Vehicle control method, electronic device, vehicle, medium, and product

Abstract

The application discloses a vehicle control method, an electronic device, a vehicle, a computer readable storage medium and a computer program product. The method comprises: controlling the vehicle door to move along a target trajectory according to current state information of the vehicle door and a predetermined fuzzy control strategy. In this way, the application can realize active opening and closing of the vehicle door, meet the needs of users for active opening and closing of the vehicle door, ensure robust movement of the vehicle door by controlling the vehicle door to move along the target trajectory, and consider state changes of the vehicle door when the vehicle door is affected by environmental factors such as external wind and road slope during vehicle door control, and can cover vehicle door control logic in different states of the vehicle door through the fuzzy control strategy. Therefore, the application can avoid the occurrence of shaking and abnormal sound during opening and closing of the vehicle door to a certain extent, and further ensure the use experience of the vehicle door and the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, electronic device, vehicle, computer-readable storage medium, and computer program product. Background Technology

[0002] To facilitate getting in and out of the vehicle, the traditional hinged doors can be replaced with sliding doors, making it easier to open and close the doors in confined spaces such as parking spaces. However, due to environmental factors such as wind and road slope, sliding doors may vibrate and make abnormal noises when opening and closing, which may affect the user's experience with sliding doors and the vehicle to some extent. Summary of the Invention

[0003] This application provides a vehicle control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product.

[0004] This application provides a vehicle control method, including:

[0005] Based on the current state information of the car door and a pre-determined fuzzy control strategy, the car door is controlled to move along the target trajectory.

[0006] Thus, in this embodiment, the door can be controlled to move along a target trajectory based on its current state information and a pre-determined fuzzy control strategy, thereby achieving active opening and closing of the door and meeting the user's need for active door opening and closing. Furthermore, by controlling the door to move along the target trajectory, the door's stable movement can be ensured to a certain extent, thus guaranteeing the safety and stability of the active door opening and closing. Additionally, because the door movement is controlled by the current state information and the pre-determined fuzzy control strategy, the changes in the door's state due to environmental factors such as external wind and road slope can be considered during door control. The fuzzy control strategy can cover the door control logic in different door states, thereby avoiding shaking and abnormal noises during door opening and closing to a certain extent, thus ensuring the user's experience with the door and the vehicle.

[0007] In some embodiments of this application, controlling the door to move along a target trajectory based on the current state information of the door and a pre-determined fuzzy control strategy includes:

[0008] Based on the current state information and the fuzzy control strategy, determine the controller data;

[0009] Based on the controller data, the door is controlled to move along the target trajectory.

[0010] Thus, in this embodiment, the controller data can be determined based on the current state information of the door and the fuzzy control strategy, and the door can be controlled to move along the target trajectory based on the controller data. This allows the controller data to match the current state information of the door to a certain extent. Compared with controlling the door through fixed controller data, the door control is more flexible, thereby covering the door opening and closing needs under different working conditions or environments.

[0011] In some embodiments of this application, the controller data includes a target torque, and determining the controller data based on the current state information and the fuzzy control strategy includes:

[0012] Based on the current state information and the fuzzy control strategy, a first torque corresponding to the current state information is determined;

[0013] The target torque is determined based on the first torque.

[0014] Thus, in this embodiment, a first torque corresponding to the current state information of the controller can be determined based on the current state information of the controller and the fuzzy control strategy of the controller, and a target torque can be determined based on the first torque of the controller, thereby adjusting the force applied to the door to make the door move, thereby ensuring that the force applied to the door can match the current state information of the door, thereby ensuring the stable movement of the door.

[0015] In some embodiments of this application, determining the target torque based on the first torque includes:

[0016] The target torque is determined based on the first torque and the pre-acquired second torque, wherein the second torque is used to indicate the force that hinders the movement of the door when the door is in the unlocked state.

[0017] Thus, in this embodiment of the application, a target torque is determined based on a first torque corresponding to the current state information and a second torque obtained in advance to indicate that the door is in an unlocked state and to prevent the door from moving. This ensures the effectiveness and reliability of the target torque, thereby further avoiding the occurrence of shaking and abnormal noise when the door is opened and closed.

[0018] In some embodiments of this application, the second torque is determined by a force sensor mounted on the door.

[0019] Thus, in this embodiment, a force sensor can detect a second torque that hinders the movement of the door when it is in the unlocked state, thereby ensuring the robust acquisition of the second torque.

[0020] In some embodiments of this application, the controller data includes controller configuration parameters, the target trajectory is used to indicate the target state information of the door during its movement, and determining the controller data based on the current state information and the fuzzy control strategy includes:

[0021] The controller configuration parameters are determined based on the current state information, the target state information, and the fuzzy control strategy.

[0022] Thus, in this embodiment of the application, the controller configuration parameters can be determined based on the current state information, the target state information, and the fuzzy control strategy, so that the controller configuration parameters at the current moment can match the door state at the current moment to a certain extent, and can cover the door control logic affected by different working conditions and different environments based on the fuzzy control strategy, thereby further reducing the possibility of door shaking, abnormal noise, and other phenomena.

[0023] In some embodiments of this application, the controller configuration parameters include at least one of proportional parameters, integral parameters, and derivative parameters.

[0024] Thus, in this embodiment, the current state information of the door at the current moment and the target state information indicated by the predetermined target trajectory can be used to determine at least one of the proportional parameter, integral parameter and derivative parameter based on the fuzzy control strategy, thereby realizing the real-time configuration of the controller to a certain extent.

[0025] In some embodiments of this application, the current state information includes the current position and / or current speed of the door at the current moment, and the target trajectory is used to indicate the target position and / or target speed of the door at each moment during its movement. Determining the controller configuration parameters based on the current state information, the target state information, and the fuzzy control strategy includes:

[0026] The controller configuration parameters are determined based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, as well as the fuzzy control strategy.

[0027] Thus, in this embodiment, the controller configuration parameters can be determined based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, as well as the fuzzy control strategy, thereby achieving adaptive adjustment of the controller parameters for the current position and / or current speed of the door.

[0028] In some embodiments of this application, the target trajectory is used to indicate the non-linear target position and target speed of the door during its movement.

[0029] Thus, in this embodiment of the application, the nonlinear target position and target speed of the car door during its movement can be determined according to the target trajectory, so that the car door moves along the target trajectory and the movement trajectory of the car door satisfies the nonlinear characteristics of the car door, thereby ensuring the stable movement of the car door.

[0030] In some embodiments of this application, determining controller data based on the current state information and the fuzzy control strategy includes:

[0031] Based on the current state information and the fuzzy control strategy, determine the fuzzy control instruction;

[0032] The fuzzy control command is defuzzified to determine the controller data.

[0033] Thus, in this embodiment, fuzzy control instructions can be determined based on the current state information and the fuzzy control strategy, and the fuzzy control instructions can be defuzzified to determine the controller data, thereby realizing the determination of the controller data.

[0034] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the vehicle control method described above.

[0035] This application provides a vehicle that includes the electronic equipment described above.

[0036] This application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the vehicle control method described above.

[0037] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the vehicle control method described above.

[0038] The electronic device, vehicle, computer-readable storage medium, and computer program product provided in this application can control the door to move along a target trajectory based on the current state information of the door and a predetermined fuzzy control strategy, thereby realizing the active opening and closing of the door and meeting the user's needs for active door opening and closing. Furthermore, by controlling the door to move along the target trajectory, the robust movement of the door can be ensured to a certain extent, thus guaranteeing the safety and stability of the active door opening and closing. Moreover, because the door movement is controlled by the current state information of the door and the predetermined fuzzy control strategy, the changes in the door's state due to environmental factors such as external wind and road slope can be considered during the door control process. The fuzzy control strategy can cover the door control logic in different door states, thereby avoiding shaking and abnormal noises during door opening and closing to a certain extent, thus ensuring the user's experience with the door and vehicle.

[0039] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0040] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0041] Figure 1 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0042] Figure 2 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0043] Figure 3 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0044] Figure 4 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0045] Figure 5 This is a schematic diagram of the control logic for a sliding door based on a linear model.

[0046] Figure 6 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0047] Figure 7 This is a flowchart illustrating a vehicle control method in some embodiments of this application. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0049] With the continuous breakthroughs and applications in fields such as artificial intelligence, big data, and the Internet of Things, various intelligent systems and automated control technologies have been widely used, bringing unprecedented convenience and efficiency improvements to people's lives and work. For example, related technologies have proposed electric vehicle door systems, which can actively open the doors when users need to get on or off the vehicle, thus facilitating users' entry and exit.

[0050] To further meet user needs, related technologies propose replacing traditional hinged doors with sliding doors. Understandably, sliding doors are more convenient and faster to use than traditional hinged doors, making them suitable for use in tight parking spaces or situations with limited space. However, the opening and closing control of sliding doors also faces some challenges. For example, for multi-purpose vehicles (MPVs) equipped with sliding doors, the sliding door vibrates at the beginning and end of the opening and closing process, affecting the smoothness of the door's operation and causing vibration and abnormal noise in the MPV when the door is open and closed.

[0051] It is worth noting that many solutions to address the issues of door opening and closing vibration, smoothness, and abnormal noise in multi-purpose vehicles are based on classic PID (Proportional Integral Derivative) controllers. However, these PID-based solutions often fail to achieve the desired results. One major reason is that PID controllers rely on manually preset parameters. Consequently, under different operating conditions or environments, the parameters remain the same when the system reaches the same stage. Therefore, it is difficult to make targeted changes for the opening and closing of multi-purpose vehicle doors under different conditions and environments. This can lead to overshoot and oscillation with the same PID controller, affecting the stability and performance of the multi-purpose vehicle doors during opening and closing. Furthermore, fixed, single PID controllers are less robust to parameter changes and external disturbances, making them susceptible to environmental influences that can degrade control performance.

[0052] Based on the issues mentioned above, please refer to Figure 1 This application provides a vehicle control method, including:

[0053] 01: Based on the current state information of the car door and the pre-determined fuzzy control strategy, control the car door to move along the target trajectory.

[0054] This application also provides an electronic device, which includes a memory and a processor. The vehicle control method of this application can be implemented by the electronic device of this application. Specifically, the memory stores a computer program, and the processor is used to control the door to move along a target trajectory based on the current state information of the door and a predetermined fuzzy control strategy.

[0055] Specifically, in the embodiments of this application, the vehicle (or electronic device) can use the current state information of the door, such as the current position, current speed, and current pose of the door, and combine it with a predetermined fuzzy control strategy to control the door to move along a predetermined target trajectory, thereby realizing the active opening and closing of the door.

[0056] Thus, in this embodiment, the door can be controlled to move along a target trajectory based on its current state information and a pre-determined fuzzy control strategy, thereby achieving active opening and closing of the door and meeting the user's need for active door opening and closing. Furthermore, by controlling the door to move along the target trajectory, the door's stable movement can be ensured to a certain extent, thus guaranteeing the safety and stability of active door opening and closing. Moreover, because the door movement is controlled by the current state information and the pre-determined fuzzy control strategy, the changes in the door's state due to environmental factors such as external wind and road slope can be considered during door control. The fuzzy control strategy can cover the door control logic in different states, thereby avoiding shaking and abnormal noises during door opening and closing to a certain extent, thus ensuring the user's experience with the door and the vehicle.

[0057] In one example, the door in this application embodiment is a sliding door.

[0058] In one example, the vehicle in this application embodiment is a vehicle equipped with sliding doors, such as a multi-purpose vehicle (MPV) equipped with sliding doors.

[0059] In one example, the current state information of the door includes the door's current moving speed, current position, and current pitch angle.

[0060] In one example, the fuzzy control strategy refers to a control method that utilizes the basic ideas and theories of fuzzy mathematics. The fuzzy control strategy can be implemented by five steps: defining variables, fuzzification, knowledge base, logical judgment, and defuzzification.

[0061] In one example, the target trajectory refers to the pre-stored or user-specified door movement trajectory in the vehicle, which can reflect the door's position, speed, etc. during the movement.

[0062] Please see Figure 2 In some embodiments of this application, step 01 includes:

[0063] 010: Determine controller data based on current status information and fuzzy control strategy;

[0064] 011: Based on the controller data, control the door to move along the target trajectory.

[0065] The processor in this embodiment is also used to determine controller data based on current state information and fuzzy control strategy, and to control the door to move along the target trajectory based on the controller data.

[0066] Specifically, considering the relevant technologies, the control strategy for the door opening and closing system of multi-purpose vehicles often adopts the traditional PID (Proportional Integral Derivative) controller. However, PID controllers have certain limitations, such as requiring manual parameter adjustment. Therefore, the parameters become relatively fixed after a certain period of operation, making it difficult to meet the door opening and closing requirements of multi-purpose vehicles under different operating conditions and environments. This leads to overshoot and oscillation in the system, thus affecting the stability and performance of the door opening and closing system. Furthermore, traditional PID controllers typically use the difference between the desired and actual output values ​​as the control objective, i.e., adjusting the output value of the multi-purpose vehicle door opening and closing system to change its effect. However, based on different operating conditions and environments, the door opening and closing system cannot make corresponding changes.

[0067] Based on this, in this embodiment, the vehicle can determine relevant data for controlling the door, i.e., controller data, according to the current state information of the door and the fuzzy control strategy. Then, the vehicle can control the door to move along a target trajectory based on the controller data.

[0068] In one example, the vehicle controls the movement of the door according to a pre-set PID controller. Then, the vehicle can determine the relevant data of the PID controller, i.e., the controller data, based on the current state information of the door and the fuzzy control strategy.

[0069] In one example, the controller data includes the target torque that is expected to be applied to the door.

[0070] In one example, the vehicle controls the door movement according to a pre-set PID controller. The controller data includes at least one of the PID controller's proportional parameter (Kp), integral parameter (Ki), and derivative parameter (Kd). The proportional parameter directly affects the system's response speed and deviation elimination speed; it generates the control output by proportionally amplifying the difference between the setpoint and the actual value. The integral parameter is mainly used to eliminate the system's steady-state error. It gradually adjusts the control output based on the accumulation of error over time until the error meets the allowable range. The integral parameter can predict the error's changing trend and adjust the control output in advance, thereby reducing system overshoot and oscillations.

[0071] Thus, in this embodiment, the controller data can be determined based on the current state information of the door and the fuzzy control strategy, and the door can be controlled to move along the target trajectory based on the controller data. This allows the controller data to match the current state information of the door to a certain extent. Compared with controlling the door through fixed controller data, the door control is more flexible, thereby covering the door opening and closing needs under different working conditions or environments.

[0072] Please see Figure 3 In some embodiments of this application, the controller data includes the target torque, and therefore, step 010 includes:

[0073] 0100: Determine the first torque corresponding to the current state information based on the current state information and the fuzzy control strategy;

[0074] 0101: Determine the target torque based on the first torque.

[0075] The processor in this embodiment is further configured to determine a first torque corresponding to the current state information based on the current state information and the fuzzy control strategy, and to determine a target torque based on the first torque.

[0076] Specifically, in this embodiment, the vehicle can determine a first torque that satisfies the door's movement according to the current state information and the fuzzy control strategy; that is, a first torque corresponding to the current state information. Furthermore, the vehicle can determine a desired torque, or target torque, for driving the door's movement based on the first torque corresponding to the current state information.

[0077] In one example, the vehicle can detect the current position and speed of the door using Hall sensors mounted on the door, and determine the force required for the vehicle to move at the current position and speed using a fuzzy control strategy, thereby obtaining the first torque.

[0078] Thus, in this embodiment, a first torque corresponding to the current state information of the controller can be determined based on the current state information of the controller and the fuzzy control strategy of the controller, and a target torque can be determined based on the first torque of the controller, thereby adjusting the force applied to the door to make the door move, thereby ensuring that the force applied to the door can match the current state information of the door, thereby ensuring the stable movement of the door.

[0079] In some embodiments of this application, step 0101 includes:

[0080] Based on the first torque and the pre-acquired second torque, a target torque is determined, wherein the second torque is used to indicate the force that hinders the movement of the door when it is in the unlocked state.

[0081] The processor in this embodiment is further configured to determine a target torque based on a first torque and a pre-acquired second torque, wherein the second torque is used to indicate the force that hinders the movement of the door when the door is in the unlocked state.

[0082] Specifically, in related technologies, the reason for the shaking and abnormal noise when the car door is actively opened and closed may be due to the rebound force of the lock at the moment the door is unlocked. This rebound force acts on the door to hinder its movement, and the signal of the door movement is delayed, so no corresponding response is made, causing the door to shake.

[0083] Based on this, in this embodiment of the application, the vehicle can detect the magnitude of the aforementioned rebound force when the door is unlocked, thereby obtaining a second torque. Furthermore, when controlling the movement of the door, the vehicle can determine a target torque that can counteract the aforementioned rebound force and satisfy the vehicle's movement according to the first torque corresponding to the current state information and the determined second torque, thereby preventing the door from shaking when opening and improving the smoothness of the door movement.

[0084] Thus, in this embodiment, the target torque is determined based on the first torque corresponding to the current state information and the second torque obtained in advance to indicate that the door is in the unlocked state and to prevent the door from moving. This ensures the effectiveness and reliability of the target torque, thereby further avoiding the occurrence of shaking and abnormal noise when the door is opened and closed.

[0085] In some embodiments of this application, the second torque is determined by a force sensor mounted on the door.

[0086] Specifically, in some embodiments of this application, the vehicle can detect the magnitude of the rebound force exerted by the door lock on the door at the moment the door is unlocked by a force sensor pre-installed on the door, which is also the second torque.

[0087] More specifically, the vehicle in this embodiment can detect the magnitude of the rebound force of the door when it is opened by a force sensor, and convert the sensed analog signal into an electrical signal. Then, the controller in the vehicle can trigger corresponding feedback when it receives the electrical signal, thereby canceling the rebound force of the door lock during the controller control phase, providing the same force to support the door, preventing the door from shaking when it is opened, and improving the smoothness of the door movement.

[0088] Thus, in this embodiment, a force sensor can detect a second torque that hinders the movement of the door when it is in the unlocked state, thereby ensuring the robust acquisition of the second torque.

[0089] In some embodiments of this application, the controller data includes controller configuration parameters, the target trajectory is used to indicate the target state information of the door during its movement, and the controller data is determined based on the current state information and the fuzzy control strategy, including:

[0090] Based on the current state information, target state information, and fuzzy control strategy, determine the controller configuration parameters.

[0091] The processor in this embodiment is also used to determine controller configuration parameters based on current state information, target state information, and fuzzy control strategy.

[0092] Specifically, the reason why the doors of multi-purpose vehicles vibrate when opening and stopping in related technologies may be because a force is required to stop the door when it comes to a stop. However, in traditional PID control logic, the force value applied at any time, under any operating condition, and in any environment is fixed and uniform. This means that the posture of the door at any moment during its movement is fixed and unique. However, due to the influence of different operating conditions and different environments, the force required for the multi-purpose vehicle door to open and stop varies and is not unique.

[0093] Based on this, in the embodiments of this application, by introducing a fuzzy adaptive control algorithm into the vehicle door opening and closing system, the multi-purpose vehicle door opening and closing system makes corresponding changes based on different working conditions and environments to achieve adaptive adjustment of the vehicle body opening and closing, and adjusts the parameters of the fuzzy controller in real time to adapt to the dynamic changes and external interference of the multi-purpose vehicle door opening and closing system, improve the performance and robustness of the multi-purpose vehicle door opening and closing system, achieve precise tracking control of the multi-purpose vehicle door opening and closing system, reduce vibration and abnormal noise, and improve the passenger experience and comfort.

[0094] Specifically, in the embodiments of this application, the controller configuration parameters can be determined based on the current state information of the door at the current moment and the target state information indicated by the predetermined target trajectory, combined with a fuzzy control strategy. This enables real-time configuration of the controller, allowing the controller at the current moment to adapt to the current state of the door, thereby covering doors affected by different working conditions and environments.

[0095] In one example, the vehicle controls the movement of the doors according to a pre-set PID controller. The controller configuration parameters refer to the relevant parameters of the PID controller, such as the proportional parameter (Kp).

[0096] Thus, in this embodiment, the controller configuration parameters can be determined based on the current state information, the target state information, and the fuzzy control strategy, so that the controller configuration parameters at the current moment can match the door state at the current moment to a certain extent, and can cover the door control logic affected by different working conditions and different environments based on the fuzzy control strategy, thereby further reducing the possibility of door shaking, abnormal noise, and other phenomena.

[0097] In some embodiments of this application, the controller configuration parameters include at least one of proportional parameters, integral parameters, and derivative parameters.

[0098] Specifically, in this embodiment, the vehicle controls the door movement according to a pre-set PID controller. The controller data includes at least one of the proportional parameter (Kp), integral parameter (Ki), and derivative parameter (Kd) of the PID controller. The proportional parameter directly affects the system's response speed and deviation elimination speed; it generates the control output by proportionally amplifying the difference between the setpoint and the actual value. The integral parameter is mainly used to eliminate the system's steady-state error. It gradually adjusts the control output based on the accumulation of error over time until the error meets the allowable range. The integral parameter can predict the error's changing trend and adjust the control output in advance, thereby reducing system overshoot and oscillation.

[0099] Thus, in this embodiment, the current state information of the door at the current moment and the target state information indicated by the predetermined target trajectory can be used to determine at least one of the proportional parameter, integral parameter and derivative parameter based on the fuzzy control strategy, thereby realizing the real-time configuration of the controller to a certain extent.

[0100] In some embodiments of this application, the current state information includes the current position and / or current speed of the door at the current moment, and the target trajectory is used to indicate the target position and / or target speed of the door at each moment during its movement. Based on the current state information, the target state information, and the fuzzy control strategy, controller configuration parameters are determined, including:

[0101] Based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, and the fuzzy control strategy, determine the controller configuration parameters.

[0102] The processor in this embodiment is further configured to determine controller configuration parameters based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, as well as the fuzzy control strategy.

[0103] Specifically, in the embodiments of this application, based on a pre-set fuzzy control strategy, the vehicle can adaptively adjust the controller parameters, that is, determine the controller configuration parameters, according to the error between the actual state and the desired state of the door, or the difference between the current position and the target position of the door at the current moment, and / or the difference between the current speed and the target speed of the door at the current moment.

[0104] Thus, in this embodiment, the controller configuration parameters can be determined based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, as well as the fuzzy control strategy, thereby achieving adaptive adjustment of the controller parameters for the current position and / or current speed of the door.

[0105] In some embodiments of this application, the target trajectory is used to indicate the target position and target speed of the door during its movement, which exhibit a non-linear relationship.

[0106] Specifically, the opening and closing process of a car door is a non-linear process. Therefore, if a linear system configurator is used to configure the trajectory of the door at each moment during its movement, it will be difficult to accurately capture the non-linear moments. Thus, a non-linear configurator can more flexibly adapt to the non-linear characteristics of the door's movement, achieving better control. Furthermore, the non-linear configurator is more adaptable, able to adjust according to the real-time state and environmental changes of the multi-purpose vehicle door opening and closing system, making it suitable for more complex and dynamic control scenarios. This improves the system's stability and robustness. By adapting to dynamic system changes, the non-linear configurator can better maintain the system's stable operation.

[0107] Based on this, the embodiments of this application can configure the position and speed of the door at each moment during the movement of the door based on the nonlinear configurator, so that the predetermined door trajectory can indicate the target position (or expected position) of the door at any moment and the target speed (or expected speed) that has a nonlinear relationship with the target position. In this way, during the process of controlling the door to move along the target trajectory, it can be ensured that the movement trajectory of the door meets the nonlinear characteristics of the door, thereby ensuring the stable movement of the door.

[0108] Thus, in this embodiment, the target position and target speed of the door during its movement can be determined according to the target trajectory, so that the door moves along the target trajectory and the movement trajectory of the door satisfies the nonlinear characteristics of the door, thereby ensuring the stable movement of the door.

[0109] Please see Figure 4 In some embodiments of this application, step 010 includes:

[0110] 0102: Determine the fuzzy control instructions based on the current status information and the fuzzy control strategy;

[0111] 0103: Defuzzify the fuzzy control commands to determine the controller data.

[0112] The processor in this embodiment is further configured to determine fuzzy control instructions based on current state information and fuzzy control strategy, and to perform defuzzification processing on the fuzzy control instructions to determine controller data.

[0113] Specifically, in this embodiment, based on a fuzzy control strategy, the vehicle can perform reasoning according to a pre-determined fuzzy rule base, that is, determine the fuzzy output set corresponding to the current state information, which is the fuzzy control command. Furthermore, the fuzzy output set is converted into specific control quantities, or the fuzzy control command is defuzzified, such as by methods based on maximum membership degree or weighted average, thereby determining the controller data and achieving iterative control of the controller.

[0114] Thus, in this embodiment, fuzzy control instructions can be determined based on the current state information and the fuzzy control strategy, and the fuzzy control instructions can be defuzzified to determine the controller data, thereby realizing the determination of the controller data.

[0115] To more clearly illustrate the door control logic in the embodiments of this application, please refer to the following: Figure 5 , Figure 6 and Figure 7 , Figure 5 This is a schematic diagram of the control logic for a sliding door based on a linear model. Figure 6 This is a schematic diagram illustrating application scenarios in some embodiments of this application. Figure 7 This is a flowchart illustrating a vehicle control method in some embodiments of this application.

[0116] Specifically, taking a multi-purpose vehicle equipped with sliding doors as an example, such as Figure 5As shown, related technologies typically use linear system configurators to control sliding doors. However, when encountering different operating conditions, environments, and nonlinear characteristics such as uneven force, the effect of controlling the door through linear configurators is poor. Furthermore, related technologies often rely on PID controllers with fixed parameters to cover the opening and closing process of sliding doors under all operating conditions and environments. Consequently, when encountering uncertainties such as disturbances and wind, the control commands output by the fixed-parameter PID controller have a poor effect on controlling the door.

[0117] Based on this, such as Figure 6 As shown in this embodiment, a multi-purpose vehicle door opening and closing control system can be implemented using a nonlinear configurator, a Hall motor, a Hall sensor, a force sensor, and a fuzzy adaptive controller. Furthermore, the nonlinear configurator matches the current state and attitude of the multi-purpose vehicle door opening and closing nonlinear system. The Hall motor senses the door's position and speed through the Hall sensor and transmits the current position and speed magnitude to the fuzzy adaptive controller. The fuzzy adaptive controller calculates the required force magnitude based on the current position and speed magnitude and converts it into a corresponding command for the Hall motor. Therefore, stable control and precise tracking of the system can be achieved based on the controller's on / off state and the Hall motor's rotor position.

[0118] More specifically, in the embodiments of this application, the nonlinear system of opening and closing of a multi-purpose vehicle door can first be obtained, and the nonlinear system can be processed by a nonlinear configurator. In one example, the mapping relationship between speed and position of the door during opening and closing can be determined by using pre-calibrated door size data, door weight data, and real vehicle experiments, thereby determining the nonlinear system.

[0119] Next, based on the current door position and door speed obtained from the Hall sensor, the force required for the current position and speed is calculated using a fuzzy adaptive controller, and the controller parameters at the current moment are adaptively adjusted, such as the target torque at the current moment.

[0120] Next, a fuzzy controller is designed, comprising three main steps: fuzzification, fuzzy inference, and fuzzy defuzzification. The fuzzy controller can output fuzzy control commands based on the error between the current door position and speed and the expected door position and speed at the current moment.

[0121] Then, the fuzzy control command can be fed back to the door opening and closing system to provide specific control signals for subsequent steps.

[0122] Finally, the observer monitors in real time the error between the actual position and speed of the multi-purpose vehicle door and the expected position and speed of the door during the opening and closing process. Based on the control command of the force value output by the controller, it adjusts the input of the multi-purpose vehicle door opening and closing system to achieve stable control of the multi-purpose vehicle door opening and closing system.

[0123] The process of adaptively adjusting the controller parameters at the current moment may include determining the system's input and output variables, determining the fuzzy rule base, acquiring the system's input variables, fuzzifying the input variables, calculating the membership degrees of the fuzzy rules, calculating the rule outputs, aggregating the rule outputs, defuzzifying the outputs, and forming closed-loop feedback by comparing them with previous values ​​from the current and speed sensors. Specific steps may include:

[0124] First, determine the system's input and output variables, namely position, velocity, and force magnitude;

[0125] Next, the rules for fuzzy adaptive learning are determined;

[0126] Next, determine the input variables;

[0127] Then, fuzzy inference, that is, based on the fuzzy input, inference is performed using the fuzzy rule base to determine the fuzzy set of outputs, so as to obtain the output of the fuzzy controller;

[0128] Then, the fuzzy output is converted into a specific control quantity. Defuzzification is usually performed using methods such as the maximum membership method or the weighted average method to obtain the output of the PID controller.

[0129] Then, the adjusted PID controller output is used as the system's control input to achieve closed-loop control. The system is continuously iterated and adjusted to quickly and stably reach the desired state.

[0130] Finally, the obtained control variables are converted into the actual variables that need to be controlled;

[0131] Based on the above steps, the fuzzy adaptive PID controller can combine the flexibility of fuzzy control with the stability of PID control to achieve precise control of complex systems, thereby improving system performance and robustness.

[0132] And, such as Figure 7 As shown in the embodiments of this application, the operating logic of the fuzzy adaptive PID controller may include:

[0133] First, obtain the initial values ​​for the PID control system and set the initial parameters for the fuzzy adaptive PID controller. In one example, the initial values ​​for the proportional coefficient, integral coefficient, and derivative coefficient in the fuzzy adaptive PID controller can be determined.

[0134] Next, the number of iterations for the sliding door algorithm is set, and the fitness function is determined. In one example, the maximum number of iterations is set to 100 to avoid the optimization process getting stuck in local optima or taking too long to terminate. Also, in one example, the fitness function can be used to evaluate the quality of the current parameter combination, such as by calculating the root mean square error between the target state information indicated by the target trajectory and the current state information.

[0135] Next, the current fitness value of the sliding door model algorithm is calculated using the Simulink model, and this fitness value is iterated into the next training iteration. That is, controller data is input into the Simulink model, and simulation is run; the fitness function value is calculated based on the simulation results to evaluate parameter performance; then, based on optimization algorithms such as genetic algorithms and particle swarm optimization, the parameters are adjusted, such as fine-tuning the scaling factor; and the newly determined parameters are substituted into the next iteration until the preset number of iterations is reached or the fitness converges.

[0136] Finally, the final parameters are obtained and fed into the PID controller to optimize the fuzzy adaptive PID controller. In other words, after the iteration is complete, the parameter combination with the best fitness is selected as the final parameters.

[0137] This application also provides a vehicle that includes the electronic equipment described above.

[0138] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described vehicle control method.

[0139] This application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the above-described vehicle control method.

[0140] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0141] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0142] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle control method, characterized in that, include: Based on the current state information of the car door and a pre-determined fuzzy control strategy, the car door is controlled to move along the target trajectory.

2. The method according to claim 1, characterized in that, The step of controlling the door to move along a target trajectory based on the current state information of the door and a pre-determined fuzzy control strategy includes: Based on the current state information and the fuzzy control strategy, determine the controller data; Based on the controller data, the door is controlled to move along the target trajectory.

3. The method according to claim 2, characterized in that, The controller data includes the target torque. Determining the controller data based on the current state information and the fuzzy control strategy includes: Based on the current state information and the fuzzy control strategy, a first torque corresponding to the current state information is determined; The target torque is determined based on the first torque.

4. The method according to claim 3, characterized in that, Determining the target torque based on the first torque includes: The target torque is determined based on the first torque and the pre-acquired second torque, wherein the second torque is used to indicate the force that hinders the movement of the door when the door is in the unlocked state.

5. The method according to claim 4, characterized in that, The second torque is determined by a force sensor mounted on the door.

6. The method according to claim 2, characterized in that, The controller data includes controller configuration parameters, the target trajectory is used to indicate the target state information of the door during its movement, and the step of determining the controller data based on the current state information and the fuzzy control strategy includes: The controller configuration parameters are determined based on the current state information, the target state information, and the fuzzy control strategy.

7. The method according to claim 6, characterized in that, The controller configuration parameters include at least one of proportional parameters, integral parameters, and derivative parameters.

8. The method according to claim 6, characterized in that, The current state information includes the current position and / or current speed of the door at the current moment. The target trajectory is used to indicate the target position and / or target speed of the door at each moment during its movement. Determining the controller configuration parameters based on the current state information, the target state information, and the fuzzy control strategy includes: The controller configuration parameters are determined based on the difference between the current position and the target position at the current time, and / or the difference between the current speed and the target speed at the current time, as well as the fuzzy control strategy.

9. The method according to claim 8, characterized in that, The target trajectory is used to indicate the non-linear target position and target speed of the door during its movement.

10. The method according to claim 2, characterized in that, The step of determining controller data based on the current state information and the fuzzy control strategy includes: Based on the current state information and the fuzzy control strategy, determine the fuzzy control instruction; The fuzzy control command is defuzzified to determine the controller data.

11. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-10.

12. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method according to any one of claims 1-10.

14. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 1-10.

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