Hidden vehicle door handle control system, control method and storage medium

Abstract

The invention relates to the technical field of automobile control, in particular to a hidden type automobile door handle control system and method and a storage medium. Comprising a signal acquisition module, a state recognition module, a blocking judgment module, an anti-pinch control module and an anti-freezing control module, and the signal acquisition module is used for acquiring a hidden door handle motor current signal and a current door handle position signal; the state recognition module recognizes whether the door handle is in an outward unfolding state or an inward folding state based on the position signal; the obstruction judgment module judges whether the door handle has obstruction or not based on the current signal and the position signal and judges whether the obstruction is folding obstruction or unfolding obstruction when the obstruction exists; the anti-pinch control module starts an anti-pinch control strategy when the current barrier is a folding barrier; the anti-freezing control module starts an anti-freezing control strategy when the current obstruction is the unfolding obstruction. According to the hidden door handle, the anti-pinch and anti-freezing functions can be well achieved, and the using safety and convenience of the hidden door handle are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, in particular to a hidden door handle control system, a control method and a storage medium. BACKGROUND

[0002] The hidden door handle design can improve the overall appearance of the vehicle and reduce noise, so more and more styling designs adopt hidden door handles. However, the traditional hidden door handle has safety hazards of pinching and risks of difficulty in opening in low-temperature environment. Especially for the problem of anti-freezing, some solutions use cameras and image processors to identify gestures to open and close the door handle, but this solution needs to install more than 4 cameras, and also needs image processing modules and image algorithms, which is high in cost, difficult to develop, complex in structure, and unable to interconnect and control with related modules on the vehicle through CAN bus. Some solutions use controllers to drive Hall motors to accurately determine the position of the door handle, but lack motor no-load, over-current, short-circuit and over-heat protection, and when the door handle motor is frozen by ice and snow, the door handle motor cannot be continuously driven under the condition of no Hall signal, resulting in that the owner cannot open the door to get on the vehicle, and the reliability is poor.

[0003] In order to solve this technical problem, an existing technology named a hidden door handle control device, system and control method proposes a control device, which includes a microcontroller and a first driving unit electrically connected thereto, the microcontroller is used to control the first driving unit to output a driving signal according to the instruction received from the CAN bus, to drive the door handle motor to make the door handle unfold or retract, and the first driving unit is also used to diagnose the working condition of the door handle motor during the unfolding or retracting of the door handle, and if an abnormal working condition occurs, a fault information is sent to the microcontroller, and the microcontroller sends the fault information to the CAN bus to alarm and stop driving. The device monitors the working state of the motor to determine whether there is a fault. However, the device does not actually solve the problem of how to handle when an obstacle appears or the handle is frozen.

[0004] There is also prior art that adopts a special anti-freezing measure for anti-freezing, such as prior art of an anti-freezing control strategy of a hidden door handle, which provides an anti-freezing control strategy mainly by acquiring current environmental characteristic information and prompting whether to enter an intelligent door handle control mode according to the current environmental characteristic information and a preset environmental verification condition; if it is selected to enter the intelligent door handle control mode, the door handle is controlled to keep an unfolded state in a driving or locking state; if a temperature value in the current environmental characteristic information exceeds a preset temperature and in a driving process or a locking state, the intelligent door handle control mode is automatically exited to perform a door handle recovery action; if it is selected not to enter the intelligent door handle control mode, an ice breaking mode is automatically entered when the vehicle is unlocked, and the ice breaking mode is to judge whether the door handle motor is stalled by a door handle feedback signal, and if the door handle motor is stalled, the door handle is controlled to perform a recovery and unfolding action. That is, the scheme is to automatically pop open the door handle to keep it in an unfolded state when it is monitored that there may be an ice freezing condition, but this way is a passive control strategy, and even if the door handle is completely popped open, there is still a problem of being frozen, and there is also a problem of being unable to operate normally, and the unfolded state of the door handle is also easy to cause a safety accident.

[0005] Therefore, current control of the hidden door handle usually stays at a simple passive control level, and the hidden door handle has various advantages but also various defects, and if a good control strategy is not formulated for anti-pinch and anti-freezing, the use of the hidden door handle will be restricted, and a safety accident will be caused in a serious case. SUMMARY

[0006] The purpose of the present application is to solve the problems in the background art, and to provide a hidden vehicle door handle control system, a control method and a storage medium.

[0007] The technical solution of the present application is: a hidden vehicle door handle control system, comprising, a signal acquisition module, which is used to acquire a hidden door handle motor current signal and a current door handle position signal; a state recognition module, which is used to recognize whether the door handle is in an outward unfolding state or an inward folding state based on the position signal; an obstruction judgment module, which is used to judge whether the door handle has an obstruction and whether the obstruction is a folding obstruction or an unfolding obstruction based on the current signal and the position signal; an anti-pinch control module, which is used to start an anti-pinch control strategy when the current obstruction is a folding obstruction; an anti-freezing control module, which is used to start an anti-freezing control strategy when the current obstruction is an unfolding obstruction.

[0008] According to the hidden vehicle door handle control system provided by the application, the signal acquisition module comprises, a Hall current sensor connected with the door handle motor signal for acquiring the current signal of the motor; An optical encoder for acquiring the door handle position signal.

[0009] According to the hidden vehicle door handle control system provided by the application, the state recognition module comprises, A first recognition module for recognizing the current door handle as unfolded when the initial position of the door handle is in the un-popped state; A second recognition module for recognizing the current door handle as folded when the initial position of the door handle is in the popped state.

[0010] According to the hidden vehicle door handle control system provided by the application, the obstruction judgment module comprises, A folding obstruction recognition module for recognizing that the current door handle has unfolding obstruction when the door handle is in the folded state, the current signal has abnormal change, and the door handle position does not reach the preset amount corresponding to the current signal; An unfolding obstruction recognition module for recognizing that the current door handle has folding obstruction when the door handle is in the unfolded state, the current signal has abnormal change, and the door handle position does not reach the preset amount corresponding to the current signal.

[0011] According to the hidden vehicle door handle control system provided by the application, the anti-pinch control module comprises, A first motor control module for controlling the motor to stop running when it is judged that folding obstruction occurs; An alarm module for issuing an alarm when the first motor control module controls the motor to stop running.

[0012] According to the hidden vehicle door handle control system provided by the application, the anti-freezing control module comprises, A second motor control module for controlling the motor to perform ice-breaking operation in the mode of advancing at maximum power for a set time and then retreating for a set number of times when it is judged that unfolding obstruction occurs; A judgment module for judging whether to exit the ice-breaking mode based on the door handle position signal after the second motor control module performs ice-breaking operation for a set number of times; A first operation module for unfolding the door handle according to the normal process after exiting the ice-breaking mode.

[0013] According to the hidden vehicle door handle control system provided in the application, the anti-freezing control module further comprises, The second operation module is configured to control the motor to perform the ice-breaking operation again for a plurality of times when the ice-breaking mode is not exited. The detection control module is configured to perform a normal process to unfold the door handle if the door handle is detected to be popped out after the ice-breaking operation is performed for a plurality of times, and stop performing the ice-breaking operation and issue a warning if the number of times of performing the ice-breaking operation reaches an upper limit but the door handle is detected to be not popped out.

[0014] According to the hidden vehicle door handle control system provided in the application, the anti-freezing control module further comprises,

[0015] The application also relates to a hidden vehicle door handle control method, which comprises the following steps: Collecting a motor current signal of the hidden door handle and a current door handle position signal; Identifying whether the door handle is in an unfolded state or a folded state based on the position signal; Judging whether the door handle is blocked and judging whether the blockage is a folding blockage or an unfolding blockage based on the current signal and the position signal; When the current blockage is a folding blockage, controlling the motor to stop running and issuing a warning; When the current blockage is an unfolding blockage, controlling the motor to perform the ice-breaking operation for a plurality of times in a mode of maximum power pushing for a set time and then retreating.

[0016] The application also relates to a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the hidden vehicle door handle control method.

[0017] The application has the following advantages: 1. The current door handle blockage problem can be accurately judged by collecting the current signal and the position signal of the door handle motor, and the corresponding anti-pinch measure or anti-freezing measure can be taken according to the blockage type, without adding other device structures to the door handle, so that the anti-pinch and anti-freezing operations of the hidden door handle can be well implemented, the overall control module is very simple, the control effect is good, the anti-pinch and anti-freezing operations of the hidden door handle can be well handled, and the application has great popularization value. 2、The application collects the current signal of the motor through the Hall current sensor, can monitor the running condition of the motor according to the current signal, and can accurately monitor the position of the door handle through the photoelectric encoder, so as to judge the running state of the current door handle, and the overall device structure is simple and easy to operate; 3、The application judges the state of the door handle based on the position signal of the door handle. In actual use, the door handle will only exist the anti-pinch problem in the unfolded state, and the anti-freezing problem will only occur in the completely folded state. Therefore, it is only necessary to collect the position signal of the door handle to judge whether the anti-pinch or anti-freezing operation is needed; 4、The application judges the type of the obstacle based on the state of the door handle and the abnormal change of the current signal. When the current signal abnormally changes and the position of the door handle does not correspond to the preset position, it can be judged that the current door handle is abnormal, that is, there is an obstacle, and then the type of the obstacle can be judged according to the position state of the door handle; 5、The control of the folding obstacle of the application is actually an anti-pinch control strategy. First, the running of the motor is stopped to avoid causing greater harm or damage caused by motor overload, and then a warning is issued to remind the owner or other personnel. The whole control process improves the safety of the anti-pinch process; 6、When the application appears the unfolding obstacle, it is judged that the anti-freezing strategy needs to be started. The application controls the motor to drive the door handle to repeatedly push and retreat, and removes the ice through mechanical driving. The operation is simple, and a special ice removal device does not need to be built. The whole operation is relatively simple; 7、When the application still does not meet the ice removal requirement after multiple ice removal operations, the ice removal operation is immediately stopped to avoid damage to the door handle motor or the door handle itself, and the safety of the whole door handle system is ensured; 8、The application judges whether the ice removal requirement is met by monitoring the displacement of the door handle after multiple ice removal operations, and judges whether the door handle can be normally opened. This monitoring and judging method is very simple and easy to operate; 9、The application relates to a hidden door handle control method. The control method is simple, does not need to increase too many detection and operation devices, and the whole operation is very simple. The anti-pinch and anti-freezing of the hidden door handle can be well handled, the safety of the hidden door handle is improved, and the application has great popularization value.

[0018] The hidden door handle of the application can well realize the anti-pinch and anti-freezing functions, and the whole monitoring, identification and judgment method is very simple. The safety and convenience of the hidden door handle are greatly improved, and the application has great popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 : Flowchart of the concealed door handle control method of this application. Detailed Implementation

[0020] The embodiments of this application are described in detail below, wherein the same or similar reference numerals denote 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 intended to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] This application relates to a concealed door handle control system. The control system of this application can effectively control the concealed door handle. By collecting, analyzing and processing the current signal and position signal of the door handle motor, it can accurately determine whether there is an obstruction in the concealed door handle. If there is an obstruction, the type of obstruction can be identified, and corresponding anti-pinch or anti-freezing measures can be taken according to the type of obstruction. It can automatically adjust and control the door handle, which greatly improves the safety and convenience of using the concealed door handle.

[0025] Specifically, the hidden vehicle door handle control system of the present application comprises a signal acquisition module, a state recognition module, an obstruction judgment module, an anti-pinch control module and an anti-freezing control module. The signal acquisition module is used to acquire the hidden door handle motor current signal and the current door handle position signal. The signal acquisition module of the present application comprises a Hall current sensor and a photoelectric encoder. The Hall current sensor is connected with the door handle motor signal for acquiring the motor current signal. The Hall current sensor is connected with the motor signal for controlling the unfolding and folding of the hidden door handle, so as to acquire the motor current signal in real time. The photoelectric encoder is used to acquire the door handle position signal. The state recognition module recognizes whether the door handle is in the outward unfolding state or the inward folding state based on the position signal. The obstruction judgment module judges whether there is an obstruction to the door handle based on the current signal and the position signal, and judges whether the obstruction is a folding obstruction or an unfolding obstruction when there is an obstruction. The anti-pinch control module starts the anti-pinch control strategy when the current obstruction is a folding obstruction. The anti-freezing control module starts the anti-freezing control strategy when the current obstruction is an unfolding obstruction.

[0026] In actual application, the hidden vehicle door handle control system of the present application needs to perform control operations for two situations, one is anti-pinch, and the other is anti-freezing. Anti-pinch refers to that when the hidden door handle is in the unfolded state (the unfolded state of the present application refers to that the door handle is popped out of the door), there is an obstacle between the door handle and the door. At this time, if the door handle is directly folded, i.e. the door handle is retracted to the door by the motor, it is necessary to avoid that the retracted door handle is pinched to the obstacle. Anti-pinch is to avoid that the door handle pinches the obstacle to cause damage to the obstacle, such as the obstacle being a human body, and to avoid that the door handle is damaged, such as the obstacle being a stone or a branch falling between the door handle and the door. Anti-freezing refers to that the door handle of the door is not popped out, i.e. the door handle is folded and stored in the door. At this time, in the case of low temperature, the door handle is frozen in the door and cannot be normally popped out of the door. Therefore, anti-freezing needs to be performed.

[0027] Anti-pinch operation is performed for the state that the door handle is popped out, and anti-freezing operation is performed for the state that the door handle is not popped out. Therefore, the present application can directly judge which operation to be performed subsequently by the position signal of the door handle.

[0028] Specifically, as shown in Figure 1 The control system of the present application can be operated according to the following method: S1, acquiring the hidden door handle motor current signal and the current door handle position signal; S2, recognizing whether the door handle is in the outward unfolding state or the inward folding state based on the position signal; S3, judging whether there is an obstruction to the door handle based on the current signal and the position signal, and judging whether the obstruction is a folding obstruction or an unfolding obstruction when there is an obstruction. S4, when the current obstruction is a folding obstruction, controlling the motor to stop running and issuing a warning; When the current obstruction is an unfolding obstruction, controlling the motor to perform ice breaking operation in a mode of advancing at maximum power for a set time and then retreating for a set number of times.

[0029] In some embodiments of the present application, the state recognition module is optimized, and specifically, the state recognition module comprises a first recognition module and a second recognition module. The first recognition module is used to recognize that the current door handle is in an unfolded state when the initial position of the door handle is in an un-popped state. The second recognition module is used to recognize that the current door handle is in a folded state when the initial position of the door handle is in a popped state.

[0030] As described above, the control system of the present embodiment only controls two situations, one is anti-pinch, and the other is anti-freezing. The anti-pinch state is when the concealed door handle is in a popped state, and the anti-freezing state is when the concealed door handle is in an un-popped state. Therefore, the first step needs to be state recognition. As long as the door handle is in a popped state, it can be judged that the current door handle is in an unfolded state. As long as the door handle is in an un-popped state, it can be judged that the current door handle is in a folded state.

[0031] That is, the step S2 is optimized, and specifically, the state of the door handle is judged by the collected current signal. If the door handle is in a popped state, it is judged that the current door handle is in an unfolded state. If the door handle is in an un-popped state, it is judged that the current door handle is in a folded state.

[0032] In some embodiments of the present application, the obstruction judgment module is optimized, and specifically, the obstruction judgment module comprises a folding obstruction recognition module and an unfolding obstruction recognition module. The folding obstruction recognition module is used to recognize that the current door handle has an unfolding obstruction when the door handle is in a folded state, the current signal has an abnormal change, and the position of the door handle does not reach a preset amount corresponding to the current signal. The unfolding obstruction recognition module is used to recognize that the current door handle has a folding obstruction when the door handle is in an unfolded state, the current signal has an abnormal change, and the position of the door handle does not reach a preset amount corresponding to the current signal.

[0033] After obtaining the state information of the current door handle, further judgment and analysis are performed based on the position signal and the current signal. If the current signal has an abnormal change but the door handle position has not reached the preset amount corresponding to the current signal, the current action of the door handle is limited at this time, and there is an obstacle. No matter whether the obstacle prevents the door handle from unfolding or folding, the motor is blocked, resulting in an abnormal change in the current, but the door handle position signal does not change, or the preset amount corresponding to the door handle position signal does not correspond to the motor current signal, indicating that the door handle has an obstacle.

[0034] Further judgment of the type of the obstacle is performed. If the door handle is in an unfolded state at this time, it is indicated that the current obstacle is between the door handle and the door (of course, it is also possible that the door handle is hooked in the unfolded state), and the obstacle limits the folding action of the door handle. If the door handle is in a folded state at this time, it is indicated that the current obstacle limits the unfolding of the door handle.

[0035] The step S3 described above is optimized in this embodiment. Specifically, whether the door handle has an obstacle is judged based on the current signal and the position signal. If the current signal has an abnormal change but the door handle position has not reached the preset amount corresponding to the current signal, it is judged that the current door handle has an obstacle. Further, the door handle state is combined to judge whether the door handle has an obstacle. If the door handle has an obstacle, it is judged that the current obstacle is an unfolding obstacle when the door handle is in a folded state, and the current obstacle is a folding obstacle when the door handle is in an unfolded state.

[0036] In the preferred embodiment of the present application, the anti-pinch control module described above is optimized in this embodiment. Specifically, the anti-pinch control module of this embodiment includes a first motor control module and a warning module. The first motor control module is used to control the motor to stop running when it is judged that a folding obstacle occurs. The warning module is used to issue a warning when the first motor control module stops running.

[0037] That is, once a folding obstacle occurs, the door handle is limited in the folding operation in the process of folding inward for storage. In order to avoid damage to the motor, the motor is immediately stopped to avoid damage to the motor and the door handle, and damage to the person when the obstacle is a human body.

[0038] The warning is immediately issued to remind the owner or the surrounding personnel.

[0039] In further embodiments of the present application, the anti-freezing control module is optimized, and specifically, the anti-freezing control module comprises a second motor control module, a first operation module, a second operation module, and a detection control module. The second motor control module is configured to control the motor to perform ice-breaking operation for a set number of times in a mode of maximum power propulsion for a set time and then retraction. The exit judgment module is configured to judge whether to exit the ice-breaking mode based on the door handle position signal after the second motor control module performs the ice-breaking operation for the set number of times. The first operation module is configured to deploy the door handle according to the normal process after the ice-breaking mode is exited. The second operation module is configured to control the motor to perform the ice-breaking operation again for a plurality of times when the ice-breaking mode is not exited. The detection control module is configured to perform the normal process to deploy the door handle when the door handle is detected to be popped out after the ice-breaking operation is performed for the plurality of times, and stop performing the ice-breaking operation and issue a warning when the number of times of performing the ice-breaking operation reaches an upper limit but the door handle is detected to be not popped out.

[0040] In the present embodiment, when the deployment obstruction occurs, it is considered that the door handle is frozen at this time, and the de-icing operation needs to be started. The de-icing operation of the present embodiment is to control the motor to perform maximum power propulsion for a set time and then retraction. In fact, the duty cycle of the motor is increased to 90% to make the door handle expand outward (forward propulsion for 500 ms) and then retract for a short time (the duty cycle of the motor is controlled to 30% to run for 200 ms, so that the door handle is folded inward). The ice on the door handle and the door is mechanically removed by repeatedly expanding and folding the door handle. When one de-icing operation cannot achieve the de-icing effect, multiple de-icing operations can be performed. The set number of times in the present embodiment can be set artificially, such as 2 or 3. The upper limit of the number of de-icing operations is 3. If the de-icing operation is not effective after 3 times, the de-icing operation is stopped, and the operation of the motor is exited to avoid damage caused by motor overload.

[0041] After the de-icing operation, the door handle position signal is detected, which actually detects the displacement of the door handle. If the detected displacement is not less than a set safety distance (the set safety distance is 30 mm), it proves that the mechanical de-icing effect of the door handle is good, and the door handle can be moved to achieve the preset de-icing effect. Therefore, the de-icing mode can be directly exited, and then the door handle is deployed according to the normal process. Conversely, if the detected displacement is less than the set safety distance, it proves that the mechanical de-icing effect of the door handle is not good, and the door handle does not have enough space to move, and the resistance to the deployment of the door handle is too large to achieve the preset de-icing effect. The de-icing operation needs to be performed again. If the number of de-icing operations reaches the upper limit, it proves that the ice is relatively firm and cannot be removed by de-icing operation. At this time, the de-icing mode also needs to be exited, and a warning is issued to remind the owner or other personnel.

[0042] Specifically, the step S4 is optimized in the embodiment. When the current obstruction is an unfolding obstruction, the control motor operates in the deicing mode of maximum power propulsion for a set time and then retreats. After each deicing operation, the door handle position signal is detected. If the detected displacement is not less than the set safety distance, the deicing mode is exited, and the door handle is unfolded according to the normal process. If the detected displacement is less than the set safety distance, the second deicing operation is performed, and the door handle position signal is detected again. If the detected displacement is not less than the set safety distance, the deicing mode is exited, and the door handle is unfolded according to the normal process. Otherwise, the next deicing operation is performed. If the number of deicing operations reaches the upper limit, and the detected door handle displacement is still less than the set safety distance, the deicing mode is exited, and a warning is issued.

[0043] The embodiment of the present application also provides a non-transitory computer readable storage medium, which stores a computer program, the computer program comprising program instructions, the program instructions being executed by a processor to implement each step of the method of the present application, which will not be described herein.

[0044] The computer readable storage medium can be an internal storage unit of the data transmission device or the computer device, such as a hard disk or a memory of the computer device. The computer readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0045] Further, the computer readable storage medium can include both the internal storage unit and the external storage device of the computer device. The computer readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer readable storage medium can also be used to temporarily store data to be output or data that has been output.

[0046] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0047] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0048] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0049] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0050] The embodiments of the present application also provide a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the steps of the hidden door handle control method. The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0051] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A concealed door handle control system, characterized by: include, The signal acquisition module is used to acquire the motor current signal of the concealed door handle and the current position signal of the door handle; The status recognition module identifies whether the door handle is in an outward unfolded state or an inward folded state based on the position signal. An obstruction detection module is provided, which determines whether the door handle is obstructing based on current and position signals, and determines whether the obstruction is a folding obstruction or an unfolding obstruction when it is present. An anti-pinch control module, wherein the anti-pinch control module activates an anti-pinch control strategy when the current obstacle is a folding obstacle; An antifreeze control module is provided, which activates an antifreeze control strategy when the current obstacle is an unfolding obstacle.

2. A concealed door handle control system as defined in claim 1, wherein: The signal acquisition module includes, A Hall current sensor, which is connected to the door handle motor signal to collect the motor's current signal; An optical encoder is used to acquire the position signal of the door handle.

3. A concealed door handle control system as defined in claim 1, wherein: The status recognition module includes, The first recognition module is used to recognize that the current door handle is in the unfolded state when the initial position of the door handle is in the non-out state; The second recognition module is used to recognize that the current door handle is in a folded state when the initial position of the door handle is in the pop-out state.

4. A concealed door handle control system as defined in claim 1, wherein: The obstacle determination module includes, A folding obstruction recognition module is used to identify that there is an obstruction to unfolding the door handle when the door handle is in a folded state and the current signal shows an abnormal change but the door handle position does not reach a preset amount corresponding to the current signal. An obstruction recognition module is used to identify folding obstructions in the current door handle when the door handle is in the unfolded state and the current signal shows an abnormal change, but the door handle position does not reach a preset amount corresponding to the current signal.

5. A concealed door handle control system as defined in claim 1 wherein: The anti-pinch control module includes, The first motor control module is used to control the motor to stop operating when it is determined that a folding obstacle has occurred; The warning module is used to issue a warning when the first motor controls the motor to stop running.

6. A concealed door handle control system as defined in claim 1 wherein: The antifreeze control module includes, The second motor control module is used to control the motor to advance at maximum power for a set time and then retreat when it is determined that there is an obstacle to the unfolding, and to perform the ice-breaking operation a set number of times. The exit judgment module is used to determine whether to exit the ice-breaking mode based on the door handle position signal after the second motor control module performs a set number of ice-breaking operations. The first operation module is used to unfold the door handle according to the normal procedure after exiting the ice-breaking mode.

7. A concealed door handle control system as defined in claim 6, wherein: The antifreeze control module also includes, The second operation module is used to perform multiple ice-breaking operations again according to the control motor while the ice-breaking mode has not been exited. The detection control module is used to execute the normal procedure to unfold the door handle if the door handle is detected to pop out after multiple ice-breaking operations, and to stop the ice-breaking operation and issue a warning if the number of ice-breaking operations reaches the upper limit but the door handle is still not detected to pop out.

8. A concealed door handle control system as defined in claim 6, wherein: The exit judgment module is configured to judge that the ice-breaking mode can be exited when the displacement of the door handle is detected to be not less than a set safety distance after the ice-breaking operation, and otherwise, judge that the ice-breaking mode cannot be exited.

9. A method of concealing a door handle control for a vehicle, the method comprising: The method comprises the following steps: Collecting a hidden door handle motor current signal and a current door handle position signal; Identifying whether the door handle is in an outwardly unfolded state or an inwardly folded state based on the position signal; Judging whether the door handle is blocked based on the current signal and the position signal, and judging whether the blockage is a folding blockage or an unfolding blockage when the door handle is blocked; When the current blockage is a folding blockage, controlling the motor to stop running and issuing a warning; When the current blockage is an unfolding blockage, controlling the motor to perform ice-breaking operation in a mode of advancing at maximum power for a set time and then retreating for a set number of times. 10.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the hidden door handle control method as claimed in claim 9.

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