics, struggles to maintain stable door operation even with a very low duty cycle. Therefore, a control circuit is urgently needed that can maintain door control even with a very low duty cycle. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a control circuit, a control method and a controller for a vehicle door, which are used to solve the problem in the prior art that the drive control execution effect of the vehicle door is poor when the drive duty cycle is very small.

[0004] According to a first aspect of an embodiment of the present invention, a control circuit for a vehicle door is provided, the control circuit comprising a motor control unit and a circuit control unit; wherein the motor control unit is connected to the circuit control unit, and the circuit control unit is connected to a drive motor in the vehicle via two output interfaces;

[0005] The motor control unit is configured to transmit a first pulse signal and a second pulse signal to the circuit control unit; wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment;

[0006] The circuit control unit switches the conduction circuit of the drive motor based on the first pulse signal at the first moment, and the second circuit module switches the conduction circuit of the drive motor based on the second pulse signal at the second moment, so that the drive motor drives the vehicle door based on the switched conduction circuit at a moment between the first moment and the second moment.

[0007] In one example, the circuit control unit includes a first circuit module, a second circuit module, and a motor control module; wherein the circuit control unit is connected to the first circuit module and the second circuit module respectively, and the first circuit module and the second circuit module are connected to the motor control module respectively; the motor control module is connected to the drive motor via two output interfaces;

[0008] The first circuit module is configured to obtain a first pulse signal and control the motor control module to switch on the conduction circuit according to the first pulse signal at a first moment;

[0009] The second circuit module is configured to obtain a second pulse signal and control the motor control module to switch on the conduction circuit according to the second pulse signal at a second moment;

[0010] So that the motor control module controls the drive motor to drive the vehicle door based on the switched conduction circuit at a time between the first time and the second time.

[0011] In one example, the motor control module includes: a power supply, a ground line, and a switch module;

[0012] The switch module is configured to control the conduction circuit of the first end of the drive motor to switch from being connected to the power supply to being connected to the ground at a first moment; and to control the conduction circuit of the second end of the drive motor to switch from being connected to the power supply to being connected to the ground at a second moment;

[0013] The motor control module controls one end of the drive motor to be connected to the power supply and the other end to be connected to the ground wire at a time between the first time and the second time, so that the drive motor drives the vehicle door.

[0014] In one example, the switch module includes: a first transistor, a second transistor, a third transistor, and a fourth transistor;

[0015] The D pole of the first transistor is connected to the power supply, the G pole of the first transistor is connected to the first signal interface of the first circuit module, and the S pole of the first transistor is connected to the first end of the driving motor;

[0016] The D pole of the second transistor is connected to the first end of the driving motor, the G pole of the second transistor is connected to the second signal interface of the first circuit module, and the S pole of the second transistor is connected to the ground line;

[0017] The D pole of the third transistor is connected to the power supply, the G pole of the third transistor is connected to the third signal interface of the second circuit module, and the S pole of the third transistor is connected to the second end of the driving motor;

[0018] The D pole of the fourth transistor is connected to the second end of the driving motor, the G pole of the fourth transistor is connected to the fourth signal interface of the second circuit module, and the S pole of the fourth transistor is connected to the ground line.

[0019] In one example, the first circuit module includes: a first signal interface, a first inverter, and a second signal interface;

[0020] The first signal interface is used to output the first pulse signal to the motor control module;

[0021] The first inverter is used to perform logical inversion on the first pulse signal;

[0022] The second signal interface is used to output the first pulse signal after logical inversion to the motor control module.

[0023] In one example, the second circuit module includes: a third signal interface, a second inverter, and a fourth signal interface;

[0024] The third signal interface is used to output the second pulse signal to the motor control module;

[0025] The second inverter is used to perform logical inversion on the second pulse signal;

[0026] The fourth signal interface is used to output the second pulse signal after logical inversion to the motor control module.

[0027] In one example, the control circuit further includes:

[0028] The circuit control unit controls the conduction circuit of the drive motor based on the first pulse signal before the first moment, and the second circuit module controls the conduction circuit of the drive motor based on the second pulse signal before the second moment, so that the drive motor suspends the door based on the conduction circuit at a moment before both the first moment and the second moment;

[0029] In one example, the control circuit further includes:

[0030] The circuit control unit controls the conduction circuit of the drive motor based on the first pulse signal during the first moment, and the second circuit module controls the conduction circuit of the drive motor based on the second pulse signal after the second moment, so that the drive motor suspends the door based on the conduction circuit at a moment after the first moment and the second moment.

[0031] According to a second aspect of an embodiment of the present invention, a vehicle door control method is provided, which is applied to the control circuit shown in the first aspect and any one of the designs of the first aspect, including:

[0032] Generate a first pulse signal and a second pulse signal according to vehicle information; wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment;

[0033] A conduction circuit of the drive motor is generated based on the first pulse signal and the second pulse signal, so that the drive motor controls the vehicle door based on the conduction circuit.

[0034] In one example, generating a conduction circuit of the drive motor based on the first pulse signal and the second pulse signal so that the drive motor controls the vehicle door based on the conduction circuit includes:

[0035] At a first moment, controlling the conduction circuit of the first end of the driving motor to switch from being connected to the power supply to being connected to the ground line;

[0036] At the second moment, the conduction circuit of the second end of the driving motor is controlled to switch from being connected to the power supply to being connected to the ground line.

[0037] In one example, the method includes:

[0038] At a moment before both the first moment and the second moment, based on the first end of the drive motor being conductively connected to the power supply and the second end of the drive motor being conductively connected to the power supply, the drive motor controls the vehicle door to hover;

[0039] At a time between the first moment and the second moment, based on one end of the drive motor being connected to the power supply and the other end being connected to the ground, the drive motor controls the vehicle door drive;

[0040] At a moment after the first moment and the second moment, based on the first end of the drive motor being conductively connected to the ground wire and the second end of the drive motor being conductively connected to the ground wire, the drive motor controls the vehicle door to hover.

[0041] In one example, generating the first pulse signal and the second pulse signal according to the vehicle information includes:

[0042] If the vehicle information indicates that the vehicle is going downhill, the first time is earlier than the second time;

[0043] If the vehicle information indicates that the vehicle is traveling uphill, the first time is later than the second time.

[0044] According to a third aspect of an embodiment of the present invention, there is provided a controller, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0045] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operations of the method described in the second aspect and any one of the designs of the second aspect.

[0046] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables a controller to execute

[0047] The operation of the method as described in the second aspect and any one of the designs of the second aspect.

[0048] The embodiment of the present invention generates a first pulse signal and a second pulse signal according to vehicle information; the first pulse signal and the second pulse signal have the same phase and different duty cycles; based on the different duty cycles, when the first pulse signal and the second pulse signal are at the same level, the drive motor is controlled to perform braking, and when the first pulse signal and the second pulse signal are at different levels, the drive motor is controlled to perform driving, thereby improving the hovering effect of the vehicle door and improving the execution effect of short-time driving during the hovering process of the vehicle door.

[0049] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to more clearly understand the technical means of the embodiments of the present invention, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0051] Figure 1 A schematic structural diagram of a first embodiment of a vehicle door control circuit provided by the present invention is shown;

[0052] Figure 2 A schematic structural diagram of a second embodiment of a vehicle door control circuit provided by the present invention is shown;

[0053] Figure 3 A schematic structural diagram of a third embodiment of a vehicle door control circuit provided by the present invention is shown;

[0054] Figure 4 shows a schematic diagram of a pulse signal provided by the present invention;

[0055] Figure 5 A schematic flow chart showing a first embodiment of a vehicle door control method provided by the present invention is shown;

[0056] Figure 6A schematic structural diagram of a first embodiment of a vehicle door control device provided by the present invention is shown;

[0057] Figure 7 A schematic structural diagram of an embodiment of a controller provided by the present invention is shown. DETAILED DESCRIPTION

[0058] In the electric door control system, the door hover function requires the controller to apply a stable, low-amplitude voltage to the strut motor, so that the motor outputs a precise static torque to balance the movement trend of the door due to the slope or its own weight, thereby keeping the door in a fixed position. At the same time, when the user manually operates the door, the motor output torque must be less than the manual push to ensure that the door can be easily pushed. This application scenario requires the controller to be able to continuously output a small and stable voltage, such as a pulse width modulation (PWM) signal with an equivalent duty cycle as low as 1%, to meet the dual needs of static torque control and dynamic response sensitivity.

[0059] In traditional solutions, controllers typically use pulse width modulation (PWM) voltage regulation technology to achieve voltage regulation through duty cycle control of H-bridge MOS tubes. However, under extremely low duty cycle conditions such as 1%, due to the limitations of the driving capability of the MOS tube driver chip and the on / off delay of the device itself, the actual switching action cannot accurately match the theoretical timing, resulting in output voltage fluctuations. For example, taking a 20kHz PWM frequency as an example, the typical response time exceeds 0.5 microseconds. This problem further causes increased current harmonics in the strut motor, howling, or unstable output torque, seriously affecting user experience and functional reliability.

[0060] Therefore, there is an urgent need for a method to achieve stable small voltage output by optimizing the control strategy without changing the hardware architecture. In response to the above problems, this application proposes a differential output solution based on the coordinated control of the H-bridge and dual half-bridges. In this application, the control circuit can use two PWM signals to drive the two half-bridges of the H-bridge respectively with a specific timing, and offset the influence of the MOS tube switch delay by maintaining the phase consistency of the two PWM signals. By controlling the duty cycle of the two PWM signals, the accurate and stable output of the equivalent voltage can be achieved under low duty cycle conditions. This solution provides an efficient and low-cost implementation path for solving the problem of small voltage stability in the hovering control of electric vehicle doors.

[0061] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0062] Figure 1FIG. 1 shows a schematic structural diagram of a first embodiment of a vehicle door control circuit according to the present invention. Figure 1 As shown, the control circuit includes a motor control unit 100 and a circuit control unit 200. The motor control unit 100 is connected to the circuit control unit 200, and the circuit control unit 200 is connected to a driving motor 300 in a vehicle via two output interfaces.

[0063] The motor control unit 100 may obtain vehicle information and determine the duty ratios of the two PWM signals to be generated based on the vehicle information. The two PWM signals may be respectively recorded as a first pulse signal and a second pulse signal.

[0064] The motor control unit 100 may transmit the first pulse signal and the second pulse signal to the circuit control unit 200 .

[0065] The first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment.

[0066] For example, the schematic diagram of the first pulse signal and the second pulse signal can be as follows: Figure 2 As shown. From t0 to t3 is a signal cycle of the first pulse signal and the second pulse signal. In this signal cycle, the first pulse signal switches from a high level to a low level at time t1. This t1 is the first moment. The second pulse signal switches from a high level to a low level at time t2. This t2 is the second moment.

[0067] After receiving the first pulse signal and the second pulse signal, the circuit control unit 200 enables different circuits to be turned on according to the levels of the first pulse signal and the second pulse signal, thereby controlling the drive motor 300 to form different circuits and achieve different controls.

[0068] The circuit control unit 200 may switch the conduction circuit of the drive motor 300 based on the first pulse signal at a first moment, and may switch the conduction circuit of the drive motor 300 based on the second pulse signal at a second moment, thereby forming the conduction circuit of the drive motor 300.

[0069] In the moment between the first moment and the second moment, the circuit control unit 200 can form a first conductive circuit for driving the motor 300. For example, Figure 2 As shown, the time between the first time and the second time may be the time from t1 to t2.

[0070] In one example, the first conductive circuit can connect the drive motor 300 to a power source and a ground line, thereby creating a voltage differential across the drive motor 300 and driving the motor to rotate. The drive motor is the door strut motor. Driving the motor allows the motor to control the opening or closing of the door.

[0071] In one example, when the pressure difference between the first and second ends of the drive motor 300 is greater than 0, the drive motor 300 can be controlled to rotate forward, thereby controlling the door to open. When the pressure difference between the first and second ends of the drive motor 300 is less than 0, the drive motor 300 can be controlled to rotate reversely, thereby controlling the door to close.

[0072] In one example, since the switching of the conductive circuit based on the first pulse signal at the first moment and the switching of the conductive circuit based on the second pulse signal at the second moment are performed sequentially, when the switching process of the conductive circuit based on the first pulse signal has a time delay, the switching of the conductive circuit based on the second pulse signal has the same time delay. Therefore, when the two switchings of the conductive circuit have the same time delay, there will still be a time difference in which the switching of the conductive circuit based on the first pulse signal is completed, but the switching of the conductive circuit based on the second pulse signal is not completed.

[0073] That is, in fact, the time when the circuit control unit 200 forms the first conduction circuit of the drive motor 300 is not between the first moment and the second moment, but the duration of the first conduction circuit is still the time difference between the first moment and the second moment.

[0074] In one example, at a moment before both the first moment and the second moment, the circuit control unit 200 may form a second conductive circuit for driving the motor 300. Figure 2 As shown, the moment before the first moment and the second moment is the moment before t1.

[0075] In one example, the second conducting circuit can short-circuit the first and second ends of the driving motor 300, so that the voltage difference between the first and second ends of the driving motor 300 is 0. At this time, the vehicle door is suspended.

[0076] In one example, at a moment after the first moment and the second moment, the circuit control unit 200 may form a third conduction circuit for driving the motor 300. For example, Figure 2 As shown, the moment after the first moment and the second moment is the moment after t2.

[0077] In one example, the third conducting circuit can short-circuit the first and second ends of the driving motor 300, so that the voltage difference between the first and second ends of the driving motor 300 is 0. At this time, the vehicle door is suspended.

[0078] In this embodiment, the motor control unit generates a first pulse signal and a second pulse signal, which in turn enables the circuit control unit to generate a conduction circuit for the drive motor based on the first and second pulse signals. This conduction circuit enables the drive motor to control the vehicle door. This control circuit ensures normal operation even when the duty cycle of the drive is very small.

[0079] Figure 3 The structure diagram of the second embodiment of the control circuit of the vehicle door of the present invention is shown. Figure 1 and Figure 2 Based on the embodiment shown, Figure 3 As shown, the circuit control unit 200 includes a first circuit module 201, a second circuit module 202, and a motor control module 203. The motor control unit 100 is connected to the first circuit module 201 and the second circuit module 202, respectively. The first circuit module 201 and the second circuit module 202 are respectively connected to the motor control module 203. The motor control module 203 is connected to both ends of the drive motor 300 via two output interfaces.

[0080] The first circuit module 201 is configured to obtain a first pulse signal and output the processed first pulse signal to the motor control module. The second circuit module 202 is configured to obtain a second pulse signal and output the processed second pulse signal to the motor control module. The motor control module 203 is configured to generate a conductive circuit for driving the motor 300 based on the processed pulse signals output by the first circuit module 201 and the second circuit module 202.

[0081] The motor control module 203 may further control the motor control module 203 to switch the conduction circuit according to the first pulse signal switching from high level to low level at the first moment, and may further control the motor control module 203 to switch the conduction circuit according to the second pulse signal at the second moment.

[0082] In one example, the motor control module 203 can also control the motor control module 203 to switch the conduction circuit at a third moment according to the change of the first pulse signal and the second pulse signal from a low level to a high level. Figure 2 The third moment is the moment when one cycle of the first pulse signal and the second pulse signal ends.

[0083] In this embodiment, by setting up a first circuit module and a second circuit module, the first pulse signal and the second pulse signal are processed, and the motor control module can generate a conductive circuit based on the processed first pulse signal and the second pulse signal, thereby improving the generation efficiency and generation accuracy of the conductive circuit.

[0084] Figure 4 The structure diagram of the third embodiment of the vehicle door control circuit of the present invention is shown. Figures 1 to 3 Based on the embodiment shown, Figure 4 As shown, the motor control unit 100 can output a first pulse signal PWM1 and a second pulse signal PWM2.

[0085] The first circuit module 201 includes: a first signal interface GH1, a first inverter INV1 and a second signal interface GL1.

[0086] The first signal interface is used to directly output the first pulse signal input by the motor control unit 100 to the motor control module 203 .

[0087] The first end of the first inverter INV1 is connected to the motor control unit 100 for obtaining the first pulse signal. The second end of the first inverter INV1 is connected to the second signal interface GL1 for outputting the first pulse signal processed by the first inverter INV1 to the motor control module 203 through the second signal interface GL1.

[0088] The first inverter INV1 is used to logically invert the first pulse signal. That is, when the first pulse signal is at a high level, the first inverter INV1 can output a low level after processing. Also, when the first pulse signal is at a low level, the first inverter INV1 can output a high level after processing.

[0089] The second circuit module 202 includes a third signal interface GH2, a second inverter INV2 and a fourth signal interface GL2.

[0090] The third signal interface is used to directly output the second pulse signal input by the motor control unit 100 to the motor control module 203 .

[0091] The first end of the second inverter INV2 is connected to the motor control unit 100 for obtaining the second pulse signal. The second end of the second inverter INV2 is connected to the fourth signal interface GL2 for outputting the second pulse signal processed by the second inverter INV2 to the motor control module 203 through the fourth signal interface GL2.

[0092] The second inverter INV2 is used to perform logic inversion on the second pulse signal. That is, when the second pulse signal is at a high level, the second inverter INV2 can output a low level after processing. And, when the second pulse signal is at a low level, the second inverter INV2 can output a high level after processing.

[0093] The motor control module 203 includes: a power supply VS, a ground line GND and a switch module.

[0094] The switch module may include multiple switches. The switches in the switch module may be connected to the first circuit module 201 or the second circuit module 202. The switches in the switch module may be controlled to be closed or opened according to signals sent by the first circuit module 201 or the second circuit module 202.

[0095] The closed switch in the switch module can form a conductive circuit for driving the motor 300 together with the power supply VS and the ground line GND.

[0096] In one example, the switch module is configured to control, at a first moment, the conduction circuit of the first end of the drive motor 300 to switch from being connected to the power supply VS to being connected to the ground line GND. Furthermore, at a second moment, the switch module is configured to control, at a second moment, the conduction circuit of the second end of the drive motor to switch from being connected to the power supply VS to being connected to the ground line GND.

[0097] In one example, at a time between the first moment and the second moment, the motor control module 203 can control one end of the drive motor 300 to be connected to the power supply VS, and the other end to be connected to the ground wire GND, so that there is a voltage difference at both ends of the drive motor 300, thereby controlling the rotation of the drive motor so that the drive motor can drive the car door to open or close.

[0098] In one example, the switch in the switch module may be a transistor. Optionally, the transistor may be a semiconductor field effect transistor. Optionally, the semiconductor field effect transistor may be a metal-oxide-semiconductor field-effect transistor (MOS).

[0099] In one example, the switch module includes: a first transistor mos1, a second transistor mos2, a third transistor mos3 and a fourth transistor mos4.

[0100] The D terminal of the first transistor mos1 is connected to the power supply VS, the G terminal of the first transistor mos1 is connected to the first signal interface GH1 of the first circuit module 201, and the S terminal of the first transistor mos1 is connected to the first end of the driving motor 300. Optionally, the first end of the driving motor 300 may be an L terminal.

[0101] When the first pulse signal is at a high level, the first transistor mos1 is closed, and when the first pulse signal is at a low level, the first transistor mos1 is opened.

[0102] The D pole of the second transistor mos2 is connected to the first end of the driving motor 300 , the G pole of the second transistor mos2 is connected to the second signal interface GH1 of the first circuit module 201 , and the S pole of the second transistor mos2 is connected to the ground line GND.

[0103] When the first pulse signal is at a high level, the second signal interface GH1 outputs a low level signal, and the second transistor mos2 is turned off. When the first pulse signal is at a low level, the second signal interface GH1 outputs a high level signal, and the second transistor mos2 is turned on.

[0104] The D terminal of the third transistor mos3 is connected to the power supply VS, the G terminal of the third transistor mos3 is connected to the third signal interface GH2 of the second circuit module 202, and the S terminal of the third transistor mos3 is connected to the second end of the driving motor 300. Optionally, the second end of the driving motor 300 may be an R terminal.

[0105] When the second pulse signal is at a high level, the third transistor mos3 is closed, and when the second pulse signal is at a low level, the third transistor mos3 is opened.

[0106] The D pole of the fourth transistor mos4 is connected to the second end of the driving motor 300 , the G pole of the fourth transistor mos4 is connected to the fourth signal interface GL2 of the second circuit module 202 , and the S pole of the fourth transistor mos4 is connected to the ground line GND.

[0107] When the second pulse signal is at a high level, the fourth signal interface GL2 outputs a low level signal, and the fourth transistor mos4 is turned off. When the second pulse signal is at a low level, the fourth signal interface GL2 outputs a high level signal, and the fourth transistor mos4 is turned on.

[0108] In this embodiment, the output of pulse signals of four MOSFETs is realized through four signal interfaces, thereby realizing the control of the four MOSFETs, forming a conduction circuit for the drive motor, realizing the hovering of the car door, and short-term driving in the hovering state, thereby improving the safety of the car door.

[0109] Figure 5 The flowchart of the first embodiment of the vehicle door control method of the present invention is shown. The method is executed by a controller, which is set in the motor control unit. Figures 1 to 4 The control circuit shown in any one of the following. Figure 5 As shown, the method includes the following steps:

[0110] Step 401: Generate a first pulse signal and a second pulse signal based on vehicle information, wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment.

[0111] After acquiring the vehicle information, the controller may determine the duty ratios of the first pulse signal and the second pulse signal according to the vehicle information.

[0112] In one example, the vehicle information may include door opening sensor data, vehicle body tilt angle data, etc.

[0113] In one example, the first pulse signal and the second pulse signal have the same phase and different duty cycles. That is, the first moment when the first pulse signal switches from a high level to a low level is different from the second moment when the second pulse signal switches from a high level to a low level.

[0114] In one example, the controller may determine that the first pulse signal and the second pulse signal are both high-level signals at a moment before the common moment and the second moment, and determine that the first pulse signal and the second pulse signal are both low-level signals at a moment after the common moment. Furthermore, at a moment between the first moment and the second moment, determine that the first pulse signal and the second pulse signal are of opposite levels.

[0115] In one example, the controller can determine whether the vehicle is operating in an uphill or downhill condition based on vehicle information. Based on the operating condition, the controller can then determine the direction in which the door should be driven. Furthermore, based on the direction in which the door is driven, the controller can determine the anteroposterior relationship between the first moment and the second moment.

[0116] Optionally, if the vehicle information indicates that the vehicle is going downhill, the first moment is earlier than the second moment, so that between the first moment and the second moment, the first pulse signal is at a low level and the second pulse signal is at a high level.

[0117] Optionally, if the vehicle information indicates that the vehicle is going downhill, the first moment is later than the second moment, so that between the second moment and the first moment, the first pulse signal is at a high level and the second pulse signal is at a low level.

[0118] In this example, by setting the sequence of the first moment and the second moment, the conductive circuit is controlled between the first moment and the second moment, thereby controlling the rotation direction of the drive motor and driving the door in different directions.

[0119] In one example, the duty cycle of the first pulse signal may be a fixed duty cycle. For example, in one cycle of the first pulse signal, the ratio of the high level signal to the low level signal may be 1:1. Figure 2 As shown, t0 is 0s, t3 is 1s, and t1 is 0.5s. Optionally, the duty cycle of the first pulse signal is fixedly set so that the first moment is fixed, thereby improving the setting efficiency of the second moment.

[0120] In one example, the first moment and the second moment may have a fixed time difference. The controller may determine the second moment based on whether the second moment is earlier or later than the first moment and the time difference.

[0121] In one example, the controller may determine that there may be a fixed time difference between the first moment and the second moment based on the vehicle body tilt angle data. The controller may preset a mapping relationship between the vehicle body tilt angle data and the time difference.

[0122] Alternatively, the mapping relationship may be set via a mapping table. Alternatively, a calculation formula or calculation model may be preset to achieve the mapping between the vehicle body tilt angle data and the time difference.

[0123] Optionally, the greater the vehicle body tilt angle, the greater the time difference. Furthermore, the smaller the vehicle body tilt angle, the smaller the time difference. This setting can further optimize the effect of weight on the door, thereby further improving the door's hovering effect.

[0124] Step 402 : Generate a conduction circuit for the drive motor based on the first pulse signal and the second pulse signal, so that the drive motor controls the vehicle door based on the conduction circuit.

[0125] The controller may send the first pulse signal and the second pulse signal to the control circuit so as to form a conduction circuit of the drive motor in the control circuit. Based on the conduction circuit of the drive motor, the drive motor may control the vehicle door.

[0126] In one example, at a time before the common moment and the second moment, the drive motor controls the vehicle door to hover based on the first end of the drive motor being electrically connected to the power source and the second end being electrically connected to the power source. Furthermore, at a time after the common moment and the second moment, the drive motor controls the vehicle door to hover based on the first end of the drive motor being electrically connected to the ground wire and the second end being electrically connected to the ground wire.

[0127] At a time between the first moment and the second moment, based on one end of the driving motor being connected to the power supply and the other end being connected to the ground, the driving motor controls the driving of the vehicle door.

[0128] In one example, since the first pulse signal realizes level switching at the first moment and the second pulse signal realizes level switching at the second moment, the control circuit will realize the switching of the conduction circuit of the driving motor by switching the state of mos at the first moment and the second moment.

[0129] At the first moment, the conduction circuit of the first end of the driving motor is switched from being connected to the power supply to being connected to the ground line. At the second moment, the conduction circuit of the second end of the driving motor is switched from being connected to the power supply to being connected to the ground line.

[0130] In one example, since the two switches are performed sequentially, the delay during the high circuit switching process does not affect the switching of the driving state.

[0131] For example, if the MOSFET state switching delay is 8 microseconds, time t1 is 10 microseconds, and time t2 is 20 microseconds, the switching process may include:

[0132] At 10 microseconds, MOS1 at the first end of the drive motor begins to close and MOS2 begins to turn on. At this time, the car door remains braked.

[0133] At 18 microseconds, MOS1 at the first end of the drive motor is turned off and MOS2 is turned on. At this time, the door enters the drive state.

[0134] At 20 microseconds, MOS3 at the second end of the drive motor begins to turn off and MOS4 begins to turn on. At this time, the car door maintains driving.

[0135] At 28 microseconds, MOS3 at the second end of the drive motor is closed and MOS4 is turned on. At this time, the car door enters the braking state.

[0136] In this example, by setting the first pulse signal and the second pulse signal with the same phase, the short-time driving state is maintained in the control circuit, thereby ensuring the execution effect of the short-time driving.

[0137] In one example, Figure 2 For example, the first pulse signal and the second pulse signal can form three conduction circuits in the control circuit, thereby realizing two types of control of the vehicle. The specific situation can be shown in Table 1.

[0138] Table 1

[0139] Serial number PWM1 PWM2 L R Working Mode 1 1 1 1 1 brake 2 0 1 0 1 drive 3 0 0 0 0 brake

[0140] Among them, 1 represents a high-level signal, and 0 represents a low-level signal. Figure 2 The scenario shown is a downhill scenario, and the first moment is earlier than the second moment.

[0141] In the first case, before the first moment t1, the first pulse signal PWM1 is high and the second pulse signal PWM2 is high. Based on the first and second pulse signals, MOS1 and MOS3 in the control circuit can be controlled to be closed and MOS2 and MOS4 to be opened.

[0142] In this case, the conductive circuit formed is that the first terminal L of the drive motor 300 is conductively connected to the power supply VS, and the second terminal R is conductively connected to the power supply VS. In other words, the drive motor 300 forms a short circuit with respect to the power supply. At this time, the voltages at the first terminal L and the second terminal R of the drive motor 300 are both high.

[0143] Therefore, the pressure difference between the first end L and the second end R of the drive motor 300 is zero. The drive motor 300 brakes. When the drive motor 300 is braked, it takes more effort for an external force to actuate the door. In other words, the door hovers. When the user parks and opens the door on a slope, the weight of the door prevents the door from opening or closing automatically, improving door safety.

[0144] In the second case, between the first time t1 and the second time t2, the first pulse signal PWM1 has switched to a low level, and the second pulse signal PWM2 is still maintained at a high level. Based on the first pulse signal and the second pulse signal, MOS2 and MOS3 in the control circuit can be controlled to be closed, and MOS1 and MOS4 can be disconnected.

[0145] In this case, the conductive circuit formed is that the first terminal L of the driving motor 300 is conductively connected to the ground line NGD, and the second terminal R is conductively connected to the power supply VS. The first terminal L of the driving motor 300 is at a low level, and the second terminal R is at a high level.

[0146] Therefore, a pressure difference is formed between the first end L and the second end R of the driving motor 300, and the pressure difference is less than 0. The driving motor 300 is driven. Since the pressure difference between the first end L and the second end R is less than 0, the driving motor 300 reverses and controls the door to close.

[0147] When the vehicle is on a downhill slope, the doors will automatically open due to gravity. Even when the vehicle is hovering, the doors may still move slightly. Therefore, to further ensure the door's hovering effect, the door can be controlled to periodically and briefly move in the closing direction to prevent the door from moving under gravity while hovering.

[0148] In the third case, after the second moment t2, the first pulse signal PWM1 is low, and the second pulse signal PWM2 is also switched to a low level. Based on the first pulse signal and the second pulse signal, MOS2 and MOS4 in the control circuit can be controlled to be closed, and MOS1 and MOS3 can be disconnected.

[0149] In this case, the conductive circuit formed is that the first terminal L of the driving motor 300 is grounded and the second terminal R is grounded. That is, the driving motor 300 is short-circuited to ground. The voltages of the first terminal L and the second terminal R of the driving motor 300 are both low.

[0150] Therefore, the pressure difference between the first end L and the second end R of the drive motor 300 is zero. The drive motor 300 brakes. When the drive motor 300 is braked, it takes more effort for an external force to actuate the door. In other words, the door hovers. When the user parks and opens the door on a slope, the weight of the door prevents the door from opening or closing automatically, improving door safety.

[0151] In one example, when determining that the vehicle is going uphill, the first moment can be set to be later than the second moment. Then the first case is before the second moment, the second case is between the second moment and the first moment, and the third case is after the first moment.

[0152] Among them, the first and third cases are the same as the first and third cases when going downhill.

[0153] In the second case, the first pulse signal PWM1 maintains a high level, and the second pulse signal PWM2 has switched to a low level. Based on the first and second pulse signals, MOS1 and MOS4 in the control circuit can be controlled to be closed, and MOS2 and MOS3 can be controlled to be disconnected.

[0154] In this case, the conductive circuit formed is that the first terminal L of the driving motor 300 is conductively connected to the power supply VS, and the second terminal R is conductively connected to the ground line NGD. The first terminal L of the driving motor 300 is at a high level, and the second terminal R is at a low level.

[0155] Therefore, a pressure difference is formed between the first end L and the second end R of the driving motor 300, and the pressure difference is greater than 0. The driving motor 300 is driven. Since the pressure difference between the first end L and the second end R is greater than 0, the driving motor 300 rotates forward, controlling the door to open.

[0156] When the vehicle is on an uphill slope, the doors will automatically close due to gravity. Even when the vehicle is hovering, the doors may still move slightly. Therefore, to further ensure the door's hovering effect, the door can be controlled to periodically drive in the direction of opening for a short period of time to prevent the door from moving under the force of gravity while hovering.

[0157] In this embodiment, a first pulse signal and a second pulse signal are generated according to vehicle information; the first pulse signal and the second pulse signal have the same phase and different duty cycles; based on the different duty cycles, when the first pulse signal and the second pulse signal are at the same level, the drive motor is controlled to perform braking, and when the first pulse signal and the second pulse signal are at different levels, the drive motor is controlled to perform driving, thereby improving the hovering effect of the vehicle door and improving the execution effect of short-time driving during the hovering process of the vehicle door.

[0158] Figure 6 FIG. 1 shows a schematic structural diagram of an embodiment of a vehicle door control device according to the present invention. Figure 5 As shown, the control device 500 includes: a first generating module 501 and a second generating module 502.

[0159] The first generating module 501 is configured to generate a first pulse signal and a second pulse signal according to the vehicle information, wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment.

[0160] The second generating module 502 is configured to generate a conduction circuit for the driving motor based on the first pulse signal and the second pulse signal, so that the driving motor controls the vehicle door based on the conduction circuit.

[0161] In one example, the second generating module 502 is configured to:

[0162] At a first moment, the conduction circuit of the first end of the driving motor is controlled to switch from being connected to the power supply to being connected to the ground line.

[0163] At the second moment, the conduction circuit of the second end of the driving motor is controlled to switch from being connected to the power supply to being connected to the ground line.

[0164] In one example, the second generating module 502 is configured to:

[0165] At a moment before both the first moment and the second moment, the driving motor controls the vehicle door to hover based on the first end of the driving motor and the second end of the driving motor being conductive to the power supply.

[0166] At a time between the first moment and the second moment, based on one end of the driving motor being connected to the power supply and the other end being connected to the ground, the driving motor controls the driving of the vehicle door.

[0167] At a moment after the first moment and the second moment, the driving motor controls the vehicle door to hover based on the first end of the driving motor being conductive to the ground and the second end of the driving motor being conductive to the ground.

[0168] In one example, the first generating module 501 is configured to:

[0169] If the vehicle information indicates that the vehicle is going downhill, the first time is earlier than the second time.

[0170] If the vehicle information indicates that the vehicle is traveling uphill, the first time is later than the second time.

[0171] The vehicle door control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and will not be described in detail in this embodiment.

[0172] Figure 7 The schematic diagram of the structure of the embodiment of the controller of the present invention is shown in FIG. The specific embodiment of the present invention does not limit the specific implementation of the controller. Figure 6 As shown, the controller 600 may be provided in the motor control unit 100 of the control circuit. The controller 600 may include: a processor 602 , a communications interface 604 , a memory 606 , and a communications bus 608 .

[0173] Processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608. Communication interface 604 is used to communicate with other devices, such as client devices or other server network elements. Processor 602 is used to execute program 410, specifically, the steps described in the above-mentioned embodiment of the vehicle door control method.

[0174] Specifically, the program 410 may include program code including computer-executable instructions.

[0175] The processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the controller may be processors of the same type, such as one or more CPUs. Alternatively, they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0176] The memory 606 is used to store the program 410. The memory 606 may include a high-speed RAM memory, or may also include a non-volatile memory, such as at least one disk memory.

[0177] Program 410 can be specifically called by processor 602 to enable the controller to execute the method provided by the above method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0178] An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction runs on a controller, the controller executes the vehicle door control method in any of the above method embodiments.

[0179] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0180] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The claims that follow the detailed description are hereby expressly incorporated into that detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0181] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0182] It should be noted that the above embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by a person skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A door control circuit, characterized in that: The control circuit includes a motor control unit and a circuit control unit; wherein the motor control unit is connected to the circuit control unit, and the circuit control unit is connected to the drive motor in the vehicle through two output interfaces; The motor control unit is configured to transmit a first pulse signal and a second pulse signal to the circuit control unit; wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment; The circuit control unit switches the conduction circuit of the drive motor based on the first pulse signal at the first moment, and the circuit control unit switches the conduction circuit of the drive motor based on the second pulse signal at the second moment, so that the drive motor drives the vehicle door based on the switched conduction circuit at a moment between the first moment and the second moment.

2. The circuit according to claim 1, wherein: The circuit control unit includes a first circuit module, a second circuit module and a motor control module; wherein the motor control unit is connected to the first circuit module and the second circuit module respectively, and the first circuit module and the second circuit module are connected to the motor control module respectively; the motor control module is connected to the drive motor through two output interfaces; The first circuit module is configured to obtain a first pulse signal and control the motor control module to switch on the conduction circuit according to the first pulse signal at a first moment; The second circuit module is configured to obtain a second pulse signal and control the motor control module to switch on the conduction circuit according to the second pulse signal at a second moment; The motor control module controls the drive motor to drive the vehicle door based on the switched conduction circuit at a time between the first time and the second time.

3. The circuit according to claim 2, characterized in that The motor control module includes: a power supply, a ground line, and a switch module; The switch module is configured to control the conduction circuit of the first end of the drive motor to switch from being connected to the power supply to being connected to the ground at a first moment; and to control the conduction circuit of the second end of the drive motor to switch from being connected to the power supply to being connected to the ground at a second moment; The motor control module controls one end of the drive motor to be connected to the power supply and the other end to be connected to the ground wire at a time between the first time and the second time, so that the drive motor drives the vehicle door.

4. The circuit according to claim 3, characterized in that The switch module includes: a first transistor, a second transistor, a third transistor and a fourth transistor; The D pole of the first transistor is connected to the power supply, the G pole of the first transistor is connected to the first signal interface of the first circuit module, and the S pole of the first transistor is connected to the first end of the driving motor; The D pole of the second transistor is connected to the first end of the driving motor, the G pole of the second transistor is connected to the second signal interface of the first circuit module, and the S pole of the second transistor is connected to the ground line; The D pole of the third transistor is connected to the power supply, the G pole of the third transistor is connected to the third signal interface of the second circuit module, and the S pole of the third transistor is connected to the second end of the driving motor; The D pole of the fourth transistor is connected to the second end of the driving motor, the G pole of the fourth transistor is connected to the fourth signal interface of the second circuit module, and the S pole of the fourth transistor is connected to the ground line.

5. The circuit according to claim 2, characterized in that The first circuit module includes: a first signal interface, a first inverter and a second signal interface; The first signal interface is used to output the first pulse signal to the motor control module; The first inverter is used to perform logical inversion on the first pulse signal; The second signal interface is used to output the first pulse signal after logical inversion to the motor control module.

6. The circuit according to claim 2, characterized in that The second circuit module includes: a third signal interface, a second inverter and a fourth signal interface; The third signal interface is used to output the second pulse signal to the motor control module; The second inverter is used to perform logical inversion on the second pulse signal; The fourth signal interface is used to output the second pulse signal after logical inversion to the motor control module.

7. The circuit according to any one of claims 1 to 6, characterized in that The control circuit further includes: The circuit control unit controls the conduction circuit of the drive motor based on the first pulse signal before the first moment, and the second circuit module controls the conduction circuit of the drive motor based on the second pulse signal before the second moment, so that the drive motor suspends the door based on the conduction circuit at a moment before both the first moment and the second moment.

8. The circuit according to any one of claims 1 to 6, characterized in that The control circuit further includes: The circuit control unit controls the conduction circuit of the drive motor based on the first pulse signal during the first moment, and the second circuit module controls the conduction circuit of the drive motor based on the second pulse signal after the second moment, so that the drive motor suspends the door based on the conduction circuit at a moment after the first moment and the second moment.

9. A method for controlling a vehicle door, characterized in that: The control circuit according to any one of claims 1 to 8, wherein the method comprises: Generate a first pulse signal and a second pulse signal according to vehicle information; wherein the first pulse signal and the second pulse signal have the same phase, and the first pulse signal switches from a high level to a low level at a first moment, and the second pulse signal switches from a high level to a low level at a second moment; A conduction circuit of the drive motor is generated based on the first pulse signal and the second pulse signal, so that the drive motor controls the vehicle door based on the conduction circuit.

10. The method according to claim 9, characterized in that The step of generating a conduction circuit for the drive motor based on the first pulse signal and the second pulse signal so that the drive motor controls the vehicle door based on the conduction circuit includes: At a first moment, controlling the conduction circuit of the first end of the driving motor to switch from being connected to the power supply to being connected to the ground line; At the second moment, the conduction circuit of the second end of the driving motor is controlled to switch from being connected to the power supply to being connected to the ground line.

11. The method according to claim 10, characterized in that The method comprises: At a moment before both the first moment and the second moment, based on the first end of the drive motor being conductively connected to the power supply and the second end of the drive motor being conductively connected to the power supply, the drive motor controls the vehicle door to hover; At a time between the first moment and the second moment, based on one end of the drive motor being connected to a power source and the other end being connected to a ground line, the drive motor controls the vehicle door drive; At a moment after the first moment and the second moment, based on the first end of the drive motor being conductively connected to the ground wire and the second end of the drive motor being conductively connected to the ground wire, the drive motor controls the vehicle door to hover.

12. The method according to any one of claims 9 to 11, characterized in that The generating of the first pulse signal and the second pulse signal according to the vehicle information includes: If the vehicle information indicates that the vehicle is going downhill, the first time is earlier than the second time; If the vehicle information indicates that the vehicle is traveling uphill, the first time is later than the second time.

13. A controller, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the method according to any one of claims 9 to 12.

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