Vehicle door mode switching device, vehicle and control method

Abstract

The present invention belongs to the technical field of vehicle accessories. Disclosed are a vehicle door mode switching device, a vehicle, a vehicle door system and a control method. The device comprises a vehicle door member, a vehicle body member and a rotating member, a first end of the rotating member being rotatably connected to the vehicle door member, and a second end of the rotating member being rotatably connected to the vehicle body member. The device is characterized by further comprising a vehicle door lock stop, a vehicle body lock stop and a mode switching lock, wherein the vehicle door lock stop is connected to the vehicle door member, and the vehicle body lock stop is connected to the vehicle body member; the mode switching lock comprises a fixed plate, a driving member, a locking rod, a scissor door lock catch and a conventional-door lock catch; the fixed plate is connected to the rotating member; the scissor door lock catch and the conventional-door lock catch are fixed to two ends of the locking rod; the driving member is connected to the locking rod, the locking rod is connected to the fixed plate, and the driving member can drive the locking rod to move along the fixed plate, so as to drive the scissor door lock catch to be engaged with the vehicle body lock stop and drive the conventional-door lock catch to be disengaged from the vehicle door lock stop, such that the switching device is in a conventional-door mode, or to drive the scissor door lock catch to be disengaged from the vehicle body lock stop, and drive the conventional-door lock catch to be engaged with the vehicle door lock stop, such that the switching device is in a scissor door mode. Thus, stable switching between the scissor door mode and the conventional-door mode is achieved.

Description

A door mode switching device, a vehicle and a control method

[0001] Cross-references to related applications

[0002] This invention claims priority to Chinese Patent Application No. 202510263718.8, filed with the China National Intellectual Property Administration on March 6, 2025, entitled "A Door Mode Switching Device, Vehicle and Control Method", the entire contents of which are incorporated herein by reference and constitute a part of this invention for all purposes. Technical Field

[0003] Embodiments of this application relate to a door mode switching device, a vehicle, a door system, and a control method. Background Technology

[0004] In existing vehicle designs, door systems typically employ either a swing door or a scissor door opening mechanism. To provide more spacious entry and exit and enhance the user experience, door systems now offer both swing and scissor door opening options.

[0005] The current vehicle door system, which features both swing and scissor door opening modes, includes a body component, a first door component, a second door component, and a switching component. The first door component is rotatably connected to the body component 1, and the second door component is connected to the first door component. The switching component is located on the second door component and controls the switching between a rigid connection and a rotational connection between the first and second door components, thereby switching the door opening and closing device between scissor door and swing door modes. The switching component includes a connected switching motor and a pin. The switching motor is fixed to the second door component, and the pin can extend and retract along its own axis under the drive of the switching motor. Connecting holes are provided on the first connecting portion of the first door component and the second connecting portion of the second door component. By inserting the pin into the connecting holes of the first and second connecting portions, the first and second door components are rigidly connected. When the pin is not inserted into the connecting holes of the first and second connecting portions, the first and second door components are rotatably connected.

[0006] The current switching mechanism uses a pin and two connecting holes to switch the door mode, which requires high precision. When there is a deviation between the two connecting holes and the pin, the pin may not be able to be inserted smoothly into the two connecting holes, resulting in unstable door mode switching performance. Summary of the Invention

[0007] In view of this, this application provides a door mode switching device, a vehicle, a door system and a control method, which can switch between two door opening and closing modes, namely scissor doors and swing doors, to meet various user needs.

[0008] Specifically, the following technical solutions are included:

[0009] In a first aspect, embodiments of this application provide a vehicle door mode switching device, including a door component, a body component, and a rotating component. A first end of the rotating component is rotatably connected to the door component, and a second end of the rotating component is rotatably connected to the body component. The device also includes a door lock, a body lock, and a mode switching lock. The door lock is connected to the door component, and the body lock is connected to the body component. The mode switching lock includes a fixed plate, a driving component, a locking rod, a scissor door latch, and a swing door latch. The fixed plate is connected to the rotating component. The scissor door latch and the swing door latch are fixed to both ends of the locking rod. The driving component is connected to the locking rod, and the locking rod is connected to the fixed plate. The driving component can drive the locking rod to move along the fixed plate, thereby engaging the scissor door latch with the body lock and disengaging the swing door latch from the door lock, thus placing the switching device in the swing door mode; or disengaging the scissor door latch from the body lock and engaging the swing door latch with the door lock, thus placing the switching device in the scissor door mode.

[0010] Optionally, when the scissor door latch engages with the body lock, the scissor door latch is located between the body lock and the body component, and the rotating component cannot rotate relative to the body component; when the scissor door latch disengages from the body lock and the body component, the scissor door latch disengages from between the body lock and the body component, and the rotating component can rotate relative to the body component; when the swing door latch engages with the door lock, the door lock is located between the swing door latch and the fixed plate, and the door component cannot rotate relative to the rotating component; when the swing door latch disengages from the door lock, the door lock disengages from between the swing door latch and the fixed plate, and the door component can rotate relative to the rotating component.

[0011] Optionally, both the scissor door latch and the door lock stop are raised structures;

[0012] Both the vehicle body lock and the hinged door lock are made of bent parts.

[0013] Optionally, one bend of the body lock is perpendicularly connected to the body component, and the other bend of the body lock is parallel to the body component, with the bend facing the scissor door latch.

[0014] One bent edge of the swing door latch is perpendicularly connected to the lock rod, and the other bent edge is parallel to the fixing plate, with the bent edge facing the door lock stop.

[0015] Optionally, the drive component includes a power output component, a gear, and a rack; the gear meshes with the rack, the rack is connected to a locking rod, and the power output component is connected to the gear.

[0016] Optionally, the locking rod is connected to the elastic element, the elastic element is connected to the end plate, and the end plate is connected to the fixing element; when the scissor door latch is disengaged from the body lock, the elastic element is under pressure.

[0017] Optionally, the rotating component includes a horizontal rotating assembly, a vertical rotating assembly, an external rotating assembly, and a connecting assembly; the horizontal rotating assembly is connected to the vehicle body component, the vertical rotating assembly is mounted on the horizontal rotating assembly, and the connecting assembly is connected to the vertical rotating assembly; the connecting assembly is rotatably connected to the door component; an external rotating assembly is provided between the connecting assembly and the vehicle body component; and a fixing plate is connected to the connecting assembly.

[0018] Optionally, the horizontal rotation assembly includes a first shaft and a connecting rod; the first shaft is connected to the body component; the connecting rod is rotatably connected to the first shaft; the vertical rotation assembly includes a second shaft, which is connected to the connecting rod; the connecting assembly includes a door connecting plate and a fifth shaft; the door connecting plate is rotatably connected to the second shaft; the fifth shaft is connected to the door connecting plate; the fifth shaft is rotatably connected to the door component; and the fixing plate is connected to the door connecting plate.

[0019] Optionally, the external rotation assembly includes a third shaft, a fourth shaft, a rotating rod, and a spherical bearing; the fourth shaft is connected to the body component, the spherical bearing is sleeved on the fourth shaft, the third shaft is connected to the door connecting plate, the first end of the rotating rod is connected to the spherical bearing, and the second end of the rotating rod is rotatably connected to the third shaft.

[0020] Secondly, embodiments of this application provide a vehicle door system, including a vehicle door and a vehicle door mode switching device provided in the first aspect embodiment; the door component of the vehicle door mode switching device is connected to the vehicle door.

[0021] Thirdly, embodiments of this application provide a vehicle, including a door, a body, and a door mode switching device provided in the first aspect embodiment; a body component of the door mode switching device is connected to the body, and a door component of the door mode switching device is connected to the door.

[0022] Fourthly, embodiments of this application provide a vehicle control method applied to the vehicle described in the third aspect, the vehicle control method comprising:

[0023] Obtain the door opening command;

[0024] Based on the door opening command, the drive unit is controlled to move the locking lever until the scissor door latch engages with the body lock and the swing door latch disengages from the door lock, thus switching the door mode switching device to the swing door mode and opening the door.

[0025] Alternatively, the drive mechanism can be controlled to move the locking lever until the scissor door latch disengages from the vehicle body lock and the swing door latch engages with the door lock, thus switching the door mode switching device to scissor door mode and opening the door.

[0026] The beneficial effects of the technical solution provided in this application embodiment include at least the following: by setting a door lock block connected to the door component, a body lock block connected to the body component, and a mode switching lock for door mode switching, the locking rod in the mode switching lock can move relative to the fixed plate under the drive of the driving component. The movement of the locking rod drives the scissor door latch and the swing door latch at both ends of the locking rod to move; so that the scissor door latch engages with the body lock block, and the swing door latch disengages from the door lock block, and the door is in swing door mode; or the scissor door latch disengages from the body lock block, and the swing door latch engages with the door lock block, and the door is in scissor door mode; thus enabling the door to have both scissor door mode and swing door mode, meeting various applicable needs of users, enriching the vehicle's door opening and closing methods, improving the vehicle's practicality and user experience; and by setting the latch and lock block, the stability of door mode switching is improved. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is a schematic diagram of the overall structure of the door mode switching device provided in an embodiment of this application;

[0029] Figure 2 is a first side view of the mode switching lock provided in an embodiment of this application;

[0030] Figure 3 is a second side view of the mode switching lock provided in an embodiment of this application;

[0031] Figure 4 is a schematic diagram of the elastic element structure provided in the embodiment of this application;

[0032] Figure 5 is a front view schematic diagram of the connection between the door mode switching device and the door provided in the embodiment of this application;

[0033] Figure 6 is a side view of the connection between the door mode switching device and the door provided in the embodiment of this application;

[0034] Figure 7 is a schematic diagram of the swing door mode provided in the embodiment of this application;

[0035] Figure 8 is a schematic diagram of the scissor door mode provided in an embodiment of this application;

[0036] Figure 9 is a flowchart of the vehicle control method provided in an embodiment of this application.

[0037] The components are as follows: 1. First shaft; 2. Second shaft; 3. Third shaft; 4. Fourth shaft; 5. Connecting rod; 6. Rotating rod; 7. Body parts; 8. Door parts; 9. Joint bearing; 10. Fifth shaft; 11. Door connecting plate; 12. Fixing plate; 13. Locking rod; 14. Scissor door latch; 15. Swing door latch; 16. Body lock; 17. Door lock; 18. Gear; 19. Rack; 20. Elastic element; 21. End plate; 22. Gearbox; 23. Drive motor; 24. Door; 25. Bolt; 26. Mode switching lock.

[0038] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] The directional terms used in the embodiments of this application, such as "up," "down," and "side," are generally based on the relative positions shown in Figure 1. These directional terms are used merely to more clearly describe the relationships between structures, not to describe absolute positions. When the product is placed in different orientations, the positions may change; for example, "up" and "down" may be interchanged.

[0041] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art. Some technical terms appearing in the embodiments of this application are described below.

[0042] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] This application provides a vehicle door mode switching device, as shown in Figures 1-8, including a door component 8, a body component 7, and a rotating component. The first end of the rotating component is rotatably connected to the door component 8, and the second end of the rotating component is rotatably connected to the body component 7. It also includes a door lock 17, a body lock 16, and a mode switching lock 26. The door lock 17 is connected to the door component 8, and the body lock 16 is connected to the body component 7. The mode switching lock 26 includes a fixing plate 12, a driving component, a locking rod 13, a scissor door latch 14, and a swing door latch 15. The fixing plate 12 is connected to the rotating component. Next, the scissor door latch 14 and the swing door latch 15 are fixed to both ends of the locking rod 13. The driving component is connected to the locking rod 13, and the locking rod 13 is connected to the fixing plate 12. The driving component can drive the locking rod 13 to move along the fixing plate 12, thereby causing the scissor door latch 14 to engage with the body lock 16, and causing the swing door latch 15 to disengage from the door lock 17, so that the switching device is in the swing door mode; or causing the scissor door latch 14 to disengage from the body lock 16, and causing the swing door latch 15 to engage with the door lock 17, so that the switching device is in the scissor door mode.

[0044] Body component 7 is adapted to connect to the body of a vehicle. Exemplarily, body component 7 is connected to the body frame of a vehicle.

[0045] As shown in Figures 7 and 8, the vehicle door mode switching device provided in this application embodiment has a scissor door mode and a swing door mode. In the scissor door mode, the rotating component is rigidly connected to the door component 8, and the vehicle body component 7 can rotate relative to the rotating component to realize scissor-type opening and closing. In the swing door mode, the rotating component is rigidly connected to the vehicle body component 7, and the door component 8 can rotate relative to the rotating component to realize translational opening and closing.

[0046] As shown in Figure 1, the rotating component includes a horizontal rotating assembly, a vertical rotating assembly, an external rotating assembly, and a connecting assembly; the horizontal rotating assembly is connected to the body component 7, the vertical rotating assembly is mounted on the horizontal rotating assembly, and the connecting assembly is connected to the vertical rotating assembly; the connecting assembly is rotatably connected to the door component 8; an external rotating assembly is provided between the connecting assembly and the body component; and a fixing plate is connected to the connecting assembly.

[0047] The horizontal rotation assembly includes a first shaft 1 and a connecting rod 5; the first shaft 1 is connected to the body component 7; the connecting rod 5 is rotatably connected to the first shaft 1, wherein the connecting rod 5 can rotate horizontally around the first shaft 1; the vertical rotation assembly includes a second shaft 2, which is connected to the connecting rod 5; the connecting assembly includes a door connecting plate 11 and a fifth shaft 10; the door connecting plate 11 is rotatably connected to the second shaft 2, wherein the door connecting plate 11 can rotate vertically around the second shaft 2; the fifth shaft 10 is connected to the door connecting plate 11; the fifth shaft 10 is rotatably connected to the door component 8, wherein the door component 8 can rotate around the axis of the fifth shaft 10 to open the door horizontally, and the door component 8 fixing plate 12 is connected to the door connecting plate 11; the first shaft 1 causes the door to rotate outward to unlock the door, and the second shaft 2 causes the door to rotate upward, so that the door can first rotate outward to unlock and then rotate upward.

[0048] The external rotation assembly includes a third shaft 3, a fourth shaft 4, a rotating rod 6, and a spherical bearing 9. The fourth shaft 4 is connected to the body component 7, and the spherical bearing 9 is mounted on the fourth shaft 4. The third shaft 3 is connected to the door connecting plate 11. The first end of the rotating rod 6 is connected to the spherical bearing 9, and the second end of the rotating rod 6 is rotatably connected to the third shaft 3. The door component 8 and the rotating rod 6 rotate outward via the third shaft 3. During the upward rotation, the vehicle needs to rotate outward in the Y direction simultaneously to increase the user's entry space and facilitate entry. Therefore, the rotating rod 6 is introduced. During the upward rotation of the door component 8, the distance of the rotating rod 6 in the Y direction increases synchronously, thereby driving the door component 8 to move outward. The rotating rod 6 and the body component 7 are connected by a revolute joint, a spherical joint, and a linear sliding joint through the spherical bearing 9 and the fourth shaft 4. This fully constrains the degrees of freedom of the entire structure and enables the door to rotate and rise, thereby driving the door to rotate and rise.

[0049] Among them, the fourth shaft 4 is mounted on the body part 7 at both ends by support members.

[0050] For example, the drive unit includes a power output component, a gear 18, and a rack 19; the gear 18 is meshed with the rack 19, the rack 19 is connected to the locking rod 13, and the power output component is connected to the gear 18, as shown in Figures 2 and 3.

[0051] The power output component can be a drive motor 23, which is connected to the gear 18 via a reduction gearbox 22. The drive motor 23 provides power for the rotation of the gear 18, and the rotation of the gear 18 drives the rack 19 to move. Both the drive motor 23 and the reduction gearbox 22 are connected to the fixed plate 12.

[0052] For example, both the scissor door latch 14 and the door lock stop 17 are protruding structures;

[0053] Both the body lock 16 and the swing door lock latch 15 are made of bent parts.

[0054] One bend of the body lock 16 is perpendicularly connected to the body component 7, and the other bend of the body lock 16 is parallel to the body component 7 and faces the scissor door latch 14.

[0055] One bent edge of the swing door latch 15 is perpendicularly connected to the lock rod 13, and the other bent edge is parallel to the fixing plate 12, with the bent edge facing the door lock stop 17.

[0056] The first end of the scissor door latch 14 with a raised structure is connected to the locking rod 13, and the second end faces the body lock 16; the first end of the door lock 17 with a raised structure is connected to the door component 8, and the second end faces the mode switching lock.

[0057] When the scissor door latch 14 engages with the body lock 16, the scissor door latch 14 is located between the body lock 16 and the body component 7. A bend in the body lock 16 restricts the scissor door latch 14, preventing the rotating component from rotating relative to the body component 7. When the scissor door latch 14 disengages from the body lock 16, it disengages from between the body lock 16 and the body component 7, and is no longer restricted, allowing the rotating component to rotate relative to the body component 7. When the swing door latch 15 engages with the door lock stop 17, the door lock stop 17 is located between the swing door latch 15 and the fixing plate 12. One bent edge of the swing door latch 15 restricts the door lock stop 17, preventing the door component 8 from rotating relative to the rotating component. When the swing door latch 15 and the door lock stop 17 disengage, the door lock stop 17 disengages from between the swing door latch 15 and the fixing plate 12, and the door lock stop 17 is no longer restricted, allowing the door component 8 to rotate relative to the rotating component.

[0058] As shown in Figure 4, the locking rod 13 is connected to the elastic element 20, and the elastic element 20 is connected to the end plate 21; the end plate 21 is connected to the fixing element 12; when the scissor door latch 14 is disengaged from the body lock 16, the elastic element 20 is under pressure. That is, when the driving component is not working, under the elastic force of the elastic element 20, the scissor door latch 14 is engaged with the body lock 16, the swing door latch 15 is disengaged from the door lock 17, and the switching device is in the swing door mode.

[0059] The elastic element 20 can be a spring. The elastic element allows the lock to be easily opened from the outside by mechanically pulling the handle. If the swing door is locked, it would be impossible to open the door from the outside using the handle. Furthermore, since swing doors are common in daily life, this design reduces the frequency of use of the swing door lock and minimizes wear and tear.

[0060] As shown in Figures 5 and 6, the door component 8 is connected to the door 24 via bolts 25; the body component 7 is connected to the body via bolts 25. A drive mechanism moves the locking rod, engaging the scissor door latch with the body lock and disengaging the swing door latch with the door lock, thus placing the door mode switching device in swing door mode and opening the door via a swing motion. Conversely, a drive mechanism moves the locking rod, disengaging the scissor door latch with the body lock and engaging the swing door latch with the door lock, thus placing the door mode switching device in scissor door mode and opening the door via a scissor-like action. This provides both scissor door and swing door modes, meeting various user needs, enriching the vehicle's door opening and closing methods, improving vehicle practicality and user experience; and the latch and lock settings enhance the stability of door mode switching.

[0061] This application also provides a vehicle door system, including a vehicle door and a vehicle door mode switching device provided in any of the above embodiments; a door component of the vehicle door mode switching device is connected to the vehicle door.

[0062] This application also provides a vehicle, including a door 24, a body, and a door mode switching device provided in any of the above embodiments; a body component 7 of the door mode switching device is connected to the body, and a door component 8 of the door mode switching device is connected to the door 24.

[0063] For example, the vehicle may be a gasoline-powered vehicle, an electric vehicle, a hybrid vehicle, a solar-powered vehicle, etc., and the embodiments of this application do not specifically limit the types of vehicles.

[0064] For example, all the doors of a vehicle may be scissor doors, or all may be swing doors, or one or more of the doors may be scissor doors and the remaining doors may be swing doors.

[0065] The vehicle provided in this application embodiment uses a mode switching lock to control the connection state between the rotating component and the body component, as well as between the rotating component and the door component, enabling the vehicle to achieve scissor-type or translational door opening and closing, meeting various user needs, enriching the vehicle's door opening and closing methods, and improving the vehicle's practicality and user experience.

[0066] This application also provides a vehicle control method, applied to the vehicle described in this application embodiment, as shown in FIG9, the vehicle control method including:

[0067] Obtain the door opening command;

[0068] Based on the door opening command, the drive unit is controlled to move the locking lever until the scissor door latch engages with the body lock and the swing door latch disengages from the door lock, thus switching the door mode switching device to the swing door mode and opening the door.

[0069] Alternatively, the drive mechanism can be controlled to move the locking lever until the scissor door latch disengages from the vehicle body lock and the swing door latch engages with the door lock, thus switching the door mode switching device to scissor door mode and opening the door.

[0070] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A vehicle door mode switching device comprising a vehicle door member, a vehicle body member, and a rotating member, a first end of the rotating member being rotationally connected to the vehicle door member, and a second end of the rotating member being rotationally connected to the vehicle body member, characterized in that, It also includes door locks, body locks, and mode switching locks. The door locks are connected to the door components, and the body locks are connected to the body components. The mode switching lock includes a fixed plate, a drive unit, a locking rod, a scissor door latch, and a swing door latch. The fixed plate is connected to a rotating component. The scissor door latch and the swing door latch are fixed to both ends of the locking rod. The drive unit is connected to the locking rod, and the locking rod is connected to the fixed plate. The drive unit can drive the locking rod to move along the fixed plate, thereby engaging the scissor door latch with the body lock and disengaging the swing door latch from the door lock, so that the switching device is in the swing door mode; or disengaging the scissor door latch from the body lock and engaging the swing door latch with the door lock, so that the switching device is in the scissor door mode. The rotating component includes a horizontal rotating assembly, a vertical rotating assembly, an external rotating assembly, and a connecting assembly; the horizontal rotating assembly is connected to the vehicle body component, the vertical rotating assembly is mounted on the horizontal rotating assembly, and the connecting assembly is connected to the vertical rotating assembly; the connecting assembly is rotatably connected to the door component; an external rotating assembly is provided between the connecting assembly and the vehicle body component; and a fixing plate is connected to the connecting assembly.

2. The vehicle door mode switching apparatus according to claim 1, wherein When the scissor door latch engages with the body lock, the scissor door latch is located between the body lock and the body component, and the rotating component cannot rotate relative to the body component. When the scissor door latch disengages from the body lock, the scissor door latch disengages from between the body lock and the body component, and the rotating component can rotate relative to the body component. When the swing door latch engages with the door lock, the door lock is located between the swing door latch and the fixed plate, and the door component cannot rotate relative to the rotating component. When the swing door latch disengages from the door lock, the door lock disengages from between the swing door latch and the fixed plate, and the door component can rotate relative to the rotating component.

3. The vehicle door mode switching apparatus according to claim 1, wherein Both the scissor door latch and the door lock stop are raised structures. Both the vehicle body lock and the hinged door lock are made of bent parts.

4. A door mode switching device according to claim 3, wherein One bend of the body lock is perpendicularly connected to the body component, and the other bend of the body lock is parallel to the body component, with the bend facing the scissor door latch. One bent edge of the swing door latch is perpendicularly connected to the lock rod, and the other bent edge is parallel to the fixing plate, with the bent edge facing the door lock stop.

5. The vehicle door mode switching apparatus according to claim 1, wherein The drive unit includes a power output component, a gear, and a rack; the gear meshes with the rack, the rack is connected to the locking rod, and the power output component is connected to the gear.

6. The vehicle door mode switching apparatus according to claim 1, wherein The locking rod is connected to the elastic element, which is connected to the end plate; the end plate is connected to the fixing element; when the scissor door latch is disengaged from the body lock, the elastic element is under pressure.

7. The vehicle door mode switching apparatus according to claim 1, wherein The horizontal rotating assembly includes a first shaft and a connecting rod; the first shaft is connected to the body component; the connecting rod is rotatably connected to the first shaft; the vertical rotating assembly includes a second shaft, which is connected to the connecting rod; the connecting assembly includes a door connecting plate and a fifth shaft; the door connecting plate is rotatably connected to the second shaft; the fifth shaft is connected to the door connecting plate; the fifth shaft is rotatably connected to the door component; and the fixing plate is connected to the door connecting plate.

8. The vehicle door mode switching apparatus according to claim 1, wherein The external rotation assembly includes a third shaft, a fourth shaft, a rotating rod, and a spherical bearing; the fourth shaft is connected to the body part, the spherical bearing is sleeved on the fourth shaft, the third shaft is connected to the door connecting plate, the first end of the rotating rod is connected to the spherical bearing, and the second end of the rotating rod is rotatably connected to the third shaft.

9. A vehicle door system comprising a vehicle door and the vehicle door mode switching device according to any one of claims 1-8; the vehicle door part of the vehicle door mode switching device being connected to the vehicle door.

10. A vehicle characterized by comprising: A vehicle comprising a vehicle door, a vehicle body and the vehicle door mode switching device according to claim 1; the vehicle body part of the vehicle door mode switching device being connected to the vehicle body and the vehicle door part of the vehicle door mode switching device being connected to the vehicle door.

11. A vehicle control method applied to the vehicle according to claim 10, characterized by, The vehicle control method comprises: obtaining a vehicle door opening instruction; based on the vehicle door opening instruction, controlling the driving member to drive the lock rod to move to the scissor door lock catch cooperating with the vehicle body lock catch and the flat door lock catch disengaging from the vehicle door lock catch, switching the vehicle door mode switching device to the flat door mode and opening the vehicle door; or controlling the driving member to drive the lock rod to move to the scissor door lock catch disengaging from the vehicle body lock catch and the flat door lock catch cooperating with the vehicle door lock catch, switching the vehicle door mode switching device to the scissor door mode and opening the vehicle door. ​

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