Door handle synchronism calibration method and system with high-precision position feedback

Abstract

The invention provides a door handle synchronism calibration method and system with high-precision position feedback. The method comprises the following steps: firstly, acquiring rotation angle data in real time through a high-precision magnetic encoder, secondly, converting the rotation angle data into corresponding linear displacement data, and then, generating a displacement deviation value according to target displacement data of a corresponding time node in a preset motion curve; then, based on the displacement deviation values, the range of the displacement deviation values among the independently-driven electric door handles is calculated to serve as a real-time synchronization error, the stepping motor driving pulse frequency of each independently-driven electric door handle is dynamically adjusted, and finally, the real-time synchronization error is obtained through the adjusted stepping motor driving pulse frequency. The actual displacement of the independently-driven electric door handles is made to be matched with the preset motion curve again; according to the technical scheme provided by the invention, individualized compensation for different deviation characteristics is realized, and the risk of deviation amplification caused by a unified compensation instruction is remarkably reduced.

Description

Technical Field

[0001] This application relates to the field of electromechanical coordination technology of automotive door handle control systems, and in particular to a high-precision position feedback door handle synchronization calibration method and system. Background Technology

[0002] In high-end smart door systems, multiple independently driven electric door handles need to achieve millimeter-level synchronized movement to ensure that each handle experiences uniform force and no sticking when touched by the user. This scenario requires that the actual displacement of each actuator must strictly match the preset trajectory during the linked extension and retraction of the door handles. Especially in applications such as frameless doors for new energy vehicles and high-end smart home door locks, a synchronization error exceeding ±0.5mm can lead to mechanical noise or component wear.

[0003] Current mainstream solutions employ laser position sensor feedback combined with a proportional-integral (PI) closed-loop controller: A laser ranging module is installed at the end of each door handle to collect linear displacement data. The central controller compares the displacement data of each handle and generates a unified compensation command, synchronously adjusting the drive frequency of all stepper motors. This solution relies on a single sensor data stream and uses a unified compensation value to correct the frequency of all actuators with the same amplitude.

[0004] This solution has three significant drawbacks. First, the laser sensor is susceptible to interference from external light or surface reflectivity, causing abrupt changes in displacement data. Second, its globally unified compensation mechanism fails to differentiate the actual deviations of each handle. For example, when a single handle experiences lag due to local resistance, the unified compensation command forces all handles to accelerate synchronously, causing handles that were not initially offset to move ahead, thus amplifying the relative displacement difference between different execution units. Third, the millisecond-level latency introduced by data transmission and central computing will cause compensation lag in multi-interference scenarios, further exacerbating trajectory mismatch. Summary of the Invention

[0005] This application provides a high-precision position feedback door handle synchronization calibration method and system to solve the problems in the prior art where static calibration schemes cannot adapt to power fluctuations during vehicle operation, resulting in decreased motor drive stability; and where asynchronous sampling times of multiple door handle sensors lead to misalignment of displacement comparison references.

[0006] In a first aspect, this application provides a high-precision position feedback method for calibrating the synchronization of door handles, including:

[0007] During the coordinated movement of multiple independently driven electric door handles, the rotation angle data of each independently driven electric door handle is collected in real time by a high-precision magnetic encoder.

[0008] The rotation angle data of each independently driven electric door handle is converted into linear displacement data of each independently driven electric door handle.

[0009] The linear displacement data of each independently driven electric door handle is compared with the target displacement data at the corresponding time node in the preset motion curve to generate the displacement deviation value of each independently driven electric door handle.

[0010] Based on the displacement deviation value of each independently driven electric door handle, the range of displacement deviation values ​​between the multiple independently driven electric door handles is calculated as the real-time synchronization error.

[0011] Based on the relationship between the real-time synchronization error and the preset error tolerance range, the stepper motor drive pulse frequency of each independently driven electric door handle is dynamically adjusted to obtain the adjusted stepper motor drive pulse frequency.

[0012] Based on the adjusted stepper motor drive pulse frequency, the actual displacement of the multiple independently driven electric door handles is rematched with the preset motion curve.

[0013] Optionally, during the coordinated movement of multiple independently driven electric door handles, a high-precision magnetic encoder is used to collect the rotation angle data of each independently driven electric door handle in real time, including:

[0014] A multi-gap annular magnetic structure is coaxially fixed to the end of the drive shaft of each independently driven electric door handle.

[0015] Each time the independently driven electric door handle begins to move in conjunction with the action, a synchronous sampling trigger command is simultaneously sent to all high-precision magnetic encoders;

[0016] The high-precision magnetic encoder, based on the synchronous sampling trigger command, senses the periodic change in the magnetic field strength of the multi-gap annular magnetic structure through the Hall effect and outputs a square wave pulse sequence.

[0017] Based on the time interval characteristics of adjacent rising and falling edges in the square wave pulse sequence, the continuous rotation direction parameters of the transmission shaft are calculated.

[0018] The number of level flips of the square wave pulse sequence within a unit time window is accumulated, and combined with the continuous rotation direction parameter, to generate the instantaneous rotation angle quantization value of the transmission shaft;

[0019] The instantaneous rotation angle quantization value is compared with a pre-built displacement transformation lookup table to obtain the rotation angle data of each independently driven electric door handle.

[0020] Optionally, converting the rotation angle data of each independently driven electric door handle into linear displacement data corresponding to each independently driven electric door handle includes:

[0021] Read the current rotation angle data of each independently driven electric door handle;

[0022] Load a preset displacement transformation lookup table, which stores the mapping relationship between rotation angle range and linear displacement range;

[0023] The current rotation angle data is compared position by position with the rotation angle values ​​stored in the preset displacement conversion lookup table;

[0024] When the current rotation angle data falls between two consecutive rotation angle values ​​in the preset displacement conversion lookup table, the actual linear displacement value is calculated based on the linear displacement value corresponding to the two consecutive rotation angle values ​​through a proportional allocation method.

[0025] When the current rotation angle data matches any of the rotation angle values ​​stored in the preset displacement conversion lookup table, the matched linear displacement value is used as the actual linear displacement value.

[0026] The actual linear displacement value is output as the linear displacement data for each independently driven electric door handle.

[0027] Optionally, the linear displacement data of each independently driven electric door handle is compared with the target displacement data at the corresponding time node in the preset motion curve to generate a displacement deviation value for each independently driven electric door handle, including:

[0028] Based on the initialization time of the linkage movement of each independently driven electric door handle, a unified time reference signal is broadcast to all vehicle control modules;

[0029] The preset motion curve data packet that matches the current door number is loaded into the preset storage area of ​​the vehicle control module. The preset motion curve data packet contains the binding relationship between timestamps and target displacement values.

[0030] When the time reference signal is received, the high-precision timer inside the vehicle control module is started, and the current cumulative time value of the high-precision timer is continuously extracted according to the set sampling interval;

[0031] Using the current cumulative time value as an index, lock two adjacent timestamps of the binding relationship from the preset motion curve data packet;

[0032] Based on the span ratio of the timestamps of the two adjacent binding relationships, calculate the theoretical target displacement value corresponding to the current cumulative time value;

[0033] Read the linear displacement data of each independently driven electric door handle from the output register of the vehicle control module;

[0034] Perform an arithmetic subtraction operation between the theoretical target displacement value and the linear displacement data to obtain the original displacement difference;

[0035] The original displacement difference is superimposed with the material expansion coefficient compensation value for the corresponding temperature range in the pre-stored door material expansion characteristic lookup table to generate the displacement deviation value of each independently driven electric door handle.

[0036] Optionally, based on the displacement deviation value of each independently driven electric door handle, the range of displacement deviation values ​​among the multiple independently driven electric door handles is calculated as the real-time synchronization error, including:

[0037] The vehicle's central control unit sends displacement deviation values ​​to the on-board control modules corresponding to the four doors.

[0038] Each vehicle control module reads the displacement deviation value of the corresponding independently driven electric door handle from its own output register;

[0039] The displacement deviation value is bound and encapsulated with the current vehicle driving status identifier and then sent to the shared memory area of ​​the vehicle central control unit;

[0040] The vehicle's central control unit extracts the displacement deviation values ​​of all doors bound to the same timestamp from the shared memory area;

[0041] The displacement deviation values ​​of all doors bound to the same timestamp are reordered according to their numerical values.

[0042] The maximum and minimum displacement deviation values ​​in the sorting results are subtracted to obtain the initial range.

[0043] Query the preset door airflow disturbance compensation coefficient table based on the current vehicle speed;

[0044] The initial range is multiplied by the door airflow disturbance compensation coefficient to generate a real-time synchronization error, which is then written into the synchronization error register.

[0045] Optionally, based on the relationship between the real-time synchronization error and the preset error tolerance range, the stepper motor drive pulse frequency of each independently driven electric door handle is dynamically adjusted to obtain the adjusted stepper motor drive pulse frequency, including:

[0046] A fixed upper limit and a fixed lower limit for the preset error tolerance range are set;

[0047] If the real-time synchronization error exceeds the fixed difference upper limit, calculate the excess amplitude value;

[0048] For each independently driven electric door handle, the frequency adjustment direction is determined based on the positive or negative characteristics of the displacement deviation value of each independently driven electric door handle. When the displacement deviation value is positive, the frequency adjustment direction is set to the increasing direction; when the displacement deviation value is negative, the frequency adjustment direction is set to the decreasing direction.

[0049] For each of the independently driven electric door handles, a basic adjustment value is calculated by combining the magnitude of the displacement deviation value of the independently driven electric door handle with the direction of the frequency adjustment.

[0050] For each of the independently driven electric door handles, the basic adjustment value is multiplied by the excess amplitude value to obtain the frequency change value;

[0051] For each independently driven electric door handle, the direction is adjusted according to the frequency. The frequency change value is added to the current stepper motor drive pulse frequency or subtracted from the current stepper motor drive pulse frequency to obtain the adjusted stepper motor drive pulse frequency.

[0052] Optionally, based on the adjusted stepper motor drive pulse frequency, the actual displacement of the multiple independently driven electric door handles is re-matched to the preset motion curve, including:

[0053] The adjusted stepper motor drive pulse frequency is input into the stepper motor drive controller of the corresponding independently driven electric door handle.

[0054] Inside the stepper motor drive controller, an actual pulse signal is generated according to the adjusted stepper motor drive pulse frequency, and the stepper motor of the corresponding independently driven electric door handle is driven to rotate according to the actual pulse signal.

[0055] When the stepper motor rotates, it synchronously drives the magnetic poles of the high-precision magnetic encoder, which is mechanically connected to the stepper motor, to rotate, so that the high-precision magnetic encoder can collect new rotation angle data in real time.

[0056] The new rotation angle data is converted into corresponding new linear displacement data, which represents the actual displacement of the independently driven electric door handle.

[0057] The new linear displacement data is compared again with the target displacement data of the preset motion curve at the next time node to obtain the comparison result.

[0058] Based on the comparison results, the process of generating the displacement deviation value of each independently driven electric door handle, calculating the real-time synchronization error, and dynamically adjusting the stepper motor drive pulse frequency of each independently driven electric door handle is repeated to complete the synchronization calibration of the electric door handle.

[0059] Secondly, this application provides a high-precision position feedback door handle synchronization calibration system, comprising:

[0060] The data acquisition module is used to acquire the rotation angle data of each independently driven electric door handle in real time through a high-precision magnetic encoder during the coordinated movement of multiple independently driven electric door handles.

[0061] The conversion module is used to convert the rotation angle data of each independently driven electric door handle into linear displacement data corresponding to each independently driven electric door handle.

[0062] The generation module is used to compare the linear displacement data of each independently driven electric door handle with the target displacement data of the corresponding time node in the preset motion curve, and generate the displacement deviation value of each independently driven electric door handle.

[0063] The calculation module is used to calculate the range of displacement deviation values ​​between the multiple independently driven electric door handles as the real-time synchronization error based on the displacement deviation value of each independently driven electric door handle.

[0064] The adjustment module is used to dynamically adjust the stepper motor drive pulse frequency of each independently driven electric door handle according to the relationship between the real-time synchronization error and the preset error tolerance range, so as to obtain the adjusted stepper motor drive pulse frequency.

[0065] The matching module is used to re-match the actual displacement of the multiple independently driven electric door handles to the preset motion curve based on the adjusted stepper motor drive pulse frequency.

[0066] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a high-precision position feedback door handle synchronization calibration method as described in the first aspect above.

[0067] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements a high-precision position feedback door handle synchronization calibration method as described in the first aspect.

[0068] This application deploys a high-precision magnetic encoder individually for each independently driven electric door handle, capturing rotation angle data in real time and converting it into linear displacement data, effectively avoiding interference from ambient light or surface materials on displacement detection. By independently calculating the displacement deviation value of each handle and extracting the range as a synchronization error, the application accurately identifies the magnitude of the cooperative deviation between multiple execution units. Based on this error, the application dynamically adjusts the drive pulse frequency of each stepper motor to achieve individualized compensation for different deviation characteristics, significantly reducing the risk of deviation amplification caused by uniform compensation commands, thereby maintaining the consistency of the displacement trajectory of multiple handles under complex working conditions.

[0069] Furthermore, in constructing a closed-loop dynamic calibration cycle, the adjusted pulse frequency is input into the dedicated stepper motor drive controller for each handle, directly generating a drive signal to rotate the stepper motor and linking it with the magnetic encoder to provide real-time feedback of new rotation angle data. By continuously comparing the latest displacement data with the target value of the next time node of the preset curve, a new round of displacement deviation calculation and pulse frequency adjustment is triggered. This mechanism enables the system to perform the closed-loop operation of "driving, collecting, comparing, and adjusting" multiple times within a single motion cycle, promptly eliminating accumulated errors caused by mechanical delays or sudden resistance, and ensuring that multiple handles always follow the preset trajectory in real time during continuous movement.

[0070] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0071] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0072] Figure 1 A flowchart of a door handle synchronization calibration method with high-precision position feedback provided in this application is shown;

[0073] Figure 2 This paper presents a schematic diagram of the structure of a high-precision position feedback door handle synchronization calibration system provided in this application;

[0074] Figure 3 A schematic diagram of the structure of a computing device provided in this application is shown. Detailed Implementation

[0075] To enable those skilled in the art to better understand the present application, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0076] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0077] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0078] Figure 1 A flowchart illustrating a high-precision position feedback method for calibrating door handle synchronization is provided in this application, as shown below. Figure 1 As shown, the method includes:

[0079] Step 101: During the coordinated movement of multiple independently driven electric door handles, the rotation angle data of each independently driven electric door handle is collected in real time using a high-precision magnetic encoder.

[0080] Optionally, step 101 may specifically include the following steps:

[0081] Step 1011: A multi-gap annular magnetic structure is coaxially fixedly installed at the end of the drive shaft of each independently driven electric door handle.

[0082] Step 1012: Each time the independently driven electric door handle begins to move in linkage, a synchronous sampling trigger command is sent to all high-precision magnetic encoders simultaneously.

[0083] Step 1013: The high-precision magnetic encoder, according to the synchronous sampling trigger command, senses the periodic change in the magnetic field strength of the multi-gap annular magnetic structure through the Hall effect and outputs a square wave pulse sequence.

[0084] Step 1014: Based on the time interval characteristics of adjacent rising and falling edges in the square wave pulse sequence, calculate the continuous rotation direction parameters of the transmission shaft.

[0085] Step 1015: Accumulate the number of level flips of the square wave pulse sequence within a unit time window, and combine it with the continuous rotation direction parameter to generate the instantaneous rotation angle quantization value of the transmission shaft;

[0086] Step 1016: The instantaneous rotation angle quantization value is compared with the pre-built displacement transformation lookup table to obtain the rotation angle data of each independently driven electric door handle.

[0087] In the above scheme, the multi-gap annular magnetic structure is a physical component with equally spaced grooves on an annular magnet, fixed to the end of the door handle drive shaft, used to generate periodic signals through changes in the magnetic field. The synchronous sampling trigger command is an electrical signal command issued by the main controller, causing all magnetic encoders to start data acquisition at the same time, eliminating angle calculation deviations caused by differences in start-up time. The square wave pulse sequence is a sequence of high and low level signals output by the magnetic encoder based on changes in magnetic field strength; each pulse corresponds to a physical gap in the magnetic structure. The continuous rotation direction parameter is determined by analyzing the time interval characteristics of the rising and falling edges in the square wave pulses (e.g., the time difference between adjacent edges) to determine whether the drive shaft rotates clockwise or counterclockwise. The displacement conversion lookup table is a pre-stored mapping table that maps the quantized rotation angle value to the linear displacement value of the door handle (e.g., 45 degrees corresponds to 8mm displacement). The rotation angle data refers to the rotation position value of the door handle drive shaft measured by the magnetic encoder, in degrees (°). This data characterizes the current actual rotation position of the door handle; for example, when rotating 30°, the door handle extends 2mm. Its numerical range covers the entire rotation angle of the drive shaft (e.g., 0°, 360°), and is used for subsequent conversion to linear displacement. The instantaneous rotation angle quantization value is the digital measurement value output by the magnetic encoder at a specific instant, calculated by combining the number of square wave pulses accumulated per unit time with the rotation direction. The Hall effect sensing mechanism is the core component of the magnetic encoder, which uses changes in the magnetic field to generate a voltage difference in the semiconductor, outputting high and low level signals (square wave pulses).

[0088] In this embodiment, firstly, a multi-gap annular magnetic structure is coaxially installed at the end of the drive shaft in step 1011. Secondly, in step 1012, when the door handle linkage movement is initiated, the main controller simultaneously sends a synchronous sampling trigger command to all magnetic encoders, ensuring that all sensors start sampling at the same time. Next, in step 1013, the magnetic encoder senses the change in the gap magnetic field of the magnetic structure through the Hall effect and outputs a periodic square wave pulse sequence. Then, in step 1014, the time interval characteristics between adjacent rising and falling edges in this sequence are analyzed (e.g., short intervals between rising edges indicate rapid forward rotation), and the continuous rotation direction parameters of the drive shaft are calculated. Then, in step 1015, the number of level flips of the square wave within a unit time window is accumulated (e.g., 10 flips within 1 millisecond), and combined with the rotation direction parameters, an instantaneous rotation angle quantization value is generated. For example, every two flips during forward rotation is counted as 1 degree, and every two flips during reverse rotation is subtracted by 1 degree. Finally, in step 1016, the angle quantization value is compared with the displacement conversion lookup table, and the rotation angle data of the door handle is directly output (for example, the quantization value "150" corresponds to "30 degrees" in the lookup table).

[0089] Following the specific embodiment of the previous step, in the frameless door of car A, a ring-shaped magnetic structure with 12 gaps is installed at the drive shaft end of each of the three independent door handles (step 1011). When the system starts, the central controller issues a synchronization command (step 1012), and the three magnetic encoders simultaneously sense the change in magnetic field and output square wave pulses (step 1013). When the main handle rotates slowly due to resistance, the rising edge interval of its square wave pulse increases, and the system judges this as positive rotation but with a decrease in speed (step 1014). Eight level toggles are counted within a 1-millisecond window, and the instantaneous angle quantization value "20" is calculated by combining the positive parameter (step 1015). A table lookup confirms that the current rotation angle of the handle is 5 degrees (step 1016), while the normal value is 6 degrees, thus identifying the hysteresis deviation.

[0090] This solution avoids timing errors caused by independent sensor sampling through physical magnetic structure design and a global synchronous triggering mechanism. It accurately analyzes rotation direction and velocity changes by utilizing square wave pulse sequences generated from magnetic field characteristics and their time intervals. A pre-set lookup table enables rapid conversion from angle to displacement. This process achieves highly consistent data acquisition in multi-actuator scenarios, providing a reliable position reference for subsequent synchronous calibration.

[0091] Step 102: Convert the rotation angle data of each independently driven electric door handle into linear displacement data corresponding to each independently driven electric door handle.

[0092] Optionally, step 102 may specifically include the following steps:

[0093] Step 1021: Read the current rotation angle data of each independently driven electric door handle;

[0094] Step 1022: Load a preset displacement transformation lookup table, which stores the mapping relationship between rotation angle range and linear displacement range;

[0095] Step 1023: Compare the current rotation angle data with the rotation angle values ​​stored in the preset displacement conversion lookup table one by one.

[0096] Step 1024: When the current rotation angle data falls between two consecutive rotation angle values ​​in the preset displacement conversion lookup table, the actual linear displacement value is calculated based on the linear displacement value corresponding to the two consecutive rotation angle values ​​by a proportional allocation method.

[0097] Step 1025: When the current rotation angle data matches any of the rotation angle values ​​stored in the preset displacement conversion lookup table, the matched linear displacement value is used as the actual linear displacement value.

[0098] Step 1026: Output the actual linear displacement value as the linear displacement data of each independently driven electric door handle.

[0099] In the above scheme, the displacement transformation lookup table is a pre-stored two-dimensional data table. The first column stores the rotation angle reference value (e.g., 0°, 45°, 90°), and the second column stores the corresponding linear displacement reference value (e.g., 0mm, 8mm, 15mm), used to establish a direct mapping relationship between angle and displacement. The proportional allocation method means that when the actual rotation angle is between two consecutive angle reference values ​​in the lookup table, the difference between the two corresponding linear displacement reference values ​​is equally weighted according to the relative position ratio of the angle between the two points. The actual linear displacement value is the final output of the door handle movement, representing the actual straight-line distance the handle moves from its initial position.

[0100] In this embodiment, firstly, step 1021 reads the current rotation angle data of each door handle, which comes from the rotation angle value output in step 101 (e.g., "32 degrees"). Secondly, step 1022 loads a preset displacement conversion lookup table, which is stored in the controller memory in the form of discrete angle values ​​and their corresponding displacement values. Next, step 1023 compares the current rotation angle data with the rotation angle reference values ​​in the lookup table one by one, traversing the table to search for matching items or matching intervals. Then, step 1025, if the current angle is exactly equal to a certain rotation angle reference value (e.g., "30 degrees" in the matching table), its corresponding linear displacement value is directly taken as the actual linear displacement value. If the current angle is between two reference values ​​(e.g., 32 degrees is between 30 degrees and 45 degrees), the following operations are performed: Calculate the position ratio of the current angle relative to the two reference angles: ratio parameter = (32, 30) / (45, 30) = 2 / 15; calculate the difference between the corresponding displacement values ​​of the two reference angles: difference = displacement value. 45度 Displacement value 30度 =8mm, 5mm = 3mm. Distribute this difference proportionally: Additional displacement value = Proportional parameter × Difference = (2 / 15) × 3mm = 0.4mm. Generate actual linear displacement value: Actual linear displacement value = Displacement value. 30度 +Additional displacement value = 5mm + 0.4mm = 5.4mm. Finally, the actual linear displacement value of all door handles is output through step 1026.

[0101] Following the specific implementation of the previous step, in the linkage process of the three handles of the smart door lock C: the rotation angle data of the main handle is "41 degrees" (step 1021). Looking up the table, the baseline rotation angle values ​​are 30 degrees (displacement 5mm) and 45 degrees (displacement 8mm) (step 1022). Since 41 degrees falls between the two values ​​(step 1023), the system calculates the position ratio: (41, 30) / (45, 30) = 11 / 15 (step 1024), and then calculates the additional displacement value: (11 / 15) × (8, 5) = 2.2mm. The final output linear displacement data is 5mm + 2.2mm = 7.2mm (step 1026). The data of the secondary handle is "45 degrees," which is directly matched to the table, and the output displacement is 8mm (step 1025).

[0102] This solution replaces real-time trigonometric function calculations with a pre-stored mapping table, significantly reducing computational resource consumption; it adopts a continuous interval proportional allocation mechanism to support displacement conversion of arbitrary rotation angle values ​​while ensuring millimeter-level accuracy; the output data directly reflects the physical quantity of mechanical displacement, providing a unified data foundation for subsequent synchronous deviation comparison.

[0103] Step 103: Compare the linear displacement data of each independently driven electric door handle with the target displacement data of the corresponding time node in the preset motion curve to generate the displacement deviation value of each independently driven electric door handle.

[0104] Optionally, step 103 may specifically include the following steps:

[0105] Step 1031: Based on the initialization time of the linkage movement of each independently driven electric door handle, broadcast a unified time reference signal to all vehicle control modules.

[0106] Step 1032: Load a preset motion curve data packet that matches the current door number into the preset storage area of ​​the vehicle control module. The preset motion curve data packet contains the binding relationship between timestamps and target displacement values.

[0107] Step 1033: When the time reference signal is received, start the high-precision timer inside the vehicle control module and continuously extract the current cumulative time value of the high-precision timer according to the set sampling interval;

[0108] Step 1034: Using the current cumulative time value as an index, lock two adjacent binding relationship timestamps from the preset motion curve data packet;

[0109] Step 1035: Calculate the theoretical target displacement value corresponding to the current cumulative time value based on the span ratio of the timestamps of the two adjacent binding relationships;

[0110] Step 1036: Read the linear displacement data of each independently driven electric door handle from the output register of the vehicle control module;

[0111] Step 1037: Perform an arithmetic subtraction operation between the theoretical target displacement value and the linear displacement data to obtain the original displacement difference;

[0112] Step 1038: The original displacement difference is superimposed with the material expansion coefficient compensation value of the corresponding temperature range in the pre-stored door material expansion characteristic lookup table to generate the displacement deviation value of each independently driven electric door handle.

[0113] In the above scheme, the time reference signal is a synchronization trigger command issued by the main controller, ensuring that all door handle control modules use the same moment as their timing zero point, thus guaranteeing time alignment. The preset motion curve data package is a preset data group stored according to the door number, containing timestamps (e.g., 0ms, 100ms) and their associated target displacement values ​​(e.g., 0mm, 5mm), describing the ideal motion trajectory of the door handle. The binding relationship timestamps are key time nodes marked in the preset motion curve (e.g., 200ms, 300ms), corresponding one-to-one with the target displacement values. The material expansion coefficient compensation value is a pre-stored correction value matched to the real-time temperature, used to compensate for displacement measurement deviations caused by thermal expansion and contraction of the door metal (e.g., +0.1mm at high temperatures, -0.1mm at low temperatures). The initial displacement difference is the preliminary difference between the theoretical target displacement value and the measured linear displacement data. The initialization moment is a unified timing zero point, solving the time alignment problem of multi-actuator coordination. The current cumulative timing value provides accurate motion duration measurement unaffected by system interference. The theoretical target displacement value supports displacement analysis at any time through a time-proportional allocation mechanism, avoiding the data gap limitations of discrete timestamps.

[0114] In this embodiment, firstly, in step 1031, the main controller broadcasts a unified time reference signal to all vehicle control modules when the door handle linkage begins. Each module uses this signal as its timing start point (time zero point). Secondly, in step 1032, each module loads a preset motion curve data packet matching its own door number. This packet contains the binding relationship between timestamps and target displacement values ​​(e.g., timestamp "0ms" bound to target displacement "0mm"). Next, in step 1033, a high-precision timer within the module is started and continuously accumulates the timing value. Then, in step 1034, when the timing value reaches a certain moment (e.g., 150ms), two adjacent binding relationship timestamps (e.g., 100ms and 200ms) are locked in the preset curve. Then, in step 1035, the relative position ratio between adjacent timestamps at the current moment is calculated: ratio = (150, 100) / (200, 100) = 0.5. The target displacement difference between the two timestamps is then allocated according to this ratio (e.g., 10mm displacement at 200ms, 5mm displacement at 100ms = 5mm), and superimposed on the previous target displacement value: theoretical target displacement value = 5mm + 0.5 × 5mm = 7.5mm. Subsequently, in step 1036, the measured linear displacement data of the handle (e.g., 7.2mm) is read, and a subtraction operation is performed: and in step 1037, the original displacement difference = 7.5mm, 7.2mm = +0.3mm. Finally, in step 1038, the temperature compensation value (e.g., -0.1mm corresponding to the current temperature range) is superimposed to generate the final displacement deviation value: displacement deviation value = +0.3mm + (-0.1mm) = +0.2mm.

[0115] Following the specific implementation of the previous step, in the linkage of the left front door of vehicle model B: the main controller broadcasts a time reference signal (step 1031), and vehicle module 1 loads a preset curve (timestamps 0ms / 0mm, 100ms / 5mm, 200ms / 10mm) (step 1032). When the module timing value reaches 150ms (step 1033), the adjacent timestamps 100ms and 200ms are locked (step 1034), and the theoretical displacement value is calculated as: 5mm + (150, 100) / (200, 100) × (10, 5) = 7.5mm (step 1035). The measured displacement data is 7.3mm (step 1036), and the original displacement difference = 7.5, 7.3 = +0.2mm (step 1037). The temperature sensor displays a low temperature, the compensation value is 0.05mm, and the final displacement deviation value = +0.15mm (step 1038).

[0116] This solution eliminates timing errors of multiple modules through a global time synchronization mechanism, accurately calculates the theoretical target displacement at any time by using the proportional allocation of adjacent timestamps, and combines temperature compensation to correct the influence of material deformation, so that the displacement deviation value truly reflects the difference between mechanical motion and preset trajectory, providing a highly reliable input for subsequent synchronous adjustment.

[0117] Step 104: Based on the displacement deviation value of each independently driven electric door handle, calculate the range of displacement deviation values ​​between the multiple independently driven electric door handles as the real-time synchronization error.

[0118] Optionally, step 104 may specifically include the following steps:

[0119] Step 1041: Send displacement deviation values ​​to the on-board control modules corresponding to the four doors through the vehicle central control unit;

[0120] Step 1042: Each vehicle control module reads the displacement deviation value of the corresponding independently driven electric door handle from its own output register;

[0121] Step 1043: The displacement deviation value is bound and encapsulated with the current vehicle driving status identifier and then sent to the shared memory area of ​​the vehicle central control unit.

[0122] Step 1044: The vehicle central control unit extracts the displacement deviation values ​​of all doors bound to the same timestamp from the shared memory area;

[0123] Step 1045: Reorder the displacement deviation values ​​of all doors bound to the same timestamp according to the magnitude of the displacement deviation values;

[0124] Step 1046: Select the maximum displacement deviation value and the minimum displacement deviation value in the sorting results and perform a subtraction operation to obtain the initial range;

[0125] Step 1047: Query the preset door airflow disturbance compensation coefficient table based on the current vehicle speed value;

[0126] Step 1048: Multiply the initial range by the door airflow disturbance compensation coefficient to generate a real-time synchronization error and write it into the synchronization error register.

[0127] In the above scheme, the displacement deviation value is the difference between the current actual position of each individual door handle and the ideal target (e.g., +0.2mm indicates leading, -0.3mm indicates lagging). The vehicle driving status identifier is coded data characterizing the real-time motion features of the vehicle, including parameters such as vehicle speed and acceleration (e.g., "driving at a constant speed of 80km / h"). The shared memory area is a dedicated data exchange area in the central control unit, allowing multiple modules to read, write, and transmit data simultaneously. The timestamp is a unique time identifier marking the moment the data was generated (e.g., "12:00:03.500"). The initial range is the difference between the maximum and minimum displacement deviation values ​​of all door handles at the same time (e.g., +0.5mm, (-0.3mm) = 0.8mm). The door airflow disturbance compensation coefficient is a correction ratio value matched to vehicle speed (e.g., 1.0 at low speeds, 1.2 at high speeds), used to offset the influence of airflow on the door position. The synchronization error register is a dedicated data storage location for storing the final real-time synchronization error.

[0128] In this embodiment, firstly, in step 1041, the vehicle central control unit sends a displacement deviation value request to the four door modules. Secondly, in step 1042, each door module reads the displacement deviation value of the controlled door handle from its own output register. Next, in step 1043, the module binds the deviation value with the current vehicle driving status identifier (such as vehicle speed) into a data packet and transmits it to the shared memory area of ​​the central unit. Then, in step 1044, the central unit extracts all door data with the same timestamp from the shared memory area to ensure the timeliness consistency of the comparison data. Subsequently, in step 1045, the displacement deviation values ​​of all doors are reordered according to the magnitude of the deviation value: the sorted sequence is: [-0.3mm, -0.1mm, +0.2mm, +0.5mm]. Next, in step 1046, the maximum displacement deviation value (+0.5mm) is selected minus the minimum displacement deviation value (-0.3mm): the initial range = +0.5mm, (-0.3mm) = 0.8mm. Finally, in step 1047, the compensation coefficient table is queried according to the current vehicle speed (e.g., 1.2 corresponds to a vehicle speed of 80km / h), and the initial range is multiplied by the coefficient: real-time synchronization error = 0.8mm × 1.2 = 0.96mm. The calculation result in step 1048 is stored in the synchronization error register.

[0129] Following the specific implementation of the previous step, when the SUV is traveling at high speed: the central control unit sends a data request (step 1041). The door modules read the displacement deviation values: left front door: -0.1mm, right front door: +0.4mm, left rear door: -0.2mm, right rear door: +0.3mm (step 1042). Each module binds the vehicle speed value of 100km / h and sends it to the shared memory (step 1043). The central unit extracts 1200ms timestamp data from all doors (step 1044). The deviation values ​​are sorted as follows: [-0.2mm, -0.1mm, +0.3mm, +0.4mm] (step 1045). The initial range = +0.4mm, (-0.2mm) = 0.6mm (step 1046). The 100km / h compensation coefficient is found to be 1.3, and the real-time synchronization error = 0.6 × 1.3 = 0.78mm (step 1047). The data is written to the register to complete the recording (step 1048).

[0130] This solution ensures the timeliness and synchronization of multi-door deviation value comparison through a centralized data acquisition and timestamp binding mechanism; accurately captures the magnitude of the maximum positional difference using range calculation; and dynamically corrects the airflow effect by combining vehicle speed compensation factors, so that the output synchronization error value objectively reflects the true degree of mechanical deviation.

[0131] Step 105: Based on the relationship between the real-time synchronization error and the preset error tolerance range, dynamically adjust the stepper motor drive pulse frequency of each independently driven electric door handle to obtain the adjusted stepper motor drive pulse frequency.

[0132] Optionally, step 105 may specifically include the following steps:

[0133] Step 1051: Set a fixed upper limit and a fixed lower limit for the preset error tolerance range;

[0134] Step 1052: If the real-time synchronization error exceeds the fixed difference upper limit, calculate the excess amplitude value;

[0135] Step 1053: For each independently driven electric door handle, determine the frequency adjustment direction based on the positive and negative characteristics of the displacement deviation value of each independently driven electric door handle. When the displacement deviation value is positive, set the frequency adjustment direction to the increasing direction; when the displacement deviation value is negative, set the frequency adjustment direction to the decreasing direction.

[0136] Step 1054: For each of the independently driven electric door handles, calculate the basic adjustment value by combining the magnitude of the displacement deviation value of the independently driven electric door handle with the frequency adjustment direction.

[0137] Step 1055: For each of the independently driven electric door handles, multiply the basic adjustment value by the excess amplitude value to obtain the frequency change value.

[0138] Step 1056: For each independently driven electric door handle, adjust the direction according to the frequency, add the frequency change value to the current stepper motor drive pulse frequency or subtract the frequency change value from the current stepper motor drive pulse frequency to obtain the adjusted stepper motor drive pulse frequency.

[0139] In the above scheme, the fixed difference upper / lower limit is a preset boundary value of the allowable range of synchronization error (e.g., upper limit +1.0mm, lower limit -1.0mm), used to determine whether frequency adjustment needs to be triggered. The excess amplitude value is the portion of the real-time synchronization error that exceeds the fixed difference upper limit (e.g., when the synchronization error is 1.5mm, the excess amplitude value = 1.5 - 1.0 = 0.5mm). The frequency adjustment direction is the pulse frequency change trend determined by the positive or negative sign of the displacement deviation value (positive value → increase frequency, negative value → decrease frequency). The basic adjustment value is the frequency adjustment benchmark calculated proportionally to the magnitude of the displacement deviation value (e.g., a deviation value of 0.3mm corresponds to a basic adjustment of 50Hz). The frequency change value is the product of the basic adjustment value and the excess amplitude value (e.g., 50Hz × 0.5 = 25Hz), determining the actual adjustment amplitude. The stepper motor drive pulse frequency is the execution bridge that converts displacement deviation into physical action.

[0140] In this embodiment, firstly, step 1051 sets a fixed upper limit (e.g., +1.0mm) and lower limit (e.g., -1.0mm) as error tolerance boundaries. Secondly, step 1052 calculates the excess amplitude if the real-time synchronization error (e.g., 1.5mm) exceeds the upper limit (1.0mm): 1.5mm - 1.0mm = 0.5mm. Then, step 1053 determines the frequency adjustment direction for each door handle: if the displacement deviation is positive (e.g., +0.3mm), the direction is set to increase the frequency; if it is negative (e.g., -0.2mm), the direction is set to decrease the frequency. Next, calculate the basic adjustment value in step 1054: Basic adjustment value = |displacement deviation value| × proportional coefficient (e.g., proportional coefficient 100Hz / mm: deviation 0.3mm → basic adjustment amount 30Hz). Then, calculate the frequency change value in step 1055: Frequency change value = basic adjustment value × excess amplitude value (e.g., 30Hz × 0.5 = 15Hz). Finally, modify the current frequency according to the adjustment direction in step 1056: Increase direction: new frequency = current frequency + frequency change value Decrease direction: new frequency = current frequency, frequency change value.

[0141] Following the specific implementation of the previous step, in the synchronous calibration of vehicle model C: the fixed difference upper limit is set to 1.0mm (step 1051), and the real-time synchronization error is 1.8mm → exceeding the amplitude value = 0.8mm (step 1052). The left front door displacement deviation value is +0.4mm (frequency needs to be increased), the basic adjustment value = 0.4 × 100 = 40Hz (step 1054); the frequency change value = 40 × 0.8 = 32Hz (step 1055); if the current frequency is 500Hz, then the new frequency = 500 + 32 = 532Hz (step 1056). The right front door displacement deviation value is -0.3mm (frequency needs to be reduced), the basic adjustment value = 0.3 × 100 = 30Hz; the frequency change value = 30 × 0.8 = 24Hz; the new frequency = 500, 24 = 476Hz.

[0142] This scheme dynamically generates differentiated frequency adjustment strategies through a dual judgment mechanism (overall synchronization error exceeding limits + individual displacement deviation direction); it dynamically scales the adjustment amount by exceeding the amplitude value to achieve an adaptive response where the larger the error, the stronger the adjustment; and finally outputs precise frequency commands for each execution unit, providing core driving parameters for displacement rematching.

[0143] Step 106: Based on the adjusted stepper motor drive pulse frequency, the actual displacement of the multiple independently driven electric door handles is rematched with the preset motion curve.

[0144] Optionally, step 106 may specifically include the following steps:

[0145] Step 1061: Input the adjusted stepper motor drive pulse frequency into the stepper motor drive controller of the corresponding independently driven electric door handle.

[0146] Step 1062: Inside the stepper motor drive controller, an actual pulse signal is generated according to the adjusted stepper motor drive pulse frequency, and the stepper motor of the corresponding independently driven electric door handle is driven to rotate according to the actual pulse signal.

[0147] Step 1063: When the stepper motor rotates, it synchronously drives the magnetic poles of the high-precision magnetic encoder mechanically connected to the stepper motor to rotate, so that the high-precision magnetic encoder can collect new rotation angle data in real time.

[0148] Step 1064: Convert the new rotation angle data into corresponding new linear displacement data, whereby the new linear displacement data represents the actual displacement of the independently driven electric door handle.

[0149] Step 1065: Compare the new linear displacement data with the target displacement data of the preset motion curve at the next time node to obtain the comparison result;

[0150] Step 1066: Based on the comparison results, repeat the process of generating the displacement deviation value of each independently driven electric door handle, calculating the real-time synchronization error, and dynamically adjusting the stepper motor drive pulse frequency of each independently driven electric door handle to complete the synchronization calibration of the electric door handle.

[0151] In the above scheme, the actual pulse signal is a physical electrical signal (such as a square wave) generated by the stepper motor drive controller according to the input frequency. Each pulse corresponds to a fixed angle of rotation of the motor shaft. The new rotation angle data is the quantized value of the drive shaft rotation position measured in real time by a high-precision magnetic encoder after the stepper motor rotates (such as "42 degrees"). The new linear displacement data is the actual moving distance of the door handle converted from the new rotation angle data through a preset mapping relationship (such as "10.5mm"). The next time node is the next displacement detection time after the current moment in the preset motion curve (such as 250ms after the current 200ms). The stepper motor is the core execution unit that converts frequency commands into physical rotation, and its rotation accuracy directly determines the door handle displacement accuracy. The actual displacement is a physical quantity generated by directly measuring rotation through the magnetic encoder and indirectly calculating displacement, and it is the gold standard for verifying the synchronization effect.

[0152] In this embodiment, firstly, in step 1061, the adjusted stepper motor drive pulse frequency calculated in step 105 is transmitted to the stepper motor drive controller corresponding to each door handle. Secondly, in step 1062, the drive controller generates a continuous actual pulse signal according to the received frequency value (e.g., 500 pulses per second at 500Hz) and outputs it to the stepper motor to make it rotate. Next, in step 1063, when the motor rotates, it drives the magnetic poles of the magnetic encoder to rotate synchronously through a mechanical connection. The magnetic encoder detects changes in the magnetic field in real time and outputs new rotation angle data. Then, in step 1064, the system reads this angle data and generates new linear displacement data by matching it with the displacement conversion lookup table. Subsequently, in step 1065, the displacement data is compared with the target displacement data of the next time node in the preset motion curve: for example, the target displacement at 250ms is 12mm, the measured displacement is 10.5mm → the difference is -1.5mm. Finally, in step 1066, the entire calibration process is re-triggered according to the comparison result: generating displacement deviation value, calculating multi-handle synchronization error, and dynamically adjusting the pulse frequency to form a continuous closed-loop control.

[0153] Following the specific implementation of the previous step, in the calibration of vehicle model D: after adjusting the left door handle to a frequency of 480Hz, the input to the controller is (step 1061) → the controller outputs a 480 pulse / second signal to drive the motor (step 1062) → the motor rotates and drives the magnetic encoder (step 1063) → the magnetic encoder measures a new rotation angle of 38 degrees (step 1063) → the new linear displacement of 9.2mm is converted by looking up the table (step 1064) → the deviation is compared with the target value of 10.0mm at the next time node and a deviation of -0.8mm is obtained (step 1065) → the synchronization error is recalculated based on the deviation value and the frequency is adjusted (step 1066).

[0154] This solution converts frequency signals into physical rotational motion through a drive controller, and uses a magnetic encoder to provide real-time feedback of new position data. Combined with the target value of the next time node of the preset curve, it performs instant deviation detection, triggers the continuous iterative operation of the closed-loop calibration process, and ultimately enables the multi-handle to dynamically follow the ideal trajectory.

[0155] Figure 2 This application provides a structural schematic diagram of a high-precision position feedback door handle synchronization calibration system, as shown below. Figure 2 As shown, the system includes:

[0156] The acquisition module 21 is used to acquire the rotation angle data of each independently driven electric door handle in real time through a high-precision magnetic encoder during the linkage movement of multiple independently driven electric door handles.

[0157] The conversion module 22 is used to convert the rotation angle data of each independently driven electric door handle into linear displacement data corresponding to each independently driven electric door handle.

[0158] The generation module 23 is used to compare the linear displacement data of each independently driven electric door handle with the target displacement data of the corresponding time node in the preset motion curve, and generate the displacement deviation value of each independently driven electric door handle.

[0159] The calculation module 24 is used to calculate the range of displacement deviation values ​​between the multiple independently driven electric door handles as a real-time synchronization error based on the displacement deviation value of each independently driven electric door handle.

[0160] The adjustment module 25 is used to dynamically adjust the stepper motor drive pulse frequency of each independently driven electric door handle according to the relationship between the real-time synchronization error and the preset error tolerance range, so as to obtain the adjusted stepper motor drive pulse frequency.

[0161] Matching module 26 is used to re-match the actual displacement of the multiple independently driven electric door handles to the preset motion curve based on the adjusted stepper motor drive pulse frequency.

[0162] Figure 2 The aforementioned high-precision position feedback door handle synchronization calibration system can perform... Figure 1 The implementation principle and technical effects of the high-precision position feedback door handle synchronization calibration method described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the high-precision position feedback door handle synchronization calibration system described in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0163] In one possible design, Figure 2 The high-precision position feedback door handle synchronization calibration system of the embodiment shown can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0164] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0165] The processing component 32 is used for the above Figure 1 The embodiment describes a high-precision position feedback method for calibrating the synchronization of door handles.

[0166] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0167] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0168] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0169] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0170] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0171] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0172] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown illustrates a high-precision position feedback method for calibrating the synchronization of a door handle.

[0173] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0174] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0175] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A high-precision position feedback method for calibrating the synchronization of door handles, characterized in that, include: During the coordinated movement of multiple independently driven electric door handles, the rotation angle data of each independently driven electric door handle is collected in real time by a high-precision magnetic encoder. The rotation angle data of each independently driven electric door handle is converted into linear displacement data of each independently driven electric door handle. The linear displacement data of each independently driven electric door handle is compared with the target displacement data at the corresponding time node in the preset motion curve to generate the displacement deviation value of each independently driven electric door handle. Based on the displacement deviation value of each independently driven electric door handle, the range of displacement deviation values ​​between the multiple independently driven electric door handles is calculated as the real-time synchronization error. Based on the relationship between the real-time synchronization error and the preset error tolerance range, the stepper motor drive pulse frequency of each independently driven electric door handle is dynamically adjusted to obtain the adjusted stepper motor drive pulse frequency. Based on the adjusted stepper motor drive pulse frequency, the actual displacement of the multiple independently driven electric door handles is rematched with the preset motion curve.

2. The method according to claim 1, characterized in that, During the coordinated movement of multiple independently driven electric door handles, a high-precision magnetic encoder collects the rotation angle data of each independently driven electric door handle in real time, including: A multi-gap annular magnetic structure is coaxially fixed to the end of the drive shaft of each independently driven electric door handle. Each time the independently driven electric door handle begins to move in conjunction with the action, a synchronous sampling trigger command is simultaneously sent to all high-precision magnetic encoders; The high-precision magnetic encoder, based on the synchronous sampling trigger command, senses the periodic change in the magnetic field strength of the multi-gap annular magnetic structure through the Hall effect and outputs a square wave pulse sequence. Based on the time interval characteristics of adjacent rising and falling edges in the square wave pulse sequence, the continuous rotation direction parameters of the transmission shaft are calculated. The number of level flips of the square wave pulse sequence within a unit time window is accumulated, and combined with the continuous rotation direction parameter, to generate the instantaneous rotation angle quantization value of the transmission shaft; The instantaneous rotation angle quantization value is compared with a pre-built displacement transformation lookup table to obtain the rotation angle data of each independently driven electric door handle.

3. The method according to claim 1, characterized in that, Converting the rotation angle data of each independently driven electric door handle into linear displacement data for each independently driven electric door handle includes: Read the current rotation angle data of each independently driven electric door handle; Load a preset displacement transformation lookup table, which stores the mapping relationship between rotation angle range and linear displacement range; The current rotation angle data is compared position by position with the rotation angle values ​​stored in the preset displacement conversion lookup table; When the current rotation angle data falls between two consecutive rotation angle values ​​in the preset displacement conversion lookup table, the actual linear displacement value is calculated based on the linear displacement value corresponding to the two consecutive rotation angle values ​​through a proportional allocation method. When the current rotation angle data matches any of the rotation angle values ​​stored in the preset displacement conversion lookup table, the matched linear displacement value is used as the actual linear displacement value. The actual linear displacement value is output as the linear displacement data for each independently driven electric door handle.

4. The method according to claim 1, characterized in that, By comparing the linear displacement data of each independently driven electric door handle with the target displacement data at the corresponding time node in the preset motion curve, a displacement deviation value for each independently driven electric door handle is generated, including: Based on the initialization time of the linkage movement of each independently driven electric door handle, a unified time reference signal is broadcast to all vehicle control modules; The preset motion curve data packet that matches the current door number is loaded into the preset storage area of ​​the vehicle control module. The preset motion curve data packet contains the binding relationship between timestamps and target displacement values. When the time reference signal is received, the high-precision timer inside the vehicle control module is started, and the current cumulative time value of the high-precision timer is continuously extracted according to the set sampling interval; Using the current cumulative time value as an index, lock two adjacent timestamps of the binding relationship from the preset motion curve data packet; Based on the span ratio of the timestamps of the two adjacent binding relationships, calculate the theoretical target displacement value corresponding to the current cumulative time value; Read the linear displacement data of each independently driven electric door handle from the output register of the vehicle control module; Perform an arithmetic subtraction operation between the theoretical target displacement value and the linear displacement data to obtain the original displacement difference; The original displacement difference is superimposed with the material expansion coefficient compensation value for the corresponding temperature range in the pre-stored door material expansion characteristic lookup table to generate the displacement deviation value of each independently driven electric door handle.

5. The method according to claim 1, characterized in that, Based on the displacement deviation value of each independently driven electric door handle, the range of displacement deviation values ​​among the multiple independently driven electric door handles is calculated as the real-time synchronization error, including: The vehicle's central control unit sends displacement deviation values ​​to the on-board control modules corresponding to the four doors. Each vehicle control module reads the displacement deviation value of the corresponding independently driven electric door handle from its own output register; The displacement deviation value is bound and encapsulated with the current vehicle driving status identifier and then sent to the shared memory area of ​​the vehicle central control unit; The vehicle's central control unit extracts the displacement deviation values ​​of all doors bound to the same timestamp from the shared memory area; The displacement deviation values ​​of all doors bound to the same timestamp are reordered according to their numerical values. The maximum and minimum displacement deviation values ​​in the sorting results are subtracted to obtain the initial range. Query the preset door airflow disturbance compensation coefficient table based on the current vehicle speed; The initial range is multiplied by the door airflow disturbance compensation coefficient to generate a real-time synchronization error, which is then written into the synchronization error register.

6. The method according to claim 1, characterized in that, Based on the relationship between the real-time synchronization error and the preset error tolerance range, the stepper motor drive pulse frequency of each independently driven electric door handle is dynamically adjusted to obtain the adjusted stepper motor drive pulse frequency, including: A fixed upper limit and a fixed lower limit for the preset error tolerance range are set; If the real-time synchronization error exceeds the fixed difference upper limit, calculate the excess amplitude value; For each independently driven electric door handle, the frequency adjustment direction is determined based on the positive or negative characteristics of the displacement deviation value of each independently driven electric door handle. When the displacement deviation value is positive, the frequency adjustment direction is set to the increasing direction; when the displacement deviation value is negative, the frequency adjustment direction is set to the decreasing direction. For each of the independently driven electric door handles, a basic adjustment value is calculated by combining the magnitude of the displacement deviation value of the independently driven electric door handle with the direction of the frequency adjustment. For each of the independently driven electric door handles, the basic adjustment value is multiplied by the excess amplitude value to obtain the frequency change value; For each independently driven electric door handle, the direction is adjusted according to the frequency. The frequency change value is added to the current stepper motor drive pulse frequency or subtracted from the current stepper motor drive pulse frequency to obtain the adjusted stepper motor drive pulse frequency.

7. The method according to claim 1, characterized in that, Based on the adjusted stepper motor drive pulse frequency, the actual displacements of the multiple independently driven electric door handles are re-matched to the preset motion curve, including: The adjusted stepper motor drive pulse frequency is input into the stepper motor drive controller of the corresponding independently driven electric door handle. Inside the stepper motor drive controller, an actual pulse signal is generated according to the adjusted stepper motor drive pulse frequency, and the stepper motor of the corresponding independently driven electric door handle is driven to rotate according to the actual pulse signal. When the stepper motor rotates, it synchronously drives the magnetic poles of the high-precision magnetic encoder, which is mechanically connected to the stepper motor, to rotate, so that the high-precision magnetic encoder can collect new rotation angle data in real time. The new rotation angle data is converted into corresponding new linear displacement data, which represents the actual displacement of the independently driven electric door handle. The new linear displacement data is compared again with the target displacement data of the preset motion curve at the next time node to obtain the comparison result. Based on the comparison results, the process of generating the displacement deviation value of each independently driven electric door handle, calculating the real-time synchronization error, and dynamically adjusting the stepper motor drive pulse frequency of each independently driven electric door handle is repeated to complete the synchronization calibration of the electric door handle.

8. A high-precision position feedback door handle synchronization calibration system, characterized in that, include: The data acquisition module is used to acquire the rotation angle data of each independently driven electric door handle in real time through a high-precision magnetic encoder during the coordinated movement of multiple independently driven electric door handles. The conversion module is used to convert the rotation angle data of each independently driven electric door handle into linear displacement data corresponding to each independently driven electric door handle. The generation module is used to compare the linear displacement data of each independently driven electric door handle with the target displacement data of the corresponding time node in the preset motion curve, and generate the displacement deviation value of each independently driven electric door handle. The calculation module is used to calculate the range of displacement deviation values ​​between the multiple independently driven electric door handles as the real-time synchronization error based on the displacement deviation value of each independently driven electric door handle. The adjustment module is used to dynamically adjust the stepper motor drive pulse frequency of each independently driven electric door handle according to the relationship between the real-time synchronization error and the preset error tolerance range, so as to obtain the adjusted stepper motor drive pulse frequency. The matching module is used to re-match the actual displacement of the multiple independently driven electric door handles to the preset motion curve based on the adjusted stepper motor drive pulse frequency.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a high-precision position feedback door handle synchronization calibration method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a high-precision position feedback door handle synchronization calibration method as described in any one of claims 1 to 7.

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