Vehicle control method, device, apparatus, and storage medium

Abstract

The application discloses a vehicle control method, device, equipment and storage medium, and the method comprises the following steps: acquiring historical automatic door closing data of a vehicle; in the case that the historical automatic door closing data indicates that the last automatic door closing operation belongs to a target door closing operation, and the number of door closing operations belonging to the target door closing operation in each automatic door closing operation meets a preset number of times, acquiring sealing reaction force information corresponding to each of the last multiple automatic door closing operations belonging to the target door closing operation, and a driving speed of a door driver corresponding to the last automatic door closing operation; determining a speed regulation proportion coefficient as a ratio of an average value of the sealing reaction force information and a preset sealing reaction force; obtaining a target driving speed based on the speed regulation proportion coefficient and the driving speed; and controlling the door driver to drive the door into a half-locked state at the target driving speed. The application can improve the reliability of the automatic door closing operation of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and specifically to a vehicle control method, device, equipment, and storage medium. Background Technology

[0002] The automatic door closing process typically involves successfully driving the door into a half-lock state, and then further driving it into a fully locked state to complete the door closure. In related technologies, the drive speed of the door electric actuator remains constant before driving the door into the half-lock state. However, environmental factors and changes in the parameters of the vehicle's components can cause variations in the reaction force acting on the door during this process. This means that at a constant drive speed, if the reaction force on the door is too large, the automatic door closing process may fail to lock in the halfway point; conversely, if the reaction force is too small, the door may slam shut. Summary of the Invention

[0003] One of the objectives of this invention is to provide a vehicle control method, device, equipment, and storage medium that can adjust the driving speed of a vehicle when it enters a semi-locked state, thereby improving the reliability of automatic door closing operation.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a vehicle control method, the method comprising: Acquire historical automatic door closing data of the vehicle; If the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets the preset number, then obtain the sealing reaction force information corresponding to each of the most recent automatic door closing operations belonging to the target door closing operation, as well as the drive speed of the door drive corresponding to the most recent automatic door closing operation; the target door closing operation indicates the closing operation that successfully puts the door into a half-lock state. The ratio of the average value of the sealing reaction force information to the preset sealing reaction force is determined as the speed regulation ratio coefficient; The target driving speed is obtained based on the speed regulation ratio coefficient and the driving speed; Control the door driver to drive the door into a half-lock state at the target drive speed.

[0005] In an embodiment of the present invention, the target driving speed is obtained based on the speed regulation ratio coefficient and the driving speed, including: When the speed regulation ratio coefficient is greater than or equal to the first preset ratio coefficient and less than or equal to the second preset ratio coefficient, the driving speed is determined as the target driving speed. When the speed regulation ratio coefficient is less than the first preset ratio coefficient, the product of the driving speed and the first ratio coefficient is determined as the first reference speed; based on the first reference speed and the preset minimum driving speed, the target driving speed is determined; the first ratio coefficient is the sum of the speed regulation ratio coefficient and the preset fine-tuning coefficient. When the speed regulation ratio coefficient is greater than the second preset ratio coefficient, the product of the driving speed and the second ratio coefficient is determined as the second reference speed; the target driving speed is determined based on the second reference speed and the preset minimum driving speed; the second ratio coefficient is the difference between the speed regulation ratio coefficient and the preset fine-tuning coefficient; the first preset ratio coefficient is less than the second preset ratio coefficient.

[0006] In an embodiment of the present invention, determining the target driving speed based on a first reference speed and a preset minimum driving speed includes: If the first reference speed is less than or equal to the preset minimum driving speed, the preset minimum driving speed is determined as the target driving speed; If the first reference speed is greater than the preset minimum driving speed, the first reference speed is determined as the target driving speed.

[0007] In an embodiment of the present invention, determining the target driving speed based on a second reference speed and a preset minimum driving speed includes: If the second reference speed is greater than or equal to the preset maximum driving speed, the preset maximum driving speed is determined as the target driving speed; If the second reference speed is less than the preset maximum driving speed, the second reference speed is determined as the target driving speed.

[0008] In an embodiment of the present invention, the method further includes: If the historical automatic door closing data is empty, and / or if the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the door drive is controlled to drive the door into a half-lock state at a preset drive speed; the preset drive speed is less than the preset maximum drive speed and greater than the preset minimum drive speed.

[0009] In an embodiment of the present invention, when the historical automatic door closing data is empty, and / or the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the method further includes: The drive current of the door actuator, the linear velocity of the door lock position when the door contacts the sealing strip at the door frame, and the ambient temperature are obtained during the target time period; the target time period is from the moment the door contacts the sealing strip at the door frame to the moment the door actuator stops driving. Based on the driving current, linear velocity, and ambient temperature, the sealing reaction force on the door is analyzed to obtain the sealing reaction force information corresponding to this automatic door closing operation.

[0010] In an embodiment of the present invention, the method further includes: If the historical automatic door closing data indicates that the door failed to enter the half-lock state during the most recent automatic door closing operation, the door drive is controlled to drive the door into the half-lock state at a preset maximum drive speed.

[0011] In an embodiment of the present invention, controlling the door driver to drive the door into a half-locked state at a target driving speed includes: The Hall distance value corresponding to the target door closing operation is collected in real time; whereby the Hall distance value represents the degree of door closure corresponding to the target door closing operation. When the Hall distance value reaches the first threshold, the door driver is controlled to drive the door into a half-lock state at the target driving speed.

[0012] This invention provides a vehicle control device, the device comprising: The first acquisition module is used to acquire historical automatic door closing data of the vehicle; The second acquisition module is used to acquire the sealing reaction force information corresponding to the most recent automatic door closing operations that belong to the target door closing operation, and the driving speed of the door drive corresponding to the most recent automatic door closing operation, when the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations that belong to the target door closing operation in each automatic door closing operation meets the preset number; the target door closing operation indicates the closing operation that makes the door successfully enter the half-lock state; The proportional calculation module is used to determine the ratio of the average value of the sealing reaction force information to the preset sealing reaction force as the speed regulation ratio coefficient. The speed calculation module is used to obtain the target driving speed based on the speed regulation ratio coefficient and the driving speed; The first execution module is used to control the door driver to drive the door into a half-locked state at a target driving speed.

[0013] This invention provides a vehicle control device, which includes a processor and a storage medium storing executable instructions. The storage medium performs operations via a communication bus in dependence of the processor. When the executable instructions are executed by the processor, the vehicle control method of one or more embodiments is executed.

[0014] This invention provides a computer storage medium storing executable instructions. When the executable instructions are executed by a processor, the processor executes a vehicle control method as described in one or more embodiments.

[0015] This invention provides a computer program product, including a computer program or instructions, which, when executed by a processor, perform a vehicle control method as described in one or more embodiments.

[0016] The beneficial effects of this invention are: In this invention, by using the sealing reaction force information corresponding to each of the multiple automatic door closing operations that successfully enter the half-lock state, and the driving speed of the door actuator corresponding to the most recent automatic door closing operation that successfully enters the half-lock state, the driving speed of the door entering the half-lock state can be determined. This allows for real-time adjustment of the driving speed of the door actuator before entering the half-lock state, making the speed at which the door enters the half-lock state compatible with the reaction force exerted on the door by the sealing strip at the door frame when the door is closed. Consequently, the driving speed of the vehicle entering the half-lock state can be adaptively adjusted according to the reaction force state of the vehicle, improving the reliability of the vehicle's automatic door closing operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the implementation process of the vehicle control method proposed in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the target driving speed calculation method under different speed regulation ratio coefficients proposed in this embodiment of the invention. Figure 3 This is a schematic diagram of the process for calculating sealing reaction force information during automatic door closing operation, as proposed in an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the process for calculating sealing reaction force information during automatic door closing operation, as proposed in an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the relationship between the temperature compensation amount and the ambient temperature proposed in the embodiments of the present invention. Figure 6 This is a schematic diagram of the composition structure of the vehicle control device proposed in an embodiment of the present invention; Figure 7 This is a schematic diagram of the composition structure of the vehicle control device proposed in an embodiment of the present invention. Detailed Implementation

[0018] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] The automatic door closing process typically involves successfully driving the door into a half-lock state, and then further driving it into a fully locked state to complete the door closure. In related technologies, the drive speed of the door electric actuator remains constant before driving the door into the half-lock state. However, environmental factors and changes in the parameters of the vehicle's components can cause variations in the reaction force acting on the door during this process. This means that at a constant drive speed, if the reaction force on the door is too large, the automatic door closing process may fail to lock in the halfway point; conversely, if the reaction force is too small, the door may slam shut.

[0021] To address the aforementioned problems, embodiments of the present invention provide a vehicle control method, apparatus, device, and storage medium. The method includes: acquiring historical automatic door closing data of the vehicle; when the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to a target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets a preset number, acquiring sealing reaction force information corresponding to each of the most recent automatic door closing operations belonging to the target door closing operation, and the driving speed of the door actuator corresponding to the most recent automatic door closing operation; the target door closing operation indicates a closing operation that successfully puts the door into a half-lock state; determining the ratio of the average value of the sealing reaction force information to a preset sealing reaction force as a speed regulation ratio coefficient; obtaining a target driving speed based on the speed regulation ratio coefficient and the driving speed; and controlling the door actuator to drive the door into a half-lock state at the target driving speed. In this invention, by using the sealing reaction force information corresponding to each of the multiple automatic door closing operations that successfully enter the half-lock state, and the driving speed of the door actuator corresponding to the most recent automatic door closing operation that successfully enters the half-lock state, the driving speed of the door entering the half-lock state can be determined. This allows for real-time adjustment of the driving speed of the door actuator before entering the half-lock state, making the speed at which the door enters the half-lock state compatible with the reaction force exerted on the door by the sealing strip at the door frame when the door is closed. Consequently, the driving speed of the vehicle entering the half-lock state can be adaptively adjusted according to the reaction force state of the vehicle, improving the reliability of the vehicle's automatic door closing operation.

[0022] The technical solutions in the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings.

[0023] One embodiment of the present invention provides a vehicle control method, which can be applied to a vehicle control device, a vehicle control equipment, or a vehicle equipment equipped with a vehicle control device or vehicle control equipment. The present invention does not impose any specific limitations.

[0024] It is understood that, in the embodiments of the present invention, the vehicle control method proposed in the present invention is described by way of example with a vehicle control device as the execution subject, but the execution subject of the vehicle control method is not limited.

[0025] Figure 1 This is a schematic diagram illustrating the implementation flow of the vehicle control method proposed in an embodiment of the present invention. Figure 1 As shown, the vehicle control method applied to the vehicle includes the following steps: Step 101: Obtain the vehicle's historical automatic door closing data.

[0026] In this embodiment of the invention, the door closing command is used to instruct the vehicle to perform an automatic door closing operation. The automatic door closing operation includes driving the door into a half-lock state and then driving the door into a fully-lock state. Historical automatic door closing data can indicate whether the automatic door closing operation under each historical door closing command belongs to the target door closing operation. The target door closing operation is the door closing operation that successfully puts the door into a half-lock state. The historical door closing commands are the door closing commands before the current door closing command.

[0027] Step 102: If the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets the preset number, obtain the sealing reaction force information corresponding to the most recent automatic door closing operations belonging to the target door closing operation, as well as the driving speed of the door drive corresponding to the most recent automatic door closing operation; the target door closing operation indicates the closing operation that successfully puts the door into a half-lock state.

[0028] In this embodiment of the invention, the most recent automatic door closing operation is the automatic door closing operation corresponding to the previous door closing command. If the most recent automatic door closing operation successfully puts the door into a half-lock state, then the most recent automatic door closing operation belongs to the target door closing operation. The number of closing operations belonging to the target door closing operation that meets the preset number means that among the automatic door closing operations corresponding to each door closing command before the previous door closing command, the number of closing operations that successfully put the door into a half-lock state meets the preset number. The number of the most recent automatic door closing operations belonging to the target door closing operation is determined according to the preset number. The sealing reaction force information can reflect the resistance experienced by the door during the closing process.

[0029] In one exemplary embodiment, assuming there were 8 door closing commands before the current (9th) door closing command, and the preset number of commands is 5, then there were a total of 8 automatic door closing operations before this door closing command. In the 8th automatic door closing operation, the door successfully entered the half-lock state. In 7 out of the 8 automatic door closing operations, the door successfully entered the half-lock state. Only in the 5th automatic door closing operation did the door fail to enter the half-lock state. It can be considered that the 5th automatic door closing operation failed to close normally due to a sudden increase in sealing reaction force or other reasons. Therefore, the 5th door closing operation, which failed to enter the half-lock state, should be skipped. Therefore, the most recent (i.e., the 8th) automatic door closing operation belongs to the target door closing operation, and the number of door closing operations belonging to the target door closing operation in the 8 automatic door closing operations is satisfied at 5 times. In this case, the sealing reaction force information corresponding to the 5 most recent (i.e. the 3rd, 4th, 6th, 7th, and 8th) automatic door closing operations belonging to the target door closing operation is obtained, as well as the driving speed of the door drive corresponding to the most recent (i.e., the 8th) automatic door closing operation.

[0030] Step 103: Determine the ratio of the average value of the sealing reaction force information to the preset sealing reaction force as the speed regulation ratio coefficient.

[0031] In this embodiment of the invention, the ratio of the average value of the sealing reaction force information to the preset sealing reaction force is determined as the speed regulation ratio coefficient, which can be calculated by the following formula (1): p = K / Kstan (1) In equation (1), p is the speed regulation ratio coefficient, K is the average value of the sealing reaction force information corresponding to the most recent automatic closing operations belonging to the target closing operation, and Kstan is the preset sealing reaction force.

[0032] Step 104: Based on the speed regulation ratio coefficient and the driving speed, obtain the target driving speed.

[0033] In an embodiment of the present invention, the target driving speed is obtained based on the speed regulation ratio coefficient and the driving speed, including: Step 1041: When the speed regulation ratio coefficient is greater than or equal to the first preset ratio coefficient and less than or equal to the second preset ratio coefficient, the driving speed is determined as the target driving speed; the first preset ratio coefficient is less than the second preset ratio coefficient.

[0034] In this embodiment of the invention, the relationship between the speed adjustment ratio coefficient and the first preset ratio coefficient and the second preset ratio coefficient is used to indicate the adjustment method of the door actuator's driving speed during the current half-locking operation. The first preset ratio coefficient can be selected as 0.9, and the second preset ratio coefficient can be selected as 1.1. The speed adjustment ratio coefficient being greater than or equal to the first preset ratio coefficient can be 0.9 ≤ p ≤ 1.1. When the speed adjustment ratio coefficient is greater than or equal to the first preset ratio coefficient, it can be considered that the driving speed of the automatic door closing operation belonging to the target door closing operation of this vehicle is reasonable relative to the sealing reaction force, and no adjustment is needed. Therefore, the driving speed can be directly determined as the target driving speed.

[0035] Step 1042: When the speed regulation ratio coefficient is less than the first preset ratio coefficient, the product of the driving speed and the first ratio coefficient is determined as the first reference speed; based on the first reference speed and the preset minimum driving speed, the target driving speed is determined; the first ratio coefficient is the sum of the speed regulation ratio coefficient and the preset fine-tuning coefficient.

[0036] In this embodiment of the invention, if the speed adjustment ratio coefficient is less than the first preset ratio coefficient, it can be considered that the driving speed of the automatic door closing operation belonging to the target door closing operation is relatively large compared with the sealing reaction force, and can be appropriately reduced. The value of the preset fine-tuning coefficient is modified according to the actual situation. For example, the preset fine-tuning coefficient can be set to 0.05.

[0037] In an embodiment of the present invention, determining the target driving speed based on a first reference speed and a preset minimum driving speed includes: If the first reference speed is less than or equal to the preset minimum driving speed, the preset minimum driving speed is determined as the target driving speed; if the first reference speed is greater than the preset minimum driving speed, the first reference speed is determined as the target driving speed.

[0038] In an embodiment of the present invention, when the first reference speed is less than or equal to the preset minimum driving speed Vmin, it indicates that the calculated first reference speed is too small and exceeds the given minimum value range. Therefore, the preset minimum driving speed Vmin can be determined as the target driving speed. When the first reference speed is less than or equal to the preset minimum driving speed Vmin, it indicates that the calculated first reference speed is usable. Therefore, the first reference speed can be determined as the target driving speed.

[0039] Therefore, in the embodiments of the present invention, by determining the preset minimum driving speed as the target driving speed when the first reference speed is less than or equal to the preset minimum driving speed, and by determining the first reference speed as the target driving speed when the first reference speed is greater than the preset minimum driving speed, the output driving speed can be corrected so that the value of the target driving speed is more in line with the actual working conditions.

[0040] Step 1043: When the speed regulation ratio coefficient is greater than the second preset ratio coefficient, the product of the driving speed and the second ratio coefficient is determined as the second reference speed; based on the second reference speed and the preset minimum driving speed, the target driving speed is determined; the second ratio coefficient is the difference between the speed regulation ratio coefficient and the preset fine-tuning coefficient.

[0041] In this embodiment of the invention, when the speed regulation ratio coefficient is greater than the second preset ratio coefficient, it can be considered that the driving speed of the automatic door closing operation belonging to the target door closing operation is relatively small compared with the sealing reaction force, and can be appropriately increased. The value of the preset fine-tuning coefficient is modified according to the actual situation. For example, the preset fine-tuning coefficient can be set to 0.05.

[0042] In an embodiment of the present invention, determining the target driving speed based on a second reference speed and a preset minimum driving speed includes: If the second reference speed is greater than or equal to the preset maximum driving speed, the preset maximum driving speed is determined as the target driving speed; if the second reference speed is less than the preset maximum driving speed, the second reference speed is determined as the target driving speed.

[0043] In an embodiment of the present invention, when the second reference speed is greater than or equal to the preset maximum driving speed Vmax, it indicates that the calculated second reference speed is too small and exceeds the given maximum value range. Therefore, the preset maximum driving speed Vmax can be determined as the target driving speed. When the second reference speed is greater than or equal to the preset maximum driving speed Vmax, it indicates that the calculated second reference speed is usable. Therefore, the second reference speed can be determined as the target driving speed.

[0044] Therefore, in the embodiments of the present invention, by determining the preset maximum driving speed as the target driving speed when the second reference speed is greater than or equal to the preset maximum driving speed, and by determining the second reference speed as the target driving speed when the second reference speed is less than the preset maximum driving speed, the output driving speed can be corrected so that the value of the target driving speed is more in line with the actual working conditions.

[0045] Step 105: Control the door driver to drive the door into a half-lock state at the target drive speed.

[0046] In an embodiment of the invention, before the door enters the half-lock state, the door driver drives the door to close at a target drive speed. Whether the door has entered the half-lock state can be determined by whether the half-lock limit switch signal (Door Open) changes. When Door Open is 0, it indicates that the door has not entered the half-lock state. When Door Open changes from 0 to 1, it can be considered that the door has successfully entered the half-lock state. The half-lock state means that the door lock tongue is in the half-lock position, that is, the door is not fully closed, but it has been initially locked.

[0047] Therefore, in the embodiments of the present invention, by setting different calculation methods for target driving speeds according to the magnitude of the speed regulation ratio coefficient, different half-lock driving speeds can be configured for vehicles under different sealing reaction force conditions. This allows the driving speed for the door to enter the half-lock state to be adapted to the reaction force brought to the door by the sealing strip at the door frame when the door is closed, so that the driving speed for the vehicle to enter the half-lock state can be adaptively adjusted according to the reaction force state of the vehicle, thereby improving the reliability of the vehicle's automatic door closing operation.

[0048] In this embodiment, the closing process of the car door can be divided into two stages. The first stage refers to the door moving from a fully open state to a near-closed state, and the second stage refers to the door moving from a near-closed state to a fully closed state. In the first stage, the door can usually close at a relatively fast speed. However, in the second stage, in order to cope with the sealing reaction force and to avoid the door slamming, the closing speed of the door needs to be precisely controlled.

[0049] To address this situation, this application proposes a vehicle control method, which includes: Step S1: Real-time acquisition of the Hall distance value corresponding to the target door closing operation.

[0050] The Hall distance value represents the degree of door closure corresponding to the target door closing operation.

[0051] In this embodiment, after receiving a target door closing operation, the vehicle responds by having the door driver gradually close the door from a fully open state. During this process, the Hall distance value corresponding to the target door closing operation can be collected in real time.

[0052] In some embodiments, each revolution of the drive motor corresponds to a fixed Hall distance value, for example, 23 Hall distance values ​​per revolution of the drive motor. The Hall distance value corresponding to the target door closing operation can be determined by collecting the number of revolutions of the drive motor.

[0053] In this embodiment, it can be understood that when the car door is fully open, the Hall distance value is, for example, 0. As the target door closing operation proceeds, the door gradually closes, and the Hall distance value gradually increases. For example, a larger Hall distance value indicates a higher degree of door closure, meaning the door is closer to being closed.

[0054] Step S2: When the Hall distance value reaches the first threshold, control the door driver to drive the door into a half-lock state at the target driving speed.

[0055] In this embodiment of the application, when the Hall distance value reaches the first threshold, it indicates that the closing process of the car door has entered the second stage. In this case, fine-grained drive management is required, so the car door is controlled to enter the half-lock state at the target drive speed.

[0056] For example, if the Hall distance value collected in real time is 6500 Hall and the first threshold is 6500 Hall, by comparison, it can be determined that the Hall distance value corresponding to the target door closing operation has reached the first threshold. Then, the door driver can be controlled to drive the door into a half-lock state at the target driving speed.

[0057] For example, if the real-time collected Hall distance value is 5000 Hall and the first threshold is 6500 Hall, by comparison it can be determined that the Hall distance value corresponding to the target door closing operation has not reached the first threshold, then the door driver will not drive the door according to the target driving speed.

[0058] This application embodiment improves the driving efficiency of the door driver by driving the door into a half-lock state only after the Hall distance value corresponding to the target door closing operation reaches a first threshold.

[0059] Figure 2 This is a flowchart illustrating the target drive speed calculation method under different speed regulation ratios proposed in this invention. In one exemplary embodiment, assuming that the door successfully entered a half-lock state in the five automatic door closing operations prior to the nth automatic door closing operation, the half-lock operation in the current automatic door closing operation can be completed based on the sealing reaction force information (Kn-5 to Kn-1) corresponding to the five most recent automatic door closing operations. Figure 2As shown, first, the sealing reaction force information Kn corresponding to the nth automatic door closing operation can be calculated according to the calculation formula Kn = ∑Ki / 5, i: [n - 5, n - 1] in step 2A. Then, according to the calculation formula in step 2B (i.e., the previous formula (1)), the speed regulation ratio coefficient p is calculated. When 0.9 ≤ p ≤ 1.1 (step 2C), the target driving speed Vn of the nth automatic door closing operation = the driving speed Vn - 1 of the (n - 1)th automatic door closing operation (step 2D). After the next door closing instruction is issued, step 2E is executed, n = n + 1, and the count is incremented by one. When p < 0.9 (step 2F), it is considered that the driving speed of the automatic door closing operation belonging to the target door closing operation is relatively small compared to the sealing reaction force and can be appropriately increased. According to the calculation method in step 2G, Vn - 1 = Vn - 1 × (p + 0.05), to obtain the updated Vn - 1. When Vn - 1 < Vmin (step 2H), step 2I is executed, and the target driving speed Vn of the nth automatic door closing operation is determined as the preset minimum driving speed Vmin. Otherwise, step 2D is executed. At this time, the Vn - 1 used in step 2D has become the updated Vn - 1 after step 2G. After the next door closing instruction is issued, step 2E is executed, n = n + 1, and the count is incremented by one. When p > 1.1 (step 2J), it is considered that the driving speed of the automatic door closing operation belonging to the target door closing operation is relatively large compared to the sealing reaction force and can be appropriately reduced. According to the calculation method in step 2K, Vn - 1 = Vn - 1 × (p - 0.05), to obtain the updated Vn - 1. When Vn - 1 > Vmax (step 2L), step 2M is executed, and the target driving speed Vn of the nth automatic door closing operation is determined as the preset maximum driving speed Vmax. Otherwise, step 2D is executed. At this time, the Vn - 1 used in step 2D has become the updated Vn - 1 after step 2M. After the next door closing instruction is issued, step 2E is executed, n = n + 1, and the count is incremented by one.

[0060] In an embodiment of the present invention, the method further includes: When the historical automatic door closing data is empty, and / or, the number of door closing operations belonging to the target door closing operation in each automatic door closing operation indicated by the historical automatic door closing data does not meet the preset number, control the door driver to drive the door into the semi - locked state at a preset driving speed; the preset driving speed is less than the preset maximum driving speed and greater than the preset minimum driving speed.

[0061] In an embodiment of the present invention, if the historical automatic door closing data is empty, it indicates that the vehicle has not previously issued a door closing command and has not performed an automatic door closing operation. If the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, it indicates that the number of times the vehicle has successfully closed the door into a half-lock state is insufficient, and the sealing reaction force information is insufficient to be used as a reference for the driving speed of this automatic door closing operation. Therefore, the door actuator is controlled to drive the door into a half-lock state at a preset driving speed V0. The preset driving speed V0 can be a larger value within the range of a preset minimum driving speed to a preset maximum driving speed.

[0062] Therefore, in the embodiments of the present invention, by controlling the door driver to drive the door into a half-lock state at a preset driving speed when the historical automatic door closing data is empty or the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, it is possible to control the half-lock driving speed of the vehicle in the initial state and improve the reliability of the vehicle's automatic door closing operation.

[0063] In order to more completely reflect the magnitude of the door sealing reaction force through sealing reaction force information, when the historical automatic door closing data is empty, or when the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the sealing reaction force information is calculated from the moment the door touches the sealing strip at the door frame during the automatic door closing process. Since the door actuator no longer performs work on the door after it stops driving, the calculation of sealing reaction force information stops when the door electric actuator stops driving.

[0064] Figure 3 This is a schematic diagram of the process for calculating sealing reaction force information during automatic door closing operation, as proposed in an embodiment of the present invention. Figure 1 In embodiments of the present invention, if the historical automatic door closing data is empty, or if the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, such as... Figure 3As shown, the automatic door closing operation process includes: Step 3A, the door actuator drives the door to move in the closing direction; Step 3B, determine whether the door contacts the sealing strip at the door frame; when the door does not contact the sealing strip at the door frame, continue to move in the closing direction; when the door contacts the sealing strip at the door frame, it will begin to receive a reaction force from the sealing strip, at which point the drive current of the door actuator has an inflection point (slope change point), the inflection point threshold can be determined by calibration, and this moment is used as the starting point for calculating the sealing reaction force information; Step 3C, The calculation of sealing reaction force information begins, while the door drive controller continues to work. Step 3D: Locking begins when the half-lock travel switch signal changes from 0 to 1. Step 3E is satisfied: after the half-lock travel switch signal changes, the door drive's driving duration is 200ms; or step 3E' is satisfied: after the half-lock travel switch signal changes, the door drive's driving duration is 120ms, and the door is pushed inwards by 80 Hall distance values; or step 3E'' is satisfied: the full-lock travel switch signal changes from 0 to 1. Step 3F is executed: the door electric drive stops driving, and this moment is taken as the end point of the sealing reaction force information calculation. If the half-lock travel switch signal does not change, the calculation of the sealing reaction force information is stopped directly.

[0065] This invention establishes a model that reflects the actual sealing reaction force by using three parameters: the integral value of the current of the door actuator, the linear velocity of the door lock position when the door contacts the sealing strip at the door frame, and the ambient temperature.

[0066] Figure 4 This is a schematic diagram of the process for calculating sealing reaction force information during automatic door closing operation, as proposed in an embodiment of the present invention. Figure 2 In embodiments of the present invention, when the historical automatic door closing data is empty, and / or when the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the above-mentioned method for calculating the sealing reaction force information specifically includes: Step 401: Obtain the drive current of the door actuator, the linear velocity of the door lock position when the door contacts the sealing strip at the door frame, and the ambient temperature during the target time period; the target time period is from the moment the door contacts the sealing strip at the door frame to the moment the door actuator stops driving.

[0067] In embodiments of the present invention, the drive current I includes the current value of the door actuator at different times during the target time period. The door control unit (DCU) can record the current of the door actuator until it stops driving. Simultaneously, the DCU can also record the linear velocity V of the door lock position when the door contacts the sealing strip at the door frame during door movement. The ambient temperature can be obtained through an external temperature sensor.

[0068] Step 402: Based on the driving current, linear velocity and ambient temperature, analyze the sealing reaction force on the door to obtain the sealing reaction force information corresponding to this automatic door closing operation.

[0069] In embodiments of the present invention, the sealing reaction force on the vehicle door is analyzed based on the driving current, linear velocity, and ambient temperature to obtain sealing reaction force information, including: determining the current integral compensation amount based on the integral of the driving current over time; determining the speed compensation amount based on the square of the linear velocity; determining the temperature compensation amount based on the ambient temperature; and determining the sealing reaction force information by summing the current integral compensation amount, speed compensation amount, and temperature compensation amount. Specifically, determining the current integral compensation amount based on the integral of the driving current over time includes: determining the target driving power by integrating the driving current over time, and determining the current integral compensation amount by multiplying the target driving power by a first calibration coefficient; determining the speed compensation amount based on the square of the linear velocity includes: determining the speed compensation amount by multiplying the square of the linear velocity by a second calibration coefficient; and determining the temperature compensation amount based on the ambient temperature includes: determining the temperature compensation amount corresponding to the ambient temperature based on a temperature compensation model, where the temperature compensation model is used to measure the influence of temperature on the physical properties of rubber materials.

[0070] The calculation principle of current integral compensation is as follows: The integral of the driving current over time, ∫Idt, from the moment the door contacts the sealing strip to the moment the door actuator stops, reflects the amount of work continuously done by the current during the target time period. Therefore, the larger ∫Idt is, the more work is required to drive the door electric actuator, and the larger the sealing reaction force; conversely, the smaller the sealing reaction force is. An energy analysis of the door state during the time from when the door contacts the sealing strip to when the door electric actuator stops, yields the following relationship (2): ∫Idt+1 / 2 m V^2=∫Fds (2) In equation (2), ∫Idt is the integral of the driving current over time during the target time period, i.e., the work done by electrical energy; I is the driving current; t represents the time from when the door contacts the sealing strip to when the door electric actuator stops driving; 1 / 2 m V^2 is the kinetic energy of the car door when it first contacts the sealing strip; V is the linear velocity of the door lock position when it first contacts the sealing strip, and as the car door moves inward, the velocity gradually decreases to 0 under the action of the reaction force; m is the mass of the car door; ∫Fds is the integral of the resistance over the distance the car door moves, reflecting the work done by the car door to overcome the resistance such as sealing reaction force, air pressure, and internal resistance of the actuator during the movement of the car door; s is the distance the door lock position moves from the moment the car door first contacts the sealing strip to the moment the car door electric actuator stops driving; F is the resistance within the range of the moving distance.

[0071] In the actual movement of the car door, other forces will affect the movement of the door, but they do not affect the analysis of the resistance trend or the analysis of the relationship between parameters and resistance. Therefore, they are omitted in this invention. The resistance in the actual movement of the car door is a variable. To simplify the calculation, the following formula (3) can be obtained: ∫Fds=F 平均 s (3) In equation (3), F 平均 This represents the average sealing reaction force from the time the door contacts the sealing strip until the door's electric actuator stops moving.

[0072] Energy analysis yields: F 平均 It is proportional to ∫Idt, meaning that the average sealing reaction force of the door during its movement can be approximately proportional to the integral of the current over time.

[0073] Therefore, we can set the current integral compensation quantity K_current = α ∫Idt, where α is the first calibration coefficient, and ∫Idt is the integral of the driving current over time, i.e., the target driving power.

[0074] The calculation principle of speed compensation is as follows: The higher the drive speed before the door is partially locked, the less work the current needs to do during the closing process, and the relatively smaller the calculated current integral compensation value K_current will be. Since the drive speed is a real-time variable, a speed compensation value is introduced to correct the influence of speed on the accuracy of the sealing reaction force model.

[0075] Since the mass m of the car door is a constant, and combining the analysis process of equations (2) and (3) above, it can be seen that F is proportional to V^2. Therefore, the driving speed compensation amount K_ve = β can be assumed. V^2, where β is the second calibration coefficient.

[0076] The calculation principle for temperature compensation is as follows: The sealing strip is made of rubber, and its sealing reaction force is affected by the properties of rubber as temperature changes occur. Even with current and speed remaining approximately constant, the sealing reaction force of the car door can vary significantly under different temperature conditions.

[0077] At low temperatures, the rubber molecular chains are not active and are in a glassy state. At this time, the hardness of the rubber is relatively high and changes slowly. When the temperature is near the inflection point, the molecular chains begin to move. At this time, the rubber enters the transition stage from the glassy state to the high-elastic state, and the elastic modulus drops sharply. When the temperature is very high, the rubber fully enters the high-elastic state. At this time, the molecular chains move freely, and the hardness of the rubber is low and changes slowly. In order to better match the physical characteristics of the change of rubber elastic modulus with temperature, this invention introduces an S-curve (Sigmoid function) to set the temperature compensation amount to determine the sealing reaction force information. The correspondence between the temperature compensation amount and the ambient temperature is as follows (4): K_temp =γ×[μ / (1 + e^(τ)] (T_env - T0)))] (4) In equation (4), K_temp is the temperature compensation amount, T_env is the ambient temperature, i.e., the temperature value collected by the vehicle's external temperature sensor; T0 is the inflection point temperature, at which point the second derivative of K_temp is 0, and the rate of change of the function is the highest; τ is the temperature sensitivity coefficient, used to adjust the influence of the difference between the ambient temperature and the inflection point temperature, T_env - T0, on K_temp; τ is the calibration value, which can be calibrated in the environmental chamber using a multi-point fitting method. The closer the temperature sensitivity coefficient is to 0, the smoother the S-curve, and the smaller the slope near the inflection point temperature; μ is the maximum temperature compensation amount. When the ambient temperature is much lower than the inflection point temperature, i.e., T_env - T0 << 0, due to the nature of the exponential function, e^(τ) (T_env - T0) approaches 0 infinitely, and K_temp approaches γ infinitely. μ, i.e., γ μ is the maximum achievable temperature compensation, γ μ is the calibration value, which can be calibrated in a low-temperature environment chamber by selecting the lowest operating temperature designed for the vehicle model to obtain the test results; γ is the compensation coefficient, which is also a calibration value and can be calibrated in an environment chamber using multi-point fitting.

[0078] Figure 5 This is a schematic diagram illustrating the relationship between the temperature compensation amount and the ambient temperature according to an embodiment of the present invention. Figure 5 In the curve shown, the horizontal axis is T_env, the vertical axis is K_temp, γ is 2.3, μ is 1.5, τ is -0.6, and T0 is 7.

[0079] When the ambient temperature equals the inflection point temperature, K_temp is always equal to a calibration value, which needs to be calibrated using a dynamic mechanical analysis (DMA) instrument, or provided by the sealing strip manufacturer.

[0080] The calibration method for T0 is described in detail below: 1. Cut the sealing strip sample into standard dimensions; 2. Increase the temperature at a rate of 2℃ / min within the range of -70℃ to 100℃; 3. Measure the energy storage modulus E' and the loss factor tanδ; 4. T0 = tanδ, the temperature corresponding to the peak value (i.e., the point where molecular motion is most intense). In the actual calibration process, multiple samples can be tested repeatedly, and the average value is taken as the final inflection point temperature.

[0081] In summary, by using the above method for calculating the sealing reaction force, we can obtain the sealing reaction force information K, which is calculated in real time each time the door is closed.

[0082] That is, K=K_current+K_ve+K_temp=α ∫Idt+β V^2+γ×[μ / (1 + e^(τ (T_env-T0)))] The value of K can fully reflect the magnitude of the sealing reaction force. In the above expression, except for the current integral ∫Idt, velocity V, and ambient temperature T_env, which are variables calculated and collected in real time, the rest are calibration parameters.

[0083] Therefore, in the embodiments of the present invention, by analyzing the sealing reaction force on the door based on the driving current, linear velocity, and ambient temperature, the sealing reaction force information corresponding to the automatic door closing operation is obtained. This allows for a comprehensive analysis of various parameters affecting the sealing reaction force, such as the driving current during the closing process, the ambient temperature affecting the physical state of the sealing strip at the door frame, and the speed of the door, thereby improving the accuracy of the calculated sealing reaction force information.

[0084] In embodiments of the present invention, the method further includes: If the historical automatic door closing data indicates that the door failed to enter the half-lock state during the most recent automatic door closing operation, the door drive is controlled to drive the door into the half-lock state at a preset maximum drive speed.

[0085] In an embodiment of the present invention, taking the failure of the nth automatic closing operation to successfully engage the half-lock as an example, it can be considered that the sealing reaction force suddenly increased, or that the door could not close normally due to other reasons. The drive speed value Vmax is used when performing the (n+1)th automatic closing operation to ensure normal closing. When performing the (n+2)th closing operation, the nth closing operation that failed to engage the half-lock is skipped, and the average K value is calculated by taking the historical values ​​from the previous 5 times.

[0086] Therefore, in the embodiments of the present invention, by controlling the door driver to drive the door into a half-lock state at a preset maximum driving speed when the historical automatic door closing data indicates that the door failed to enter the half-lock state in the most recent automatic door closing operation, a larger driving speed can be reconfigured for vehicles that failed to enter the half-lock state due to large reaction force, thereby improving the reliability of the vehicle's automatic door closing operation.

[0087] This invention provides a vehicle control method that acquires historical automatic door closing data of a vehicle; when the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets a preset number, the method acquires the sealing reaction force information corresponding to each of the most recent automatic door closing operations belonging to the target door closing operation, as well as the driving speed of the door actuator corresponding to the most recent automatic door closing operation; the target door closing operation indicates a closing operation that successfully puts the door into a half-lock state; the method determines the speed regulation ratio coefficient by the ratio of the average value of the sealing reaction force information to the preset sealing reaction force; based on the speed regulation ratio coefficient and the driving speed, the method obtains the target driving speed; and the method controls the door actuator to drive the door into the half-lock state at the target driving speed. In this invention, by determining the driving speed for the current door to enter the half-lock state based on the sealing reaction force information corresponding to each of the multiple automatic door closing operations in which the door successfully enters the half-lock state, and the driving speed of the door actuator corresponding to the most recent automatic door closing operation in which the door successfully enters the half-lock state, the driving speed for the current door to enter the half-lock state can be adapted to the reaction force exerted on the door by the sealing strip at the door frame when the door is closed. This allows the driving speed for the vehicle to enter the half-lock state to be adaptively adjusted according to the reaction force state of the vehicle, thereby improving the reliability of the vehicle's automatic door closing operation.

[0088] Based on the same concept as the foregoing embodiments, this invention provides a vehicle control device applied to a vehicle. Figure 6 This is a schematic diagram of the composition structure of the vehicle control device proposed in an embodiment of the present invention, as shown below. Figure 6 As shown, the vehicle control device 6 includes a first acquisition module 61, a second acquisition module 62, a proportional calculation module 63, a speed calculation module 64, and a first execution module 65.

[0089] The first acquisition module 61 is used to acquire historical automatic door closing data of the vehicle; The second acquisition module 62 is used to acquire the sealing reaction force information corresponding to the most recent automatic door closing operations that belong to the target door closing operation, and the driving speed of the door drive corresponding to the most recent automatic door closing operation, when the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations that belong to the target door closing operation in each automatic door closing operation meets the preset number; the target door closing operation indicates the door closing operation that successfully puts the door into a half-lock state. The proportional calculation module 63 is used to determine the ratio of the average value of the sealing reaction force information to the preset sealing reaction force as the speed regulation proportional coefficient. Speed ​​calculation module 64 is used to obtain the target driving speed based on the speed regulation ratio coefficient and the driving speed; The first execution module 65 is used to control the door driver to drive the door into a half-locked state at a target driving speed.

[0090] In some embodiments, the speed calculation module 64 is further configured to: determine the driving speed as the target driving speed when the speed regulation ratio coefficient is greater than or equal to a first preset ratio coefficient and less than or equal to a second preset ratio coefficient; the first preset ratio coefficient is less than the second preset ratio coefficient; when the speed regulation ratio coefficient is less than the first preset ratio coefficient, determine the product of the driving speed and the first ratio coefficient as a first reference speed; determine the target driving speed based on the first reference speed and a preset minimum driving speed; the first ratio coefficient is the sum of the speed regulation ratio coefficient and a preset fine-tuning coefficient; when the speed regulation ratio coefficient is greater than the second preset ratio coefficient, determine the product of the driving speed and the second ratio coefficient as a second reference speed; determine the target driving speed based on the second reference speed and the preset minimum driving speed; the second ratio coefficient is the difference between the speed regulation ratio coefficient and the preset fine-tuning coefficient.

[0091] In some embodiments, the speed calculation module 64 is further configured to: determine the preset minimum driving speed as the target driving speed when the first reference speed is less than or equal to the preset minimum driving speed; and determine the first reference speed as the target driving speed when the first reference speed is greater than the preset minimum driving speed.

[0092] In some embodiments, the speed calculation module 64 is further configured to: determine the preset maximum driving speed as the target driving speed when the second reference speed is greater than or equal to the preset maximum driving speed; and determine the second reference speed as the target driving speed when the second reference speed is less than the preset maximum driving speed.

[0093] In some implementations, the first execution module 65 is further configured to: If the historical automatic door closing data is empty, and / or if the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the door drive is controlled to drive the door into a half-lock state at a preset drive speed; the preset drive speed is less than the preset maximum drive speed and greater than the preset minimum drive speed.

[0094] In some implementations, when the historical automatic door closing data is empty, and / or the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the first acquisition module 61 is further configured to: acquire the drive current of the door drive, the linear velocity of the door lock position when the door contacts the sealing strip at the door frame, and the ambient temperature during the target time period; the target time period is from the moment the door contacts the sealing strip at the door frame to the moment the door drive stops driving; The first execution module 65 is also used to: analyze the sealing reaction force on the door based on the drive current, linear velocity and ambient temperature, and obtain the sealing reaction force information corresponding to this automatic door closing operation.

[0095] In some implementations, the first execution module 65 is further configured to: control the door driver to drive the door into a half-lock state at a preset maximum driving speed if the historical automatic door closing data indicates that the door failed to enter a half-lock state in the most recent automatic door closing operation.

[0096] In some implementations, the first execution module 65 is specifically used for: Controlling the door actuator to drive the door into a half-lock state at a target drive speed includes: The Hall distance value corresponding to the target door closing operation is collected in real time; whereby the Hall distance value represents the degree of door closure corresponding to the target door closing operation. When the Hall distance value reaches the first threshold, the door driver is controlled to drive the door into a half-lock state at the target driving speed.

[0097] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0098] Based on the same application concept as the foregoing embodiments, this invention provides a vehicle control device. Please refer to... Figure 7 , Figure 7This is a schematic diagram of the composition of a vehicle control device according to an embodiment of the present invention. The vehicle control device may include a communication interface 72, a memory 71, and a processor 70; the various components are coupled together through a bus system 73. It is understood that the bus system 73 is used to realize the connection and communication between these components. In addition to a data bus, the bus system 73 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 7 The general labeled all buses as Bus System 73.

[0099] In this embodiment, the communication interface 72 is used to send and receive information with other external devices; the memory 71 is used to store computer programs that can run on the processor 70; the processor 70 is used to execute the steps of the vehicle control method described in any of the foregoing embodiments when running the computer program.

[0100] It is understood that the memory 71 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 71 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0101] The processor 70 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 70 or by instructions in software form. The processor 70 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 71, and the processor 70 reads the information in memory 71 and, in conjunction with its hardware, completes the steps of the above method.

[0102] It is also understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0103] For software implementation, the techniques described herein can be implemented through modules (e.g., procedures, functions, etc.) that perform the functions described herein. Software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or externally. Wherein, if implemented as a software functional module and not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] In another embodiment of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method described in the foregoing embodiments.

[0105] In another embodiment of this application, a computer program product is also provided, including a computer program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in the foregoing embodiments.

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, devices, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage) containing computer-usable program code.

[0107] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0108] The sequence numbers of the embodiments in this application are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The features disclosed in the several product embodiments provided in this application can be arbitrarily combined to obtain new product embodiments without conflict. Similarly, the features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined to obtain new method or device embodiments without conflict. The above descriptions are merely specific implementations of this application, but the protection scope of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Acquire historical automatic door closing data of the vehicle; If the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets a preset number, then the sealing reaction force information corresponding to each of the most recent automatic door closing operations belonging to the target door closing operation, and the driving speed of the door actuator corresponding to the most recent automatic door closing operation are obtained; the target door closing operation indicates a closing operation that successfully puts the door into a half-lock state. The ratio of the average value of the sealing reaction force information to the preset sealing reaction force is determined as the speed regulation ratio coefficient; Based on the speed regulation ratio coefficient and the driving speed, the target driving speed is obtained; Control the door driver to drive the door into a half-locked state at the target driving speed.

2. The method according to claim 1, characterized in that, The process of obtaining the target drive speed based on the speed regulation ratio coefficient and the drive speed includes: When the speed regulation ratio coefficient is greater than or equal to the first preset ratio coefficient and less than or equal to the second preset ratio coefficient, the driving speed is determined as the target driving speed; the first preset ratio coefficient is less than the second preset ratio coefficient. When the speed regulation ratio coefficient is less than the first preset ratio coefficient, the product of the driving speed and the first ratio coefficient is determined as the first reference speed; the target driving speed is determined based on the first reference speed and the preset minimum driving speed; the first ratio coefficient is the sum of the speed regulation ratio coefficient and the preset fine-tuning coefficient. When the speed regulation ratio coefficient is greater than the second preset ratio coefficient, the product of the driving speed and the second ratio coefficient is determined as the second reference speed; the target driving speed is determined based on the second reference speed and the preset maximum driving speed; the second ratio coefficient is the difference between the speed regulation ratio coefficient and the preset fine-tuning coefficient.

3. The method according to claim 2, characterized in that, Determining the target drive speed based on the first reference speed and the preset minimum drive speed includes: If the first reference speed is less than or equal to the preset minimum driving speed, the preset minimum driving speed is determined as the target driving speed; If the first reference speed is greater than the preset minimum driving speed, the first reference speed is determined as the target driving speed.

4. The method according to claim 2, characterized in that, Determining the target driving speed based on the second reference speed and the preset maximum driving speed includes: If the second reference speed is greater than or equal to the preset maximum driving speed, the preset maximum driving speed is determined as the target driving speed; If the second reference speed is less than the preset maximum driving speed, the second reference speed is determined as the target driving speed.

5. The method according to claim 1, characterized in that, The method further includes: If the historical automatic door closing data is empty, and / or if the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the door driver is controlled to drive the door into a half-lock state at a preset driving speed; the preset driving speed is less than the preset maximum driving speed and greater than the preset minimum driving speed.

6. The method according to any one of claims 1 to 5, characterized in that, If the historical automatic door closing data is empty, and / or if the historical automatic door closing data indicates that the number of closing operations belonging to the target closing operation in each automatic door closing operation does not meet the preset number, the method further includes: The drive current of the door actuator, the linear velocity of the door lock position when the door contacts the sealing strip at the door frame, and the ambient temperature are obtained during the target time period; the target time period is from the moment the door contacts the sealing strip at the door frame to the moment the door actuator stops driving. Based on the driving current, the linear velocity, and the ambient temperature, the sealing reaction force on the door is analyzed to obtain the sealing reaction force information corresponding to this automatic door closing operation.

7. The method according to any one of claims 1 to 5, characterized in that, The step of controlling the door driver to drive the door into a half-locked state at the target driving speed includes: The Hall distance value corresponding to the target door closing operation is collected in real time; wherein, the Hall distance value represents the degree of door closure corresponding to the target door closing operation; When the Hall distance value reaches the first threshold, the door driver is controlled to drive the door into a half-lock state at the target driving speed.

8. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire historical automatic door closing data of the vehicle; The second acquisition module is used to acquire, when the historical automatic door closing data indicates that the most recent automatic door closing operation belongs to the target door closing operation, and the number of closing operations belonging to the target door closing operation in each automatic door closing operation meets a preset number, the sealing reaction force information corresponding to each of the most recent automatic door closing operations belonging to the target door closing operation, and the driving speed of the door driver corresponding to the most recent automatic door closing operation; the target door closing operation indicates a closing operation that successfully puts the door into a half-lock state; The proportional calculation module is used to determine the ratio of the average value of the sealing reaction force information to the preset sealing reaction force as the speed regulation ratio coefficient; A speed calculation module is used to obtain the target driving speed based on the speed regulation ratio coefficient and the driving speed; The first execution module is used to control the door driver to drive the door into a half-locked state at the target driving speed.

9. A vehicle control device, characterized in that, The vehicle control device includes a processor and a storage medium storing executable instructions. The storage medium performs operations via a communication bus in dependence of the processor. When the executable instructions are executed by the processor, the vehicle control method as described in any one of claims 1-7 is executed.

10. A computer storage medium storing executable instructions, characterized in that, When the executable instructions are executed by the processor, the processor performs the vehicle control method as described in any one of claims 1-7.

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