CN111502464A - Vehicle door control method and system - Google Patents
Vehicle door control method and system Download PDFInfo
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- CN111502464A CN111502464A CN202010326127.8A CN202010326127A CN111502464A CN 111502464 A CN111502464 A CN 111502464A CN 202010326127 A CN202010326127 A CN 202010326127A CN 111502464 A CN111502464 A CN 111502464A
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- vehicle door
- door
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- electric suction
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000004888 barrier function Effects 0.000 claims description 23
- 238000000605 extraction Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 description 13
- 230000006872 improvement Effects 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/02—Power-actuated vehicle locks characterised by the type of actuators used
- E05B81/04—Electrical
- E05B81/06—Electrical using rotary motors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B81/00—Power-actuated vehicle locks
- E05B81/12—Power-actuated vehicle locks characterised by the function or purpose of the powered actuators
- E05B81/16—Power-actuated vehicle locks characterised by the function or purpose of the powered actuators operating on locking elements for locking or unlocking action
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B83/00—Vehicle locks specially adapted for particular types of wing or vehicle
- E05B83/16—Locks for luggage compartments, car boot lids or car bonnets
- E05B83/18—Locks for luggage compartments, car boot lids or car bonnets for car boot lids or rear luggage compartments
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
- E05Y2900/532—Back doors or end doors
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a vehicle door control method, which comprises the following steps: acquiring an operation command, wherein the operation command comprises a vehicle door opening command, a vehicle door closing command and a vehicle door pause command; when the control instruction is a vehicle door opening instruction, vehicle door state information is obtained, whether the vehicle door state information is in a fortifying state or not is judged, if yes, fortifying prompt information is sent, if not, the electric suction lock motor is controlled to drive the electric suction lock to unlock, and the door motor is controlled to drive the vehicle door to rotate and open according to the vehicle door opening instruction; when the control instruction is a vehicle door closing instruction, controlling a door motor to drive a vehicle door to rotate and close, and controlling an electric suction lock motor to drive an electric suction lock to lock; and when the control command is a vehicle door pause command, controlling the door motor to drive the vehicle door to stop rotating. Correspondingly, the invention also discloses a vehicle door control system. By adopting the invention, the electric suction lock and the vehicle door can be controlled simultaneously, and the damage of obstacles to the vehicle when the vehicle door is opened and closed can be reduced.
Description
Technical Field
The invention relates to a vehicle control technology, in particular to a vehicle door control method and a vehicle door control system.
Background
The door of the existing small automobile is provided with an electric suction lock. The electric suction lock is driven by an electric suction lock motor, and specifically, the electric suction lock is driven to be locked and unlocked respectively through forward rotation and reverse rotation of the electric suction lock motor. The control button is installed to driver's seat, and the control button is connected with the electricity through communication bus and is inhaled the lock motor electricity to lock and unblock on the electricity of four doors of control kart through the control button control, make things convenient for its driver to control the door. However, most of the existing vehicle doors cannot be automatically opened and closed, and the existing simple control of motors such as a tail gate or an electric suction lock of the automobile cannot meet the opening and closing of four doors.
In addition, at present, the anti-pinch function is realized by mostly adopting a contact type detection method for tail gate control, for example, an overcurrent detection mode or a detection mode is adopted, but the four vehicle doors are opened by considering the scratch of the paint of the four vehicle doors caused by obstacles or sharp objects, and if the contact type anti-pinch method only adopting the tail gate control has the risk of damaging the original vehicle.
Disclosure of Invention
The invention aims to provide a vehicle door control method and a vehicle door control system, which can control an electric suction lock and a vehicle door simultaneously and reduce the damage of an obstacle to the vehicle when the vehicle door is opened and closed.
In order to solve the technical problem, the invention provides a vehicle door control method, which comprises the following steps: acquiring an operation command, wherein the operation command comprises a vehicle door opening command, a vehicle door closing command and a vehicle door pause command; when the control instruction is a vehicle door opening instruction, vehicle door state information is obtained, whether the vehicle door state information is in a fortifying state or not is judged, if yes, fortifying prompt information is sent, if not, the electric suction lock motor is controlled to drive the electric suction lock to unlock, and the door motor is controlled to drive the vehicle door to rotate and open according to the vehicle door opening instruction; when the control instruction is a vehicle door closing instruction, controlling a door motor to drive a vehicle door to rotate and close, and controlling an electric suction lock motor to drive an electric suction lock to lock; and when the control command is a vehicle door pause command, controlling the door motor to drive the vehicle door to stop rotating.
As an improvement of the scheme, the step of controlling the electric suction lock motor to drive the electric suction lock to unlock comprises the following steps: s101, acquiring state information of the electric attraction lock; s102, judging whether the state information of the electric suction lock is in an unlocking state, and if so, S103, controlling the electric suction lock motor to stop rotating, acquiring a rotation angle value of the door moving motor, judging whether the rotation angle value is larger than a preset return angle value, if so, controlling the electric suction lock motor to return, and if not, returning to the step S102; and S104, when the judgment result is no, acquiring an unlocking current value of the electric suction lock motor, judging whether the unlocking current value is larger than a preset unlocking overcurrent value or not, when the judgment result is yes, controlling the electric suction lock motor to stop rotating and sending unlocking fault alarm information, and when the judgment result is no, controlling the electric suction lock motor to drive the electric suction lock to unlock, acquiring electric suction lock state information, and returning to the step S102.
As an improvement of the scheme, the step that the door opening instruction comprises opening direction information and opening speed information, and the step of controlling the door motor to drive the door to rotate and open according to the door opening instruction comprises the following steps: s201, extracting target opening amplitude information, target opening direction information and target opening speed information in a vehicle door opening instruction; s202, obtaining obstacle signals detected by a radar and current opening amplitude information of a vehicle door; s203, judging whether the current opening amplitude information of the vehicle door is target opening amplitude information, S204, controlling the door motor to stop rotating when the judgment is yes, S205, judging whether an obstacle signal is an object signal when the judgment is no, controlling the door motor to stop rotating and sending obstacle alarm information when the judgment is yes, controlling the door motor to drive the vehicle door to rotate and open according to the specific direction and speed according to the target opening direction information and the target opening speed information when the judgment is no, and returning to the step S202.
As an improvement of the above solution, the door closing command includes closing direction information and closing speed information, and the step of controlling the door motor to drive the door to rotate and close includes: s301, extracting target closing amplitude information, target closing direction information and target closing speed information in the vehicle door closing instruction; s302, obtaining obstacle signals detected by a radar and current closing amplitude information of a vehicle door; s303, judging whether the current closing amplitude information of the vehicle door is the target closing amplitude information, S304, judging whether the obstacle signal is the object signal or not when the judgment is yes, controlling the door motor to stop rotating and sending obstacle alarm information when the judgment is yes, controlling the door motor to drive the vehicle door to rotate and close according to the specific direction and speed according to the target closing direction information and the target closing speed information when the judgment is not, and returning to the step S302.
As an improvement of the above scheme, the step of controlling the electric suction lock motor to drive the electric suction lock to lock comprises: s401, acquiring electric suction lock state information and vehicle door state information; s402, judging whether the electric suction lock state information is in an unlocking state and whether the vehicle door state information is in a locking state, if so, S403, acquiring a locking current value of the electric suction lock motor, judging whether the locking current value is larger than a preset locking overcurrent value, if so, controlling the electric suction lock motor to stop rotating and sending out locking fault alarm information, if not, controlling the electric suction lock motor to rotate, and returning to the step S401; s404, if not, judging whether the power absorption locking state information is in a locking state, and if so, controlling the power absorption locking motor to stop rotating and return.
The invention also discloses a vehicle door control system, which comprises: the command acquisition module is used for acquiring control commands, and the control commands comprise a vehicle door opening command, a vehicle door closing command and a vehicle door pause command; the vehicle door opening module is used for acquiring vehicle door state information when the control instruction is a vehicle door opening instruction, judging whether the vehicle door state information is in a fortifying state or not, sending fortifying prompt information when the vehicle door state information is judged to be in the fortifying state, controlling the electric suction lock motor to drive the electric suction lock to unlock when the vehicle door state information is judged to be not in the fortifying state, and controlling the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction; the door closing module is used for controlling the door motor to drive the door to rotate and close and controlling the electric suction lock motor to drive the electric suction lock to lock when the control instruction is a door closing instruction; and the pause module is used for controlling the door motor to drive the vehicle door to stop rotating when the control instruction is a vehicle door pause instruction.
As an improvement of the above aspect, the door opening module includes: the unlocking state acquisition unit is used for acquiring the electric locking state information; the unlocking state judging unit is used for judging whether the power-off unlocking state information is in an unlocking state; the unlocking return unit is used for controlling the electric suction lock motor to stop rotating when the judgment result is yes, acquiring a rotating angle value of the door moving motor, judging whether the rotating angle value is larger than a preset return angle value or not, controlling the electric suction lock motor to return when the judgment result is yes, and returning to the unlocking state judgment unit when the judgment result is not; and the unlocking overcurrent processing unit is used for acquiring an unlocking current value of the electric suction lock motor, judging whether the unlocking current value is greater than a preset unlocking overcurrent value or not, controlling the electric suction lock motor to stop rotating and sending unlocking fault alarm information if the unlocking current value is greater than the preset unlocking overcurrent value, controlling the electric suction lock motor to drive the electric suction lock to unlock and acquire electric suction lock state information if the unlocking current value is not greater than the preset unlocking overcurrent value, and returning to the unlocking state judgment unit.
As an improvement of the above-mentioned scheme, the door opening command includes opening direction information and opening speed information, and the door opening module further includes: the opening instruction information extraction unit is used for extracting target opening amplitude information, target opening direction information and target opening speed information in the vehicle door opening instruction; the opening state information acquisition unit is used for acquiring barrier signals detected by a radar and current opening amplitude information of the vehicle door; the opening amplitude judging unit is used for judging whether the current opening amplitude information of the vehicle door is the target opening amplitude information; the opening finishing unit is used for controlling the door motor to stop rotating when the judgment result is yes; and the opening barrier processing unit is used for judging whether the barrier signal is an object signal or not when the judgment result is negative, controlling the door motor to stop rotating and sending barrier alarm information when the judgment result is positive, controlling the door motor to drive the vehicle door to rotate and open according to a specific direction and speed according to the target opening direction information and the target opening speed information and returning to the opening state information acquisition unit when the judgment result is negative.
As an improvement of the above aspect, the door closing command includes closing direction information and closing speed information, and the door closing module includes: the closing instruction information extraction unit is used for extracting target closing amplitude information, target closing direction information and target closing speed information in the vehicle door closing instruction; the closing state information acquisition unit is used for acquiring barrier signals detected by a radar and current closing amplitude information of the vehicle door; the closing amplitude judging unit is used for judging whether the current closing amplitude information of the vehicle door is the target closing amplitude information; and the closed obstacle processing unit is used for judging whether the obstacle signal is an object signal or not when the judgment is yes, controlling the door motor to stop rotating and sending obstacle alarm information when the judgment is yes, controlling the door motor to drive the door to rotate and close according to the specific direction and speed according to the target closing direction information and the target closing speed information and returning to the closed state information acquisition unit when the judgment is not yes.
As an improvement of the above aspect, the door closing module further includes: a locking state acquisition unit for acquiring electric power locking state information and vehicle door state information; the locking state judging unit is used for judging whether the power-off locking state information is in an unlocking state and whether the vehicle door state information is in a locking state; the locking overcurrent processing unit is used for acquiring a locking current value of the electric suction lock motor when the judgment result is yes, judging whether the locking current value is larger than a preset locking overcurrent value or not, controlling the electric suction lock motor to stop rotating and sending locking fault alarm information when the judgment result is yes, controlling the electric suction lock motor to rotate and returning to the locking state acquisition unit when the judgment result is no; and the locking and returning unit is used for judging whether the power suction locking state information is in a locking state or not when the judgment result is no, and controlling the power suction locking motor to stop rotating and return when the judgment result is yes.
The beneficial effects of the implementation of the invention are as follows:
the vehicle door control method and the vehicle door control system can control the electric suction lock and the vehicle door simultaneously, and reduce the damage of obstacles to the vehicle when the vehicle door is opened and closed.
Specifically, the control instruction sent by the control key comprises a vehicle door opening instruction, a vehicle door closing instruction and a vehicle door pause instruction. When the door opening instruction is acquired, the door state information is acquired, whether the door state information is in a fortification state or not is judged, and if the door state information is in the fortification state, fortification prompt information is sent out to prevent the door from being opened in the fortification state. And if not, controlling the electric suction lock motor to drive the electric suction lock to unlock, and controlling the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction, so that the vehicle door is controlled to open while the electric suction lock is controlled to unlock, and a user does not need to open the vehicle door by himself. When a vehicle door closing instruction is obtained, the door motor is controlled to drive the vehicle door to rotate and close, and the electric suction lock motor is controlled to drive the electric suction lock to lock, so that the vehicle door is automatically locked after being closed, and the vehicle door is locked after being closed, and the safety in the vehicle is ensured. When a door pause instruction is obtained, the door motor is controlled to drive the door to stop rotating, so that a user can conveniently change the opening and closing state of the door.
In addition, when the control door motor drives the vehicle door to open and close, the obstacles can be detected, when the obstacles are detected, the control door motor stops rotating, the vehicle door is prevented from rotating towards the obstacles to cause the damage of the vehicle door, and the damage of the obstacles to the vehicle door in the opening and closing process of the vehicle door is effectively reduced.
Drawings
FIG. 1 is a general flow chart of the vehicle gating method of the present invention.
FIG. 2 is a flow chart of the door control method for a vehicle according to the present invention, wherein the door control method controls the electric suction lock motor to drive the electric suction lock to unlock;
FIG. 3 is a flow chart of the door control method for controlling the door motor to drive the door to rotate and open according to the door opening command;
FIG. 4 is a flow chart of a method for controlling a door motor to rotate a door of a vehicle to close in accordance with the present invention;
FIG. 5 is a flow chart of the door control method for a vehicle according to the present invention, wherein the electric suction lock motor is controlled to drive the electric suction lock to lock;
FIG. 6 is a schematic diagram of the general construction of the vehicle door control system of the present invention;
FIG. 7 is a schematic view of the door opening module of the vehicle door management system of the present invention;
FIG. 8 is a schematic view of the door closing module of the vehicle door control system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It is only noted that the invention is intended to be limited to the specific forms set forth herein, including any reference to the drawings, as well as any other specific forms of embodiments of the invention.
FIG. 1 shows a general flow diagram of a vehicle door control method of the present invention, which includes:
s101, acquiring an operation command, wherein the operation command comprises a vehicle door opening command, a vehicle door closing command and a vehicle door pause command.
S102, when the control instruction is a vehicle door opening instruction, vehicle door state information is obtained, whether the vehicle door state information is in a fortification state or not is judged, if yes, fortification prompt information is sent, if not, the electric suction lock motor is controlled to drive the electric suction lock to unlock, and the door motor is controlled to drive the vehicle door to rotate and open according to the vehicle door opening instruction.
S103, when the control command is a vehicle door closing command, controlling the door motor to drive the vehicle door to rotate and close, and controlling the electric suction lock motor to drive the electric suction lock to lock.
And S104, controlling the door motor to drive the vehicle door to stop rotating when the control command is a vehicle door pause command.
The vehicle door control method can control the electric suction lock and the vehicle door simultaneously, and reduce the damage of obstacles to the vehicle when the vehicle door is opened and closed.
Specifically, the control instruction sent by the control key comprises a vehicle door opening instruction, a vehicle door closing instruction and a vehicle door pause instruction. When the door opening instruction is acquired, the door state information is acquired, whether the door state information is in a fortification state or not is judged, and if the door state information is in the fortification state, fortification prompt information is sent out to prevent the door from being opened in the fortification state. And if not, controlling the electric suction lock motor to drive the electric suction lock to unlock, and controlling the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction, so that the vehicle door is controlled to open while the electric suction lock is controlled to unlock, and a user does not need to open the vehicle door by himself. When a vehicle door closing instruction is obtained, the door motor is controlled to drive the vehicle door to rotate and close, and the electric suction lock motor is controlled to drive the electric suction lock to lock, so that the vehicle door is automatically locked after being closed, and the vehicle door is locked after being closed, and the safety in the vehicle is ensured. When a door pause instruction is obtained, the door motor is controlled to drive the door to stop rotating, so that a user can conveniently change the opening and closing state of the door.
In addition, when the control door motor drives the vehicle door to open and close, the obstacles can be detected, when the obstacles are detected, the control door motor stops rotating, the vehicle door is prevented from rotating towards the obstacles to cause the damage of the vehicle door, and the damage of the obstacles to the vehicle door in the opening and closing process of the vehicle door is effectively reduced.
The following is a detailed description of the steps for controlling the electric lock motor and the door operating motor.
Fig. 2 is a flow chart for controlling the motor of the electric suction lock to drive the electric suction lock to unlock, and the steps include:
s201, acquiring the state information of the electric attraction lock.
S202, judging whether the electric attraction lock state information is in an unlocking state.
S203, when the judgment result is yes, controlling the electric suction lock motor to stop rotating, obtaining a rotation angle value of the door movement motor, judging whether the rotation angle value is larger than a preset return angle value, if so, controlling the electric suction lock motor to return, and if not, returning to the step S202.
After unlocking is finished, the electric suction lock motor needs to be controlled to stop rotating and return. Meanwhile, the situation that the vehicle door is still close to the electric suction lock motor and the electric suction lock motor is possibly prevented from rotating to return is considered, so that the vehicle door returns after being opened by a certain range, and specifically, the electric suction lock motor is controlled to return after the rotating angle value is larger than the preset return angle value.
It should be noted that, after the electric suction lock motor drives the electric suction lock to unlock and lock, the electric suction lock motor needs to return to the original position to unlock and lock the electric suction lock at the next time.
And S204, when the judgment result is no, acquiring the unlocking current value of the electric suction lock motor, judging whether the unlocking current value is larger than a preset unlocking overcurrent value or not, when the judgment result is yes, controlling the electric suction lock motor to stop rotating and sending unlocking fault alarm information, and when the judgment result is no, controlling the electric suction lock motor to drive the electric suction lock to unlock, acquiring the electric suction lock state information, and returning to the step S202.
In the electric suction lock motor unlocking process, whether the unlocking is in obstacle can be determined by obtaining the current value of the electric suction lock motor, if the unlocking is in obstacle, the current of the electric suction lock motor can rise, when the current value is higher than a preset current critical value, the overcurrent phenomenon can be judged, the electric suction lock motor is stopped to rotate at the moment, an alarm is given, and the electric suction lock motor can be prevented from being damaged.
The door opening command includes opening direction information and opening speed information.
FIG. 3 is a flow chart of controlling a door motor to drive a door to open according to a door opening command, comprising the steps of:
s301, extracting target opening amplitude information, target opening direction information and target opening speed information in the vehicle door opening instruction.
And S302, obtaining obstacle signals detected by the radar and current opening amplitude information of the vehicle door.
And S303, judging whether the current opening amplitude information of the vehicle door is the target opening amplitude information.
And S304, if the judgment result is yes, controlling the door motor to stop rotating.
S305, if the judgment result is no, judging whether the obstacle signal is an object signal, if the judgment result is yes, controlling the door motor to stop rotating and sending the obstacle alarm information, if the judgment result is no, controlling the door motor to drive the door to rotate and open according to the specific direction and speed according to the target opening direction information and the target opening speed information, and returning to the step S302.
Through the steps, the target amplitude, the target direction and the target speed of the opening of the vehicle door can be controlled, so that the vehicle door can be opened in a proper mode. In addition, an obstacle near the door is detected while being opened, and when the obstacle is detected, the door motor is stopped from rotating and an alarm is issued, thereby preventing the door from being damaged by the obstacle. The process of detecting the barrier signal and the process of detecting the barrier signal are repeated until the current opening amplitude information of the vehicle door is the target opening amplitude information, namely the vehicle door is opened completely.
The door closing command includes closing direction information and closing speed information.
FIG. 4 is a flow chart of a method for controlling a door motor to rotate a door closed, comprising the steps of:
s401, extracting target closing amplitude information, target closing direction information and target closing speed information in the vehicle door closing command.
S402, obtaining obstacle signals detected by the radar and current closing amplitude information of the vehicle door.
And S403, judging whether the current closing amplitude information of the vehicle door is the target closing amplitude information.
S404, if yes, judging whether the obstacle signal is an object signal, if yes, controlling the door motor to stop rotating and sending the obstacle alarm information, if not, controlling the door motor to drive the door to rotate and close according to the target closing direction information and the target closing speed information, and returning to the step S402.
Through the steps, the target width, the target direction and the target speed of the closing of the vehicle door can be controlled, so that the vehicle door can be closed in a proper mode. In addition, an obstacle near the door is detected while being closed, and when the obstacle is detected, the door motor is stopped from rotating and an alarm is issued, thereby preventing the door from being damaged by the obstacle. The process of detecting the barrier signal and according to the barrier signal is repeated until the current closing amplitude information of the vehicle door is the target closing amplitude information, namely the vehicle door is closed completely.
Fig. 5 is a flow chart of controlling the motor of the electric suction lock to drive the electric suction lock to lock, and the steps include:
s501, acquiring electric suction lock state information and vehicle door state information.
S502, judging whether the electric suction locking state information is in an unlocking state and whether the vehicle door state information is in a locking state.
S503, when the judgment result is yes, acquiring a locking current value of the electric suction lock motor, judging whether the locking current value is larger than a preset locking overcurrent value or not, if the judgment result is yes, controlling the electric suction lock motor to stop rotating and sending locking fault alarm information, if the judgment result is no, controlling the electric suction lock motor to rotate, and returning to the step S501.
S504, when the judgment result is no, whether the power absorption locking state information is in a locking state is judged, and when the judgment result is yes, the power absorption locking motor is controlled to stop rotating and return.
In the locking process of the electric suction lock motor, whether the electric suction lock motor is locked to meet an obstacle or not can be determined by obtaining the current value of the electric suction lock motor, if the electric suction lock motor is locked to meet the obstacle, the current of the electric suction lock motor can rise, when the current value is higher than a preset current critical value, the overcurrent phenomenon can be judged, the electric suction lock motor is stopped to rotate at the moment, an alarm is given, and the electric suction lock motor can be prevented from being damaged.
Correspondingly, the invention also discloses a vehicle door control system.
Fig. 6 is a schematic diagram of the general structure of the vehicle door control system 100 of the present invention, which includes:
the instruction acquisition module 1 is used for acquiring an operation instruction, wherein the operation instruction comprises a vehicle door opening instruction, a vehicle door closing instruction and a vehicle door pause instruction.
And the vehicle door opening module 2 is used for acquiring vehicle door state information when the control instruction is a vehicle door opening instruction, judging whether the vehicle door state information is in a fortification state, sending fortification prompt information when the vehicle door state information is judged to be in a fortification state, controlling the electric suction lock motor to drive the electric suction lock to unlock when the vehicle door state information is judged not to be in a fortification state, and controlling the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction.
And the vehicle door closing module 3 is used for controlling the door motor to drive the vehicle door to rotate and close and controlling the electric suction lock motor to drive the electric suction lock to lock when the control instruction is a vehicle door closing instruction.
And the pause module 4 is used for controlling the door motor to drive the vehicle door to stop rotating when the control instruction is a vehicle door pause instruction.
The vehicle door control system can control the electric suction lock and the vehicle door simultaneously, and reduces the damage of obstacles to the vehicle when the vehicle door is opened and closed.
Specifically, the control instruction sent by the control key comprises a vehicle door opening instruction, a vehicle door closing instruction and a vehicle door pause instruction. When the instruction acquisition module 1 acquires a vehicle door opening instruction, the vehicle door opening module 2 acquires vehicle door state information and judges whether the vehicle door state information is in a fortification state, and when the vehicle door state information is judged to be in the fortification state, the vehicle door opening module 2 sends fortification prompt information to prevent the vehicle door from being opened in the fortification state. And if not, the vehicle door opening module 2 controls the electric suction lock motor to drive the electric suction lock to unlock, and the vehicle door opening module 2 controls the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction, so that the vehicle door is controlled to open while the electric suction lock is controlled to unlock, and a user does not need to open the vehicle door by himself. When the instruction acquisition module 1 acquires a car door closing instruction, the car door closing module 3 controls the door motor to drive the car door to rotate and close, and the car door closing module 3 controls the electric suction lock motor to drive the electric suction lock to lock, so that the car door is automatically locked after being closed, and the car door is locked after being closed, and the safety in the car is ensured. When the instruction acquisition module 1 acquires a vehicle door pause instruction, the pause module 4 controls the door motor to drive the vehicle door to stop rotating so as to facilitate a user to change the opening and closing state of the vehicle door.
In addition, the door opening module 2 and the door closing module 3 can both detect the barrier when controlling the door motor to drive the door to open and close, and when detecting the barrier, the door opening module 2 and the door closing module 3 can both control the door motor to stop rotating, so that the door is prevented from continuously rotating towards the barrier to cause the damage of the door, and the damage of the barrier to the door in the door opening and closing process is effectively reduced.
Fig. 7 is a schematic structural view of the door opening module 2, which includes:
and an unlock state acquisition unit 21 configured to acquire electric unlock state information.
And an unlocking state determining unit 22, configured to determine whether the power-off locking state information is an unlocking state.
And the unlocking return unit 23 is configured to, when the judgment result is yes, control the electric suction lock motor to stop rotating, obtain a rotation angle value of the door moving motor, judge whether the rotation angle value is greater than a preset return angle value, when the judgment result is yes, control the electric suction lock motor to return, and when the judgment result is no, return to the unlocking state judgment unit 22.
After the unlocking is finished, the unlocking return unit 23 needs to control the electric suction lock motor to stop rotating and return. Meanwhile, the situation that the vehicle door is still close to the electric suction lock motor and the electric suction lock motor is possibly prevented from rotating to return is considered, so that the unlocking return unit 23 returns after the vehicle door is opened by a certain range, and specifically, the electric suction lock motor is controlled to return after the rotating angle value is larger than the preset return angle value.
It should be noted that, after the electric suction lock motor drives the electric suction lock to unlock and lock, the electric suction lock motor needs to return to the original position to unlock and lock the electric suction lock at the next time.
And the unlocking overcurrent processing unit 24 is configured to obtain an unlocking current value of the electric suction lock motor, determine whether the unlocking current value is greater than a preset unlocking overcurrent value, control the electric suction lock motor to stop rotating and send unlocking fault alarm information if the unlocking current value is greater than the preset unlocking overcurrent value, control the electric suction lock motor to drive the electric suction lock to unlock if the unlocking fault alarm information is not greater than the preset unlocking overcurrent value, obtain electric suction lock state information, and return the unlocking state information to the unlocking state determination unit 22.
In the electric suction lock motor unlocking process, the unlocking overcurrent processing unit 24 can determine whether the unlocking is in obstacle or not by obtaining the current value of the electric suction lock motor, if the unlocking is in obstacle, the current of the electric suction lock motor can rise, when the current value is higher than a preset current critical value, the overcurrent phenomenon can be judged, and at the moment, the unlocking overcurrent processing unit 24 stops the electric suction lock motor from rotating and gives an alarm, so that the electric suction lock motor can be prevented from being damaged.
The door opening command includes opening direction information and opening speed information.
The door opening module 2 further includes:
and the opening instruction information extraction unit 25 is used for extracting target opening amplitude information, target opening direction information and target opening speed information in the vehicle door opening instruction.
And the opening state information acquisition unit 26 is used for acquiring the obstacle signal detected by the radar and the current opening amplitude information of the vehicle door.
And an opening amplitude judging unit 27 for judging whether the current opening amplitude information of the vehicle door is the target opening amplitude information.
And a start ending unit 28 for controlling the door motor to stop rotating when the judgment is yes.
And an open obstacle processing unit 29 for determining whether the obstacle signal is an object signal if the determination is negative, controlling the door motor to stop rotating and issuing obstacle alarm information if the determination is positive, and controlling the door motor to drive the door to rotate and open in a specific direction and speed according to the target opening direction information and the target opening speed information and returning to the open state information acquiring unit 26 if the determination is negative.
Through the control unit, the target amplitude, the target direction and the target speed of the opening of the vehicle door can be controlled, so that the vehicle door can be opened in a proper mode. In addition, the open obstacle processing unit 29 detects an obstacle near the door while being opened, and when the obstacle is detected, the open obstacle processing unit 29 stops the door motor from rotating and issues an alarm, thereby preventing the door from being damaged by the obstacle. The process of detecting the barrier signal and the process of detecting the barrier signal are repeated until the current opening amplitude information of the vehicle door is the target opening amplitude information, namely the vehicle door is opened completely.
The door closing command includes closing direction information and closing speed information.
Fig. 8 is a schematic structural view of the door closing module 3, which comprises:
and a closing instruction information extracting unit 31 for extracting target closing amplitude information, target closing direction information, and target closing speed information in the door closing instruction.
And the closing state information acquiring unit 32 is used for acquiring the obstacle signal detected by the radar and the current closing amplitude information of the vehicle door.
A closing amplitude judging unit 33, configured to judge whether the current closing amplitude information of the vehicle door is the target closing amplitude information.
And a closed obstacle processing unit 34 for determining whether the obstacle signal is an object signal if yes, controlling the door motor to stop rotating and sending obstacle alarm information if yes, controlling the door motor to drive the door to rotate and close in a specific direction and speed according to the target closing direction information and the target closing speed information if no, and returning to the closed state information acquiring unit 32.
Through the steps, the target width, the target direction and the target speed of the closing of the vehicle door can be controlled, so that the vehicle door can be closed in a proper mode. In addition, the closed obstacle processing unit 34 detects an obstacle near the door while being closed, and when the obstacle is detected, the closed obstacle processing unit 34 stops the door motor from rotating and issues an alarm, thereby preventing the door from being damaged by the obstacle. The process of detecting the barrier signal and according to the barrier signal is repeated until the current closing amplitude information of the vehicle door is the target closing amplitude information, namely the vehicle door is closed completely.
The door closing module 3 further includes:
and a locking state obtaining unit 35 configured to obtain electric power locking state information and vehicle door state information.
And an unlocking state determining unit 36 configured to determine whether the power-off unlocking state information is an unlocking state and whether the door state information is a locking state.
And a locking overcurrent processing unit 37 configured to, when the determination result is yes, obtain a locking current value of the electric lock motor, determine whether the locking current value is greater than a preset locking overcurrent value, control the electric lock motor to stop rotating and issue a locking fault alarm message when the determination result is yes, control the electric lock motor to rotate and return to the locking state obtaining unit 35 when the determination result is no.
And the locking and returning unit 38 is used for judging whether the electric suction locking state information is in a locking state when the judgment result is no, and controlling the electric suction locking motor to stop rotating and return when the judgment result is yes.
In the locking process of the electric suction lock motor, the locking overcurrent processing unit 38 can determine whether the electric suction lock motor is locked to meet an obstacle by obtaining the current value of the electric suction lock motor, if the electric suction lock motor meets the obstacle, the current of the electric suction lock motor can rise, when the current value is higher than a preset current critical value, the overcurrent phenomenon can be judged, and at the moment, the locking overcurrent processing unit 38 stops the rotation of the electric suction lock motor and gives an alarm to prevent the electric suction lock motor from being damaged.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle door control method, comprising:
acquiring an operation command, wherein the operation command comprises a vehicle door opening command, a vehicle door closing command and a vehicle door pause command;
when the control instruction is a vehicle door opening instruction, vehicle door state information is obtained, whether the vehicle door state information is in a fortifying state or not is judged, if yes, fortifying prompt information is sent, if not, an electric suction lock motor is controlled to drive an electric suction lock to unlock, and the vehicle door is controlled to be rotated and opened by the electric suction lock motor according to the vehicle door opening instruction;
when the control instruction is a vehicle door closing instruction, controlling the door motor to drive the vehicle door to rotate and close, and controlling the electric suction lock motor to drive the electric suction lock to lock;
and when the control command is a vehicle door pause command, controlling the door motor to drive the vehicle door to stop rotating.
2. The vehicle door control method according to claim 1, wherein the step of controlling the electric suction lock motor to drive the electric suction lock to unlock comprises:
s101, acquiring state information of the electric attraction lock;
s102, judging whether the electric attraction lock state information is in an unlocking state,
s103, when the judgment result is yes, controlling the electric suction lock motor to stop rotating, obtaining a rotation angle value of the door motion motor, judging whether the rotation angle value is larger than a preset return angle value, if so, controlling the electric suction lock motor to return, and if not, returning to the step S102;
and S104, when the judgment result is no, acquiring an unlocking current value of the electric suction lock motor, judging whether the unlocking current value is larger than a preset unlocking overcurrent value or not, when the judgment result is yes, controlling the electric suction lock motor to stop rotating and sending unlocking fault alarm information, and when the judgment result is no, controlling the electric suction lock motor to drive the electric suction lock to unlock, acquiring the electric suction lock state information, and returning to the step S102.
3. The vehicle door control method according to claim 1, wherein the door opening command includes opening direction information and opening speed information, and the step of controlling the door motor to drive the door to open rotationally according to the door opening command comprises:
s201, extracting target opening amplitude information, target opening direction information and target opening speed information in the vehicle door opening instruction;
s202, obtaining obstacle signals detected by a radar and current opening amplitude information of a vehicle door;
s203, judging whether the current opening amplitude information of the vehicle door is the target opening amplitude information,
s204, if yes, controlling the door motor to stop rotating,
s205, when the judgment result is no, whether the obstacle signal is an object signal is judged, if the judgment result is yes, the door motor is controlled to stop rotating and send obstacle alarm information, if the judgment result is no, the door motor is controlled to drive the door to rotate and open according to the specific direction and speed according to the target opening direction information and the target opening speed information, and the step S202 is returned to.
4. The vehicle door control method according to claim 1, wherein the door closing command includes closing direction information and closing speed information, and the step of controlling the door motor to drive the door to rotate and close comprises:
s301, extracting target closing amplitude information, target closing direction information and target closing speed information in the vehicle door closing instruction;
s302, obtaining obstacle signals detected by a radar and current closing amplitude information of a vehicle door;
s303, judging whether the current closing amplitude information of the vehicle door is the target closing amplitude information,
s304, if yes, judging whether the obstacle signal is an object signal, if yes, controlling the door motor to stop rotating and sending obstacle alarm information, if not, controlling the door motor to drive the door to rotate and close according to the target closing direction information and the target closing speed information, and returning to the step S302.
5. The vehicle door control method of claim 1, wherein the step of controlling the electric shock lock motor to drive the electric shock lock includes:
s401, acquiring electric suction lock state information and vehicle door state information;
s402, judging whether the electric suction locking state information is in an unlocking state and whether the vehicle door state information is in a locking state,
s403, when the judgment result is yes, obtaining a locking current value of the electric suction lock motor, judging whether the locking current value is larger than a preset locking overcurrent value or not, if the judgment result is yes, controlling the electric suction lock motor to stop rotating and sending locking fault alarm information, if the judgment result is no, controlling the electric suction lock motor to rotate, and returning to the step S401;
s404, when the judgment result is no, whether the electric suction lock state information is in a locked state is judged, and when the judgment result is yes, the electric suction lock motor is controlled to stop rotating and return.
6. A vehicle door control system, comprising:
the command acquisition module is used for acquiring control commands, wherein the control commands comprise a vehicle door opening command, a vehicle door closing command and a vehicle door pause command;
the vehicle door opening module is used for acquiring vehicle door state information when the control instruction is a vehicle door opening instruction, judging whether the vehicle door state information is in a fortifying state or not, sending fortifying prompt information when the vehicle door state information is in the fortifying state, controlling the electric suction lock motor to drive the electric suction lock to unlock when the vehicle door state information is not in the fortifying state, and controlling the door motor to drive the vehicle door to rotate and open according to the vehicle door opening instruction;
the vehicle door closing module is used for controlling the door motor to drive the vehicle door to rotate and close and controlling the electric suction lock motor to drive the electric suction lock to lock when the control instruction is a vehicle door closing instruction;
and the pause module is used for controlling the door motor to drive the vehicle door to stop rotating when the control instruction is a vehicle door pause instruction. .
7. The vehicle door control system of claim 6, wherein the door opening module comprises:
the unlocking state acquisition unit is used for acquiring the electric locking state information;
the unlocking state judging unit is used for judging whether the electric attraction locking state information is in an unlocking state;
the unlocking return unit is used for controlling the electric suction lock motor to stop rotating when the judgment result is yes, acquiring a rotating angle value of the door moving motor, judging whether the rotating angle value is larger than a preset return angle value or not, controlling the electric suction lock motor to return when the judgment result is yes, and returning to the unlocking state judgment unit when the judgment result is not yes;
and the unlocking overcurrent processing unit is used for acquiring an unlocking current value of the electric suction lock motor, judging whether the unlocking current value is greater than a preset unlocking overcurrent value or not, controlling the electric suction lock motor to stop rotating and sending unlocking fault alarm information if the unlocking current value is judged to be yes, controlling the electric suction lock motor to drive the electric suction lock to unlock, acquiring the electric suction lock state information and returning to the unlocking state judgment unit if the unlocking current value is judged to be not.
8. The vehicle door control system of claim 7, wherein the door opening command includes opening direction information and opening speed information, the door opening module further comprising:
the opening instruction information extraction unit is used for extracting target opening amplitude information, target opening direction information and target opening speed information in the vehicle door opening instruction;
the opening state information acquisition unit is used for acquiring barrier signals detected by a radar and current opening amplitude information of the vehicle door;
the opening amplitude judging unit is used for judging whether the current opening amplitude information of the vehicle door is the target opening amplitude information;
the opening finishing unit is used for controlling the door motor to stop rotating when the judgment result is yes;
and the opening barrier processing unit is used for judging whether the barrier signal is a signal with a barrier or not when the judgment result is negative, controlling the door motor to stop rotating and sending barrier alarm information when the judgment result is positive, and controlling the door motor to drive the vehicle door to rotate and open according to a specific direction and speed according to the target opening direction information and the target opening speed information and returning to the opening state information acquisition unit when the judgment result is negative.
9. The vehicle door control system of claim 6, wherein the door closing command includes closing direction information and closing speed information, the door closing module comprising:
the closing instruction information extraction unit is used for extracting target closing amplitude information, target closing direction information and target closing speed information in the vehicle door closing instruction;
the closing state information acquisition unit is used for acquiring barrier signals detected by a radar and current closing amplitude information of the vehicle door;
a closing amplitude judging unit, configured to judge whether the current closing amplitude information of the vehicle door is the target closing amplitude information;
and the closed obstacle processing unit is used for judging whether the obstacle signal is an object signal or not when the judgment is yes, controlling the door motor to stop rotating and sending obstacle alarm information when the judgment is yes, controlling the door motor to drive the vehicle door to rotate and close according to a specific direction and a specific speed according to the target closing direction information and the target closing speed information when the judgment is not, and returning to the closed state information acquisition unit.
10. The vehicle door control system of claim 9, wherein the door closing module further comprises:
the locking state acquisition unit is used for acquiring electric power locking state information and the vehicle door state information;
the locking state judging unit is used for judging whether the electric suction locking state information is in an unlocking state or not and whether the vehicle door state information is in a locking state or not;
the locking overcurrent processing unit is used for acquiring a locking current value of the electric suction lock motor when the judgment result is yes, judging whether the locking current value is larger than a preset locking overcurrent value or not, controlling the electric suction lock motor to stop rotating and sending locking fault alarm information when the judgment result is yes, and controlling the electric suction lock motor to rotate and returning to the locking state acquisition unit when the judgment result is not;
and the locking and returning unit is used for judging whether the electric suction lock state information is in a locking state or not when judging that the electric suction lock state information is not in the locking state, and controlling the electric suction lock motor to stop rotating and return when judging that the electric suction lock state information is in the locking state.
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| CN202010326127.8A CN111502464A (en) | 2020-04-23 | 2020-04-23 | Vehicle door control method and system |
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| CN202010326127.8A CN111502464A (en) | 2020-04-23 | 2020-04-23 | Vehicle door control method and system |
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| CN111502464A true CN111502464A (en) | 2020-08-07 |
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| CN202010326127.8A Pending CN111502464A (en) | 2020-04-23 | 2020-04-23 | Vehicle door control method and system |
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| CN112950834A (en) * | 2021-01-25 | 2021-06-11 | 靖江市旭飞安防工程有限公司 | Multi-mode-based electric door control method and safety door control system |
| CN114150967A (en) * | 2021-12-02 | 2022-03-08 | 深圳市兴嘉林电子科技有限公司 | Vehicle door control method and device and electronic equipment |
| CN114458122A (en) * | 2022-02-08 | 2022-05-10 | 浙江极氪智能科技有限公司 | Control method and system for door of vehicle trunk |
| CN114517613A (en) * | 2022-01-24 | 2022-05-20 | 中国第一汽车股份有限公司 | Closing method and control device of electric suction door and vehicle |
| CN114575701A (en) * | 2022-02-24 | 2022-06-03 | 智己汽车科技有限公司 | Control method and system for opening and closing vehicle door, vehicle and storage medium |
| CN115217374A (en) * | 2022-02-17 | 2022-10-21 | 广州汽车集团股份有限公司 | Vehicle door control method and device, vehicle and computer readable storage medium |
| CN115506679A (en) * | 2022-09-14 | 2022-12-23 | 重庆长安汽车股份有限公司 | Method, system, vehicle and storage medium for realizing automatic conversion of vehicle door state |
| CN116220483A (en) * | 2023-05-08 | 2023-06-06 | 北京木牛领航科技有限公司 | Door opening early warning method, device, vehicle, medium, equipment and program product |
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Application publication date: 20200807 |