Control method of electric vehicle door, controller and vehicle

Abstract

The invention relates to a control method of an electric vehicle door, a controller and a vehicle, and belongs to the technical field of vehicle control, the control method comprises the following steps: in response to a start control instruction of the electric vehicle door, controlling a target driving part of the electric vehicle door to operate; receiving first detection data about operation of the target driving part; outputting the first detection data to the second controller, so that the second controller obtains and outputs an operation control instruction according to the first detection data; and in response to the operation control instruction, regulating and controlling the target driving part. According to the invention, bottom-layer control software and algorithm software of the electric vehicle door can be separated from upper-layer application software.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of vehicle control, and more particularly, to a control method, a controller and a vehicle of an electric vehicle door. BACKGROUND

[0002] With the rapid development of vehicles, vehicles are increasingly diversified and intelligent. As one of the components of vehicles, vehicle doors can be used for drivers or passengers to enter or exit the vehicle. At present, in order to make the vehicle door more intelligent, the prior art can set an integrated controller, which receives detection data output by a detection component of the vehicle door, and directly controls a driving component of the vehicle door according to the detection data, which makes the memory consumption of the controller larger. SUMMARY

[0003] One purpose of embodiments of the present disclosure is to provide a new technical solution for the control of an electric vehicle door.

[0004] According to a first aspect of the present disclosure, a control method of an electric vehicle door is provided, a driving component of the electric vehicle door is in communication connection with a first controller, the first controller is in communication connection with a second controller, an execution subject of the control method of the electric vehicle door is the first controller, and the method comprises:

[0005] in response to a start control instruction of the electric vehicle door, controlling a target driving component of the electric vehicle door to operate;

[0006] receiving first detection data about the operation of the target driving component;

[0007] outputting the first detection data to the second controller, so that the second controller obtains and outputs an operation control instruction according to the first detection data;

[0008] in response to the operation control instruction, regulating and controlling the target driving component.

[0009] Optionally, the start control instruction is a door opening instruction or a door closing instruction, the target driving component is an electric limit stopper for driving the electric vehicle door to act, and the operation control instruction comprises a first driving instruction for regulating and controlling the operating speed of the electric limit stopper.

[0010] Optionally, the second controller is in communication connection with a detection component of the electric vehicle door, the detection component is a component for detecting objects around the electric vehicle door, and the second controller receives a feedback signal associated with the action limitation of the electric vehicle door output by the detection component;

[0011] wherein the operation control instruction is obtained by the second controller according to the first detection data and the feedback signal output by the detection component.

[0012] Optionally, the operation control instruction is obtained by the second controller according to the first detection data, a first sensing signal representing a tilt angle of the vehicle, and a second sensing signal representing an opening angle of the electric vehicle door.

[0013] Optionally, the start control instruction is a door opening instruction, the door opening instruction is output by the second controller to the first controller, the target driving component is an electric stopper for driving the electric vehicle door to move, and the electric vehicle door is further provided with a door lock as the driving component; before the target driving component of the electric vehicle door is controlled to operate in response to the start control instruction of the electric vehicle door, the method further comprises:

[0014] receiving second detection data reflecting a state of the driving component and sending the second detection data to the second controller; wherein the second detection data comprises position data of the door lock and position data of the electric stopper;

[0015] receiving the door opening instruction sent by the second controller under a first set condition; wherein the first set condition comprises that the second detection data indicates that the door lock is unlocked and the electric stopper corresponds to a door closing position.

[0016] Optionally, the start control instruction is a door closing instruction, the door closing instruction is output by the second controller to the first controller, and the target driving component is an electric stopper for driving the electric vehicle door to move; before the target driving component of the electric vehicle door is controlled to operate in response to the start control instruction of the electric vehicle door, the method further comprises:

[0017] receiving second detection data reflecting a state of the driving component and sending the second detection data to the second controller; wherein the second detection data comprises position data of the electric stopper;

[0018] receiving the door closing instruction sent by the second controller under a second set condition; wherein the second set condition comprises that a brake signal is received and the second detection data indicates that the electric stopper corresponds to a door opening position.

[0019] Optionally, the start control instruction is a door opening instruction or a door closing instruction, the start control instruction is output by the second controller to the first controller based on a recognition result of a set user action, and the target driving component is an electric stopper for driving the electric vehicle door to move; wherein the set user action comprises a user's manual door opening or closing action.

[0020] Optionally, the starting control instruction is an unlocking instruction or a locking instruction, the target driving component is a door lock, and the operation control instruction comprises a second driving instruction for regulating an output force of a moving component of the door lock.

[0021] Optionally, after the target driving component of the electric vehicle door is controlled to operate, the method further comprises:

[0022] When the first detection data indicates that the electric vehicle door collides with another object, the target driving component is controlled to operate reversely.

[0023] Optionally, after the target driving component of the electric vehicle door is controlled to operate, the method further comprises:

[0024] When the first detection data indicates that the position of the target driving component does not change, the target driving component is controlled to stop operating.

[0025] According to a second aspect of the present disclosure, a control method of an electric vehicle door is also provided. The driving component of the electric vehicle door is communicatively connected with a first controller. The first controller is communicatively connected with a second controller. The second controller is an execution subject of the control method of the electric vehicle door. The method comprises:

[0026] receiving first detection data about operation of a target driving component output by the first controller; wherein the first detection data is collected by the first controller during operation of the target driving component based on a starting control instruction of the electric vehicle door;

[0027] obtaining and outputting an operation control instruction to the first controller according to the first detection data; wherein the operation control instruction is used to trigger the first controller to regulate the target driving component during operation of the target driving component.

[0028] Optionally, the starting control instruction is an opening door instruction or a closing door instruction. The target driving component is an electric limit stopper used to drive the electric vehicle door to move. The operation control instruction comprises a first driving instruction used to regulate a running speed of the electric limit stopper.

[0029] Optionally, the second controller is communicatively connected with a detection component of the electric vehicle door. The detection component is a component used to detect objects around the electric vehicle door. The method further comprises:

[0030] receiving a feedback signal associated with movement limitation of the electric vehicle door output by the detection component;

[0031] The obtaining and outputting of the operation control instruction to the first controller according to the first detection data comprises:

[0032] According to the first detection data and the feedback signal, operation control instructions are obtained and output to the first controller.

[0033] Optionally, the method further comprises:

[0034] receiving a first sensing signal representing a tilt angle of the vehicle, and a second sensing signal representing an opening angle of the electric vehicle door;

[0035] According to the first detection data, operation control instructions are obtained and output to the first controller, comprising:

[0036] According to the first detection data, the first sensing signal and the second sensing signal, operation control instructions are obtained and output to the first controller.

[0037] Optionally, the start control instruction is a door opening instruction, the target driving component is an electric stopper for driving the electric vehicle door to act, and the electric vehicle door is further provided with a door lock as the driving component; before receiving the first detection data about the operation of the target driving component output by the first controller, the method further comprises:

[0038] receiving second detection data reflecting the state of the driving component sent by the first controller; wherein the second detection data comprises position data of the door lock and position data of the electric stopper;

[0039] in the case that the second detection data indicates that the door lock is unlocked and the electric stopper corresponds to a door closing position, the door opening instruction is sent to the first controller.

[0040] Optionally, the start control instruction is a door closing instruction, and the target driving component is an electric stopper for driving the electric vehicle door to act; before receiving the first detection data about the operation of the target driving component output by the first controller, the method further comprises:

[0041] receiving second detection data reflecting the state of the driving component sent by the first controller; wherein the second detection data comprises position data of the electric stopper;

[0042] in the case that a brake signal is received and the second detection data indicates that the electric stopper corresponds to a door opening position, the door closing instruction is sent to the first controller.

[0043] Optionally, the start control instruction is a door opening instruction or a door closing instruction, and the target driving component is an electric stopper for driving the electric vehicle door to act; before receiving the first detection data about the operation of the target driving component output by the first controller, the method further comprises:

[0044] In a case where a set user action is detected, the starting control instruction is sent to the first controller; wherein the set user action comprises a user manually opening or closing the door.

[0045] According to a third aspect of the present disclosure, a controller is further provided, comprising:

[0046] A response module is configured to control a target driving component of the electric vehicle door to operate in response to a starting control instruction of the electric vehicle door;

[0047] A first receiving module is configured to receive first detection data about the operation of the target driving component;

[0048] A second output module is configured to output the first detection data to the second controller, so that the second controller obtains and outputs an operation control instruction according to the first detection data;

[0049] A regulation module is configured to regulate the target driving component in response to the operation control instruction.

[0050] According to a fourth aspect of the present disclosure, a controller is further provided, comprising:

[0051] A second receiving module is configured to receive first detection data about the operation of the target driving component output by the first controller; wherein the first detection data is collected by the first controller during the operation of the target driving component controlled by the starting control instruction of the electric vehicle door;

[0052] A second output module is configured to obtain and output an operation control instruction to the first controller according to the first detection data; wherein the operation control instruction is used to trigger the first controller to regulate the target driving component in the operation of the target driving component.

[0053] According to a fifth aspect of the present disclosure, a controller is further provided, comprising a memory and a processor, wherein the memory is configured to store a computer program; and the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0054] According to a sixth aspect of the present disclosure, a computer readable storage medium is further provided, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to the first aspect of the present disclosure.

[0055] According to a seventh aspect of the present disclosure, a computer program product is further provided, comprising a computer program, and the computer program is executed by a processor to implement the method according to the first aspect of the present disclosure.

[0056] According to an eighth aspect of the present disclosure, a vehicle is also provided, comprising:

[0057] An electric vehicle door, the electric vehicle door being configured with a driving component;

[0058] A first controller, the first controller executing the control method of the electric vehicle door according to the first aspect, the first controller being communicatively connected with the electric vehicle door; and

[0059] A second controller, the second controller executing the control method of the electric vehicle door according to the second aspect, the second controller being communicatively connected with the first controller.

[0060] Optionally, the electric vehicle door is further configured with a detection component, the first controller being communicatively connected with the second controller and the detection component through the same network.

[0061] One beneficial effect of the present disclosure is that the first controller can control the target driving component of the electric vehicle door to operate in response to the starting control instruction of the second controller, the second controller receiving the first detection data, so that the first controller obtains the operation control instruction fed back by the second controller to regulate the target driving component of the electric vehicle door. The first controller transceives the first detection data, the second controller processes the first detection data and feeds back the control instruction to the first controller, and the first controller directly controls the electric vehicle door, which can separate the bottom-layer control software and algorithm software of the electric vehicle door from the upper-layer application software on the premise of reducing the memory consumption of the first controller, thereby facilitating the expansion of the function of the electric vehicle door.

[0062] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0064] Figure 1 is a schematic diagram of a constituent structure of a vehicle to which an embodiment of the present disclosure can be applied;

[0065] Figure 2 is a flowchart of a control method of an electric vehicle door according to an embodiment of the present disclosure;

[0066] Figure 3 is a schematic diagram of a constituent structure of a vehicle according to another embodiment of the present disclosure;

[0067] Figure 4 is a flowchart of a control method of an electric vehicle door according to another embodiment of the present disclosure;

[0068] Figure 5 is a block schematic diagram of a controller according to an embodiment;

[0069] Figure 6 is a hardware architecture schematic diagram of a controller according to an embodiment;

[0070] Figure 7 is a block schematic diagram of a controller according to another embodiment;

[0071] Figure 8 is a hardware architecture schematic diagram of a controller according to another embodiment. DETAILED DESCRIPTION

[0072] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the embodiments, numerical expressions, and numerical values are not limiting to the scope of the present disclosure unless specifically stated otherwise.

[0073] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application, its application, or uses.

[0074] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0075] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0076] It should be noted that like numbers and letters refer to like items throughout the drawings, and once an item is defined in one drawing, that definition should be applied to each subsequent drawing containing the same item.

[0077] <SYSTEM EMBODIMENTS>

[0078] Figure 1 is a schematic diagram of a composition structure of a vehicle to which an embodiment according to the present disclosure can be applied. As shown in Figure 1 the vehicle can include an electric power door, a first controller 10, and a second controller 20.

[0079] The above electric vehicle door configuration driving component 30, detection component 40, driving component 30 can be door lock 31, electric limit stopper 32 or window motor, etc., which is not limited here. The detection component 40 can be a speed sensor, a camera, a voltage sampling device or a radar, etc., which is not limited here. One driving component 30 can be detected by multiple detection components 40, for example, the electric limit stopper 32 can be collected by the voltage sampling device and determined by the angle sensor. Multiple driving components 30 can be detected by one detection component 40, for example, the opening and closing angle of the electric limit stopper 32 and the running speed of the window motor can be detected by the vehicle side camera.

[0080] The above first controller 10 can be in communication connection with the driving component 30, or in electrical connection with the driving component 30, which is not limited here. The first controller 10 can be in communication connection with the detection component 40, or in electrical connection with the detection component 40, which is not limited here. The first controller 10 can be an electronic control unit (ECU), and the first controller 10 can run the bottom layer control software of the electric vehicle door to control the operation of each driving component 30 and detection component 40, and receive the first detection data fed back by the detection component 40 about detecting the operation of the driving component 30.

[0081] The above second controller 20 can be in communication connection with the first controller 10, or in electrical connection with the first controller 10, which is not limited here. The second controller 20 can be an electronic control unit (ECU), and the second controller 20 can store specific algorithms, such as anti-pinch algorithm, smoothness algorithm, slope holding algorithm or adaptive manual assistance algorithm, etc., which are all existing algorithms and are not specifically described here. That is, the second controller 20 can run the algorithm software and upper application software of the electric vehicle door to output the operation control instruction to the first controller 10 according to the first detection data output by the first controller 10 and the corresponding algorithm, so that the first controller 10 can respond to the operation control instruction to control the target driving component to operate.

[0082] In some embodiments, the vehicle can further comprise a detection component 50, such as an inductive radar arranged on the door or the side of the vehicle or a gyroscope arranged on the body of the vehicle, which can be in communication connection with the second controller 20 or in electrical connection with the second controller 20, so that the radar can directly feed the detected position of the electric door to the second controller 20, and the gyroscope can directly feed the detected tilt angle of the vehicle to the second controller 20. The first controller 10 can also communicate with the second controller 20 and the detection component 50 through the same network, such as a Controller Area Network (CAN) bus.

[0083] In the embodiments of the present disclosure, the first controller 10 stores a computer program for controlling the processor of the first controller 10 to operate according to the control method of the electric door of any embodiment. The computer program can be designed by a skilled person according to the scheme of the embodiments of the present disclosure. How the computer program controls the processor to operate is known in the art, and therefore will not be described in detail here.

[0084] <Method Embodiment One>

[0085] Figure 2 is a flowchart of the control method of the electric door according to an embodiment. The embodiment subject is, for example, Figure 1 the first controller 10.

[0086] As shown in Figure 2 , the control method of the electric door of the present embodiment can comprise the following steps S210 to S240:

[0087] Step S210, in response to the start control instruction of the electric door, controlling the target driving component of the electric door to operate.

[0088] In the present embodiment, the first controller can control one driving component or multiple driving components to operate. For example, taking the driving component as an electric stopper, the first controller can output a driving voltage to the electric stopper, so that the electric stopper can move the electric door at different opening and closing speeds and directions according to the different driving voltages received.

[0089] In some examples, the first controller can control one detection component or multiple detection components to operate. For example, the detection component is a current sampling device, and the first controller can output a conduction voltage to the current sampling device, so that the current sampling device can detect the current when the electric stopper operates.

[0090] In this embodiment, the start operation instruction can indicate one or more driving components to operate, or can indicate one or more detection components to operate at the same time, which is not limited herein. The start operation instruction can indicate one or more driving components to operate, and at the same time, indicate corresponding detection components or all detection components to operate.

[0091] In some examples, the start control instruction can be output by the second controller, for example, the second controller outputs a start operation instruction to the first controller in response to a start operation instruction output by a car machine system of the vehicle, the start operation instruction indicates one driving component and all detection components to operate, and the first controller controls the driving component and all detection components to operate in response to the start operation instruction.

[0092] For another example, the second controller outputs an operation instruction to the first controller, the operation instruction indicates the electric limit stopper to operate, and the first controller controls the electric limit stopper to operate in response to the operation instruction, and at the same time, controls the current sampling device and the speed sensor to operate to detect the operating current of the electric limit stopper and the opening and closing positions of the electric limit stopper. At the same time, the second controller can also output another operation instruction to the detection component, which is a radar on the vehicle side, to detect the position of the electric limit stopper while the electric limit stopper operates.

[0093] In some examples, the vehicle is configured with a control component, which can be an electric control switch, a control, or a touch screen, etc. provided on the electric vehicle door, for example, as shown in Figure 1 The electric control switch 31 of the electric vehicle door can be in communication connection with one of the corresponding first controllers 10a-10d, so that when the passenger or the driver triggers the electric control switch 31, the electric control switch 31 can send a start control instruction to the corresponding first controller, and the first controller can control the electric limit stopper to operate in response to the start control instruction, so that the electric vehicle door is opened.

[0094] In this embodiment, the target driving component can be the driving component indicated by the start control instruction, which is, for example, the electric limit stopper or the door lock, etc., which is not limited herein.

[0095] In some examples, in order to improve the response speed of the first controller in response to the operation instruction, different electric vehicle doors are corresponding to different first controllers, and the first controller is one-to-one corresponding to the electric vehicle door.

[0096] For example, as shown in Figure 3As shown, the first controller 10a corresponds to the left front electric door of the vehicle, and the first controller 10a can control the door lock 31, the electric limiter 32 and the electric control switch 33 of the left front electric door of the vehicle, and can also obtain the detection of the position of the left front electric door by the detection component 51a of the left front electric door, which is a radar of the left front electric door.

[0097] The first controller 10b corresponds to the right front electric door of the vehicle, and the first controller 10b can control the door lock 31, the electric limiter 32 and the electric control switch 33 of the right front electric door of the vehicle, and can also obtain the detection of the position of the right front electric door by the detection component 51b of the right front electric door, which is a radar of the right front electric door.

[0098] The first controller 10c corresponds to the left rear electric door of the vehicle, and the first controller 10c can control the door lock 31, the electric limiter 32 and the electric control switch 33 of the left rear electric door of the vehicle, and can also obtain the detection of the position of the left rear electric door by the detection component 51c of the left rear electric door, which is a radar of the left rear electric door.

[0099] The first controller 10d corresponds to the right rear electric door of the vehicle, and the first controller 10d can control the door lock 31, the electric limiter 32 and the electric control switch 33 of the right rear electric door of the vehicle, and can also obtain the detection of the position of the right rear electric door by the detection component 51d of the right rear electric door, which is a radar of the right rear electric door.

[0100] In some embodiments, in order to improve the utilization efficiency of the first controller, the driving components and detection components of multiple electric doors can correspond to one first controller. For example, four electric doors, two of which correspond to one first controller, and the other two correspond to another first controller.

[0101] Step S220, receiving first detection data about the operation of the target driving component.

[0102] In some examples, the target driving component is an electric limiter, and through the detection components such as the current sampling device and the speed sensor corresponding to the electric limiter, the first detection data obtained by the first controller can include the running current and speed of the electric limiter.

[0103] In some examples, the detection component can also include a signal sampling device corresponding to the electric control switch, so as to confirm whether the electric control switch is in a closed state or an open state through signal acquisition.

[0104] Step S230, outputting the first detection data to the second controller, so that the second controller obtains and outputs a running control instruction according to the first detection data.

[0105] In this embodiment, the second controller internally stores a specific algorithm, and after receiving the first detection data, can obtain and output different running control instructions according to the first detection data and the corresponding algorithm.

[0106] For example, the first detection data is the opening and closing speed of the electric limit stop when running, and the second controller obtains a running control instruction for controlling the electric limit stop to run at a constant speed according to the smoothness algorithm and the first detection data, so that the first controller adjusts the opening and closing speed of the electric limit stop when running after obtaining the running control instruction.

[0107] Step S240, regulating the target driving component in response to the running control instruction.

[0108] In some examples, the target driving component is an electric limit stop, and after receiving the running control instruction, the first controller can adjust the driving voltage output to the electric limit stop when the electric limit stop is running.

[0109] In some embodiments, in order to control the stability of the electric vehicle door when automatically opening or closing, the starting control instruction is an opening instruction or a closing instruction, the target driving component is an electric limit stop for driving the electric vehicle door to move, and the running control instruction includes a first driving instruction for regulating the running speed of the electric limit stop.

[0110] In some examples, when the electric vehicle door is opening or closing, the above-mentioned speed sensor can feed back the opening and closing speed as the first detection data to the first controller, and output the opening and closing speed to the second controller, and in the case that the opening and closing speed obtained by the second controller is too fast or too slow, the running control instruction is obtained according to the opening and closing speed, so that the electric limit stop can run at a constant speed after the first controller obtains the running control instruction, to realize the function of speed adjustment of the electric vehicle door.

[0111] In some embodiments, the second controller is in communication connection with a detection component of the electric vehicle door, the detection component is a component for detecting objects around the electric vehicle door, and the second controller receives a feedback signal output by the detection component and associated with the movement limitation of the electric vehicle door; wherein the running control instruction is obtained by the second controller according to the first detection data and the feedback signal output by the detection component.

[0112] In some examples, the object around is an obstacle such as a person, an animal or a plant, etc. affecting the opening and closing of the electric vehicle door.

[0113] In some examples, the detection component can be a radar, the second controller can send a door angle opening signal of the electric vehicle door to the radar, the detection component can feed back a door openable size signal, a door collision warning signal and a door outer obstacle position signal of the electric vehicle door to the second controller in response to the door angle opening signal, as the feedback signal associated with the action restriction of the electric vehicle door. In other words, the feedback instruction obtained by the radar and the preset anti-pinch algorithm of the second controller are used to obtain the operation control instruction for controlling the electric vehicle door to stop or reverse operation, so as to realize the anti-pinch function of the electric vehicle door, and the accuracy is higher, and the safety factor of the operation of the electric vehicle door is improved.

[0114] In some embodiments, the operation control instruction is obtained by the second controller according to the first detection data, a first sensing signal representing the inclination angle of the vehicle, and a second sensing signal representing the opening angle of the electric vehicle door.

[0115] In some examples, the vehicle can be configured with a gyroscope and an angle sensor. The first sensing signal representing the inclination angle of the vehicle can be detected by the gyroscope. The gyroscope can feed back the inclination angle of the vehicle on the slope to the second controller through the vehicle system, and then the second controller feeds back the inclination angle of the vehicle to the first controller. The gyroscope can also directly feed back the inclination angle of the vehicle to the first controller. The second sensing signal representing the opening angle of the electric vehicle door can be detected by the angle sensor. The angle sensor can feed back the inclination angle of the vehicle on the slope to the second controller through the vehicle system, and then the second controller feeds back the inclination angle of the vehicle to the first controller. The gyroscope can also directly feed back the inclination angle of the vehicle to the first controller. The second controller obtains the operation control instruction according to the slope holding algorithm, the inclination angle and the opening angle. After receiving the operation control instruction, the first controller adjusts the driving voltage output to the electric limit stopper. In other words, the second controller can determine that the vehicle is on the slope and the inclination angle of the slope by using the first sensing signal and the second sensing signal. The second controller determines the driving voltage corresponding to the inclination angle by using the preset slope holding algorithm and feeds it back to the first controller. The first controller can obtain the operation control instruction for outputting the corresponding driving voltage to the electric limit stopper, so that the electric vehicle door is stationary on the slope. The accuracy is higher, and the safety factor of the operation of the electric vehicle door is improved.

[0116] In some embodiments, the start control instruction is a door opening instruction, the door opening instruction is output by the second controller to the first controller, the target driving component is an electric limit stopper for driving the electric vehicle door to act, and the electric vehicle door is further provided with a door lock as the driving component. Before step S210, the method further comprises steps S310 and S320:

[0117] Step S310, receiving second detection data reflecting the state of the driving component, and sending the second detection data to the second controller; wherein the second detection data comprises position data of the electric door stopper.

[0118] In some examples, the state of the driving component is, for example, the position of the driving component, and so on. Taking the electric door stopper as an example, the state of the electric door stopper includes that the electric door stopper is in an open door position or a closed door position.

[0119] Step S320, receiving the closed door instruction sent by the second controller under a second set condition; wherein the second set condition comprises that a brake signal is received, and the second detection data indicates that the electric door stopper corresponds to the open door position.

[0120] In some examples, the driver can step on the brake or press the brake button, the second controller can receive the second detection data indicating that the electric door stopper corresponds to the open door position, and the second controller can output the closed door instruction to the first controller after receiving the second detection data, and the first controller outputs a corresponding start control instruction to the electric door stopper, so that the electric door stopper is automatically closed, to realize the function of automatic closing of the door when stepping on the brake.

[0121] In some embodiments, the start control instruction is an open door instruction or a closed door instruction, the start control instruction is output to the first controller by the second controller based on a recognition result of a set user action, and the target driving component is an electric door stopper for driving the electric door to move; wherein the set user action includes a user’s manual opening or closing action of the door.

[0122] In some examples, the set user action is, for example, opening or closing the electric door, and a device capable of recognizing user actions, such as a camera or an infrared sensor configured on the vehicle, can feed back the recognition result of different user actions to the second controller, and the second controller can output a corresponding start control instruction according to the recognition result of the set user action and a preset adaptive manual assistance algorithm, so that the first controller controls the electric door stopper to operate at a certain driving voltage in response to the start control instruction, to assist the user’s manual opening or closing of the door.

[0123] In some embodiments, the start control instruction is an unlocking instruction or a locking instruction, the target driving component is a door lock, and the operation control instruction comprises a second driving instruction for regulating the output force of a moving component of the door lock.

[0124] In some examples, the moving component of the door lock is, for example, a door lock motor. The running control instruction can be a different driving voltage output to the door lock motor. In response to the start control instruction of the first controller to control the door lock motor to lock, the door lock motor runs at a driving voltage. If the door lock motor fails to lock successfully, then the first controller can respond to a second driving instruction and the door lock motor runs again at another driving voltage to achieve the basic unlocking or locking function of the first controller.

[0125] In some embodiments, after step S210, the method further comprises the following step S410:

[0126] Step S410, when the first detection data indicates that the electric vehicle door collides with other objects, controlling the target driving component to run in reverse.

[0127] In some examples, the decrease in the opening and closing speed of the electric vehicle door or the increase in the current reflected in the first detection data can indicate that the electric vehicle door collides with other objects. After obtaining the first detection data, the first controller can control the electric limit stopper to run in reverse to achieve the basic anti-pinch function of the electric vehicle door.

[0128] In some embodiments, after step S210, the method further comprises the following step S420:

[0129] Step S420, in the case where the first detection data indicates that the position of the target driving component has not changed, controlling the target driving component to stop running.

[0130] In some examples, the opening and closing angle of the electric vehicle door reflected in the first detection data is always at a certain angle and the electric vehicle door runs at a driving voltage, which can indicate that the electric vehicle door has stalled. After obtaining the first detection data, the first controller can control the electric limit stopper to stop running to achieve the basic anti-stalling function of the electric vehicle door.

[0131] <Method Embodiment Two>

[0132] Figure 4 is a flowchart of a control method of an electric vehicle door according to an embodiment. The implementation subject is, for example, Figure 1 the second controller 20 in

[0133] As shown in Figure 4 , the control method of the electric vehicle door of the present embodiment can comprise the following steps S31 to S32:

[0134] Step S31, receiving first detection data output by the first controller about the running of the target driving component; wherein the first detection data is collected by the first controller during the running of the target driving component based on the start control instruction of the electric vehicle door.

[0135] In step S32, operation control instructions are obtained according to the first detection data and output to the first controller, wherein the operation control instructions are used to trigger the first controller to regulate the target driving component in the target driving component operation.

[0136] In some embodiments, the start control instructions are door opening instructions or door closing instructions, the target driving component is an electric limit stop used to drive the electric vehicle door to move, and the operation control instructions include first driving instructions used to regulate the operation speed of the electric limit stop.

[0137] In some embodiments, the second controller is communicatively connected with a detection component of the electric vehicle door, the detection component is a component used to detect objects around the electric vehicle door, and the method further includes the following step S41:

[0138] In step S41, feedback signals associated with the movement limitation of the electric vehicle door are received from the detection component.

[0139] Correspondingly, step S32 can include the following step S33:

[0140] In step S33, operation control instructions are obtained according to the first detection data and the feedback signals and output to the first controller.

[0141] In some embodiments, the method further includes the following step S51:

[0142] In step S51, a first sensing signal representing the inclination angle of the vehicle and a second sensing signal representing the opening angle of the electric vehicle door are received.

[0143] Correspondingly, step S32 can include the following step S34:

[0144] In step S34, operation control instructions are obtained according to the first detection data, the first sensing signal and the second sensing signal and output to the first controller.

[0145] In some embodiments, the start control instructions are door opening instructions, the target driving component is an electric limit stop used to drive the electric vehicle door to move, and the electric vehicle door is further provided with a door lock as the driving component. Before step S31, the method further includes the following steps S61 and S62:

[0146] In step S61, second detection data reflecting the state of the driving component are received from the first controller, wherein the second detection data include position data of the door lock and position data of the electric limit stop.

[0147] Step S62, in case that the second detection data indicates that the door lock is unlocked and the electric door stopper corresponds to the door closing position, sending the door opening instruction to the first controller.

[0148] In some embodiments, the starting control instruction is a door closing instruction, and the target driving component is an electric door stopper for driving the electric door to move. Before step S31, the method further comprises steps S71 and S72 as follows:

[0149] Step S71, receiving second detection data reflecting the state of the driving component sent by the first controller; wherein the second detection data comprises position data of the electric door stopper.

[0150] Step S72, in case that the brake signal is received and the second detection data indicates that the electric door stopper corresponds to the door opening position, sending the door closing instruction to the first controller.

[0151] In some embodiments, the starting control instruction is a door opening instruction or a door closing instruction, and the target driving component is an electric door stopper for driving the electric door to move. Before step S31, the method further comprises step S81 as follows:

[0152] Step S81, in case that a set user action is detected, sending the starting control instruction to the first controller; wherein the set user action comprises a user's action of manually opening or closing the door.

[0153] <Device Embodiment One>

[0154] Figure 5 is a principle block diagram of a controller according to an embodiment. As shown in Figure 5 the controller 400 can comprise a response module 410, a first receiving module 420, a second output module 430 and a regulation module 440.

[0155] The response module 410 is configured to control a target driving component of the electric door to operate in response to a starting control instruction of the electric door;

[0156] The first receiving module 420 is configured to receive first detection data about the operation of the target driving component.

[0157] The second output module 430 is configured to output the first detection data to a second controller, so that the second controller obtains and outputs an operation control instruction according to the first detection data.

[0158] The regulation module 440 is configured to regulate the target driving component in response to the operation control instruction.

[0159] Optionally, the controller 400 further comprises a first instruction receiving module, configured to receive second detection data reflecting the state of the driving component, and send the second detection data to the second controller; wherein the second detection data comprises position data of the door lock and position data of the electric stopper; and receive the door opening instruction sent by the second controller under a first set condition; wherein the first set condition comprises that the second detection data indicates that the door lock is unlocked and the electric stopper corresponds to a door closing position.

[0160] Optionally, the controller 400 further comprises a second instruction receiving module, configured to receive second detection data reflecting the state of the driving component, and send the second detection data to the second controller; wherein the second detection data comprises position data of the electric stopper; and receive the door closing instruction sent by the second controller under a second set condition; wherein the second set condition comprises that a brake signal is received and the second detection data indicates that the electric stopper corresponds to a door opening position.

[0161] Optionally, the controller 400 further comprises a reverse running control module, configured to control the target driving component to run reversely when the first detection data indicates that the electric vehicle door collides with other objects.

[0162] Optionally, the controller 400 further comprises a stop running control module, configured to control the target driving component to stop running when the first detection data indicates that the position of the target driving component does not change.

[0163] The controller 400 can be a first controller 10 in the system 1000. Figure 1 The controller 400 can be a first controller 10 in the system 1000.

[0164] <Device Embodiment Two>

[0165] Figure 6 is a hardware structure schematic diagram of a controller according to another embodiment.

[0166] As shown in Figure 6 , the controller 600 comprises a processor 610 and a memory 620, the memory 620 is configured to store an executable computer program, and the processor 610 is configured to execute the method of any method embodiment above according to the control of the computer program.

[0167] The controller 600 can be a first controller 10 in the system 1000. Figure 1 The controller 600 can be a first controller 10 in the system 1000.

[0168] The modules of the above controller 400 can be realized by the processor 610 in this embodiment executing the computer program stored in the memory 620, or can be realized by other structures, which are not limited here.

[0169] <Device Embodiment Three>

[0170] Figure 7 Fig. 7 is a schematic diagram of a controller according to an embodiment. As shown in Fig. 7, the controller 700 can include a second receiving module 710 and a second output module 720. Figure 5

[0171] The second receiving module 710 is configured to receive first detection data about operation of a target driving component output by the first controller; wherein the first detection data is collected by the first controller during control of the target driving component based on a start control instruction of the electric vehicle door.

[0172] The second output module 720 is configured to obtain and output an operation control instruction to the first controller according to the first detection data; wherein the operation control instruction is used to trigger the first controller to regulate the target driving component in the operation of the target driving component.

[0173] Optionally, the controller 700 further includes a feedback signal receiving module configured to receive a feedback signal associated with a motion limit of the electric vehicle door output by the detection component.

[0174] The second output module 720 is further configured to obtain and output an operation control instruction to the first controller according to the first detection data and the feedback signal.

[0175] Optionally, the controller 700 further includes an induction signal receiving module configured to receive a first induction signal representing an inclination angle of the vehicle and a second induction signal representing an opening angle of the electric vehicle door.

[0176] The second output module 720 is further configured to obtain and output an operation control instruction to the first controller according to the first detection data, the first induction signal and the second induction signal.

[0177] Optionally, the controller 700 further includes a door opening instruction sending module configured to receive second detection data reflecting a state of the driving component sent by the first controller; wherein the second detection data includes position data of the door lock and position data of the electric limiter; in a case where the second detection data indicates that the door lock is unlocked and the electric limiter corresponds to a door closing position, the door opening instruction is sent to the first controller.

[0178] ​Optionally, the controller 700 further comprises a door closing instruction sending module, configured to receive the second detection data reflecting the state of the driving component sent by the first controller, wherein the second detection data comprises position data of the electric limit stopper; and send the door closing instruction to the first controller when the brake signal is received and the second detection data indicates that the electric limit stopper corresponds to the door opening position.

[0179] Optionally, the controller 700 further comprises a control instruction sending module, configured to send the start control instruction to the first controller when a set user action is detected, wherein the set user action comprises a user's manual door opening or closing action.

[0180] The controller 700 can be the first controller 10 in the system 100. Figure 1 The controller 700 can be the first controller 10 in the system 100.

[0181] <Embodiment four of the device>

[0182] Figure 8 is a hardware structure schematic diagram of the controller according to another embodiment.

[0183] As shown in Figure 8 , the controller 800 comprises a processor 810 and a memory 820, the memory 820 is configured to store an executable computer program, and the processor 810 is configured to execute the method of any method embodiment above according to the control of the computer program.

[0184] The controller 800 can be the second controller 20 in the system 100. Figure 1 The controller 800 can be the second controller 20 in the system 100.

[0185] The modules of the controller 700 above can be realized by the processor 810 in the embodiment executing the computer program stored in the memory 820, or can be realized by other structures, which are not limited here.

[0186] The present application can be a system, a method and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions stored therein, which are used to cause a processor to implement various aspects of the present application.

[0187] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0188] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0189] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0190] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0191] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other data storage device. When the computer readable program instructions are loaded into the computer and other programmable data processing apparatus, a series of operational steps are implemented that provide processes such that the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0192] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0193] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0194] Embodiments of the application have been described above, and the description is intended to be illustrative of the embodiments of the application and not exhaustive. Numerous modifications and adaptations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A control method of an electrically driven vehicle door, characterized by, The drive component of the electric door is communicatively connected to a first controller, and the first controller is communicatively connected to a second controller. The first controller is the executing entity of the control method for the electric door, and the method includes: In response to the start control command of the electric door, the target drive component of the electric door is controlled to operate; Receive first detection data regarding the operation of the target drive component; The first detection data is output to the second controller, so that the second controller obtains and outputs the operation control command based on the first detection data; In response to the operation control command, the target drive component is regulated.

2. The method of claim 1, wherein, The start control command is an open door command or a close door command, the target drive component is an electric limit switch for driving the electric vehicle door, and the operation control command includes a first drive command for regulating the operating speed of the electric limit switch.

3. The method of claim 2, wherein, The second controller is communicatively connected to the detection component of the electric vehicle door, which is a component used to detect objects around the electric vehicle door. The second controller receives feedback signals output by the detection component that are associated with the movement restrictions of the electric vehicle door. The operation control command is obtained by the second controller based on the first detection data and the feedback signal output by the detection component.

4. The method of claim 2, wherein, The operation control command is obtained by the second controller based on the first detection data, the first sensing signal indicating the tilt angle of the vehicle, and the second sensing signal indicating the opening angle of the electric door.

5. The method of claim 1, wherein, The start control command is a door opening command, which is output from the second controller to the first controller. The target driving component is an electric limit switch for driving the electric door. The electric door is also equipped with a door lock as the driving component. Before controlling the target driving component of the electric door to operate in response to the start control command of the electric door, the method further includes: The system receives second detection data reflecting the state of the drive component and sends the second detection data to the second controller; wherein the second detection data includes the position data of the door lock and the position data of the electric limit switch. The system receives the door opening command sent by the second controller under a first set condition; wherein the first set condition includes: the second detection data indicates that the door lock is unlocked and the electric limit switch is in the closed position.

6. The method of claim 1, wherein, The start control command is a door closing command, which is output from the second controller to the first controller. The target driving component is an electric limit switch used to drive the electric vehicle door. Before controlling the target drive component of the electric door to operate in response to the start control command of the electric door, the method further includes: The system receives second detection data reflecting the state of the drive component and sends the second detection data to the second controller; wherein the second detection data includes the position data of the electric limit switch. The system receives the door closing command sent by the second controller under second set conditions; wherein the second set conditions include: receiving a brake signal, and the second detection data indicating the door opening position corresponding to the electric limit switch.

7. The method of claim 1, wherein, The start control command is an open door command or a close door command. The start control command is output by the second controller to the first controller based on the recognition result of the set user action. The target driving component is an electric limit switch for driving the electric vehicle door. The set user action includes the user manually opening or closing the door.

8. The method of claim 1, wherein, The start control command is an unlock command or a lock command, the target driving component is a door lock, and the operation control command includes a second driving command for regulating the output force of the door lock's actuating component.

9. The method of claim 1, wherein, After the target drive component controlling the electric vehicle door is activated, the method further includes: When the first detection data indicates that the electric vehicle door has collided with another object, the target drive component is controlled to run in reverse.

10. The method of claim 1, wherein, After the target drive component controlling the electric vehicle door is activated, the method further includes: If the first detection data indicates that the position of the target driving component has not changed, the target driving component is controlled to stop operating.

11. A control method of an electric power door, characterized by, The drive component of the electric door is communicatively connected to a first controller, and the first controller is communicatively connected to a second controller. The second controller is the executing entity of the control method for the electric door, and the method includes: The system receives first detection data about the operation of the target drive component output by the first controller; wherein the first detection data is collected by the first controller during the operation of the target drive component based on the start control command of the electric door; Based on the first detection data, an operation control command is obtained and output to the first controller; wherein, the operation control command is used to trigger the first controller to regulate the target drive component during the operation of the target drive component.

12. The method of claim 11, wherein, The start control command is an open door command or a close door command, the target drive component is an electric limit switch for driving the electric vehicle door, and the operation control command includes a first drive command for regulating the operating speed of the electric limit switch.

13. The method of claim 12, wherein, The second controller is communicatively connected to the detection component of the electric vehicle door, the detection component being a component used to detect objects around the electric vehicle door, and the method further includes: Receive feedback signals output by the detection component that are associated with the movement restrictions of the electric vehicle door; The step of obtaining and outputting operation control commands to the first controller based on the first detection data includes: Based on the first detection data and the feedback signal, an operation control command is obtained and output to the first controller.

14. The method of claim 12, wherein, The method further includes: Receive a first sensing signal indicating the tilt angle of the vehicle and a second sensing signal indicating the opening angle of the electric door; The step of obtaining and outputting operation control commands to the first controller based on the first detection data includes: Based on the first detection data, the first sensing signal, and the second sensing signal, an operation control command is obtained and output to the first controller.

15. The method of claim 11, wherein, The start control command is a door opening command, the target driving component is an electric limit switch for driving the electric door, and the electric door is also equipped with a door lock as the driving component; before receiving the first detection data on the operation of the target driving component output by the first controller, the method further includes: The system receives second detection data reflecting the state of the drive component sent by the first controller; wherein the second detection data includes the position data of the door lock and the position data of the electric limit switch. When the second detection data indicates that the door lock is unlocked and the electric limit switch is in the closed position, the door opening command is sent to the first controller.

16. The method of claim 11, wherein, The start control command is a door closing command, and the target driving component is an electric limit switch for driving the electric vehicle door; before receiving the first detection data on the operation of the target driving component output by the first controller, the method further includes: The system receives second detection data reflecting the state of the drive component sent by the first controller; wherein the second detection data includes the position data of the electric limiter. Upon receiving a brake signal and if the second detection data indicates that the electric limiter corresponds to the door opening position, the closing command is sent to the first controller.

17. The method of claim 11, wherein, The start control command is an open door command or a close door command, and the target driving component is an electric limit switch for driving the electric vehicle door; before receiving the first detection data on the operation of the target driving component output by the first controller, the method further includes: Upon detecting a pre-defined user action, the start control command is sent to the first controller; wherein the pre-defined user action includes the user manually opening or closing the door.

18. A controller characterized by comprising: include: A response module is used to control the operation of the target drive component of the electric door in response to the start control command of the electric door. The first receiving module is used to receive first detection data regarding the operation of the target driving component; The second output module is used to output the first detection data to the second controller, so that the second controller obtains and outputs the operation control command based on the first detection data; The control module is used to control the target drive component in response to the operation control command.

19. A controller, characterized in that, include: The second receiving module is used to receive first detection data about the operation of the target driving component output by the first controller; wherein the first detection data is collected by the first controller during the operation of the target driving component based on the start control command of the electric door; The second output module is used to obtain and output a running control command to the first controller based on the first detection data; wherein the running control command is used to trigger the first controller to regulate the target driving component during the operation of the target driving component.

20. A controller, characterized in that, The system includes a memory and a processor, the memory being used to store a computer program; the processor being used to execute the computer program to implement the method according to any one of claims 1 to 17.

21. A computer storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the method according to any one of claims 1 to 17.

22. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 17.

23. A vehicle, characterized in that, include: Electric door, the electric door being equipped with a drive unit; A first controller, wherein the first controller executes the control method for an electric vehicle door according to any one of claims 1 to 10, and the first controller is communicatively connected to the electric vehicle door; and A second controller executes the control method for an electric vehicle door according to any one of claims 11 to 17, and the second controller is communicatively connected to the first controller.

24. The vehicle according to claim 23, characterized in that, The electric door is also equipped with a detection component, and the first controller communicates with the second controller and the detection component through the same network.

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