Handle system for vehicle, control method and vehicle

Abstract

The invention provides a handle system for a vehicle and a control method. The handle system comprises a handle seat; the handle is provided with a retracted position and an unfolded position, and the handle is provided with a receiving area; the ultrasonic sensor is arranged on the handle and is configured to detect whether a foreign object exists in the receiving area or not; and the actuating device is configured to drive the handle to move between the unfolding position and the retracting position. The actuating device is configured to stop driving the handle to move towards the retraction position or drive the handle to reach the unfolding position in response to the fact that the ultrasonic sensor detects that a foreign object exists in the receiving area in the process that the handle moves from the unfolding position to the retraction position.

Description

[0001] Related applications This application claims priority to Chinese Patent Application No. 202411070180.0, filed on August 6, 2024, entitled "Door handle system for vehicle door and control method for vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to a handle system, and more particularly, to a handle system for a vehicle, a control method for a vehicle, and a vehicle. Background Technology

[0003] Vehicle handle systems, such as external concealed door handle assemblies, are designed with handles that can be gripped by an operator to open or unlock the door. Therefore, the handles in the vehicle's handle system extend beyond the door surface, allowing the operator to grip them for these operations. Summary of the Invention

[0004] According to a first aspect of this application, a handle system for a vehicle is provided, the handle system comprising: a handle base; a handle having a retracted position and an extended position, and the handle having a receiving area; an ultrasonic sensor disposed on the handle and configured to detect the presence of a foreign object in the receiving area; and an actuation device configured to drive the handle to move between the extended position and the retracted position. The actuation device is configured to, during the movement of the handle from the extended position to the retracted position, stop driving the handle to the retracted position in response to the ultrasonic sensor detecting the presence of a foreign object in the receiving area, or drive the handle to the extended position.

[0005] According to some embodiments of this application, the handle system further includes a control unit, which is communicatively connected to the ultrasonic sensor and the actuation device to control the actuation device based on the detection signal from the ultrasonic sensor.

[0006] According to some embodiments of this application, the control unit of the handle system is configured to drive the handle to the unfolded position when the vehicle has not yet been driven and the owner's identity has been identified, and to unlock the vehicle's electronic lock device in response to the ultrasonic sensor detecting the presence of a foreign object in the receiving area after the handle has reached the unfolded position.

[0007] According to some embodiments of the present application, the handle has an inner surface defining the receiving area, and has a receiving hole penetrating through the inner surface, the ultrasonic sensor is received in the receiving hole and exposed to the receiving area.

[0008] According to some embodiments of the present application, the ultrasonic sensor has an outer surface facing the receiving area, the outer surface is flush with a portion of the inner surface of the receiving area near the receiving hole.

[0009] According to some embodiments of the present application, the handle comprises two opposite longitudinal extensions and two opposite transverse extensions around the receiving area; wherein the ultrasonic sensor is arranged in one of the two transverse extensions or one of the two longitudinal extensions.

[0010] According to a second aspect of the present application, the present application provides a control method for controlling a vehicle having a handle system, the method comprising the following steps: (i) driving an ultrasonic sensor to detect a receiving area of a handle; (ii) during movement of the handle to a retracted position, determining whether there is a foreign object in the receiving area of the handle based on a detection signal received from the ultrasonic sensor; (iii) if it is determined in step (ii) that there is a foreign object in the receiving area of the handle, stopping driving the handle to move to the retracted position or driving the handle to reach a deployed position.

[0011] According to some embodiments of the present application, the control method further comprises: (a) when the vehicle has not yet traveled and the identity of the vehicle owner has been identified, driving the handle to reach the deployed position; (b) after the handle reaches the deployed position, determining whether there is a foreign object in the receiving area of the handle based on a detection signal received from the ultrasonic sensor; (c) if it is determined in step (b) that there is a foreign object in the receiving area of the handle, unlocking an electronic lock device of the vehicle.

[0012] According to some embodiments of the present application, the control method further comprises: if it is determined in step (b) that there is no foreign object in the receiving area of the handle, driving the handle to move to the retracted position, and performing the above steps (ii)-(iii) during movement of the handle to the retracted position.

[0013] According to some embodiments of the present application, the control method further comprises: when an electronic lock device of the vehicle is locked, driving the handle to move to the retracted position, and performing the above steps (ii)-(iii) during movement of the handle to the retracted position.

[0014] According to some embodiments of this application, the control method further includes: when the vehicle is in motion and the handle is in the extended position, driving the handle to move to the retracted position, and performing the above steps (ii)-(iii) during the movement of the handle to the retracted position.

[0015] According to a third aspect of this application, this application provides a vehicle including a handle system according to the first aspect or a control method according to the second aspect.

[0016] Because this application uses an ultrasonic sensor, the detection signal is generated without the operator needing to touch the ultrasonic sensor, thus enabling an active "anti-pinch" function. Attached Figure Description

[0017] Figure 1A A schematic diagram of a vehicle having a handle system according to an embodiment of this application; Figure 1B yes Figure 1A A top view of the handle system in the retracted position; Figure 1C yes Figure 1A A top view of the handle system in the extended position; Figure 2 yes Figure 1A A structural block diagram of the handle system in the diagram; Figure 3 This is a control flow diagram of a control unit according to an embodiment of this application; Figure 4 This is a control flow diagram of a control unit according to another embodiment of this application; Figure 5 This is a control flow diagram of a control unit according to yet another embodiment of this application; Figure 6 This is a structural block diagram of one embodiment of the control unit.

[0018] Key reference numerals: Handle system 100; handle base 110; handle 120; receiving area 125; ultrasonic sensor 130; actuator 140; control unit 150; inner surface 160; longitudinal extension 161; lateral extension 162; receiving hole 170; vehicle 190; door 192; (door) outer surface 195; electronic lock device 250; foreign object 200; (ultrasonic sensor) outer surface 230; detection area 231; detection blind zone 225; electronic lock device 250; bus 602; processor 604; input interface 606; output interface 608; memory 614; program 616. Detailed Implementation

[0019] Various embodiments of the application will be described with reference to the drawings, which are intended to illustrate and not to limit the application. It should be understood that although terms are used in this disclosure and claims to describe various example structures, components, and elements illustrated in the drawings, these terms are used only in their broadest sense and are intended to encompass other similar structures, components, and elements within the scope of the present application. Unless otherwise defined, all terms used in this disclosure and claims are to be interpreted as having their ordinary meaning in the art. In addition, it should be understood that the various embodiments of the application can be implemented in different directions, and the terms used herein are only for the purpose of illustration and should not be considered as limiting.

[0020] Figures 1A-1C An environment of use and working state of the handle system 100 according to an embodiment of the application is shown. Figure 1A A schematic view of a vehicle 190 having the handle system 100, Figure 1B is a top view of the handle system 100 when the handle 120 is in the retracted position, Figure 1C is a top view of the handle system 100 when the handle 120 is in the deployed position.

[0021] As Figures 1A-1C shown, the handle system 100 is a concealed handle system, which is installed on a door 192 of the vehicle 190 for opening the door 192 and for performing an unlocking operation on the door 192. The handle system 100 comprises a handle base 110 and a handle 120. The handle 120 is mounted on the handle base 110 and is movable relative to the handle base 110, so as to have a retracted position as Figure 1B shown and a deployed position as Figure 1C shown. When the handle 120 is in the retracted position, the handle 120 is flush with an outer surface 195 of the door 192, and the handle 120 is thus concealed in the door 192, and an operator is unable to pull the handle 120. When the handle 120 is in the deployed position, the handle 120 protrudes outwardly relative to the outer surface 195 of the door 192, so as to facilitate the operator to pull the handle 120. In other embodiments, the handle system according to embodiments of the application can also be used in a situation of opening the door from the inside, with the handle being flush with an inner surface of the door in the retracted position.

[0022] As Figure 1BAs shown, the handle system 100 further comprises an ultrasonic sensor 130 disposed on the handle 120. The handle 120 comprises two opposite longitudinal extensions 161 and two opposite transverse extensions 162, whose respective inner surfaces jointly form an inner surface 160 of the handle, and the inner surface 160 of the handle defines a receiving area 125. An operator can stretch a hand into the receiving area 125 to hold the handle 120 and pull the door 192. The ultrasonic sensor 130 is disposed on one of the two transverse extensions 162 for detecting a foreign object stretched into the receiving area 125. Specifically, a receiving hole 170 is formed in the one of the transverse extensions 162 and penetrates the inner surface 160. The ultrasonic sensor 130 is accommodated in the receiving hole 170 and flush with the inner surface 160 at the transverse extension 162. In other embodiments, the ultrasonic sensor 130 can be disposed at other positions of the handle 120, such as the longitudinal extensions 161, as long as it can detect a foreign object in the receiving area 125. When the ultrasonic sensor 130 detects a foreign object (e.g. a human hand, a manicure on a human hand, or other foreign objects) stretched into the receiving area 125, the ultrasonic sensor 130 can generate a corresponding detection signal.

[0023] The ultrasonic sensor 130 as a non-contact measurement sensor can reduce wear and improve service life. Moreover, the ultrasonic sensor 130 has high precision, strong anti-interference ability, and fast response speed, and thus can actively detect the presence of a foreign object in the receiving area 125 in real time and generate a corresponding detection signal in real time.

[0024] Figure 2 is a structural block diagram of the handle system 100, which shows a schematic diagram of components of the handle system 100 and their connection relationship. As Figure 2 shown, in addition to the handle 120, the handle system 100 further comprises an actuating device 140, for example, an actuator comprising a motor, for driving the handle 120 to move between the unfolded position and the folded position, and a control unit 150. The control unit 150 is in communication connection with the ultrasonic sensor 130 and the actuating device 140. The control unit 150 can receive the detection signal input by the ultrasonic sensor 130 and output a control signal to the actuating device 140 to control the actuating device 140 to work in response to the signal. In Figure 2 the embodiment shown, the control unit 150 is part of the handle system 100, but in other embodiments, the control unit 150 can also be a central control unit of the vehicle. The control unit 150 is also in communication connection with an electronic lock device 250 of the vehicle to control the electronic lock device 250 to unlock and lock.

[0025] In some embodiments, the ultrasonic sensor 130 is used to implement the "anti-pinch" function of the handle. Specifically, during the movement of the handle 120 from the extended position to the retracted position, the ultrasonic sensor 130 detects whether there is a foreign object 200 in the receiving area 125. When the ultrasonic sensor 130 detects a foreign object 200, it sends a corresponding detection signal to the control unit 150. In response to the detection signal of the ultrasonic sensor 130, the control unit 150 sends a stop control signal to the actuator 140 to stop the handle 120 from moving to the retracted position, or sends an extension control signal to move the handle 120 in the opposite direction to the extended position. Thus, the handle system 100 implements the "anti-pinch" function by actively detecting whether there is a foreign object in the handle receiving area 125 through the ultrasonic sensor 130.

[0026] Because this application uses an ultrasonic sensor, the detection signal is generated without the operator touching the ultrasonic sensor. Therefore, its "anti-pinch" function is an active anti-pinch function, and it does not require the actual occurrence of being pinched or about to be pinched to trigger the "anti-pinch" function (for example, capacitive sensors require contact to generate a detection signal). Therefore, it can avoid the operator's concern about being pinched.

[0027] like Figure 2 As shown, in some embodiments, the ultrasonic sensor 130 is disposed on the lateral extension 162 located on the left side and emits a detection wave from left to right into the receiving area 125. The detection wave forms a cone-shaped detection area 231. Therefore, the ultrasonic sensor 130 is able to detect foreign objects 200 entering the detection area 231, while the area outside the detection area 231 in the receiving area 125 is a detection blind zone 225.

[0028] In some embodiments, the maximum detection angle range of the ultrasonic sensor 130 is set to 140° to 160°, that is, the included angle of the conical detection area 231 is 140° to 160°. This maximum detection angle range ensures that the detection blind zone 225 is in the longitudinal direction (i.e., Figure 2The maximum distance (in the left and right directions) is less than a predetermined value, such as 4 mm, thus ensuring that the ultrasonic sensor 130 can detect all objects with a diameter greater than the predetermined value, thereby minimizing the detection blind zone. The right end of the ultrasonic sensor 130 is exposed to the receiving area 125, and its outer surface 230 is flush with the inner surface 160 of the left lateral extension 162 of the handle 120, which is beneficial for the detection of the ultrasonic sensor 130. This is because if the outer surface 230 of the ultrasonic sensor 130 is blocked or covered by the inner surface 160 of the handle, the handle 120 will block the ultrasonic sensor 130 and reduce the detection angle of the ultrasonic sensor 130, thereby increasing the detection blind zone 225. If the outer surface 230 protrudes from the inner surface 160, foreign objects 200 may accidentally touch the ultrasonic sensor 130, reducing its service life, and also increasing the detection blind zone 225. Furthermore, having the outer surface 230 of the ultrasonic sensor 130 flush with the inner surface 160 of the handle 120 surrounding the ultrasonic sensor 130 can improve the aesthetics of the visible area of ​​the handle 120 without affecting the tactile feel of holding the handle.

[0029] In addition, in some embodiments, the color of the outer surface of the portion of the ultrasonic sensor 130 exposed to the receiving area 125 is the same as the color of the inner surface of the handle 120, thereby improving the aesthetic appearance.

[0030] Still as Figure 2 As shown, the ultrasonic sensor 130 can also be used to determine whether the vehicle's electronic lock device 250 can be unlocked. Specifically, when the vehicle 190 is not in motion and the door handle is in the extended position, if the ultrasonic sensor 130 detects a foreign object 200 (such as a human hand or nail polish on a hand) inserted into the receiving area 125, it indicates that the operator intends to open the door. When the ultrasonic sensor 130 detects a foreign object 200 in the receiving area 125, it generates a corresponding detection signal and sends it to the control unit 150. The control unit 150 responds to this detection signal by controlling the electronic lock device 250 to unlock, thereby allowing the operator to open the door.

[0031] Therefore, by using only the ultrasonic sensor 130 as a single detection element, at least two functions—unlocking the electronic lock device of the vehicle 190 and actively preventing the handle from pinching—are achieved. In other words, no other sensors or excitation devices are needed to unlock the electronic lock device of the vehicle 190, thus enabling the handle system to have streamlined components and control flow.

[0032] Figure 3 This is a block diagram of the control flow 300 of a control unit 150 according to an embodiment of this application. This control flow describes how the control unit 150 performs certain functions (e.g.,...). Figure 4 and Figure 5part of the sub-process in the process of the illustrated function.

[0033] As Figure 3 shown, the control flow 300 starts to execute in the process of moving the handle 120 to the retracted position. The control flow 300 includes steps 320, 330 and 340. In step 320, the control unit 150 judges whether there is a foreign object 200 in the receiving area 125 based on the signal received from the ultrasonic sensor 130, and if yes, it goes to step 330, and if no, it goes to step 340. In step 330, the control unit 150 sends a signal to the actuating device 140 to stop driving the handle 120 to move to the retracted position or to drive the handle 120 to reach the deployed position through the actuating device 140. In step 340, the control unit 150 sends a signal to the actuating device 140 to drive the handle 120 to continue moving to the retracted position through the actuating device 140.

[0034] In some embodiments, in step 320, the control unit 150 first drives the ultrasonic sensor 130 to detect the receiving area 125 of the handle 120, and then judges whether there is a foreign object 200 in the receiving area 125 based on the signal received from the ultrasonic sensor 130. In other embodiments, the control unit 150 can also drive the ultrasonic sensor 130 to detect the receiving area 125 of the handle 120 before step 320, for example, when the control unit 150 starts to work.

[0035] According to Figure 3 the flow, the above steps are executed in the process of moving the handle 120 to the retracted position, and the presence of a foreign object in the receiving area 125 is actively judged, so that the handle 120 has the "anti-pinch" function.

[0036] Figure 4 is a block diagram of a control flow 400 of the control unit 150 according to another embodiment of the present application, which is used to deploy the handle and unlock the electronic lock device before the vehicle starts to run.

[0037] As Figure 4 shown, in step 410, the control unit 150 starts to work. In step 420, the control unit 150 judges whether the vehicle 190 is in a non-running state, and if yes, it goes to step 430, and if no, it goes to step 480. The control unit judges whether the vehicle 190 is in a non-running state by receiving the vehicle speed information of the vehicle 190, and if the vehicle speed is 0, it judges that the vehicle 190 is in a non-running state, and if the vehicle speed is not 0, it judges that the vehicle 190 is in a running state.

[0038] At step 430, the control unit 150 determines whether the operator is the owner according to the owner identity information. If not, the process returns to step 410. If yes, the process proceeds to step 440. The owner identity can be identified in any of the following ways: a traditional key, a smart key, Bluetooth, a mobile phone application, a biometric feature, or NFC, etc.

[0039] At step 440, the control unit 150 sends a signal to the actuating device 140 to drive the handle 120 to the deployed position by the actuating device 140, and then proceeds to step 450.

[0040] At step 450, the control unit 150 determines whether the foreign object 200 is present in the receiving area 125. If yes, the process proceeds to step 460. If not, the process proceeds to step 490. In some embodiments, at step 450, the control unit 150 first drives the ultrasonic sensor 130 to detect the receiving area 125 of the handle 120, and then determines whether the foreign object 200 is present in the receiving area 125 based on the signal received from the ultrasonic sensor 130. In other embodiments, the control unit 150 can also drive the ultrasonic sensor 130 to detect the receiving area 125 of the handle 120 before step 450, for example, when the control unit 150 starts to work.

[0041] At step 490, the control unit 150 sends a signal to the actuating device 140 to drive the handle to the retracted position by the actuating device 140. Subsequently, during the movement of the handle to the retracted position, step 320 is performed, and its subsequent steps 330 and 340 are performed (i.e. the sub-process 300 shown in FIG. 3). Figure 3 In some embodiments, a preset time period is set between step 450 and step 490, and the process only proceeds from step 450 to step 490 after the preset time period has elapsed.

[0042] At step 460, the control unit 150 sends an unlocking signal to the electronic lock device 250 to unlock the electronic lock device 250, and then proceeds to step 470.

[0043] At step 470, the control unit 150 opens the vehicle door, and ends the process. At step 470, the control unit can control the vehicle door to pop open, or to open electrically. Of course, if the vehicle does not have the functions of automatically popping open the vehicle door and electrically opening the vehicle door, step 470 can also be omitted.

[0044] At step 480, the control unit 150 determines whether the handle 120 is in the deployed position. If yes, the process proceeds to the above-mentioned step 490 and its subsequent steps (i.e. the sub-process 300 shown in FIG. 3). If not, the process ends. Figure 3

[0045] Thus, by Figure 4 ​As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0046] Figure 5 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0047] As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle. Figure 5 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0048] As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0049] As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle. Figure 3 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0050] As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle. Figure 5 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle.

[0051] Figure 6 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle. Figure 6 As shown in the flow, the present application provides a control method of a vehicle, which is used to deploy a handle and unlock an electronic lock device before the vehicle starts driving. Moreover, the control method also considers to retract the handle in the case that the vehicle has been driven but the handle is not retracted, so as to improve the safety performance of the vehicle. Figures 3-5The program of the control flow shown. The input interface 606 is connected with the ultrasonic sensor 130 to obtain the signal of whether there is a foreign object 200 in the receiving area 125, in addition to receiving the input of instructions or information such as locking the electronic lock, the owner's identity recognition. The output interface 608 is connected to the actuating device 140 and the electronic lock device 250 to send control signals to the actuating device 140 and the electronic lock device 250, so as to control the handle 120 to expand or retract, and control the electronic lock device of the vehicle to unlock and lock.

[0052] While the present application has been described in connection with the examples of the embodiments outlined above, it will be evident to those skilled in the art that various alternatives, modifications, variations, improvements, and / or substantial equivalents, whether known or not, can be used to practice the application. Additionally, the technical effects and / or technical problems described in the specification are exemplary and not limiting; therefore the disclosure in the specification can be used to solve other technical problems and have other technical effects and / or can solve other technical problems. Accordingly, the examples of the embodiments of the present application as stated above are intended to be illustrative, not limiting. Various changes can be made without departing from the spirit or scope of the application. Therefore, the present application is intended to include all alternatives, modifications, variations, improvements and / or substantial equivalents that are known or are later developed.

Claims

1. A handle system for a vehicle, the handle system comprising: Handle base; The handle has a retracted position and an extended position, and the handle has a receiving area; An ultrasonic sensor is disposed on the handle and configured to detect the presence of a foreign object in the receiving area; as well as An actuation device configured to drive the handle to move between the extended position and the retracted position; The actuation device is configured to, during the movement of the handle from the extended position to the retracted position, stop driving the handle to the retracted position in response to the ultrasonic sensor detecting the presence of a foreign object in the receiving area, or drive the handle to the extended position.

2. The handle system according to claim 1, characterized in that... Also includes: A control unit is communicatively connected to the ultrasonic sensor and the actuation device to control the actuation device based on the detection signal from the ultrasonic sensor.

3. The handle system according to claim 2, characterized in that: The control unit is configured to drive the handle to the unfolded position before the vehicle is driven and the owner's identity has been identified, and to unlock the vehicle's electronic lock device in response to the ultrasonic sensor detecting the presence of a foreign object in the receiving area after the handle reaches the unfolded position.

4. The handle system according to claim 1, characterized in that: The handle has an inner surface defining the receiving area and a receiving hole extending through the inner surface, in which the ultrasonic sensor is received and exposed to the receiving area.

5. The handle system according to claim 4, characterized in that: The ultrasonic sensor has an outer surface facing the receiving area, and the outer surface is flush with the inner surface of the receiving area in the vicinity of the receiving hole.

6. The handle system according to claim 5, characterized in that: The handle includes two opposing longitudinal extensions and two opposing lateral extensions surrounding the receiving area; The ultrasonic sensor is disposed in one of the two lateral extensions or in one of the two longitudinal extensions.

7. A control method for controlling a vehicle having a handle system, the method comprising the steps of: (i) Drive the ultrasonic sensor to detect the receiving area of ​​the handle; (ii) During the movement of the handle to the retracted position, the presence of a foreign object in the receiving area of ​​the handle is determined based on the detection signal received from the ultrasonic sensor; (iii) If it is determined in step (ii) that there is a foreign object in the receiving area of ​​the handle, then stop driving the handle to the retracted position or drive the handle to the unfolded position.

8. The control method according to claim 7, characterized in that... Also includes: (a) When the vehicle has not yet been driven and the owner's identity has been identified, drive the handle to the unfolded position; (b) After the handle reaches the unfolded position, determine whether there is a foreign object in the receiving area of ​​the handle based on the detection signal received from the ultrasonic sensor; (c) If it is determined in step (b) that there is a foreign object in the receiving area of ​​the handle, then the electronic lock device of the vehicle is unlocked.

9. The control method according to claim 8, characterized in that... Also includes: If it is determined in step (b) that there is no foreign object in the receiving area of ​​the handle, then the handle is driven to move to the retracted position, and steps (ii)-(iii) above are performed during the movement of the handle to the retracted position.

10. The control method according to claim 7, characterized in that... Also includes: When the vehicle's electronic locking device is locked, the handle is driven to move to the retracted position, and the above steps (ii)-(iii) are performed during the movement of the handle to the retracted position.

11. The control method according to claim 7, characterized in that... Also includes: When the vehicle is in motion and the handle is in the extended position, the handle is driven to move to the retracted position, and the above steps (ii)-(iii) are performed during the movement of the handle to the retracted position.

12. A vehicle comprising a handle system according to any one of claims 1-6, or a control method according to any one of claims 7-11.

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