CN115898168A - Control method, device and equipment for automobile electric door lock and storage medium - Google Patents
Control method, device and equipment for automobile electric door lock and storage mediumDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及车辆控制技术领域，尤其涉及一种汽车电动门锁的控制方法、装置、设备及存储介质。The invention relates to the technical field of vehicle control, in particular to a method, device, equipment and storage medium for controlling an electric door lock of an automobile.
背景技术Background technique
随着汽车行业的发展，车辆的智能化、电动化和便捷化成为了发展的主流。车门的解锁/闭锁请求信号的形式愈发多样化。同时从最初的人手拉动，到最近的通过电动铰链或电动撑杆的驱动方式实现电动开关车门，车门打开/关闭动作也愈发便捷化。对于电动打开/关闭的车门，门锁的解锁/闭锁和开门/关门电驱动之间的配合非常关键。With the development of the automobile industry, the intelligence, electrification and convenience of vehicles have become the mainstream of development. The form of the door unlock/lock request signal is becoming more and more diverse. At the same time, from the initial manual pulling to the recent electric hinge or electric strut drive to realize the electric opening and closing of the door, the opening/closing action of the door has become more and more convenient. For doors that open/close electrically, the coordination between the unlocking/locking of the door lock and the electric drive to open/close the door is critical.
相关技术中，在门锁解锁的同时，车门会在密封反力的作用下使锁舌与锁扣脱开。当锁舌与锁扣完全脱开时，也就是门锁解锁达到全开状态后，开门电驱动才会执行开门动作。In the related art, when the door lock is unlocked, the door will disengage the deadbolt and the buckle under the action of sealing reaction force. When the deadbolt and the buckle are completely disengaged, that is, after the door lock is unlocked and reaches the fully open state, the door-opening electric drive will perform the door-opening action.
然而，在车身倾斜时，车门重量在开关门方向上的分力会急剧增加。当车身倾角到达一定角度时，门锁解锁动作将无法使得门锁达到全开状态，此时开门电驱动无法执行开门动作，如无人手推门动作，门锁会很快进入半关或全关状态，乘员需要再次执行解锁开门动作，给乘员带来了不便。如若进一步增加密封反力，则将增加关门力，进而给关门电驱动增加难度，也会使成本增加。However, when the vehicle body is tilted, the component force of the door weight in the direction of opening and closing the door will increase sharply. When the inclination of the vehicle body reaches a certain angle, the unlocking action of the door lock will not be able to make the door lock fully open. At this time, the door opening electric drive cannot perform the door opening action. If no one pushes the door, the door lock will quickly enter half-close or fully close state, the occupant needs to perform the action of unlocking and opening the door again, which brings inconvenience to the occupant. If the sealing reaction force is further increased, the door closing force will be increased, which will increase the difficulty of the door closing electric drive and increase the cost.
发明内容Contents of the invention
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的一种汽车电动门锁的控制方法、装置、设备及存储介质，在解锁开门过程中，增加了车身倾角的判断过程。根据车身倾角判断结果不同，采用了两种不同的控制逻辑来实现开门解锁动作和开门电驱动作的配合，使得车辆无论停靠在水平路面上还是有坡度的路面上，都能成功打开车门。在不增加成本的前提下，提高了客户使用电开车门的便携性。In view of the above problems, the present invention is proposed in order to provide a control method, device, equipment and storage medium for an electric door lock of an automobile that overcomes the above problems or at least partially solves the above problems. judgment process. According to the different judging results of the inclination angle of the vehicle body, two different control logics are used to realize the coordination of the door opening and unlocking action and the door opening electric drive action, so that the vehicle can successfully open the door no matter whether the vehicle is parked on a level road or a sloped road. On the premise of not increasing the cost, the portability of customers using the electric door is improved.
第一方面，提供了一种汽车电动门锁的控制方法，包括：In a first aspect, a method for controlling an electric door lock of an automobile is provided, including:
当接收到解锁开门信号后，获取解锁开门相关参数；After receiving the signal of unlocking and opening the door, obtain the related parameters of unlocking and opening the door;
根据所述解锁开门相关参数，判断是否满足预置开门条件；According to the parameters related to unlocking and opening the door, it is judged whether the preset door opening condition is satisfied;
当判断满足所述预置开门条件时，确定当前车身倾角，所述车身倾角包括车身左右倾斜角和前后俯仰角；When it is judged that the preset door opening condition is met, the current vehicle body inclination angle is determined, and the vehicle body inclination angle includes the left and right inclination angles of the vehicle body and the front and rear pitch angles;
当所述车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第一控制逻辑执行开门电驱动作；When the inclination angle of the vehicle body does not meet the preset inclination angle condition, the control executes the electric unlocking action of the door lock, and performs the electric drive action of opening the door according to the first control logic according to the door lock state signal;
当所述车身倾角满足所述预设倾角条件时，控制执行所述门锁电动解锁动作，并根据所述门锁状态信号，按照第二控制逻辑执行所述开门电驱动作；When the inclination angle of the vehicle body satisfies the preset inclination angle condition, control the electric unlocking action of the door lock, and perform the electric door opening action according to the second control logic according to the door lock state signal;
其中，所述门锁状态信号用于指示所述门锁处于全开状态、全关状态或半关状态。Wherein, the door lock state signal is used to indicate that the door lock is in a fully open state, a fully closed state or a half closed state.
可选的，所述根据门锁状态信号，按照第一控制逻辑执行开门电驱动作，包括：Optionally, according to the door lock state signal, performing the door opening electric driving action according to the first control logic includes:
当所述门锁状态信号指示门锁处于全开状态时，执行开门电驱动作。When the door lock state signal indicates that the door lock is in a fully open state, an electric driving action for opening the door is performed.
可选的，所述根据所述门锁状态信号，按照第二控制逻辑执行所述开门电驱动作，包括：Optionally, according to the door lock state signal, performing the door opening electric driving action according to the second control logic includes:
当所述门锁状态信号指示所述门锁由全关状态向其他状态转变时，执行所述开门电驱动作。When the door lock state signal indicates that the door lock changes from a fully closed state to another state, the door opening electric driving action is performed.
可选的，所述解锁开门相关参数包括车速参数和车外障碍物距离参数，所述根据所述解锁开门相关参数，判断是否满足预置开门条件，包括：Optionally, the relevant parameters for unlocking and opening the door include vehicle speed parameters and distance parameters for obstacles outside the vehicle, and determining whether the preset door opening conditions are met according to the relevant parameters for unlocking and opening the door includes:
当所述车速参数小于设定车速阈值且所述车外障碍物距离参数指示开门区域内无障碍物时，判断满足所述预置开门条件。When the vehicle speed parameter is less than the set vehicle speed threshold and the obstacle distance parameter outside the vehicle indicates that there is no obstacle in the door opening area, it is determined that the preset door opening condition is met.
可选的，所述控制方法还包括：Optionally, the control method also includes:
设置车身左右倾斜角阈值和前后俯仰角阈值；Set the vehicle body left and right tilt angle threshold and front and rear pitch angle threshold;
根据所述车身左右倾斜角阈值和前后俯仰角阈值，建立倾角条件判断矩阵，所述倾角条件判断矩阵用于指示在不同的左右倾斜角和不同的前后俯仰角下，对应的所述车身倾角是否满足预设倾角条件；According to the left and right tilt angle thresholds of the vehicle body and the front and rear pitch angle thresholds, a tilt angle condition judgment matrix is established, and the tilt angle condition judgment matrix is used to indicate whether the corresponding vehicle body tilt angle is different under different left and right tilt angles and different front and rear pitch angles. Satisfy the preset inclination condition;
根据预先建立的所述倾角条件判断矩阵，判断所述当前车身倾角是否满足所述预设倾角条件。According to the inclination condition judgment matrix established in advance, it is judged whether the current vehicle body inclination satisfies the preset inclination condition.
可选的，所述控制方法还包括：Optionally, the control method also includes:
在执行所述开门电驱动作过程中，若所述预置开门条件由满足转变为不满足时，则停止执行所述开门电驱动作并进行报警。During the execution of the door-opening electric drive, if the preset door-opening condition changes from satisfied to unsatisfied, the execution of the door-opened electric drive is stopped and an alarm is issued.
可选的，所述控制方法还包括：Optionally, the control method also includes:
当接收到闭锁关门信号后，执行关门电驱动作；When the signal of locking and closing the door is received, the electric drive action of closing the door is executed;
当所述门锁状态信号指示所述门锁处于半关状态时，停止执行所述关门电驱动作，并执行门锁电动吸合动作；When the door lock state signal indicates that the door lock is in a half-closed state, stop performing the door-closing electric drive action, and perform the door lock electric pull-in action;
当所述门锁状态信号指示所述门锁处于全关状态时，停止执行所述门锁电动吸合动作。When the door lock state signal indicates that the door lock is in a fully closed state, the electric pull-in action of the door lock is stopped.
第二方面，提供了一种汽车电动门锁的控制装置，所述控制装置包括：In a second aspect, a control device for an automobile electric door lock is provided, the control device comprising:
获取模块，用于当接收到解锁开门信号后，获取解锁开门相关参数；The obtaining module is used to obtain relevant parameters for unlocking and opening the door after receiving the unlocking and opening signal;
判断模块，用于根据所述解锁开门相关参数，判断是否满足预置开门条件；A judging module, configured to judge whether a preset door opening condition is satisfied according to the unlocking and door opening related parameters;
倾角确定模块，用于当判断满足所述预置开门条件时，确定当前车身倾角，所述车身倾角包括车身左右倾斜角和前后俯仰角；The inclination angle determining module is used to determine the current vehicle body inclination angle when it is judged that the preset door opening condition is satisfied, and the vehicle body inclination angle includes the left and right inclination angles and front and rear pitch angles of the vehicle body;
第一控制模块，用于当所述车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第一控制逻辑执行开门电驱动作；The first control module is used to control and execute the door lock electric unlocking action when the inclination angle of the vehicle body does not meet the preset inclination angle condition, and perform the door opening electric drive action according to the door lock state signal according to the first control logic;
第二控制模块，用于当所述车身倾角满足所述预设倾角条件时，控制执行所述门锁电动解锁动作，并根据所述门锁状态信号，按照第二控制逻辑执行所述开门电驱动作；The second control module is configured to control and execute the electric unlocking action of the door lock when the inclination angle of the vehicle body satisfies the preset inclination angle condition, and execute the electric door unlocking action according to the second control logic according to the door lock status signal. drive action;
其中，所述门锁状态信号用于指示所述门锁处于全开状态、全关状态或半关状态。Wherein, the door lock state signal is used to indicate that the door lock is in a fully open state, a fully closed state or a half closed state.
第三方面，提供了一种电子设备，包括：存储器和处理器，所述存储器和所述处理器之间互相通信连接，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而执行第一方面所述的控制方法。In a third aspect, an electronic device is provided, including: a memory and a processor, the memory and the processor are connected in communication with each other, computer instructions are stored in the memory, and the processor executes the computer command, so as to execute the control method described in the first aspect.
第四方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使所述计算机执行第一方面所述的控制方法。In a fourth aspect, a computer-readable storage medium is provided, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the control method described in the first aspect.
本发明实施例中提供的技术方案，至少具有如下技术效果或优点：The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
本发明实施例提供的一种汽车电动门锁的控制方法、装置、设备及存储介质，当接收到解锁开门信号后，获取解锁开门相关参数，以判断车辆是否满足预置开门条件。当判断满足预置开门条件时，确定当前的车身倾角，包括车身的左右倾斜角和前后俯仰角，用来判断车身的倾斜状态。当车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作后，即根据门锁的状态信号，按照第一控制逻辑执行开门电驱动作。而当车身倾角满足预设倾角条件时，控制执行门锁电动解锁动作后，即根据门锁的状态信号，按照第二控制逻辑执行开门电驱动作。上述控制方法在解锁开门过程中，增加了车身倾角的判断过程。根据车身倾角判断结果不同，采用了两种不同的控制逻辑来实现开门解锁动作和开门电驱动作的配合，使得车辆无论停靠在水平路面上还是有坡度的路面上，都能成功打开车门。在不增加成本的前提下，提高了客户使用电开车门的便携性。The embodiment of the present invention provides a method, device, device and storage medium for controlling an electric door lock of an automobile. After receiving an unlocking and opening signal, relevant parameters for unlocking and opening are acquired to determine whether the vehicle meets the preset opening conditions. When it is determined that the preset door opening condition is met, the current vehicle body inclination angle, including the left and right inclination angles and the front and rear pitch angles of the vehicle body, is determined to determine the inclination state of the vehicle body. When the inclination angle of the vehicle body does not meet the preset inclination angle condition, after the control executes the electric unlocking action of the door lock, that is, according to the state signal of the door lock, the electric drive action of opening the door is executed according to the first control logic. And when the inclination angle of the vehicle body satisfies the preset inclination angle condition, after the control executes the electric unlocking action of the door lock, that is, according to the state signal of the door lock, the electric drive action of opening the door is executed according to the second control logic. In the above control method, in the process of unlocking and opening the door, the process of judging the inclination angle of the vehicle body is added. According to the different judging results of the inclination angle of the vehicle body, two different control logics are used to realize the coordination of the door opening and unlocking action and the door opening electric drive action, so that the vehicle can successfully open the door no matter whether the vehicle is parked on a level road or a sloped road. On the premise of not increasing the cost, the portability of customers using the electric door is improved.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.
附图说明Description of drawings
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components.
在附图中：In the attached picture:
图1是本发明实施例提供的一种汽车电动门锁的控制方法流程图；Fig. 1 is a flow chart of a control method for an electric door lock of an automobile provided by an embodiment of the present invention;
图2是本发明实施例提供的一种车辆倾斜停靠的示意图；Fig. 2 is a schematic diagram of an inclined parking of a vehicle provided by an embodiment of the present invention;
图3是本发明实施例提供的另一种车辆倾斜停靠的示意图；Fig. 3 is a schematic diagram of another vehicle inclined to park according to an embodiment of the present invention;
图4是本发明实施例提供的一种门锁为全开状态的示意图；Fig. 4 is a schematic diagram of a fully open state of a door lock provided by an embodiment of the present invention;
图5是本发明实施例提供的一种门锁为半关状态的示意图；Fig. 5 is a schematic diagram of a door lock provided in an embodiment of the present invention in a half-closed state;
图6是本发明实施例提供的一种门锁为全关状态的示意图；Fig. 6 is a schematic diagram of a fully closed state of a door lock provided by an embodiment of the present invention;
图7是本发明实施例提供的另一种汽车电动门锁的控制方法流程图；Fig. 7 is a flow chart of another control method for an electric door lock of an automobile provided by an embodiment of the present invention;
图8是本发明实施例提供的一种汽车电动门锁的控制装置结构示意图。Fig. 8 is a schematic structural diagram of a control device for an electric door lock of an automobile provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将参照附图更详细地描述本公开的示例性实施例。Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.
在附图中示出了根据本公开实施例的各种结构示意图。这些图并非是按比例绘制的，其中为了清楚表达的目的，放大了某些细节，并且可能省略了某些细节。图中所示出的各种区域、层的形状以及它们之间的相对大小、位置关系仅是示例性的，实际中可能由于制造公差或技术限制而有所偏差，并且本领域技术人员根据实际所需可以另外设计具有不同形状、大小、相对位置的区域/层。Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. The figures are not drawn to scale, with certain details exaggerated and possibly omitted for clarity of presentation. The shapes of the various regions and layers shown in the figure, as well as their relative sizes and positional relationships are only exemplary, and may deviate due to manufacturing tolerances or technical limitations in practice, and those skilled in the art will Regions/layers with different shapes, sizes, and relative positions can be additionally designed as needed.
在本公开的上下文中，当将一层/元件称作位于另一层/元件“上”时，该层/元件可以直接位于该另一层/元件上，或者它们之间可以存在居中层/元件。另外，如果在一种朝向中一层/元件位于另一层/元件“上”，那么当调转朝向时，该层/元件可以位于该另一层/元件“下”。在本公开的上下文中，相似或者相同的部件可能会用相同或者相似的标号来表示。In the context of the present disclosure, when a layer/element is referred to as being "on" another layer/element, the layer/element may be directly on the other layer/element, or there may be intervening layers/elements in between. element. Additionally, if a layer/element is "on" another layer/element in one orientation, the layer/element can be located "below" the other layer/element when the orientation is reversed. In the context of the present disclosure, similar or identical components may be denoted by the same or similar reference numerals.
为了更好的理解上述技术方案，下面将结合具体的实施方式对上述技术方案进行详细说明，应当理解本公开内容实施例以及实施例中的具体特征是对本申请技术方案的详细的说明，而不是对本申请技术方案的限定，在不冲突的情况下，本申请实施例以及实施例中的技术特征可以相互组合。In order to better understand the above-mentioned technical solutions, the above-mentioned technical solutions will be described in detail below in conjunction with specific implementation methods. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than For the limitation of the technical solutions of the present application, the embodiments of the present application and the technical features in the embodiments can be combined with each other under the condition of no conflict.
车辆生产商在设计时都会考虑常规平路停车时的情况，保证车门解锁的同时门锁的锁舌与锁扣能够在密封反力的作用下脱开，使开门电驱装置动作之前门锁处于全开状态(即解锁状态)。但在车身倾斜停靠时，车门重量在开关门方向上的分力会急剧增加。例如车门倾斜10°时，常规车门重量为30kg，车门重心距离铰链轴500mm的情况下，负载扭矩将增加30*9.8*0.5*sin(10)＝25.5Nm。而密封条提供的密封反力在常规状态下为25～30Nm。此时，车门在密封反力的作用下可能无法打开。锁舌与锁扣无法完全脱开达到全开状态。如无人手推门动作，门锁会很快进入半关或全关状态。而如进一步增加密封反力，又会增加成本。Vehicle manufacturers will consider the situation when parking on a conventional flat road when designing, to ensure that the bolt and buckle of the door lock can be disengaged under the action of the sealing reaction force when the door is unlocked, so that the door lock is in the position before the door opening electric drive device operates. Fully open state (i.e. unlocked state). However, when the vehicle body is tilted and docked, the component force of the door weight in the direction of opening and closing the door will increase sharply. For example, when the door is tilted 10°, the weight of the conventional door is 30kg, and the center of gravity of the door is 500mm from the hinge axis, the load torque will increase by 30*9.8*0.5*sin(10)=25.5Nm. The sealing reaction force provided by the sealing strip is 25-30Nm under normal conditions. At this time, the door may not be able to open under the sealing reaction force. The deadbolt and the buckle cannot be completely disengaged to reach the fully open state. If there is no hand to push the door, the door lock will quickly enter the half-closed or fully-closed state. And if the sealing reaction force is further increased, the cost will be increased.
为了解决上述技术问题，本发明实施例提供了一种汽车电动门锁的控制方法：通过在解锁开门过程中，增加了车身倾角的判断过程。根据车身倾角判断结果不同，采用了两种不同的控制逻辑来实现开门解锁动作和开门电驱动作的配合，使得车辆无论停靠在水平路面上还是有坡度的路面上，都能成功打开车门。在不增加成本的前提下，提高了客户使用电开车门的便携性。In order to solve the above technical problems, an embodiment of the present invention provides a method for controlling an electric door lock of an automobile: during the process of unlocking and opening the door, the process of judging the inclination angle of the vehicle body is added. According to the different judging results of the inclination angle of the vehicle body, two different control logics are used to realize the coordination of the door opening and unlocking action and the door opening electric drive action, so that the vehicle can successfully open the door no matter whether the vehicle is parked on a level road or a sloped road. On the premise of not increasing the cost, the portability of customers using the electric door is improved.
图1是本发明实施例提供的一种汽车电动门锁的控制方法流程图，如图1所示，该控制方法用于车内控制器控制车门解锁，该控制方法包括：Fig. 1 is a flow chart of a control method of an automobile electric door lock provided by an embodiment of the present invention. As shown in Fig. 1, the control method is used for an in-vehicle controller to control the unlocking of the car door, and the control method includes:
步骤S101、当接收到解锁开门信号后，获取解锁开门相关参数。Step S101 , after receiving the door unlocking and opening signal, acquire relevant parameters for unlocking and opening the door.
其中，解锁开门信号可以包括手机app远程解锁开门信号、遥控钥匙解锁按钮信号、车门外部解锁开关信号、车门内部解锁开关信号、中控虚拟解锁信号等。Wherein, the unlocking and opening signal may include a mobile phone app remote unlocking and opening signal, a remote control key unlock button signal, an external unlocking switch signal of a car door, an internal unlocking switch signal of a car door, a central control virtual unlocking signal, and the like.
在本实施例中，解锁开门相关参数可以包括车速参数和车外障碍物距离参数。需要说明的是，在本实施例的其它方式中，解锁开门相关参数除了上述两种参数以外，还可以包括其他与开门相关的参数，本发明对此不做限定。In this embodiment, the parameters related to unlocking and opening the door may include a vehicle speed parameter and a distance parameter to an obstacle outside the vehicle. It should be noted that, in other manners of this embodiment, the parameters related to unlocking and opening the door may include other parameters related to opening the door in addition to the above two parameters, which is not limited in the present invention.
步骤S102、根据解锁开门相关参数，判断是否满足预置开门条件。Step S102 , judging whether the preset door opening condition is satisfied according to the parameters related to unlocking and opening the door.
可选的，当车速参数小于设定车速阈值且车外障碍物距离参数指示开门区域内无障碍物时，判断满足预置开门条件。Optionally, when the vehicle speed parameter is less than the set vehicle speed threshold and the obstacle distance parameter outside the vehicle indicates that there is no obstacle in the door opening area, it is determined that the preset door opening condition is met.
示例性的，设定车速阈值可以为5km/h。Exemplarily, the set vehicle speed threshold may be 5 km/h.
在本实施例中，当车速参数大于设定阈值或车外障碍物距离参数指示开门区域内有障碍物中的一种情况成立时，则判断不满足预置开门条件。当判断不满足预置开门条件时，则停止开门动作，并进行报警。In this embodiment, when the vehicle speed parameter is greater than the set threshold or the obstacle distance parameter outside the vehicle indicates that there is an obstacle in the door opening area, it is judged that the preset door opening condition is not met. When it is judged that the preset door opening condition is not satisfied, the door opening action will be stopped and an alarm will be issued.
步骤S103、当判断满足预置开门条件时，确定当前车身倾角。Step S103, when it is judged that the preset door opening condition is satisfied, determine the current vehicle body inclination angle.
其中，车身倾角包括车身左右倾斜角和前后俯仰角。在本实施例中，可以通过传感器检测得到。Wherein, the inclination angle of the vehicle body includes a left-right inclination angle and a front-rear pitch angle of the vehicle body. In this embodiment, it can be obtained through sensor detection.
图2和图3是本发明实施例提供的两种车辆倾斜停靠的示意图，如图2所示，如果车辆停靠的路面不平整或者有坡度时，车身就会产生左右倾斜角α。如图3所示，车身会产生前后俯仰角β，车门的重力也会在开关门的方向上产生分力。Fig. 2 and Fig. 3 are schematic diagrams of two kinds of vehicles that are parked at an incline according to the embodiment of the present invention. As shown in Fig. 2, if the road surface on which the vehicle is parked is uneven or has a slope, the vehicle body will generate a left and right inclination angle α. As shown in Figure 3, the body will generate a front and rear pitch angle β, and the gravity of the door will also generate a component force in the direction of opening and closing the door.
可选的，在执行完步骤S103之后，执行步骤S104之前，该控制方法还可以包括：判断当前车身倾角是否满足预设倾角条件。具体的：Optionally, after step S103 is executed and before step S104 is executed, the control method may further include: judging whether the current inclination angle of the vehicle body satisfies a preset inclination angle condition. specific:
第一步、设置车身左右倾斜角阈值和前后俯仰角阈值。The first step is to set the left and right tilt angle thresholds and front and rear pitch angle thresholds of the vehicle body.
在本实施例中，可以设置车身左右倾斜角的阈值为15°，车身前后俯仰角的阈值为30°。In this embodiment, the threshold value of the left and right inclination angle of the vehicle body may be set to 15°, and the threshold value of the front and rear pitch angle of the vehicle body may be set to 30°.
第二步、根据车身左右倾斜角阈值和前后俯仰角阈值，建立的倾角条件判断矩阵。The second step is to establish an inclination condition judgment matrix according to the left and right inclination angle thresholds and front and rear pitch angle thresholds of the vehicle body.
其中，倾角条件判断矩阵用于指示在不同的左右倾斜角和不同的前后俯仰角下，对应的车身倾角是否满足预设倾角条件。如下表1所示：Wherein, the inclination condition judgment matrix is used to indicate whether the corresponding inclination angle of the vehicle body satisfies the preset inclination angle condition under different left and right inclination angles and different front and rear pitch angles. As shown in Table 1 below:
表1Table 1
在本实施例中，车身倾角传感器的分辨率为0.2°，为了简化步距从而减小控制器的计算量，可以将左右倾斜角α的步距设置为3°，前后俯仰角β的步距设置为6°。In this embodiment, the resolution of the vehicle body inclination sensor is 0.2°. In order to simplify the step distance and thereby reduce the calculation amount of the controller, the step distance of the left and right tilt angle α can be set to 3°, and the step distance of the front and rear pitch angle β Set to 6°.
其中，倾角条件判断矩阵中的第一行为不同大小的左右倾斜角α，例如[0，3)对应表示0°≤α＜3°，[3，6)对应表示3°≤α＜6°。倾角条件判断矩阵中的第一列为不同大小的前后俯仰角β，例如[0，6)对应表示0°≤β＜6°，[6，12)对应表示6°≤β＜12°。倾角条件判断矩阵中的0表示车身倾角不满足预设的倾角条件；1表示车身倾角满足预设的倾角条件。Among them, the first line in the inclination condition judgment matrix is different left and right inclination angles α, for example, [0, 3) corresponds to 0°≤α<3°, and [3,6) corresponds to 3°≤α<6°. The first column in the inclination condition judgment matrix is different front and rear pitch angles β, for example, [0, 6) corresponds to 0°≤β<6°, and [6,12) corresponds to 6°≤β<12°. 0 in the inclination condition judgment matrix indicates that the inclination angle of the vehicle body does not meet the preset inclination angle condition; 1 indicates that the inclination angle of the vehicle body meets the preset inclination angle condition.
第三步、根据预先建立的倾角条件判断矩阵，判断当前车身倾角是否满足预设倾角条件。Step 3: According to the pre-established inclination condition judgment matrix, it is judged whether the current inclination angle of the vehicle body satisfies the preset inclination angle condition.
示例性的，当采集到的车身左右倾斜角为5°，前后俯仰角为10°时，条件判断矩阵中对应的倾角条件为0，说明此时车身的倾角不满足预设的倾角条件。当采集到的车身左右倾斜角为10°，前后俯仰角为20°时，条件判断矩阵中对应的倾角条件为1，说明此时车身的倾角满足预设的倾角条件。Exemplarily, when the collected left and right inclination angle of the vehicle body is 5°, and the front and rear pitch angles are 10°, the corresponding inclination angle condition in the condition judgment matrix is 0, indicating that the inclination angle of the vehicle body at this time does not meet the preset inclination angle condition. When the collected left and right inclination angle of the vehicle body is 10°, and the front and rear pitch angles are 20°, the corresponding inclination angle condition in the condition judgment matrix is 1, indicating that the inclination angle of the vehicle body at this time meets the preset inclination angle condition.
步骤S104、当车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第一控制逻辑执行开门电驱动作。Step S104 , when the inclination angle of the vehicle body does not meet the preset inclination angle condition, control the electric unlocking action of the door lock, and perform the electric door opening action according to the first control logic according to the door lock state signal.
在本实施例中，门锁状态信号用于指示门锁处于全开状态、半关状态或全关状态。其中，当门锁处于三种不同的状态时，代表着门锁锁舌与锁扣处于三种不同的相对位置。In this embodiment, the door lock state signal is used to indicate that the door lock is in a fully open state, a half closed state or a fully closed state. Wherein, when the door lock is in three different states, it means that the bolt and the buckle of the door lock are in three different relative positions.
图4是本发明实施例提供的一种门锁为全开状态的示意图，如图4所示，此时，门锁处于全开状态，门锁锁舌1和锁扣2之间完全脱离。图5是本发明实施例提供的一种门锁为半关状态的示意图，如图5所示，此时，门锁处于半关状态，锁扣2已初步进入锁舌1的锁槽内，锁舌1的上部1a抵接在棘爪3上。图6是本发明实施例提供的一种门锁为全关状态的示意图，如图6所示，此时，门锁处于全关状态，锁扣2已完全进入锁舌1的锁槽内，锁舌1的下部1b抵接在棘爪3上。FIG. 4 is a schematic diagram of a door lock provided by an embodiment of the present invention in a fully open state. As shown in FIG. 4 , the door lock is in a fully open state at this time, and the
在本实施例中，步骤S104中的根据门锁状态信号，按照第一控制逻辑执行开门电驱动作，包括：In this embodiment, according to the door lock state signal in step S104, the electric door opening operation is performed according to the first control logic, including:
当门锁状态信号指示门锁处于全开状态时，执行开门电驱动作。When the door lock status signal indicates that the door lock is in the fully open state, the electric door opening action is performed.
具体的，当车身倾角不满足预设倾角条件时，执行门锁电动解锁动作，此时门锁会释放马达驱动解锁，锁舌与锁扣的相对位置会从全关状态调向全开状态动作，车门会在密封反力作用下打开，并同步带动门锁脱离锁扣。此时执行第一控制逻辑：即当检测到门锁状态信号指示门锁处于全开状态时，控制器再控制开门电驱装置执行开门动作，驱动车门至完全打开。Specifically, when the inclination angle of the vehicle body does not meet the preset inclination angle conditions, the door lock electric unlocking action is performed. At this time, the door lock will release the motor to drive the unlocking, and the relative position of the lock tongue and the lock buckle will be adjusted from the fully closed state to the fully open state. , the door will be opened under the action of the sealing reaction force, and synchronously drive the door lock to disengage from the latch. At this time, the first control logic is executed: that is, when the door lock state signal is detected indicating that the door lock is in a fully open state, the controller then controls the door opening electric drive device to perform the door opening action, and drives the door to fully open.
需要说明的是，在门锁状态未达到全开状态时，开门电驱动不执行开门动作。It should be noted that, when the door lock state does not reach the fully open state, the electric drive for opening the door does not perform the door opening action.
步骤S105、当车身倾角满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第二控制逻辑执行开门电驱动作。Step S105 , when the inclination angle of the vehicle body satisfies the preset inclination angle condition, control to perform the electric unlocking action of the door lock, and perform the electric drive action of opening the door according to the second control logic according to the state signal of the door lock.
可选的，步骤S105中的根据门锁状态信号，按照第二控制逻辑执行开门电驱动作，包括：Optionally, in step S105, according to the door lock state signal, performing the door opening electric driving action according to the second control logic, including:
当门锁状态信号指示门锁状态由全关状态向其他状态转变时，执行开门电驱动作。也可以理解为，门锁信号分为第一门锁信号、第二门锁信号和第三门锁信号，其中，第一门锁信号用于指示门锁处于全关状态，第二门锁信号用于指示门锁处于全关状态，第三门锁信号用于指示门锁处于半关状态。当检测到第一门锁信号产生跳变时，即执行开门电驱动作。When the door lock state signal indicates that the door lock state changes from the fully closed state to other states, the electric door opening action is performed. It can also be understood that the door lock signal is divided into a first door lock signal, a second door lock signal and a third door lock signal, wherein the first door lock signal is used to indicate that the door lock is in a fully closed state, and the second door lock signal It is used to indicate that the door lock is in the fully closed state, and the third door lock signal is used to indicate that the door lock is in the half closed state. When a jump of the first door lock signal is detected, the door opening electric drive action is executed.
具体的，当车身倾角满足预设倾角条件时，执行门锁电动解锁动作，此时门锁会释放马达驱动解锁，锁舌与锁扣的相对位置会从全关状态调向全开状态动作。由于车身倾角过大，车门在密封反力作用下可能无法打开。此时执行第二控制逻辑：即当门锁状态信号指示门锁由全关状态向其他状态转变时，控制器再控制开门电驱装置执行开门电驱动作，驱动车门至完全打开。Specifically, when the inclination angle of the vehicle body satisfies the preset inclination angle condition, the electric unlocking action of the door lock is performed. At this time, the door lock will release the motor to drive the unlocking, and the relative position of the lock tongue and the lock buckle will be adjusted from the fully closed state to the fully open state. Due to the excessive inclination of the body, the door may not be able to open due to the sealing reaction force. At this time, the second control logic is executed: that is, when the door lock state signal indicates that the door lock changes from the fully closed state to other states, the controller controls the door opening electric driving device to perform the door opening electric driving operation, and drives the car door to fully open.
可选的，该控制方法还包括：Optionally, the control method also includes:
在执行开门电驱动作过程中，若预置开门条件由满足转变为不满足时，则停止执行开门电驱动作并进行报警。During the execution of the door-opening electric drive, if the preset door-opening condition changes from satisfied to unsatisfied, the door-opening electric drive will be stopped and an alarm will be issued.
可理解为，在执行开门电驱动的过程中，还会再次实时获取解锁开门相关参数。若根据再次获取到的解锁开门相关参数判断当前不满足预置开门条件，则需要立刻停止执行开门电驱动作，并进行报警。It can be understood that, in the process of performing the door opening electric drive, the parameters related to unlocking and opening the door will be acquired again in real time. If it is judged that the preset door opening condition is not satisfied according to the unlocking and door opening related parameters obtained again, it is necessary to immediately stop performing the door opening electric drive and give an alarm.
图7是本发明实施例提供的另一种汽车电动门锁的控制方法流程图，如图7所示，该部分控制方法用于车内控制器控制车门闭锁，该控制方法包括：Fig. 7 is a flow chart of another control method for an electric door lock of an automobile provided by an embodiment of the present invention. As shown in Fig. 7, this part of the control method is used for the controller in the car to control the locking of the car door, and the control method includes:
步骤S701、当接收到闭锁关门信号后，执行关门电驱动作。Step S701. After receiving the signal of locking and closing the door, execute the electric drive action of closing the door.
其中，闭锁关门信号可以为手机app远程闭锁关门信号、遥控钥匙闭锁按钮信号、车门外部闭锁开关信号、车门内部闭锁开关信号或中控虚拟闭锁信号中的任一种。Wherein, the locking and closing signal can be any one of the remote locking and closing signal of the mobile phone app, the remote control key locking button signal, the external locking switch signal of the car door, the internal locking switch signal of the car door or the virtual locking signal of the central control.
步骤S702、当门锁状态信号指示门锁处于半关状态时，停止执行关门电驱动作，并执行门锁电动吸合动作。Step S702 , when the door lock state signal indicates that the door lock is in a half-closed state, stop performing the door-closing electric drive action, and perform the door lock electric pull-in action.
步骤S703、当门锁状态信号指示门锁处于全关状态时，停止执行门锁电动吸合动作。Step S703 , when the door lock state signal indicates that the door lock is in the fully closed state, stop performing the electric closing action of the door lock.
其中，当门锁状态信号指示门锁处于全关状态时，说明车门已关闭，则停止门锁电动吸合动作。Wherein, when the door lock state signal indicates that the door lock is in the fully closed state, it means that the car door is closed, and the electric pull-in action of the door lock is stopped.
基于同一发明构思，本发明实施例提供了一种实施本申请实施例中所述控制方法对应的装置。图8是本发明实施例提供的一种汽车电动门锁的控制装置结构示意图，如图8所示，该控制装置800包括获取模块801、判断模块802、倾角确定模块803、第一控制模块804和第二控制模块805。Based on the same inventive concept, an embodiment of the present invention provides a device corresponding to implementing the control method described in the embodiment of the present application. Fig. 8 is a schematic structural diagram of a control device for an automobile electric door lock provided by an embodiment of the present invention. As shown in Fig. 8, the
获取模块801，用于当接收到解锁开门信号后，获取解锁开门相关参数。The acquiring
判断模块802，用于根据解锁开门相关参数，判断是否满足预置开门条件。A judging
倾角确定模块803，用于当判断满足预置开门条件时，确定当前车身倾角，车身倾角包括车身左右倾斜角和前后俯仰角。The inclination
第一控制模块804，用于当车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第一控制逻辑执行开门电驱动作。The
第二控制模块805，用于当车身倾角满足预设倾角条件时，控制执行门锁电动解锁动作，并根据门锁状态信号，按照第二控制逻辑执行开门电驱动作。The
其中，门锁状态信号用于指示门锁处于全开状态、全关状态或半关状态。Wherein, the door lock state signal is used to indicate that the door lock is in a fully open state, a fully closed state or a half closed state.
可选的，第一控制模块804还用于：Optionally, the
当门锁状态信号指示门锁处于全开状态时，控制执行开门电驱动作。When the door lock state signal indicates that the door lock is in the fully open state, the control executes the door opening electric drive action.
可选的，第二控制模块805还用于：Optionally, the
当门锁状态信号指示门锁状态由全关状态向其他状态转变时，控制执行开门电驱动作。When the door lock state signal indicates that the door lock state changes from the fully closed state to other states, the control executes the door opening electric drive action.
可选的，该控制装置还包括倾角条件判断模块，倾角条件判断模块用于：Optionally, the control device also includes an inclination condition judging module, and the inclination condition judging module is used for:
设置车身左右倾斜角阈值和前后俯仰角阈值；Set the vehicle body left and right tilt angle threshold and front and rear pitch angle threshold;
根据车身左右倾斜角阈值和前后俯仰角阈值，建立的倾角条件判断矩阵，条件判断矩阵用于指示在不同的左右倾斜角和不同的前后俯仰角下，对应的车身倾角是否满足预设倾角条件；According to the left and right tilt angle thresholds of the vehicle body and the front and rear pitch angle thresholds, an inclination condition judgment matrix is established, and the condition judgment matrix is used to indicate whether the corresponding vehicle body inclination angle meets the preset inclination angle condition under different left and right tilt angles and different front and rear pitch angles;
根据预先建立的倾角条件判断矩阵，判断当前车身倾角是否满足预设倾角条件。According to the pre-established inclination condition judgment matrix, it is judged whether the current inclination angle of the vehicle body satisfies the preset inclination angle condition.
在本实施例中，解锁开门相关参数包括车速参数和车外障碍物距离参数。接收模块802还用于：In this embodiment, the parameters related to unlocking and opening the door include a vehicle speed parameter and a distance parameter to an obstacle outside the vehicle. The receiving
当车速参数小于设定车速阈值且车外障碍物距离参数指示开门区域内无障碍物时，判断满足预置开门条件。When the vehicle speed parameter is less than the set vehicle speed threshold and the obstacle distance parameter outside the vehicle indicates that there is no obstacle in the door opening area, it is determined that the preset door opening condition is satisfied.
可选的，该控制装置还包括：Optionally, the control device also includes:
第三控制模块，用于在执行开门电驱动作过程中，若预置开门条件由满足转变为不满足时，则控制停止执行开门电驱动作并进行报警。The third control module is used to stop the electric door opening operation and give an alarm if the preset door opening condition changes from satisfied to unsatisfied during the execution of the door opening electric drive operation.
可选的，该控制装置还包括：Optionally, the control device also includes:
关门电驱执行模块，用于当接收到闭锁关门信号后，执行关门电驱动作；The door-closing electric drive execution module is used to execute the door-closing electric drive action after receiving the locking door-closing signal;
第四控制模块，用于当门锁状态信号指示门锁处于半关状态时，控制停止执行关门电驱动作，并执行门锁电动吸合动作；当门锁状态信号指示门锁处于全关状态时，控制停止执行门锁电动吸合动作。The fourth control module is used to control and stop the door closing electric driving action when the door lock state signal indicates that the door lock is in a half-closed state, and perform the door lock electric pull-in action; when the door lock state signal indicates that the door lock is in a fully closed state , the control stops executing the electric pull-in action of the door lock.
上述控制装置中采用的控制方法的具体细节可以对应上述所示的控制方法实施例中对应的相关描述和效果进行理解，此处不再赘述。The specific details of the control method adopted in the above control device can be understood corresponding to the corresponding descriptions and effects in the control method embodiments shown above, and will not be repeated here.
本发明实施例还提供了一种电子设备，该电子设备可以包括处理器和存储器，其中处理器和存储器可以通过总线或者其他方式连接。处理器可以为中央处理器(CentralProcessing Unit，CPU)。处理器还可以为其他通用处理器、数字信号处理器(DigitalSignal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。存储器作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本发明实施例中的控制方法对应的程序指令/模块。处理器通过运行存储在存储器中的非暂态软件程序、指令以及模块，从而执行处理器的各种功能应用以及数据处理，即实现上述方法实施例中的控制方法。An embodiment of the present invention also provides an electronic device, which may include a processor and a memory, where the processor and the memory may be connected through a bus or in other ways. The processor may be a central processing unit (Central Processing Unit, CPU). The processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or other possible Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips. As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the control method in the embodiments of the present invention. The processor executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory, that is, implements the control method in the above method embodiments.
存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储处理器所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。所述一个或者多个模块存储在所述存储器中，当被所述处理器执行时，执行如图1所示实施例中的控制方法。上述电子设备具体细节可以对应参阅图1所示的实施例中对应的相关描述和效果进行理解，此处不再赘述。本领域技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述存储介质可为只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random AccessMemory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive，SSD)等；所述存储介质还可以包括上述种类的存储器的组合。The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor, and the like. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage devices. The one or more modules are stored in the memory, and when executed by the processor, execute the control method in the embodiment shown in FIG. 1 . Specific details of the above-mentioned electronic device can be understood by referring to corresponding descriptions and effects in the embodiment shown in FIG. 1 , and details are not repeated here. Those skilled in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium can be read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) ) or solid-state hard disk (Solid-State Drive, SSD) etc.; Described storage medium can also comprise the combination of above-mentioned type memory.
上述本申请实施例中的技术方案，至少具有如下的技术效果或优点：The above-mentioned technical solutions in the embodiments of the present application have at least the following technical effects or advantages:
本发明实施例提供的一种汽车电动门锁的控制方法、装置、设备及存储介质，当接收到解锁开门信号后，通过获取的解锁开门相关参数判断车辆是否满足预置开门条件。当满足预置开门条件时，确定当前的车身倾角，包括车身的左右倾斜角和前后俯仰角，用来判断车身的倾斜状态。当车身倾角不满足预设倾角条件时，控制执行门锁电动解锁动作，此时门锁会由全关向全开动作，然后根据门锁的状态信号，按照第一控制逻辑执行开门电驱动作。当车身倾角满足预设倾角条件时，控制执行门锁电动解锁动作，此时门锁会由全关向全开动作，然后根据门锁的状态信号，按照第二控制逻辑执行开门电驱动作。上述控制方法采用了两种不同的控制逻辑来控制开门电驱进行动作，使得车辆无论停靠在水平路面上还是有坡度的路面上，都能保证门锁解锁动作和开门电驱动的密切配合，成功打开车门。避免了在开门过程中，门锁再次进入半关状态或全锁状态使得车门无法打开。在不增加成本的前提下，提高了客户使用电开车门的便携性。The embodiment of the present invention provides a method, device, device and storage medium for controlling an electric door lock of an automobile. After receiving an unlocking and opening signal, it is judged whether the vehicle satisfies a preset opening condition based on the acquired unlocking and opening related parameters. When the preset door opening condition is satisfied, the current vehicle body inclination angle is determined, including the left and right inclination angles and the front and rear pitch angles of the vehicle body, which are used to judge the inclination state of the vehicle body. When the inclination angle of the vehicle body does not meet the preset inclination angle condition, the control executes the electric unlocking action of the door lock. At this time, the door lock will move from fully closed to fully open, and then according to the state signal of the door lock, perform the electric drive action of opening the door according to the first control logic. When the inclination angle of the vehicle body satisfies the preset inclination angle condition, the control executes the electric unlocking action of the door lock. At this time, the door lock will move from fully closed to fully open, and then according to the state signal of the door lock, the electric drive action of opening the door is performed according to the second control logic. The above control method uses two different control logics to control the door-opening electric drive to operate, so that whether the vehicle is parked on a level road or a sloped road, the close cooperation between the door lock unlocking action and the door-opening electric drive can be guaranteed. Open the car door. It avoids that in the process of opening the door, the door lock enters the half-closed state or the fully locked state again so that the door cannot be opened. On the premise of not increasing the cost, the portability of customers using the electric door is improved.
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.
类似地，应当理解，为了精简本公开并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.
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