Spoiler control method, apparatus and system, device, vehicle, and storage medium

Abstract

The present application relates to the technical field of vehicles, and provides a spoiler control method, apparatus and system, a device, a vehicle, and a storage medium. The method comprises: acquiring a spoiler position adjustment signal; determining a controlled rotation direction of a power output shaft; if the controlled rotation direction is a first direction, controlling the power output shaft to rotate in the first direction, and determining a first rotation value on the basis of a first rotation signal; calculating a first accumulated record value in real time during the rotation of the power output shaft; during the rotation of the power output shaft, monitoring in real time whether a second sensing apparatus outputs a first correction signal; when it is detected that the second sensing apparatus has outputted the first correction signal, and the deviation between the current first accumulated record value and a pre-stored correction value is greater than a first threshold, calculating a second accumulated record value in real time during the rotation of the power output shaft; and when the second accumulated record value matches a target value corresponding to a target position, controlling the spoiler to stop moving. The present application can achieve more accurate position adjustment of spoilers.

Description

Spoiler control method, device, equipment, system, vehicle and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411051850.4, filed on August 01, 2024, entitled "Spoiler control method, device, equipment, system, vehicle and storage medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to, but is not limited to, the vehicle technical field, and in particular to a spoiler control method, device, equipment, system, vehicle and storage medium. BACKGROUND

[0003] As an aerodynamic device, the spoiler can improve the stability of the vehicle when driving at high speed. For example, the active spoiler of the vehicle can not only make the vehicle more beautiful, but also actively adjust the air lift of the tail of the vehicle, increase the ground adhesion of the whole vehicle, at the same time, the spoiler can also diffuse the roof air flow, reduce separation, improve the whole vehicle wake to optimize the wind resistance, and improve the stability of the vehicle. However, since each opening angle of the spoiler is precisely determined by the whole vehicle wind tunnel test, only when the spoiler is opened to the expected angle, the vehicle can obtain better aerodynamic performance in the driving process. Therefore, it is particularly important to ensure that the position of the spoiler is adjusted to the target position.

[0004] Now, there is an urgent need for a spoiler control method to improve the accuracy of the position adjustment of the spoiler when the position of the spoiler is lost or disordered. SUMMARY

[0005] The following is a brief summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.(The following is a brief summary of subject matter that is described in detail herein.This summary is not intended to be liming as to the scope of the claims.)。

[0006] The present application provides a spoiler control method, device, equipment, system, vehicle and storage medium, which can make the position adjustment of the spoiler more accurate.

[0007] In a first aspect, the present application provides a spoiler control method, a power output shaft drives the spoiler to move, and the method comprises:

[0008] An air spoiler position adjusting signal is acquired, which is used to indicate that the air spoiler is adjusted to a target position.

[0009] A controlled rotation direction of the power output shaft is determined.

[0010] If the controlled rotation direction is a first direction, the power output shaft is controlled to rotate in the first direction, and a first rotation signal output by a first sensing device is acquired in real time, and a first rotation value is determined according to the first rotation signal; the first sensing device is used to sense the rotation of the power output shaft and output a rotation signal, and the rotation value determined by the rotation signal is related to the number of rotations of the power output shaft.

[0011] A first cumulative record value is calculated in real time during the rotation of the power output shaft, and the first cumulative record value is equal to the sum of a pre-stored record value and the first rotation value.

[0012] During the rotation of the power output shaft, it is monitored in real time whether a first correction signal is output by a second sensing device; the second sensing device is used to output the first correction signal when the air spoiler passes through a correction position.

[0013] When it is monitored that the first correction signal is output by the second sensing device, and the deviation between the current first cumulative record value and a pre-stored correction value is greater than a first threshold value, a second cumulative record value is calculated in real time during the rotation of the power output shaft, and the second cumulative record value is the sum of the pre-stored correction value and a second rotation value; the second rotation value is determined by a second rotation signal, the second rotation signal is a rotation signal output by the first sensing device after the first correction signal is output by the second sensing device; the correction position corresponds to the pre-stored correction value one by one.

[0014] When the second cumulative record value matches a target value corresponding to the target position, the air spoiler is controlled to stop moving.

[0015] In some possible implementation manners, the method further includes: if the controlled rotation direction is a second direction, controlling the power output shaft to rotate in the second direction, and acquiring a third rotation signal output by the first sensing device in real time, and determining a third rotation value according to the third rotation signal; calculating a first cumulative reduction record value in real time during rotation of the power output shaft, the first cumulative reduction record value being the pre-stored record value minus the third rotation value; monitoring whether the second sensing device outputs a second correction signal in real time during rotation of the power output shaft; when the second sensing device is monitored to output the second correction signal, and a deviation between the current first cumulative reduction record value and the pre-stored correction value is greater than a second threshold value, calculating a second cumulative reduction record value in real time during rotation of the power output shaft, the second cumulative reduction record value being the pre-stored correction value minus a fourth rotation value; the fourth rotation value being determined by a fourth rotation signal, the fourth rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the second correction signal; and when the second cumulative reduction record value matches a target value corresponding to the target position, controlling the spoiler to stop moving.

[0016] In some possible implementation manners, the number of the correction positions is at least one.

[0017] In some possible implementation manners, there is a correction position between an initial position and the target position, the initial position being a position of the spoiler before the power output shaft rotates.

[0018] In some possible implementation manners, the spoiler is controllable to move between a first position and a second position, and the spoiler is fixable to remain at the first position, the second position and at least one intermediate position, each of the intermediate positions being between the first position and the second position.

[0019] In some possible implementation manners, the correction positions satisfy at least one of the following: there is a correction position between the first position and the intermediate position closest to the first position, there is a correction position between two adjacent intermediate positions, and there is a correction position between the second position and the intermediate position closest to the second position.

[0020] In some possible implementation manners, when the spoiler is in the first position, the spoiler is in a closed state.

[0021] In some possible implementation manners, the spoiler can also be controlled to move between the first position and a bottom dead center position, the bottom dead center position being located on a side of the first position away from the intermediate position; the method further comprises: monitoring whether the spoiler is located at the bottom dead center position in real time during rotation of the power output shaft; when it is monitored that the spoiler is located at the bottom dead center position, switching the rotation direction of the power output shaft, and when the deviation of the current first cumulative record value from a bottom dead center correction value is greater than the second threshold value, calculating a third cumulative record value in real time during rotation of the power output shaft, the third cumulative record value being a sum of the bottom dead center correction value and a fifth rotation value; wherein the fifth rotation value is determined by a fifth rotation signal, the fifth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the bottom dead center position corresponds to the bottom dead center correction value; and when the third cumulative record value matches a target value corresponding to the target position, controlling the spoiler to stop moving.

[0022] In some possible implementation manners, the spoiler can also be controlled to move between the second position and a top dead center position, the top dead center position being located on a side of the second position away from the intermediate position; the method further comprises: monitoring whether the spoiler is located at the top dead center position in real time during rotation of the power output shaft; when it is monitored that the spoiler is located at the top dead center position, switching the rotation direction of the power output shaft, and when the deviation of the current first cumulative record value from a top dead center correction value is greater than the first threshold value, calculating a third cumulative record value in real time during rotation of the power output shaft, the third cumulative record value being a difference between the top dead center correction value and a sixth rotation value; wherein the sixth rotation value is determined by a sixth rotation signal, the sixth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the top dead center position corresponds to the top dead center correction value; and when the third cumulative record value matches a target value corresponding to the target position, controlling the spoiler to stop moving.

[0023] In some possible implementation manners, the correction signal output by the second sensing device is a flip signal, the second sensing device continuously outputs a first level signal before outputting the correction signal and continuously outputs a second level signal after outputting the correction signal, the first level signal being a low level and the second level signal being a high level, or the first level signal being a high level and the second level signal being a low level; and the method further comprises: if at least one of the first level signal and the second level signal deviates, performing a correction operation once at the next correction position.

[0024] In some possible implementation manners, the first sensing device comprises two Hall sensors, and a phase difference between a first rotation signal of an output of one Hall sensor and a first rotation signal of an output of the other Hall sensor is 90°.

[0025] In some possible implementation manners, among the first position, each intermediate position and the second position, any two positions without a correction position satisfy: one is a low position, the other is a high position, and a pre-stored low value corresponding to the low position is less than a pre-stored high value corresponding to the high position; a sum of the pre-stored low value and the pre-stored high value is greater than the top dead center correction value; wherein the low position is the first position or the intermediate position close to the first position; the high position is the second position or the intermediate position close to the second position.

[0026] In some possible implementation manners, among the first position, each intermediate position and the second position, any two positions without a correction position satisfy: one is a low position, the other is a high position, and a pre-stored low value corresponding to the low position is less than a pre-stored high value corresponding to the high position; the pre-stored low value is greater than or equal to a difference between the top dead center correction value and the pre-stored low value; wherein the low position is the first position or the intermediate position close to the first position; the high position is the second position or the intermediate position close to the second position.

[0027] In some possible implementation manners, the method further comprises: when a shutdown or hibernation instruction is received, storing the target value, so as to take the stored target value as the pre-stored recorded value in next spoiler control.

[0028] In some possible implementation manners, the first sensing device is a Hall sensor, a magneto-electric sensor or a magnetoresistive sensor for outputting a square wave signal; and the second sensing device is a Hall sensor, a passive proximity switch, an inductive proximity switch, an optoelectronic proximity switch, a pyroelectric proximity switch, an ultrasonic proximity switch or a microwave proximity switch.

[0029] In some possible implementation manners, the spoiler is a tail wing, an air intake grille, an air dam, a diffuser, an air outlet baffle or a side skirt.

[0030] In some possible implementation manners, the position of the spoiler satisfies at least one of the following: being arranged on a bottom surface of a front part of the vehicle, or being arranged on a windward surface of a front end of the vehicle, or being arranged on a side surface of the vehicle, or being arranged above a rear end of the vehicle, or being arranged below the rear end of the vehicle.

[0031] In some possible implementation manners, the pre-stored correction value is obtained by using a self-learning process; and the self-learning process comprises: when it is monitored that the power output shaft is started for the first time, the spoiler is controlled to move from a bottom dead center position to a top dead center position, and in the process of moving the spoiler to the top dead center position, when it is monitored that the first correction signal output by the second sensing device jumps, a third current rotation value is determined according to the rotation signal output by the first sensing device; and the third current rotation value is determined as a first pre-stored top correction value; the spoiler is controlled to move from the top dead center position to the bottom dead center position, and in the process of moving the spoiler to the bottom dead center position, when it is monitored that the first correction signal output by the second sensing device jumps, a fourth current rotation value is determined according to the rotation signal output by the first sensing device; and the fourth current rotation value is determined as a first pre-stored bottom correction value.

[0032] In some possible implementation manners, the pre-stored correction value is obtained by using a self-learning process; and the self-learning process comprises: when it is monitored that the power output shaft is started for the first time, the spoiler is controlled to move from a bottom dead center position to a top dead center position, and in the process of moving the spoiler to the top dead center position, when it is monitored that the first correction signal output by the second sensing device jumps, a third current rotation value is determined according to the rotation signal output by the first sensing device; and the third current rotation value is determined as a first pre-stored top correction value; the spoiler is controlled to move from the top dead center position to the bottom dead center position, and in the process of moving the spoiler to the bottom dead center position, when it is monitored that the first correction signal output by the second sensing device jumps, a fourth current rotation value is determined according to the rotation signal output by the first sensing device; and the fourth current rotation value is determined as a first pre-stored bottom correction value.

[0033] In some possible implementation manners, after the fifth current rotation value is determined as the third pre-stored top correction value, the method further comprises: controlling the spoiler to move from the top dead center position to a pre-stored starting position, wherein the pre-stored starting position is above the bottom dead center position, and a rotation value difference between the pre-stored starting position and the bottom dead center position, which is determined according to the rotation signal output by the first sensing device, is less than a preset threshold.

[0034] In a second aspect, an embodiment of the present application provides a spoiler control device, a power output shaft drives the spoiler to move, and the device comprises:

[0035] The acquisition module is configured to acquire a spoiler position adjustment signal, the spoiler position adjustment signal being used to indicate adjustment of the spoiler to a target position.

[0036] The rotation direction determination module is configured to determine a controlled rotation direction of the power output shaft.

[0037] The control module is configured to, if the controlled rotation direction is a first direction, control the power output shaft to rotate in the first direction, acquire a first rotation signal output by a first sensing device in real time, and determine a first rotation value according to the first rotation signal; the first sensing device is configured to sense rotation of the power output shaft and output a rotation signal, and the rotation value determined according to the rotation signal is related to a rotation number of the power output shaft.

[0038] The operation module is configured to calculate a first cumulative record value in real time during rotation of the power output shaft, the first cumulative record value being equal to a sum of a pre-stored record value and the first rotation value.

[0039] The acquisition module is further configured to monitor whether a first correction signal is output by a second sensing device in real time during rotation of the power output shaft; the second sensing device is configured to output the first correction signal when the spoiler passes through a correction position.

[0040] The operation module is further configured to, when it is monitored that the first correction signal is output by the second sensing device and a deviation between the first cumulative record value at present and a pre-stored correction value is greater than a first threshold value, calculate a second cumulative record value in real time during rotation of the power output shaft, the second cumulative record value being a sum of the pre-stored correction value and a second rotation value; the second rotation value is determined according to a second rotation signal, the second rotation signal being a rotation signal output by the first sensing device after the first correction signal is output by the second sensing device; the correction position and the pre-stored correction value correspond to each other in a one-to-one manner.

[0041] The control module is further configured to, when the second cumulative record value matches a target value corresponding to the target position, control the spoiler to stop moving.

[0042] In a third aspect, an electronic device is provided, including at least one processor and a memory.

[0043] The memory stores computer-executable instructions.

[0044] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method described in the first aspect.

[0045] In a fourth aspect, the embodiments of the present application provide a spoiler control system applied to a vehicle, comprising a driving device, a spoiler, a first sensing device, a second sensing device and a controller.

[0046] The driving device is connected with the spoiler, and is configured to drive the spoiler to move.

[0047] The spoiler is installed on the vehicle.

[0048] The first sensing device is arranged on the power output shaft of the driving device and is connected with the controller in communication, and is configured to sense the rotation of the power output shaft, output a rotation signal and send the rotation signal to the controller.

[0049] The second sensing device is arranged on the spoiler or the vehicle, and is connected with the controller in communication, and is configured to output a first correction signal when the spoiler passes through a correction position.

[0050] The controller is arranged on the vehicle and is connected with the driving device in communication, and is configured to control the rotation of the driving device.

[0051] In a fifth aspect, the embodiments of the present application provide a vehicle, comprising a vehicle body and a spoiler control system as described in the fourth aspect arranged on the vehicle body.

[0052] In a sixth aspect, the embodiments of the present application provide a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the spoiler control method as described in the first aspect is realized.

[0053] The application provides a spoiler control method, device, equipment, system, vehicle and storage medium. The method comprises the following steps: obtaining a spoiler position adjusting signal, determining a controlled rotation direction of a power output shaft, controlling the power output shaft to rotate in a first direction if the controlled rotation direction is the first direction, obtaining a first rotation signal output by a first sensing device in real time, determining a first rotation value according to the first rotation signal, calculating a first cumulative record value in real time during rotation of the power output shaft, monitoring whether a first correction signal is output by a second sensing device, calculating a second cumulative record value in real time during rotation of the power output shaft when the first cumulative record value deviates from a pre-stored correction value by more than a first threshold value and the first correction signal is output by the second sensing device, and controlling the spoiler to stop moving when the second cumulative record value matches a target value corresponding to a target position. The position automatic correction is realized in the control process of the spoiler based on the first rotation signal output by the first sensing device and the first correction signal output by the second sensing device, the position deviation judgment and automatic correction process before the spoiler is adjusted to the target position, and the moving position of the spoiler is more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that can be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0055] FIG. 1 is a schematic diagram of an application scene of a spoiler correction control method according to an embodiment of the present application;

[0056] FIG. 2 is a flowchart of a spoiler control method according to an embodiment of the present application;

[0057] FIG. 3 is a diagram of a relationship between a Hall signal collected by a first sensing device which is a Hall sensor and a spoiler position according to an embodiment of the present application;

[0058] FIG. 4 is a diagram of a relationship between a Hall signal collected by a first sensing device which is two Hall sensors and a spoiler position according to an embodiment of the present application;

[0059] FIG. 5 is a flowchart of a self-learning method according to an embodiment of the present application;

[0060] FIG. 6 is a flowchart of a self-learning method according to an embodiment of the present application;

[0061] FIG. 7 is a structural diagram of a spoiler control device according to an embodiment of the present application;

[0062] FIG. 8 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application;

[0063] FIG. 9 is a schematic diagram of a structure of a spoiler control system according to an embodiment of the present application.

[0064] Other aspects will be appreciated upon reading and understanding the attached figures and detailed description. DETAILED DESCRIPTION

[0065] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0066] At present, in the prior art, the positioning of the spoiler is realized by using a Hall sensor. Once the Hall sensor has a counting missing record, a value error or a data storage problem, the position of the spoiler cannot be moved to the expected target position, resulting in that the vehicle cannot obtain the expected aerodynamic performance.

[0067] The inventor finds that the control method for adjusting the position of the spoiler is mostly using two-position adjustment method, that is, moving to the expanded state of the upper dead point position and moving to the closed state of the lower dead point position. However, with the increasing demand of users, the control method for adjusting the position of the multi-position spoiler is also applied to vehicles. However, the opening position of the spoiler in this method is accurately measured by the whole vehicle wind tunnel test. Only when the spoiler moves to a specific position and opens to the expected angle, the vehicle can obtain the expected aerodynamic performance in driving. However, the inventor finds that the opening position of the spoiler is incorrect in the actual use of the control method of the spoiler in the prior art. After continuous practice and analysis, the inventor finds that the control method for adjusting the position of the multi-position spoiler in the prior art is to collect the Hall signal or the number of Hall pulses of the deployment Hall sensor on the power output shaft of the spoiler. The number of collected Hall pulses is determined according to the pre-stored Hall pulse number and the corresponding relationship between the opening position of the spoiler to determine the target position of the spoiler to be opened, and then the power output shaft is controlled to drive the spoiler to move to the corresponding target position. However, when the position information of the spoiler is lost or stored incorrectly, for example, the Hall signal is lost, the number of collected Hall pulses is inaccurate, or the stored position information is zero, the opening position of the spoiler is not accurate or even cannot be opened. This seriously affects the use performance of the spoiler and the driving experience of the user.

[0068] The embodiments of the present application provide the following technical concept: the number of rotation turns of the power output shaft of the spoiler is collected by using one position sensing device to obtain the position information of the spoiler, another sensing device is installed on the vehicle to collect the signal of whether the spoiler passes through a fixed correction position, and some correction positions are obtained by self-learning before the vehicle is shipped. Then in the subsequent control process of adjusting the spoiler, the real-time collected position information and the correction position are compared, when it is found that the position of the spoiler can be corrected, the position information corresponding to the correction position is assigned to the current position by the assignment method, and the automatic correction is performed until the spoiler reaches the target position, so as to complete the self-correction process of the spoiler and improve the accuracy of the opening position of the spoiler.

[0069] In the following embodiments, the active tail wing on the vehicle is taken as an example to describe the steps and specific implementation modes of the control method of the spoiler provided by the embodiments of the present application.

[0070] FIG. 1 is a schematic diagram of the application scene of the spoiler correction control method provided by the embodiments of the present application. As shown in FIG. 1, the scene includes a vehicle body 101, an active tail wing 102 installed at the tail of the vehicle body 101, and a vehicle terminal 103 installed in the vehicle body 101.

[0071] The vehicle body 101 is used for the driver to ride. The active spoiler 102 comprises a spoiler motor, a spoiler rotating shaft connected with the power output shaft of the spoiler motor, and a spoiler mechanism fixedly connected with the spoiler rotating shaft. At least one Hall sensor is installed in the spoiler motor, and another Hall sensor is installed on the spoiler rotating shaft. Both the two Hall sensors and the spoiler motor are in communication connection with the car terminal 103, and can transmit data or signals. The Hall sensor installed on the spoiler rotating shaft can only collect low-level or high-level signals, and there is only one level signal turning point in the change process from the low-level signal to the high-level signal.

[0072] The car terminal 103 can comprise an ECU (Electronic Control Unit), an NVM (Non-Volatile Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). The ECU is used to store the signals collected by the Hall sensor and the P-HALL sensor in the NVM, and take out the corresponding Hall value from the NVM after the next power-on wake-up, and execute the self-learning process at the first start. The EEPROM is used for temporarily storing and updating the Hall signal. When the ECU of the car terminal 103 sends a control instruction to the spoiler motor, the spoiler motor can be controlled to rotate, thereby driving the spoiler rotating shaft to rotate, and then driving the spoiler mechanism to rotate to the corresponding position.

[0073] FIG. 2 is a flowchart of the spoiler control method provided by the embodiment of the application. The execution subject of the embodiment can be the car terminal 102 in the embodiment shown in FIG. 1, or other computer-related devices, and the embodiment is not particularly limited.

[0074] In the embodiment, the power output shaft drives the spoiler to move. The spoiler control method comprises the following steps.

[0075] S201: Obtain a spoiler position adjusting signal, which is used to indicate adjusting the spoiler to a target position.

[0076] In the embodiment, the power output shaft can be the power output shaft of a driving device. After receiving the control signal, the power output shaft of the driving device can move and drive the spoiler to move. For example, the power output shaft can be the output shaft of a motor, the push rod of a hydraulic system, the push rod of an electric telescopic rod, or the push rod of a pneumatic cylinder.

[0077] In the embodiment, the spoiler position adjusting signal can be an adjusting instruction automatically issued by the car machine end or a control instruction generated by the car machine end in response to the spoiler adjusting operation of the staff. For example, the staff selects the instruction of "adjusting the spoiler to the target position with an opening degree of 30 degrees".

[0078] S202: determining the controlled rotation direction of the power output shaft.

[0079] In the embodiment, the method for determining the controlled rotation direction of the power output shaft can be determined by a controller or a microcontroller for controlling the driving device of the power output shaft. For example, the controller inputs a signal to determine the running direction of the motor, and then determines the controlled rotation direction of the power output shaft.

[0080] S203: if the controlled rotation direction is the first direction, controlling the power output shaft to rotate in the first direction, and acquiring the first rotation signal output by the first sensing device in real time, and determining the first rotation value according to the first rotation signal; the first sensing device is used to sense the rotation of the power output shaft and output a rotation signal, and the rotation value determined from the rotation signal is related to the number of rotations of the power output shaft.

[0081] In the embodiment, the controlled rotation direction being the first direction means that the power output shaft can drive the spoiler to expand in the direction, and in the embodiment, the first direction can be defined as the positive rotation direction. When the power output shaft rotates in the first direction, the first rotation signal output by the first sensing device after being collected and processed in real time is acquired.

[0082] In the embodiment, the first sensing device can be a Hall sensor, which is used to sense the rotation of the power output shaft and output a Hall pulse signal.

[0083] FIG. 3 is a diagram of the correspondence between the Hall signal collected by the first sensing device which is a Hall sensor and the position of the spoiler provided by the embodiment of the application. As shown in FIG. 3, the power output shaft rotates a fixed number of times, and the Hall sensor outputs a Hall pulse signal. When the cumulative Hall signal reaches a certain number, it means that the spoiler moves to a corresponding position.

[0084] In an optional embodiment of the application, the first sensing device includes two Hall sensors.

[0085] In the embodiment, the two Hall sensors can be used to simultaneously sense the rotation of the power output shaft and output rotation signals, the two sets of rotation signals can be used for comparison and reference, when the rotation number of the power output shaft associated with the two sets of rotation signals is inconsistent, it can be known that the first rotation signal output by the current first sensing device has a signal loss, so that the step of correcting the position of the spoiler can be simply and quickly obtained. The rotation signal that does not appear signal loss in the two sets of rotation signals can be used as backup data for subsequent spoiler control.

[0086] Further, as an optional embodiment of the present application, the phase difference between the first rotation signal output by one of the two Hall sensors and the first rotation signal output by the other Hall sensor is 90°; the phase difference of 90° is used to determine the controlled rotation direction of the power output shaft.

[0087] FIG. 4 is a diagram of the relationship between the Hall signals collected by the first sensing device provided in the embodiment of the present application and the position of the spoiler.

[0088] As shown in FIG. 4, the phase difference between the Hall signals collected by the two Hall sensors is 90°, for the convenience of description, the two Hall sensors are called upper Hall sensor and lower Hall sensor in the embodiment. The process of determining the controlled rotation direction of the power output shaft by using the phase difference of 90° can be: when the rising edge of the Hall signal output by the upper Hall sensor is monitored first, and then the rising edge of the Hall signal output by the lower Hall sensor is monitored, it can be judged that the controlled rotation direction of the power output shaft is the first direction (forward rotation direction). When the rising edge of the Hall signal output by the lower Hall sensor is monitored first, and then the rising edge of the Hall signal output by the upper Hall sensor is monitored after a period of time, it can be judged that the controlled rotation direction of the power output shaft is the second direction (reverse rotation direction). This way of determining the rotation direction is more accurate.

[0089] S204: calculating a first accumulated record value in real time during the rotation of the power output shaft, the first accumulated record value being equal to the sum of the pre-stored record value and the first rotation value.

[0090] In the embodiment, calculating the first accumulated record value can be adding the pre-stored record value and the accumulated first rotation value, or obtaining the first accumulated record value by real-time accumulating the first rotation value on the pre-stored record value.

[0091] S205: monitoring whether the second sensing device outputs a first correction signal in real time during the rotation of the power output shaft; the second sensing device is used to output the first correction signal when the spoiler passes through the correction position.

[0092] In the embodiment, the second sensing device is configured to output a first correction signal when the spoiler passes the correction position during the rotation of the power output shaft in the first direction. The second sensing device can be a sensor or a switch capable of outputting two distinct level signals.

[0093] In particular, in an optional embodiment of the present application, the first sensing device is a Hall sensor, a magneto-electric sensor or a magneto-resistance sensor configured to output a square wave signal. The second sensing device can be a Hall sensor, a passive proximity switch, an inductive proximity switch, a photoelectric proximity switch, a pyroelectric proximity switch, an ultrasonic proximity switch or a microwave proximity switch. When the spoiler passes a fixed correction position, the first correction signal output by the second sensing device jumps, for example, from a low level to a high level. In the embodiment, the correction position can be an intermediate track point of the spoiler that is obtained through calibration and experiments. The correction position is located between two fixed mechanical stall points of the spoiler. When the first correction signal is output, it is further determined whether the spoiler is to be corrected.

[0094] S206: When it is monitored that the second sensing device outputs the first correction signal and the deviation between the current first cumulative record value and the pre-stored correction value is greater than the first threshold value, a second cumulative record value is calculated in real time during the rotation of the power output shaft, the second cumulative record value being the sum of the pre-stored correction value and a second rotation value. The second rotation value is determined by a second rotation signal, the second rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the first correction signal. The correction position corresponds to the pre-stored correction value one by one.

[0095] In the embodiment, the output of the first correction signal indicates that it is further verified whether the spoiler can be corrected in position at this time. The verification can be to determine whether the deviation between the current first cumulative record value and the pre-stored correction value is greater than the first threshold value. The pre-stored correction value can be a first rotation signal cumulative value corresponding to the jump of the two distinct level signals output by the second sensing device during the self-learning process. The first rotation signal cumulative value can be the cumulative value or the cumulative decrease value of the rotation signal during the movement of the spoiler from one mechanical stall position to another mechanical stall position.

[0096] In the embodiment, the first threshold value can be a pre-set Hall signal difference value, which refers to a pre-set number of Hall signal pulses. For example, as shown in FIG. 2, the pre-stored correction value is 1500, the first cumulative value is 1485, and the first threshold value is 10. At this time, it is known that the deviation between the first cumulative record value and the pre-stored correction value is 15, which is greater than the first threshold value. At this time, it is indicated that the spoiler can be corrected in position. At this time, the pre-stored correction value can be used as the initial value of the second cumulative record value.

[0097] Fig. 5 is a flowchart of the self-learning method according to an embodiment of the present application.

[0098] As shown in Fig. 5, in an optional embodiment of the present application, the pre-stored correction value is obtained by using the self-learning method. The self-learning method includes the following steps.

[0099] S501: When the power output shaft is first driven, the spoiler is controlled to move from the lower dead point position to the upper dead point position, and in the process of moving the spoiler to the upper dead point position, when the first correction signal output by the second sensing device is detected to jump, the first current rotation value is determined according to the rotation signal output by the first sensing device.

[0100] In the embodiment, the first driving refers to the first driving after the power output shaft and the spoiler are installed. At this time, the position of the spoiler is the lower dead point position, which refers to the position of the spoiler when it is retracted downward to the mechanical stall point. In the embodiment, the upper dead point position refers to the position of the spoiler when it is expanded upward to the mechanical stall point. In this process, the first sensing device continuously outputs the rotation signal and accumulates it, and the second sensing device continuously outputs the level signal. When the first correction signal output by the second sensing device is detected to change from the first kind to another obviously different first correction signal, the position of the spoiler at this time is determined as the correction position, and the rotation signal output by the first sensing device at this time is determined as the first current rotation value, which refers to the accumulated value of the rotation signal from the lower dead point position to the correction position.

[0101] S502: The first current rotation value is determined as the first pre-stored upper correction value.

[0102] In the embodiment, the first pre-stored upper correction value obtained in step S502 can be used as a reference value in the spoiler position correction process when the spoiler is expanded in the spoiler control method.

[0103] S503: The spoiler is controlled to move from the upper dead point position to the lower dead point position, and in the process of moving the spoiler to the lower dead point position, when the first correction signal output by the second sensing device is detected to jump, the second current rotation value is determined according to the rotation signal output by the first sensing device.

[0104] In the embodiment, the second current rotation value refers to the accumulated value of the rotation signal from the upper dead point position to the correction position.

[0105] S504: The second current rotation value is determined as the first pre-stored lower correction value.

[0106] In the embodiment, the first pre-stored lower correction value obtained in step S504 can be used as a reference value in the spoiler position correction process when the spoiler is retracted in the spoiler control method.

[0107] The above is the position of the spoiler when the spoiler is initially in the fully retracted state, i.e., the spoiler is in the position with the degree of expansion of the spoiler being 0. The spoiler can be in the lower dead point position, the upper dead point position, and any position between the upper dead point position and the lower dead point position. At this time, the self-learning process is different from the above-mentioned embodiments, and the specific process is as follows.

[0108] FIG. 6 is a flowchart of a self-learning method according to an embodiment of the present application.

[0109] As shown in FIG. 6, based on the above-mentioned embodiments, in an optional embodiment of the present application, the self-learning method comprises the following steps.

[0110] S601: When it is monitored that the power output shaft is started for the first time, the spoiler is controlled to move from any position to the upper dead point position, and during the movement of the spoiler to the upper dead point position, when it is monitored that the first correction signal output by the second sensing device jumps, the third current rotation value is determined according to the rotation signal output by the first sensing device.

[0111] S602: The third current rotation value is determined as the second pre-stored upper correction value.

[0112] S603: The spoiler is controlled to move from the upper dead point position to the lower dead point position, and during the movement of the spoiler to the lower dead point position, when it is monitored that the first correction signal output by the second sensing device jumps, the fourth current rotation value is determined according to the rotation signal output by the first sensing device.

[0113] S604: The fourth current rotation value is determined as the second pre-stored lower correction value.

[0114] S605: The spoiler is controlled to move from the lower dead point position to the upper dead point position, and during the movement of the spoiler to the upper dead point position, when it is monitored that the first correction signal output by the second sensing device jumps, the fifth current rotation value is determined according to the rotation signal output by the first sensing device.

[0115] S606: The fifth current rotation value is determined as the third pre-stored upper correction value.

[0116] In the embodiment, the difference from the above-mentioned embodiments is that the position of the spoiler when the spoiler is moved for the first time is any position between the upper dead point position and the lower dead point position.

[0117] In the embodiment, the second pre-stored up-correction value and the third pre-stored up-correction value can be used as reference values in the position correction process of the spoiler when the spoiler is deployed in the spoiler control method. Specifically, the second pre-stored up-correction value can be used in the process from the bottom dead center position to the target position, and the third pre-stored up-correction value can be used in the process from any intermediate position to the target position.

[0118] In the embodiment, the second pre-stored down-correction value can be used as a reference value in the position correction process of the spoiler when the spoiler is retracted in the spoiler control method.

[0119] S207: When the second accumulated record value matches the target value corresponding to the target position, the movement of the spoiler is stopped.

[0120] In the embodiment, the matching of the second accumulated record value and the target value corresponding to the target position indicates that the spoiler has been moved to the target position after position correction. The target value can be a Hall signal cumulative value corresponding to each position between the top dead center position and the bottom dead center position pre-set for the spoiler.

[0121] For example, when the target position is P3 shown in FIG. 3, the target value corresponding to P3 is 3500, and the second accumulated record value is 3500, it indicates that the spoiler reaches the target position, and at this time, the power output shaft is stopped from rotating.

[0122] In the embodiment, the control of the movement of the spoiler refers to the control of the power output shaft to stop rotating, so that the spoiler connected with the power output shaft stops moving.

[0123] The above embodiment is a method and steps for position correction of the spoiler when the controlled rotation direction of the power output shaft is the first direction. The method and steps for position correction of the spoiler when the controlled rotation direction of the power output shaft is the second direction will be described below in combination with the embodiments and the drawings.

[0124] In an optional embodiment of the present application, the spoiler control method further comprises:

[0125] S207: If the controlled rotation direction is the second direction, the power output shaft is controlled to rotate in the second direction, the third rotation signal output by the first sensing device is acquired in real time, and the third rotation value is determined according to the third rotation signal.

[0126] In the embodiment, the second direction can be reverse rotation, which corresponds to the action when the spoiler is retracted. The third rotation signal refers to the sensing signal when the power output shaft is reversed.

[0127] S208: calculating a first cumulative decrease record value in real time during the rotation of the power output shaft, the first cumulative decrease record value being the pre-stored record value minus a third rotation value.

[0128] In this embodiment, the first cumulative decrease record value can be obtained by subtracting the cumulative first rotation value from the pre-stored record value, or by subtracting the third rotation value from the pre-stored record value in real time.

[0129] S209: monitoring whether the second sensing device outputs a second correction signal in real time during the rotation of the power output shaft.

[0130] In this embodiment, the second correction signal can be obtained when the level signal output by the second sensing device jumps during the process of retracting the spoiler driven by the power output shaft.

[0131] S2010: when the second sensing device outputs the second correction signal and the deviation between the current first cumulative decrease record value and the pre-stored correction value is greater than a second threshold value, calculating a second cumulative decrease record value in real time during the rotation of the power output shaft, the second cumulative decrease record value being the pre-stored correction value minus a fourth rotation value; the fourth rotation value being determined by a fourth rotation signal, the fourth rotation signal being the rotation signal output by the first sensing device after the second sensing device outputs the second correction signal.

[0132] In this embodiment, the second threshold value can be a pre-set signal pulse value, and the second threshold value can be the same as or different from the first threshold value. For example, considering that the controlled rotation direction of the power output shaft corresponding to the first threshold value is the first direction, and the controlled rotation direction of the power output shaft corresponding to the second threshold value is the second direction, the resistance and wind pressure acting on the spoiler are different in different rotation directions, and thus the second threshold value can be different from the first threshold value.

[0133] In this embodiment, the second cumulative decrease record value can be obtained by subtracting the cumulative fourth rotation value from the pre-stored correction value as the initial value, or by subtracting the fourth rotation value in real time after the pre-stored correction value as the initial value.

[0134] S2011: when the second cumulative decrease record value matches a target value corresponding to the target position, controlling the spoiler to stop moving.

[0135] In this embodiment, when the second cumulative decrease record value matches the target value corresponding to the target position, it indicates that the spoiler has moved to the target position, and thus controlling the spoiler to stop moving can be achieved by controlling the power output shaft to stop rotating in the second direction.

[0136] In summary, the spoiler control method provided in the embodiments of the present application first determines the controlled rotation direction of the power output shaft after obtaining the spoiler position adjustment signal. If the controlled rotation direction is the first direction, the power output shaft is controlled to rotate in the first direction, and the first rotation signal output by the first sensing device is obtained in real time, and the first rotation value is determined according to the first rotation signal. Then, the first cumulative record value is calculated in real time during the rotation of the power output shaft. At the same time, it is monitored whether the second sensing device outputs the first correction signal. When it is monitored that the second sensing device outputs the first correction signal, and the deviation between the first cumulative record value and the pre-stored correction value is greater than the first threshold value, the second cumulative record value is calculated in real time during the rotation of the power output shaft. When the second cumulative record value matches the target value corresponding to the target position, the spoiler is controlled to stop moving. Based on the first rotation signal output by the first sensing device and the first correction signal output by the second sensing device, the position deviation judgment and automatic correction process before the spoiler is adjusted to the target position is realized in the control process of the spoiler, so that the moving position of the spoiler is more accurate.

[0137] Based on the above embodiments, in an optional embodiment of the present application, the number of correction positions is at least one.

[0138] In the present embodiment, if the number of correction positions is multiple, the number of pre-set correction values corresponding to each correction position is also multiple. In this way, more correction data can be provided during the movement of the spoiler, and the correction accuracy of the spoiler can be further improved.

[0139] In an optional embodiment of the present application, there is a correction position between the initial position and the target position, and the initial position is the position of the spoiler before the power output shaft rotates.

[0140] In the present embodiment, the correction position is between the initial position and the target position, that is, the correction position can be any position between the bottom dead center position and the top dead center position. Therefore, the spoiler control method provided in the embodiments of the present application can be applied to all scenarios except the bottom dead center position and the top dead center position.

[0141] Based on the above embodiments, in an optional embodiment of the present application, the spoiler can be controlled to move between the first position and the second position, and the spoiler can be fixedly kept at the first position, the second position and at least one intermediate position, and each intermediate position is located between the first position and the second position.

[0142] In the present embodiment, the first position is the state in which the spoiler is completely closed, for example, the spoiler is located at the P0 position shown in FIG. 3. The second position is the position in which the spoiler is opened to the maximum angle, for example, the spoiler is located at the P3 position shown in FIG. 3.

[0143] In an optional embodiment of the present application, the correction position satisfies at least one of the following conditions: there is a correction position between the first position and the intermediate position closest to the first position; there is a correction position between two adjacent intermediate positions; there is a correction position between the second position and the intermediate position closest to the second position.

[0144] In the present embodiment, all possible positions between the first position and the second position in the above embodiment can be correction positions, further expanding the correction scenarios.

[0145] Based on the above embodiments, in an optional embodiment of the present application, when the spoiler is located at the first position, the spoiler is in a closed state.

[0146] In the present embodiment, it is indicated that there is at least one correction position located close to the edge, i.e., a correction position is set at the position point closest to the closed state of the spoiler. In this way, in the scenario where the position of the spoiler before correction is close to the first position and the target position is closer to the initial position, the spoiler can reach the correction position more quickly during the position correction process, improving the correction efficiency. Moreover, the correction position closer to the initial position can also reduce the correction stroke in the correction process, and the error is smaller, so the correction result is more accurate.

[0147] In an optional embodiment of the present application, the spoiler can also be controlled to move between the first position and the bottom dead center position, and the bottom dead center position is located on the side of the first position away from the intermediate position; the method further comprises:

[0148] Step A: During the rotation of the power output shaft, it is monitored in real time whether the spoiler is located at the bottom dead center position.

[0149] Step B: When it is monitored that the spoiler is located at the bottom dead center position, the rotation direction of the power output shaft is switched, and when the deviation between the current first cumulative record value and the bottom dead center correction value is greater than the second threshold value, a third cumulative record value is calculated in real time during the rotation of the power output shaft, and the third cumulative record value is the sum of the bottom dead center correction value and a fifth rotation value. The fifth rotation value is determined by a fifth rotation signal, and the fifth rotation signal is a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the bottom dead center position corresponds to the bottom dead center correction value.

[0150] Step C: When the third cumulative record value matches a target value corresponding to the target position, the spoiler is controlled to stop moving.

[0151] In the embodiment, the bottom dead center position is the mechanical stall position when the spoiler is retracted. The bottom dead center position can be determined by monitoring the downward stall of the power output shaft. When the spoiler is determined to be at the bottom dead center position, the power output shaft cannot be controlled to continue rotating to avoid mechanical damage to the spoiler, i.e., the direction of rotation of the power output shaft is switched. When the deviation between the first cumulative record value and the bottom dead center correction value is greater than a second threshold value, the bottom dead center correction value is used as an initial value to calculate a third cumulative value in real time until the third cumulative record value matches the target value corresponding to the target position, i.e., the spoiler is controlled to stop moving. The method of stopping the spoiler is similar to that described in the above embodiment, so it will not be described here. For example, steps A to C describe the process of correcting the position of the spoiler using Pmin as shown in FIG. 3.

[0152] Based on the above embodiment, in an optional embodiment of the present application, the spoiler can also be controlled to move between the second position and the top dead center position, which is located on the side of the second position away from the middle position. The method further comprises:

[0153] Step D: During the rotation of the power output shaft, it is monitored in real time whether the spoiler is at the top dead center position.

[0154] Step E: When the spoiler is determined to be at the top dead center position, the direction of rotation of the power output shaft is switched, and the deviation between the current first cumulative record value and the top dead center correction value is greater than the first threshold value, a third cumulative record value is calculated in real time during the rotation of the power output shaft, and the third cumulative record value is the difference between the top dead center correction value and a sixth rotation value. The sixth rotation value is determined by a sixth rotation signal, and the sixth rotation signal is the rotation signal output by the first sensing device after the direction of rotation of the power output shaft is switched. The top dead center position corresponds to the top dead center correction value.

[0155] Step F: When the third cumulative record value matches the target value corresponding to the target position, the spoiler is controlled to stop moving.

[0156] In the embodiment, the upper dead point position is the mechanical stall position when the spoiler is deployed. The upper dead point position can be determined by monitoring the upward stall of the power output shaft. When the spoiler is determined to be at the upper dead point position, the rotation of the power output shaft cannot be controlled any more to avoid mechanical damage of the spoiler, i.e., the rotation direction of the power output shaft is switched. When the deviation between the first accumulated record value and the lower dead point correction value is greater than a first preset threshold value, the upper dead point correction value is taken as an initial value to calculate a third accumulated record value in real time until the third accumulated record value matches a target value corresponding to the target position, i.e., the spoiler is controlled to stop moving. The way in which the spoiler stops moving is similar to that in the above embodiment, and thus will not be described here. For example, steps D to F describe a process of correcting the position of the spoiler by Pmax shown in FIG. 3.

[0157] In an optional embodiment of the present application, the correction signal output by the second sensing device is a flip-flop signal, the second sensing device continuously outputs a first level signal before outputting the correction signal and continuously outputs a second level signal after outputting the correction signal, the first level signal is a low level, and the second level signal is a high level; or the first level signal is a high level, and the second level signal is a low level; the method further includes:

[0158] Step G: If at least one of the first level signal and the second level signal deviates, a correction operation is performed at the next correction position.

[0159] In the embodiment, the deviation of at least one of the first level signal and the second level signal means that the position of the spoiler can be corrected. The signal modulation method can find the position correction opportunity more quickly.

[0160] In an optional embodiment of the present application, any two intermediate positions without a correction position among the first position, the intermediate positions, and the second position satisfy that one is a low position and the other is a high position, and the pre-stored low value corresponding to the low position is less than the pre-stored high value corresponding to the high position; the sum of the pre-stored low value and the pre-stored high value is greater than the upper dead point correction value; wherein the low position is the first position or an intermediate position close to the first position; and the high position is the second position or an intermediate position close to the second position.

[0161] In the embodiment, the sum of the rotation value corresponding to the initial position of the spoiler before the controlled rotation of the power output shaft and the target value corresponding to the target position should be greater than the top dead center correction value, so that the position of the spoiler can be corrected by the top dead center correction value when the spoiler does not pass the correction position in the correction process. For example, the pre-stored low value corresponding to the low position P2 is 2500, the pre-stored high value corresponding to the high position P3 is 3500, and the top dead center correction value corresponding to the top dead center position Pmax is 5500. Therefore, 2500+3500=6000 is greater than 5500 corresponding to Pmax, which can be used to determine whether the correction opportunity has been reached.

[0162] Based on the above embodiment, in an optional embodiment of the present application, any two positions among the first position, the intermediate positions and the second position, which do not have a correction position, satisfy that one is a low position and the other is a high position, and the pre-stored low value corresponding to the low position is less than the pre-stored high value corresponding to the high position; the pre-stored low value is greater than or equal to the difference between the top dead center correction value and the pre-stored low value; wherein the low position is the first position or an intermediate position close to the first position; the high position is the second position or an intermediate position close to the second position.

[0163] In the embodiment, the method is applicable to the following scenarios, for example, the spoiler can be adjusted from the P3 position to the P2 position. Under normal circumstances, the controlled rotation direction of the power output shaft is reverse, but the pre-stored initial value is wrong and becomes zero. Therefore, the motor can be positively rotated to the pre-stored position corresponding to the target position P2, and the number of rotations and the direction are different from those required by the spoiler adjustment instruction. At this time, it indicates that the position correction can be performed.

[0164] Based on the above embodiment, the spoiler control method provided in an optional embodiment of the present application further comprises:

[0165] Step H: When receiving a shutdown or hibernation instruction, the target value is stored, so as to take the stored target value as a pre-stored recorded value in the next spoiler control.

[0166] Based on the above embodiment, in an optional embodiment of the present application, the first sensing device is a Hall sensor, a magneto-electric sensor or a magneto-resistive sensor for outputting a square wave signal; and the second sensing device is a Hall sensor, a passive proximity switch, an inductive proximity switch, a photoelectric proximity switch, a pyroelectric proximity switch, an ultrasonic proximity switch or a microwave proximity switch.

[0167] In an optional embodiment of the present application, the spoiler is a tail wing, an air intake grille, a dam, a diffuser, an air outlet baffle or a side skirt.

[0168] The tail wing is a spoiler arranged at the tail of the automobile, for example, arranged above the tail of the automobile or arranged on the trunk lid. The tail wing belongs to one of the aerodynamic kits of the automobile, used to reduce the lift of the tail of the automobile, reduce the drag coefficient, enable the automobile to run close to the ground at high speed, and improve the stability during running.

[0169] The grille is an air intake system arranged at the front end of the automobile.

[0170] The air dam is a spoiler arranged on the bottom surface of the automobile, generally arranged on the bottom surface of the front part of the automobile, vertically arranged on the bottom surface of the automobile and extended along the two sides of the automobile body, used to prevent air flow from entering the bottom of the automobile, thereby generating a vacuum or low pressure area on the bottom of the automobile body, and further improving the downforce of the automobile.

[0171] The diffuser is a spoiler arranged at the tail of the automobile, for example, arranged below the tail of the automobile or arranged on the rear bumper of the automobile. The diffuser is used to improve the aerodynamic performance of the vehicle, improve the downforce, and reduce the wind resistance.

[0172] In an optional embodiment of the present application, the position of the spoiler meets at least one of the following conditions: arranged on the bottom surface of the front part of the vehicle, or arranged on the windward surface of the front end of the vehicle, or arranged on the side surface of the vehicle, or arranged above the rear end of the vehicle, or arranged below the rear end of the vehicle.

[0173] In an optional embodiment of the present application, after the fifth current rotation value is determined as the third pre-stored up-correction value, the method further comprises: controlling the spoiler to move from the top dead center position to a pre-stored starting position, wherein the pre-stored starting position is above the bottom dead center position, and the difference between the pre-stored starting position and the bottom dead center position is less than a preset threshold according to the rotation signal output by the first sensing device.

[0174] In the embodiment, the pre-stored starting position can be a position slightly higher than the mechanical bottom dead center position. For example, if the value corresponding to the mechanical bottom dead center position is 0, the pre-stored starting position can be 10. In this way, mechanical fatigue of the connection structure related to the spoiler can be prevented, and the rotation of the spoiler can be made sensitive.

[0175] FIG. 7 is a structural schematic diagram of a spoiler control device provided by an embodiment of the present application. A power output shaft drives the movement of the spoiler. The device comprises an acquisition module 71, a rotation direction determination module 72, a control module 73, and a calculation module 74.

[0176] The acquisition module 71 is configured to acquire a spoiler position adjustment signal, the spoiler position adjustment signal being used to indicate adjustment of the spoiler to a target position.

[0177] The rotation direction determination module 72 is configured to determine the controlled rotation direction of the power output shaft.

[0178] The control module 73 is configured to control the power output shaft to rotate in the first direction if the controlled rotation direction is the first direction, acquire a first rotation signal output by the first sensing device in real time, and determine a first rotation value according to the first rotation signal; the first sensing device is configured to sense rotation of the power output shaft and output a rotation signal, and the rotation value determined from the rotation signal is related to the number of rotations of the power output shaft;

[0179] The operation module 74 is configured to calculate a first cumulative record value in real time during rotation of the power output shaft, where the first cumulative record value is equal to a sum of a pre-stored record value and the first rotation value.

[0180] The acquisition module 71 is further configured to monitor whether the second sensing device outputs a first correction signal in real time during rotation of the power output shaft; the second sensing device is configured to output the first correction signal when the spoiler passes through a correction position.

[0181] The operation module 74 is further configured to calculate a second cumulative record value in real time during rotation of the power output shaft when it is monitored that the second sensing device outputs the first correction signal and a deviation between the current first cumulative record value and a pre-stored correction value is greater than a first threshold value, where the second cumulative record value is a sum of the pre-stored correction value and a second rotation value; the second rotation value is determined from a second rotation signal, the second rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the first correction signal; and the correction position and the pre-stored correction value are in one-to-one correspondence.

[0182] The control module 73 is further configured to control the spoiler to stop moving when the second cumulative record value matches a target value corresponding to the target position.

[0183] In an optional embodiment of the present application, the control module 73 is further configured to control the power output shaft to rotate in the second direction if the controlled rotation direction is the second direction, acquire a third rotation signal output by the first sensing device in real time, and determine a third rotation value according to the third rotation signal. The operation module 74 is further configured to calculate a first cumulative decrease record value in real time during rotation of the power output shaft, where the first cumulative decrease record value is equal to the pre-stored record value minus the third rotation value. The acquisition module 71 is further configured to monitor whether the second sensing device outputs a second correction signal in real time during rotation of the power output shaft. The operation module 74 is further configured to calculate a second cumulative decrease record value in real time during rotation of the power output shaft when it is monitored that the second sensing device outputs the second correction signal and a deviation between the current first cumulative decrease record value and a pre-stored correction value is greater than a second threshold value, where the second cumulative decrease record value is equal to the pre-stored correction value minus a fourth rotation value; the fourth rotation value is determined from a fourth rotation signal, the fourth rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the second correction signal. The control module 73 is further configured to control the spoiler to stop moving when the second cumulative decrease record value matches the target value corresponding to the target position.

[0184] In an optional embodiment of the present application, the spoiler can also be controlled to move between the first position and a bottom dead center position located on one side of the first position away from the middle position; in the spoiler correction device, the acquisition module 71 is further configured to monitor in real time whether the spoiler is located at the bottom dead center position during the rotation of the power output shaft. The operation module 74 is further configured to switch the rotation direction of the power output shaft when it is monitored that the spoiler is located at the bottom dead center position, and when the deviation of the current first cumulative record value from the bottom dead center correction value is greater than the second threshold value, calculate in real time a third cumulative record value during the rotation of the power output shaft, the third cumulative record value being the sum of the bottom dead center correction value and a fifth rotation value; wherein the fifth rotation value is determined by a fifth rotation signal, the fifth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the bottom dead center position corresponds to the bottom dead center correction value. The control module 73 is further configured to control the spoiler to stop moving when the third cumulative record value matches a target value corresponding to the target position.

[0185] In an optional embodiment of the present application, the spoiler can also be controlled to move between the second position and a top dead center position located on one side of the second position away from the middle position; the method further comprises: the acquisition module 71 is further configured to monitor in real time whether the spoiler is located at the top dead center position during the rotation of the power output shaft. The operation module 74 is further configured to switch the rotation direction of the power output shaft when it is monitored that the spoiler is located at the top dead center position, and when the deviation of the current first cumulative record value from the top dead center correction value is greater than the first threshold value, calculate in real time a third cumulative record value during the rotation of the power output shaft, the third cumulative record value being the difference between the top dead center correction value and a sixth rotation value; wherein the sixth rotation value is determined by a sixth rotation signal, the sixth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the top dead center position corresponds to the top dead center correction value; the control module 73 is further configured to control the spoiler to stop moving when the third cumulative record value matches a target value corresponding to the target position.

[0186] In an optional embodiment of the present application, the correction signal output by the second sensing device is a flip signal, the second sensing device continuously outputs a first level signal before outputting the correction signal and continuously outputs a second level signal after outputting the correction signal, the first level signal being a low level and the second level signal being a high level; or the first level signal being a high level and the second level signal being a low level; the control module 73 in the spoiler control device is further configured to perform a correction operation once at the next correction position if at least one of the first level signal and the second level signal deviates.

[0187] In an optional embodiment of the present application, the control module 73 is further configured to control the spoiler to move from the top dead center position to a pre-stored start position, wherein the pre-stored start position is above the bottom dead center position, and a rotation value difference between the pre-stored start position and the bottom dead center position is less than a pre-set threshold according to the rotation signal output by the first sensing device.

[0188] The spoiler control device provided by the embodiment can be used to execute the technical solutions of the method embodiments, and has similar implementation principles and technical effects. Details are not described herein again.

[0189] FIG. 8 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application. As shown in FIG. 6, the electronic device includes at least one processor 801 and a memory 802.

[0190] The memory 802 is configured to store computer execution instructions.

[0191] The processor 801 is configured to execute the computer execution instructions stored in the memory 802 to implement each step involved in the above method embodiments. Details can be referred to the related description in the foregoing method embodiments.

[0192] Optionally, the memory 802 can be independent or integrated with the processor 801.

[0193] When the memory 802 is independently arranged, the electronic device further includes a bus 803 configured to connect the memory 802 and the processor 801.

[0194] FIG. 9 is a schematic diagram of a structure of a spoiler control system provided by an embodiment of the present application.

[0195] As shown in FIG. 9, the spoiler control system provided by an embodiment of the present application is applied to a vehicle and includes a driving device 91, a spoiler 92, a first sensing device 93, a second sensing device 94, and a controller 95.

[0196] A power output shaft of the driving device 91 is connected with the spoiler 92, and the driving device 91 is configured to drive the spoiler 92 to move; the spoiler 92 is installed on the vehicle; the first sensing device 93 is arranged on the power output shaft of the driving device 91 and in communication connection with the controller 95, and the first sensing device 93 is configured to sense the rotation of the power output shaft to output a rotation signal and send the rotation signal to the controller 95; the second sensing device 94 is arranged on the spoiler 92 or the vehicle, and the second sensing device 94 is in communication connection with the controller 95, and the second sensing device 94 is configured to output a first correction signal when the spoiler 95 passes through a correction position; the controller 95 is arranged on the vehicle and in communication connection with the driving device 91, and the controller 95 is configured to control the rotation of the driving device 91.

[0197] In this embodiment, the power output shaft and the spoiler 92 can be fixedly connected through a shaft coupling. The communication connection can be achieved through wireless communication or wired communication, and the purpose of transmitting data or signals can be achieved. The driving device 91 can be an electric motor, a hydraulic rod, or an electric push rod. The controller 95 can be a vehicle machine end or other computer equipment with data processing and control functions.

[0198] The embodiment of the application also provides a vehicle, which comprises a vehicle body and a spoiler control system as described in the embodiment shown in FIG. 9 arranged on the vehicle body.

[0199] The embodiment of the application also provides a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the tail wing position correction control method described above is realized.

[0200] The embodiment of the application also provides a computer program product, which comprises a computer program, and when the computer program is executed by a processor, the tail wing position correction control method described above is realized.

[0201] It is explained here that the tail wing position correction control method in the above embodiment is only from the perspective of the vehicle tail wing. In addition to the use scenario of the vehicle tail wing, the tail wing position correction control method provided by the application is also applicable to other optional multi-position and high-precision control scenarios, such as controlling multi-position air intake grilles, air dams, and out diffusers, air outlet baffles, or side skirts.

[0202] In several embodiments provided by the application, it can be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above modules is only a logical function division. In actual implementation, another division mode can be used, for example, a plurality of modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0203] The modules described above as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. According to actual needs, some or all of the modules can be selected to realize the embodiment scheme.

[0204] In addition, each functional module in various embodiments of the present application can be integrated in one processing unit, or each module can be physically present alone, or two or more modules can be integrated in one unit. The unit composed of the above modules can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0205] The integrated module realized in the form of software functional module can be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of steps of the method of various embodiments of the present application.

[0206] It should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the disclosed method can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0207] The memory can include a high-speed RAM memory, and can also include a non-volatile storage NVM, for example at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0208] The bus can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0209] The aforementioned storage medium can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0210] An exemplary storage medium is coupled to the processor so that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can exist as discrete components in the electronic device or host device.

[0211] Those of ordinary skill in the art understand that all or part of the steps in the above method can be instructed by a program to relevant hardware (for example, a processor), and the program can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk. Alternatively, all or part of the steps of the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in the form of hardware, for example, by an integrated circuit to implement its corresponding function, or in the form of a software function module, for example, by a processor executing a program / instruction stored in a memory to implement its corresponding function. The present application is not limited to any specific form of combination of hardware and software.

[0212] The above description is intended to illustrate and not to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A spoiler control method, a power output shaft driving the spoiler to move, the method comprising: obtaining a spoiler position adjustment signal, the spoiler position adjustment signal being used to indicate to adjust the spoiler to a target position; determining a controlled rotation direction of the power output shaft; if the controlled rotation direction is a first direction, controlling the power output shaft to rotate in the first direction, and obtaining a first rotation signal output by a first sensing device in real time, and determining a first rotation value according to the first rotation signal; the first sensing device being used to sense the rotation of the power output shaft and output a rotation signal, the rotation value determined from the rotation signal being related to the number of rotations of the power output shaft; calculating a first cumulative record value in real time during the rotation of the power output shaft, the first cumulative record value being equal to a sum of a pre-stored record value and the first rotation value; monitoring whether a first correction signal is output by a second sensing device in real time during the rotation of the power output shaft; the second sensing device being used to output the first correction signal when the spoiler passes a correction position; when it is monitored that the first correction signal is output by the second sensing device, and a deviation between the current first cumulative record value and a pre-stored correction value is greater than a first threshold, calculating a second cumulative record value in real time during the rotation of the power output shaft, the second cumulative record value being a sum of the pre-stored correction value and a second rotation value; the second rotation value being determined from a second rotation signal, the second rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the first correction signal; the correction position corresponding to the pre-stored correction value one by one; and controlling the spoiler to stop moving when the second cumulative record value matches a target value corresponding to the target position. 2.The method according to claim 1, further comprising: if the controlled rotation direction is a second direction, controlling the power output shaft to rotate in the second direction, obtaining a third rotation signal output by the first sensing device in real time, and determining a third rotation value according to the third rotation signal; calculating a first cumulative decrease record value in real time during the rotation of the power output shaft, the first cumulative decrease record value being the pre-stored record value minus the third rotation value; monitoring whether a second correction signal is output by the second sensing device in real time during the rotation of the power output shaft; when it is monitored that the second correction signal is output by the second sensing device, and a deviation between the current first cumulative decrease record value and the pre-stored correction value is greater than a second threshold, calculating a second cumulative decrease record value in real time during the rotation of the power output shaft, the second cumulative decrease record value being the pre-stored correction value minus a fourth rotation value; the fourth rotation value being determined from a fourth rotation signal, the fourth rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the second correction signal; and controlling the spoiler to stop moving when the second cumulative decrease record value matches the target value corresponding to the target position. The number of the correction positions is at least one. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 3. The method of claim 2, wherein, ​ 4. The method of claim 3, wherein, There is a correction position between the initial position of the spoiler before the power output shaft rotates and the target position.

5. The method of any one of claims 2 to 4, wherein, The spoiler can be controlled to move between a first position and a second position, and the spoiler can be fixed to remain in the first position, the second position, and at least one intermediate position between the first position and the second position.

6. The method of claim 5, wherein, The correction position satisfies at least one of the following conditions: there is a correction position between the first position and the intermediate position closest to the first position, there is a correction position between two adjacent intermediate positions, and there is a correction position between the second position and the intermediate position closest to the second position.

7. The method of claim 6, wherein, When the spoiler is in the first position, the spoiler is in a closed state.

8. The method of claim 5, wherein, The spoiler can also be controlled to move between the first position and a bottom dead center position, which is on the side of the first position away from the intermediate positions; the method further comprises: During the rotation of the power output shaft, the spoiler is monitored in real time to determine whether it is in the bottom dead center position; When it is monitored that the spoiler is in the bottom dead center position, the rotation direction of the power output shaft is switched, and when the deviation between the current first cumulative record value and a bottom dead center correction value is greater than the second threshold value, a third cumulative record value is calculated in real time during the rotation of the power output shaft, the third cumulative record value being the sum of the bottom dead center correction value and a fifth rotation value; wherein the fifth rotation value is determined by a fifth rotation signal, the fifth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the bottom dead center position corresponds to the bottom dead center correction value; When the third cumulative record value matches a target value corresponding to the target position, the spoiler is controlled to stop moving.

9. The method of claim 5, wherein, The spoiler can also be controlled to move between the second position and a top dead center position, which is on the side of the second position away from the intermediate positions; the method further comprises: During the rotation of the power output shaft, the spoiler is monitored in real time to determine whether it is in the top dead center position; When it is monitored that the spoiler is in the top dead center position, the rotation direction of the power output shaft is switched, and when the deviation between the current first cumulative record value and a top dead center correction value is greater than the first threshold value, a third cumulative record value is calculated in real time during the rotation of the power output shaft, the third cumulative record value being the difference between the top dead center correction value and a sixth rotation value; wherein the sixth rotation value is determined by a sixth rotation signal, the sixth rotation signal being a rotation signal output by the first sensing device after the rotation direction of the power output shaft is switched; the top dead center position corresponds to the top dead center correction value; When the third cumulative record value matches a target value corresponding to the target position, the spoiler is controlled to stop moving.

10. The method of claim 1, wherein, The correction signal outputted by the second sensing device is a flip signal, the second sensing device continuously outputs a first level signal before outputting the correction signal, and continuously outputs a second level signal after outputting the correction signal, the first level signal is a low level, and the second level signal is a high level. Or the first level signal is a high level, and the second level signal is a low level; the method further comprises: If at least one of the first level signal and the second level signal deviates, performing a correction operation at the next correction position.

11. The method of claim 1, wherein, The first sensing device comprises two Hall sensors.

12. The method of claim 11, wherein, The phase difference between the first rotation signal outputted by one of the Hall sensors in the first sensing device and the first rotation signal outputted by the other Hall sensor is 90°; the phase difference of 90° is used to determine the controlled rotation direction of the power output shaft.

13. The method of claim 9, wherein, Among the first position, each intermediate position and the second position, any two positions without a correction position satisfy: one is a low position, the other is a high position, and the pre-stored low value corresponding to the low position is less than the pre-stored high value corresponding to the high position. The sum of the pre-stored low value and the pre-stored high value is greater than the top dead center correction value. Among the first position, each intermediate position and the second position, any two positions without a correction position satisfy: one is a low position, the other is a high position, and the pre-stored low value corresponding to the low position is less than the pre-stored high value corresponding to the high position.

14. The method of claim 9, wherein, The pre-stored low value is greater than or equal to the difference between the top dead center correction value and the pre-stored low value. Among the first position, each intermediate position and the second position, any two positions without a correction position satisfy: one is a low position, the other is a high position, and the pre-stored low value corresponding to the low position is less than the pre-stored high value corresponding to the high position. When receiving a shutdown or hibernation instruction, the target value is stored, and the stored target value is used as the pre-stored record value in the next spoiler control.

15. The method of claim 1, further comprising: The first sensing device is a Hall sensor, a magneto-electric sensor or a magnetoresistive sensor for outputting a square wave signal; the second sensing device is a Hall sensor, a passive proximity switch, an inductive proximity switch, an optoelectronic proximity switch, a pyroelectric proximity switch, an ultrasonic proximity switch or a microwave proximity switch.

16. The method of claim 1, wherein, The spoiler is a tail wing, an air intake grille, a dam, a diffuser, an air outlet baffle or a side skirt.

17. The method of claim 1, wherein, The position of the spoiler satisfies at least one of the following: being arranged on the bottom surface of the front of the vehicle, or being arranged on the windward surface of the front end of the vehicle, or being arranged on the side surface of the vehicle, or being arranged above the rear end of the vehicle, or being arranged below the rear end of the vehicle.

18. The method of any one of claims 1, 2, 3, 4, or 6-17, wherein, The pre-stored correction value is obtained by using a self-learning method; the self-learning method comprises:

19. The method of any one of claims 9 to 14, wherein, ​ controlling the spoiler to move from the lower dead point position to the upper dead point position, and in the process of the spoiler moving to the upper dead point position, when a first correction signal output by the second sensing device is monitored to jump, a third current rotation value is determined according to a rotation signal output by the first sensing device; determining the third current rotation value as a second pre-stored upper correction value; controlling the spoiler to move from the upper dead point position to the lower dead point position, and in the process of the spoiler moving to the lower dead point position, when the first correction signal output by the second sensing device is monitored to jump, a fourth current rotation value is determined according to the rotation signal output by the first sensing device; determining the fourth current rotation value as a second pre-stored lower correction value; 20. The method of any one of claims 9 to 14, wherein, controlling the spoiler to move from the lower dead point position to the upper dead point position, and in the process of the spoiler moving to the upper dead point position, when the first correction signal output by the second sensing device is monitored to jump, a fifth current rotation value is determined according to the rotation signal output by the first sensing device; determining the fifth current rotation value as a third pre-stored upper correction value. after the fifth current rotation value is determined as the third pre-stored upper correction value, the method further comprises: controlling the spoiler to move from the upper dead point position to a pre-stored starting point position, wherein the pre-stored starting point position is above the lower dead point position, and a rotation value difference between the pre-stored starting point position and the lower dead point position determined according to the rotation signal output by the first sensing device is less than a pre-set threshold value.

22. A spoiler control device, a power output shaft driving the spoiler to move, the device comprising: an acquisition module configured to acquire a spoiler position adjustment signal, the spoiler position adjustment signal being used to indicate that the spoiler is adjusted to a target position; a rotation direction determination module configured to determine a controlled rotation direction of the power output shaft; and 21. The method of claim 20, wherein, a control module configured to control the power output shaft to rotate in the controlled rotation direction. ​ ​ ​ ​ a control module, configured to control the power output shaft to rotate in the first direction if the controlled rotation direction is the first direction, and acquire a first rotation signal output by a first sensing device in real time, and determine a first rotation value according to the first rotation signal; the first sensing device is configured to sense rotation of the power output shaft to output a rotation signal, and the rotation value determined according to the rotation signal is related to the number of rotations of the power output shaft; an operation module, configured to calculate a first cumulative record value in real time during rotation of the power output shaft, the first cumulative record value being equal to a sum of a pre-stored record value and the first rotation value; the acquisition module is further configured to monitor whether a first correction signal is output by a second sensing device in real time during rotation of the power output shaft; the second sensing device is configured to output the first correction signal when the spoiler passes through a correction position; the operation module is further configured to calculate a second cumulative record value in real time during rotation of the power output shaft when it is monitored that the first correction signal is output by the second sensing device, and a deviation between the first cumulative record value at present and a pre-stored correction value is greater than a first threshold value, the second cumulative record value being a sum of the pre-stored correction value and a second rotation value; the second rotation value is determined according to a second rotation signal, the second rotation signal being a rotation signal output by the first sensing device after the second sensing device outputs the first correction signal; the correction position and the pre-stored correction value correspond to each other; the control module is further configured to control the spoiler to stop moving when a target value corresponding to the second cumulative record value matches a target position. 23.An electronic device, comprising at least one processor and a memory; the memory stores computer-executed instructions; the at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the method according to any one of claims 1 to 21. 24.A spoiler control system applied to a vehicle, comprising a driving device, a spoiler, a first sensing device, a second sensing device and a controller; a power output shaft of the driving device is connected to the spoiler, and the driving device is configured to drive the spoiler to move; the spoiler is installed on the vehicle; the first sensing device is arranged on the power output shaft of the driving device and is in communication connection with the controller, and the first sensing device is configured to sense rotation of the power output shaft to output a rotation signal and send the rotation signal to the controller; the second sensing device is arranged on the spoiler or the vehicle, and the second sensing device is in communication connection with the controller, and the second sensing device is configured to output a first correction signal when the spoiler passes through a correction position; the controller is arranged on the vehicle and is in communication connection with the driving device, and the controller is configured to control rotation of the driving device.

25. A vehicle comprising: a vehicle body and the spoiler control system according to claim 24 arranged on the vehicle body.

26. A computer readable storage medium having computer-executable instructions stored therein such that, when executed by a processor, implement the spoiler control method of any one of claims 1 to 21.

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