Disclosure of Invention
An object of an embodiment of the application is to provide a vehicle door control method, an actuation mechanism, a vehicle door control system, a vehicle and a storage medium.
According to a first aspect of an embodiment of the present application, there is provided a vehicle door control method including:
And determining the sealing counterforce of the vehicle door and the vehicle frame based on the wading depth of the current vehicle.
Optionally, the determining the sealing reaction force of the door and the frame based on the wading depth of the current vehicle includes:
and if the wading depth of the vehicle is larger than the first preset depth, increasing the sealing counterforce of the vehicle door and the vehicle frame.
Optionally, if the wading depth is greater than the first preset depth, increasing the sealing reaction force between the vehicle door and the vehicle frame includes:
If the wading depth is greater than the first preset depth but less than the second preset depth, increasing the sealing counter force to a first sealing counter force;
if the wading depth is greater than the second pre-wading depth, increasing the sealing reaction force to a second sealing reaction force;
the first sealing reaction force is less than the second sealing reaction force.
Optionally, if the wading depth is greater than a first preset depth, increasing the sealing reaction force between the vehicle door and the vehicle frame includes:
before increasing the sealing reaction force, judging the state of the door lock, and if the door lock is in the full-lock state, increasing the sealing reaction force.
Optionally, if the door lock is in a half-locking state, the door lock is controlled to enter the full-locking state from the half-locking state.
Optionally, if the door lock is in an unlocked state, the sealing reaction force of the door and the frame is not increased by the door lock.
Optionally, the method for judging the full lock state, the half lock state and the unlock state of the door lock includes:
If the first switch of the door lock is in an off state, the door lock is in the full-lock state;
If the first switch of the door lock is in a communication state and the second switch of the door lock is in an off state, the door lock is in the half-lock state;
If the first switch of the door lock is in a communication state and the second switch of the door lock is in a communication state, the door lock is in the unlocking state.
According to a second aspect of the embodiment of the present application, there is provided an actuation mechanism for implementing the above-described vehicle door control method, the actuation mechanism being capable of increasing a sealing reaction force between a vehicle door and a vehicle frame.
Optionally, the actuation mechanism door lock.
The door lock comprises a driving mechanism and a locking mechanism, wherein the driving end of the driving mechanism is connected with the locking mechanism, and the driving mechanism controls the magnitude of sealing counterforce between the door and the frame through driving the locking mechanism.
Optionally, the locking mechanism includes a driving arm and a locking tongue, the driving arm is hinged with the locking tongue, and the driving arm is hinged with the driving mechanism.
Optionally, the locking mechanism further comprises a locking arm, and the locking arm comprises a first state and a second state;
in the first state, the locking arm is engaged with the lock tongue;
In the second state, the locking arm is disengaged from the locking bolt.
Optionally, the door lock further comprises a first switch and a second switch, and the first switch and the second switch are used for detecting the state of the door lock.
Optionally, the door lock further comprises a third switch for detecting a state of the driving mechanism.
According to a third aspect of the embodiment of the present application, there is provided a door control system for executing the above-mentioned door control method, including:
The wading sensor is used for detecting the wading depth of the vehicle;
The controller is electrically connected with the wading sensor and receives detection data of the wading sensor;
The above-mentioned actuation mechanism, the actuation mechanism is located the door, actuation mechanism with the controller electricity is connected, the controller is according to the actuation of detection data control actuation mechanism.
Optionally, the controller controls the working current of the driving mechanism to reach a first current value or a second current value according to the first sealing counter force or the second sealing counter force, so that the sealing counter force between the vehicle door and the vehicle frame reaches the first sealing counter force or the second sealing counter force.
Optionally, before the driving mechanism drives the locking mechanism, the controller determines whether the working current reaches a maximum current value;
If the working current is smaller than or equal to the maximum current value, the driving mechanism drives the locking mechanism so as to enable the first sealing counter force or the second sealing counter force to be achieved between the vehicle door and the vehicle frame;
And if the maximum current value is larger than the maximum current value, the driving mechanism drives the locking mechanism so as to enable the first sealing counter force or the second sealing counter force to be achieved between the vehicle door and the vehicle frame, and meanwhile, alarming is executed.
Optionally, the controller determines whether the driving mechanism reaches the first current value or the second current value and/or the first preset working time, and if the driving mechanism reaches the first current value or the second current value and/or the first preset working time, the driving mechanism stops working.
Optionally, the wading sensor repeatedly detects a wading depth of the vehicle, and if the wading depth is smaller than the first preset depth, the driving mechanism performs resetting.
According to a fourth aspect of the embodiments of the present application, there is provided a vehicle for performing the above-described door control method;
Or a vehicle door control system as described above.
According to a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described door control method.
The technical effect of the embodiment of the application is that when the vehicle is involved, the sealing counterforce between the vehicle door and the vehicle frame is increased, so that water outside the vehicle can be prevented from entering the passenger cabin or the cockpit through the gap between the vehicle door and the vehicle frame.
Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
According to a first aspect of the embodiment of the application, a vehicle door control method is provided, which comprises the step of determining the sealing counterforce of a vehicle door and a vehicle frame based on the wading depth of a current vehicle.
As shown in fig. 1 and 2, a wading sensor is provided in the vehicle, the wading sensor being for detecting a wading depth of the vehicle. The wading sensor may employ radar, infrared, image processing, or the like.
The wading depth of a vehicle refers to the depth of the water level around the vehicle, i.e. the depth of the water accumulated on the road surface.
When the vehicle is wading, the wading depth of the vehicle is detected through the wading sensor so as to adjust the sealing counter force between the vehicle door and the vehicle frame, and water outside the vehicle can be prevented from entering the passenger cabin or the cockpit through the gap between the vehicle door and the vehicle frame.
In an alternative embodiment, the determining the sealing reaction force of the door and the frame based on the wading depth of the current vehicle includes:
and if the wading depth of the vehicle is larger than the first preset depth, increasing the sealing counterforce of the vehicle door and the vehicle frame.
When the wading depth of the vehicle is larger than the first preset depth, accumulated water on the road surface can enter the passenger cabin or the cockpit through the vehicle door. Specifically, the first preset depth may be the height from the bottommost end of the wheel to the threshold beam of the vehicle, or may be slightly smaller than the height from the bottommost end of the wheel to the threshold beam of the vehicle, when the water level does not reach the threshold beam, the accumulated water on the road surface will not affect the vehicle, and when the water level is higher than the threshold beam, the accumulated water on the road surface will enter the passenger cabin through the vehicle door and will drive the cabin.
Firstly, obtaining the wading depth of a vehicle through a wading sensor;
And secondly, comparing the obtained wading depth with a first preset depth, and increasing the sealing reaction force of the vehicle door and the vehicle frame through the suction mechanism when the wading depth is larger than the first preset depth, so that accumulated water on the road surface can be prevented from entering the passenger cabin or the cockpit through the gap between the vehicle door and the vehicle frame.
In a preferred embodiment, before acquiring the wading depth of the vehicle, whether the vehicle is in the ON gear is judged, and if the vehicle is in the ON gear, the wading depth of the vehicle is acquired. The ON gear power refers to the fact that the vehicle is in a full-vehicle power-ON state, the circuits of the vehicle are all connected, the engine is ready, and the vehicle is in the ON gear power when running normally.
In an optional embodiment, if the wading depth is greater than the first preset depth, increasing the sealing reaction force between the door and the frame includes:
If the wading depth is greater than the first preset depth but less than the second preset depth, increasing the sealing counter force to a first sealing counter force;
If the wading depth is greater than the second preset depth, increasing the sealing counter force to a second sealing counter force;
the first sealing reaction force is less than the second sealing reaction force.
The vehicle is also provided with a second preset depth, which is greater than the first preset depth. The first preset depth may be the height from the bottommost end of the wheel to the threshold beam of the vehicle, or may be slightly smaller than the height from the bottommost end of the wheel to the threshold beam of the vehicle, and the second preset depth is higher than the height of the threshold beam.
When the wading depth of the vehicle is detected to be greater than the second preset depth, the sealing reaction force between the vehicle door and the vehicle frame is increased to the second sealing reaction force.
In a preferred embodiment, the vehicle may further be provided with a third preset depth, the third preset depth being greater than the second preset depth. When the wading depth of the vehicle is detected to be between the second preset depth and the third preset depth, the sealing counter force between the vehicle door and the vehicle frame is increased to the second sealing counter force, and when the wading depth of the vehicle is detected to be greater than the third preset depth, the sealing counter force between the vehicle door and the vehicle frame is increased to the third sealing counter force. The third sealing reaction force is greater than the second sealing reaction force.
The first preset depth, the second preset depth and the third preset depth are calibration values, real vehicle calibration can be carried out according to the heights of different vehicles and the sealing counter forces of different vehicles, and in practical application, the real vehicle calibration can be properly increased or decreased according to different vehicles. For example, a shorter vehicle may set only the first preset depth and the second preset depth, a taller vehicle may set the first preset depth, the second preset depth, and the third preset depth, and a taller vehicle may set the first preset depth, the second preset depth, the third preset depth, and the fourth preset depth. May be selected according to the needs of the vehicle.
Along with the increase of the wading depth, the sealing counterforce is also increased so as to improve the tightness between the vehicle door and the vehicle frame and prevent water from entering the passenger cabin or the cockpit from the gap between the vehicle door and the vehicle frame.
In an alternative embodiment, the state of the door lock is determined before increasing the sealing reaction force, and if the door lock is in the fully locked state, the sealing reaction force is increased.
In an alternative embodiment, if the door lock is in a half-lock state, the door lock is controlled to enter the full-lock state from the half-lock state.
In an alternative embodiment, if the door lock is in an unlocked state, the sealing reaction of the door to the frame is not increased by the door lock.
The door lock comprises a full lock state, a half lock state and an unlocking state, wherein the full lock state refers to the full lock of the door, the full lock is locked, the half lock state refers to the half lock of the door, the half lock is locked, and the unlocking state refers to the door in an unlocking state without locking.
When the vehicle is about to enter or has entered wading, judging the state of the current door lock. If the door lock is in the full locking state, the sealing reaction force between the door and the frame is increased, if the door lock is in the half locking state, the door lock is controlled to enter the full locking state from the half locking state, and then the sealing reaction force between the door and the frame is increased, and if the door is in the unlocking state, the sealing reaction force between the door and the frame cannot be increased because the door is in the opening state, and the door cannot be closed because the door is in the opening state, and the door is operated in the unlocking state.
Therefore, before the vehicle enters or wades into water, the state of the door lock needs to be judged first, when the door lock is in a full locking state, the sealing reaction force between the door and the frame is increased, when the door lock is in a half locking state, the door lock is controlled to enter the full locking state from the half locking state first, then the sealing reaction force between the door and the frame is increased, when the door lock is in an unlocking state, the sealing reaction force between the door and the frame is not increased through the door lock, and the door can be closed by people or other suction mechanisms first, and meanwhile, the sealing reaction force between the door and the frame is increased.
In an alternative implementation mode, the judging method of the full locking state, the half locking state and the unlocking state of the door lock comprises the steps of enabling the door lock to be in the full locking state if a first switch of the door lock is in an off state, enabling the door lock to be in the half locking state if the first switch of the door lock is in a connected state and a second switch of the door lock is in an off state, and enabling the door lock to be in the half locking state if the first switch of the door lock is in the connected state and the second switch of the door lock is in the connected state.
More specifically, as shown in fig. 2, the door lock includes a first switch and a second switch.
The first switch is a full-lock switch and is used for judging whether the door lock is in a full-lock state or not. When the door lock is in the full locking state, the first switch is in the off state, and when the door lock is in the half locking state or the unlocking state, the first switch is in the on state, so that whether the door lock is in the full locking state can be known by acquiring the state of the first switch.
The second switch is a half-lock switch and is used for judging whether the door lock is in an unlocked state or not. The second switch is in a communication state when the door lock is in an unlocking state, and is in a disconnection state when the door lock is in a half-locking or full-locking state, so that the unlocking state of the door lock can be known by acquiring the state of the second switch.
Further, in the step of determining the state of the door lock, the state of the first switch is determined first, and if the first switch is in the off state, the door lock is in the fully-locked state, the sealing reaction force between the door and the frame can be increased, and if the first switch is in the on state, the door lock is in the half-locked state or the unlocked state, and then the state of the second switch is determined, and if the second switch is in the off state, the door lock is in the half-locked state, the door lock is controlled to enter the fully-locked state from the half-locked state, and if the second switch is in the on state, the door lock is in the unlocked state, and the operation of increasing the sealing reaction force between the door and the frame is not performed. Therefore, the state of the first switch is judged first, and when the door lock is in the full-lock state, the state of the second switch can be not judged any more, so that one judging step can be saved.
As shown in fig. 4,5 and 6, in one specific embodiment, the vehicle door control method when the vehicle is wading includes:
S01, judging whether the vehicle is in the ON gear, if not, repeating the step S01, and if so, proceeding to the step S02.
S02, judging whether the wading depth of the vehicle is larger than a first preset depth or a second preset depth, returning to the step S01 or repeating the step S02 if the wading depth of the vehicle is smaller than the first preset depth and smaller than the second preset depth, and entering the step S03 if the wading depth of the vehicle is larger than the first preset depth or larger than the second preset depth.
S03, judging whether the door lock is in a full locking state, returning to the step S01 or S02 or repeating the step S03 if the door lock is in an unlocking state, controlling the door lock to enter the full locking state from the half locking state and enter the step S04 if the door lock is in the half locking state, and entering the step S04 if the door lock is in the full locking state.
And S04, calculating the required sealing counterforce between the vehicle door and the vehicle frame according to the detected wading depth of the vehicle.
In step S04, a first sealing reaction force required by a first preset depth may be calculated by an external device, a second sealing reaction force required by a second preset depth may be input to the controller, the first sealing reaction force is a sealing reaction force required between the vehicle door and the vehicle frame if it is detected that the wading depth is between the first preset depth and the second preset depth, and the sealing reaction force required between the second sealing reaction force vehicle door and the vehicle frame is selected if it is detected that the wading depth is greater than the second preset depth.
S05, calculating the working current required by the driving mechanism according to the sealing counter force required between the vehicle door and the vehicle frame in the step S04.
In step S05, the operating current required for the drive mechanism may be calculated by an external device. The first sealing counter force needs a first current to a value, the second sealing counter force needs a second current value, the first current value and the second current value are input into the controller, if the wading depth is detected to be between a first preset depth and a second preset depth, the first sealing counter force is the sealing counter force needed between the vehicle door and the vehicle frame, the first current value is the working current of the driving mechanism, if the wading depth is detected to be greater than the second preset depth, the second sealing counter force needed between the second sealing counter force vehicle door and the vehicle frame is selected, and the second current value is the working current of the driving motor.
S06, judging whether the working current is larger than the maximum current value. If the operating current is greater than the maximum current value, an alarm manipulation is performed while proceeding to step S07, and if the operating current is less than the maximum current value, proceeding to step S07.
And S07, driving the locking mechanism by the driving mechanism according to the working current.
And S08, judging whether the working current reaches a first current value or a second current value at the same time, and judging whether the driving mechanism reaches a first expected working time.
Specifically, when the operating current is the first current value. If the operating current does not reach the first current value and the driving mechanism does not reach the first expected operating time, step S08 is repeated, if the operating current does not reach the first current value and the driving mechanism reaches the first expected operating time, step S10 is performed, and if the operating current reaches the first current value and the driving mechanism does not reach the first expected operating time, step S09 is performed.
When the working current is the second current value. If the operating current does not reach the second current value and the driving mechanism does not reach the first expected operating time, step S08 is repeated, if the operating current does not reach the second current value and the driving mechanism reaches the first expected operating time, step S10 is performed, and if the operating current reaches the second current value and the driving mechanism does not reach the first expected operating time, step S09 is performed.
And S09, judging whether the driving mechanism reaches the second expected working time or not when the working current reaches the first current value or the second current value but the driving mechanism does not reach the first expected working time. If the drive mechanism does not reach the second expected operating time, step S08 is repeated, and if the drive mechanism reaches the second expected operating time, step S110 is entered. The second expected operating time is less than the first expected operating time.
And S10, stopping the driving mechanism and executing a braking action to stop the driving mechanism at the current position.
And S11, judging whether the wading depth of the vehicle is smaller than a first preset depth, and judging whether the vehicle exits from the ON gear. And if the wading depth is smaller than the first preset depth and the vehicle does not exit the ON gear, or the wading depth is smaller than the first preset depth and the vehicle exits the ON gear, or the wading depth is larger than the first preset depth and the vehicle exits the ON gear, then the step S12 is entered.
S12, the driving mechanism executes reset.
According to a second aspect of the embodiment of the present application, there is provided an actuation mechanism for implementing the above-described door control method, the actuation mechanism being capable of increasing a sealing reaction force between a door and a frame.
In one embodiment, the attracting mechanism is an electromagnet, the vehicle door is provided with the electromagnet, the vehicle frame is provided with the magnet, when the vehicle door is closed, the electromagnet can attract the magnet, and the attracting force between the electromagnet and the magnet is increased by increasing the current of the electromagnet, so that the sealing counter force between the vehicle door and the vehicle frame is increased.
In another alternative embodiment, the actuation mechanism is a door lock, by which the sealing reaction of the door to the frame is increased. In this embodiment, the sealing reaction force between the door and the frame is increased by the door lock of the vehicle, and it is possible to increase the sealing reaction force between the door and the frame without additionally providing another engaging mechanism, and it is possible to prevent water from filling the cabin or the passenger compartment from the gap between the door and the frame when the vehicle is wading.
In an alternative embodiment, the door lock comprises a driving mechanism and a locking mechanism 1, wherein the driving end of the driving mechanism is connected with the locking mechanism 1, and the driving mechanism controls the magnitude of the sealing counterforce between the door and the frame by driving the locking mechanism 1.
As shown in fig. 3, the door lock includes a drive mechanism and a lock mechanism 1. A lock ring 2 is provided on the frame, specifically, the lock ring 2 is provided on a side pillar B of the vehicle. When the door lock is in the full lock state or the half lock state, the locking structure is meshed with the lock ring 2 to limit the door.
When the sealing counter force between the vehicle door and the vehicle frame needs to be increased, the driving mechanism drives the locking mechanism 1 to rotate inwards of the vehicle door so as to drive the vehicle door to move towards the direction close to the vehicle body, so that the sealing counter force between the vehicle door and the vehicle frame can be increased, and when the vehicle is wading, water can be prevented from entering the cockpit or the passenger cabin through a gap between the vehicle door and the vehicle frame.
And, after the locking mechanism 1 is driven to rotate according to the sealing counter force driving mechanism which is required at present, the driving mechanism does not execute reset action, and the locking ring 2 is limited by the locking mechanism 1, so that the door lock of the automobile is ensured not to be released.
In the driving process, corresponding sealing counterforce is increased according to the wading depth and the first preset depth or the second preset depth.
In an alternative embodiment, the locking mechanism 1 includes a driving arm 12 and a locking tongue 13, the driving arm 12 is hinged to the locking tongue 13, and the driving arm 12 is hinged to the driving mechanism.
The suction mechanism is a door lock, so that the sealing reaction force between the door and the frame can be increased when the vehicle is waded without changing the structure of the vehicle, and water is prevented from being poured into the cockpit or the passenger cabin from a gap between the door and the frame.
As shown in fig. 3, the door lock includes a drive mechanism and a lock mechanism 1, and the lock mechanism 1 includes a pull-in wire 11, a drive arm 12, and a lock tongue 13. And a lock ring 2 is arranged on a side wall B column of the vehicle, and the door is limited by the engagement of a lock tongue 13 and the lock ring 2. More specifically, the lock tongue 13 is installed inside the lock body of the door lock, and can drive the lock body of the door lock to move towards the vehicle body by hooking the lock ring 2. The driving arm 12 and the pull-in wire 11 are arranged in a lock body of the door lock, the driving arm 12 is connected with the pull-in wire 11, the pull-in wire 11 is connected with a driving end of a driving mechanism, the driving mechanism pulls the pull-in wire 11 and drives the driving arm 12 to move, and the driving arm 12 pushes the lock tongue 13 to rotate anticlockwise, so that the door is driven to move towards the direction of the vehicle body, and meanwhile, when the wading mode is entered.
In an alternative embodiment, the locking mechanism 1 further comprises a locking arm 14, wherein the locking arm 14 comprises a first state in which the locking arm 14 is engaged with the locking tongue 13 and a second state in which the locking arm 14 is disengaged from the locking tongue 13.
Further illustratively, the locking mechanism 1 further includes a locking arm 14, the locking arm 14 being mounted inside the lock body of the door lock. More specifically, the locking arm 14 is provided with a torsion spring, and the locking arm 14 can be driven to move towards the lock tongue 13 under the action of the torsion spring, and when the locking arm 14 and the lock tongue 13 are engaged together to prevent the lock tongue 13 from rotating clockwise as shown in fig. 1.
The locking arm 14 has a first state and a second state, the first state is that the locking arm 14 is meshed with the lock tongue 13, the door lock is in a half-locking state or a full-locking state, and the second state is that the locking arm 14 is disengaged from the lock tongue 13, and the door lock is in an unlocking state.
Further illustratively, the latch arm 14 includes a first latch arm and a second latch arm, the first latch arm being closer to the tongue 13 than the second latch arm. When the first stop arm is engaged with the lock tongue 13, the door lock is in a half-lock state, and when the first stop arm and the second stop arm are both engaged with the lock tongue 13, the door is in a full-lock state.
In an alternative embodiment, the door lock further comprises a first switch and a second switch, the first switch and the second switch being used to detect the state of the door lock.
As shown in fig. 2, the door lock further includes a first switch and a second switch.
The first switch is a full-locking switch, the first switch is arranged on one side of the locking arm 14 away from the lock tongue 13 and corresponds to the position of the second locking arm, when the second locking arm is disengaged from the lock tongue 13, the second locking arm presses the first switch, so that the first switch is in a communication state, the door lock is in a half-locking state or an unlocking state, when the second locking arm is engaged with the lock tongue 13, the first switch is released by the second locking arm, and therefore the first switch is in a disconnection state, and the door lock is in a full-locking state.
The second switch is a half-locking switch, the second switch is arranged on one side of the locking arm 14 away from the lock tongue 13 and corresponds to the position of the first locking arm, when the first locking arm is disengaged from the lock tongue 13, the first locking arm presses the second switch to enable the second switch to be in a communication state, the door lock is in an unlocking state, when the first locking arm is engaged with the lock tongue 13, the second switch is released by the first locking arm to enable the second switch to be in a disconnection state, and the door is in a full-locking state or a half-locking state.
In an alternative embodiment, the door lock comprises a third switch for detecting the state of the drive mechanism.
The door lock further includes a third switch which swings with the driving arm 12 when the driving mechanism pulls the pull-in cord 11, and is pressed by the driving arm 12 when the driving arm 12 moves away from the initial position. The driving mechanism leaves the initial position when the third switch is in the on state, and is in the initial position when the third switch is in the off state.
According to a third aspect of the embodiment of the application, a vehicle door control system is provided for executing the vehicle door control method, and the vehicle door control system comprises a wading sensor, a controller and an actuation mechanism, wherein the wading sensor is used for detecting wading depth of a vehicle, the controller is electrically connected with the wading sensor, the controller receives detection data of the wading sensor, the actuation mechanism is arranged on a vehicle door, the actuation mechanism is electrically connected with the controller, and the controller controls actuation of the actuation mechanism according to the detection data.
As shown in fig. 2, the door control system includes a wading sensor, a controller, and an actuation mechanism.
And the wading sensor is mounted on the vehicle and is used for detecting the wading depth of the vehicle. The wading sensor can adopt a radar sensor, an infrared sensor and an image processing sensor, and can provide the wading depth of the vehicle by means of radar, infrared rays or images.
The suction mechanism is arranged on the vehicle door and can make the vehicle door and the vehicle frame suction.
The controller is arranged on the vehicle, interacts with the vehicle through a CAN line, is electrically connected with the wading sensor, transmits the acquired detection information to the controller, processes the detection information and controls the actuation mechanism to work according to the detection information.
The controller area network bus (CAN, controller Area Network) is a serial communications protocol bus for real-time applications that CAN use twisted pair wires to transmit signals.
The controller acquires the disconnection or connection of the first switch through a hard wire to judge the current state of the door lock.
The second switch is electrically connected with the controller, and the controller acquires the disconnection or the connection of the second switch through a hard wire to judge the state of the current door lock.
Further, when the first switch and the second switch are communicated, the resistance is close to 0, when the first switch and the second switch are disconnected, the resistance is close to infinity, the controller acquisition circuit judges whether the current switch is triggered or not through the on-off of the switch, and the switch of the door lock adopts a working condition (the door is closed) for ensuring the most common switch to be in an off state in the design process, and at the moment, the acquisition circuit is in an off state, so that the static power consumption of the controller is smaller.
In an alternative embodiment, the controller controls the operating current of the driving mechanism to reach a first current value or a second current value according to the first sealing reaction force or the second sealing reaction force so that the sealing reaction force between the vehicle door and the vehicle frame reaches the first sealing reaction force or the second sealing reaction force.
Further, the required sealing reaction force between the door and the frame, which can be obtained according to the wading depth, is the first sealing reaction force or the second sealing reaction force. The controller obtains the operating current of actuating mechanism according to first sealing counter-force or second sealing counter-force, and the controller can control actuating mechanism drive locking mechanism 1 according to operating current to make the sealing counter-force between door and the car frame reach first sealing counter-force or second sealing counter-force, make the door can not intake.
The first sealing reaction force and the second sealing reaction force may be calculated by the obtained wading depth, or may be calculated by another external device and then set in the vehicle.
The operation current may be calculated by the first sealing reaction force and the second sealing reaction force, and may be set in the vehicle after being calculated by another external device.
In an alternative embodiment, before the driving mechanism drives the locking mechanism 1, the controller judges whether the working current reaches the maximum current value, if the working current is smaller than or equal to the maximum current value, the driving mechanism drives the locking mechanism 1 so as to enable the first sealing counter force or the second sealing counter force to be achieved between the vehicle door and the vehicle frame, and if the working current is larger than the maximum current value, the driving mechanism drives the locking mechanism 1 so as to enable the first sealing counter force or the second sealing counter force to be achieved between the vehicle door and the vehicle frame, and meanwhile, an alarm is executed.
Further illustratively, the drive mechanism may be an electric motor. The motor is provided with a maximum current value, and the maximum current value can be the maximum locked rotor current value of the motor or the maximum working current value of the motor.
Therefore, before the motor drives the locking mechanism 1, the controller determines whether the operating current reaches the set maximum current value. If the working current is smaller than the maximum current value, the controller controls the driving mechanism to drive the locking mechanism 1, and if the working current is larger than the maximum current value, the controller simultaneously performs alarm operation when controlling the driving mechanism to drive the locking mechanism 1 so as to prompt a driver that the water pressure is too large and no wading is needed. The alarm can be provided by popup window or voice prompt in the vehicle.
In an alternative embodiment, the controller determines whether the driving mechanism reaches the first current value or the second current value and/or the first preset operation time, and stops the driving mechanism if the first current value or the second current value and/or the first preset operation time is reached.
The driving mechanism is provided with a first preset operating time, which is the time from when the driving mechanism starts driving the locking mechanism 1 to when the driving of the locking mechanism 1 is stopped.
In the process of driving the locking mechanism 1, the controller needs to judge whether the driving mechanism reaches the first current value or the second current value and/or the preset working time.
And if the working current required by the driving mechanism is the first current value. The driving mechanism stops working when the driving mechanism reaches a first preset working time and does not reach a first current value, stops working when the driving mechanism does not reach the first preset working time and stops working when the driving mechanism reaches the first current value and simultaneously reaches the first preset working time and the first working current.
And if the working current required by the driving mechanism is the second current value. The driving mechanism stops working when the driving mechanism reaches the first preset working time and does not reach the second current value, stops working when the driving mechanism does not reach the first preset working time and stops working when the driving mechanism reaches the second current value and simultaneously reaches the first preset working time and the second working current.
Further, the first preset operating time is set to be between 3s and 8s, preferably 5s.
The driving mechanism can be prevented from being broken when the driving mechanism works, or the gear reduction box of the driving mechanism is broken and derailed so as to cause the driving mechanism to idle and have smaller current, so that the driving mechanism can be prevented from working all the time by setting preset working time and from being burnt out.
Further, the driving mechanism stops working, keeps the current position, and executes the braking action on the driving mechanism, so that the driving mechanism is prevented from continuously driving the locking mechanism 1 due to inertia.
In an alternative embodiment, the wading sensor repeatedly detects the wading depth of the vehicle, and the driving mechanism performs resetting when the wading depth is smaller than the first preset depth.
The controller is electrically connected with the third switch, and the controller is used for acquiring the connection or disconnection of the third switch through hard wires and judging the state of the driving mechanism. So that the controller controls the drive mechanism to perform the reset after the vehicle ends wading.
Further, the wading sensor can repeatedly detect the wading depth of the vehicle, and when the wading depth of the vehicle is detected to be smaller than the first preset depth, the controller can drive the mechanism to execute reset action, and after reset is completed, the door lock can be normally opened. While the vehicle is wading, the driving mechanism drives the locking mechanism 1 and limits the locking mechanism 1.
Further, the driving mechanism resets and then opens the vehicle door, so that the problems of lock popping, vehicle door shaking and the like can be avoided when the vehicle door is opened.
According to a fourth aspect of an embodiment of the present application, there is provided a vehicle for performing the above-described door control method, or including the above-described door control system.
According to a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described door control method.
While certain specific embodiments of the application have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the application. The scope of the application is defined by the appended claims.