System and method for preventing interference between relatively sliding doors and wheels

Abstract

The present invention relates to a system and method for preventing interference between a relative sliding door and a wheel, the system comprising: a door open / close switch, which receives an operation instruction for opening or closing the door from a user; a door position sensor, which detects the position of the door; a steering controller, which measures the steering angle of the vehicle; a door controller, which receives an operation signal for opening or closing the door from the door open / close switch, receives door position information from the door position sensor, receives steering angle information from the steering controller, and when a user attempts to open the door, if the wheel is not in an aligned state in which the wheel is parallel to the longitudinal direction of the vehicle, the door controller determines that the door and the wheel are in an interference state; and a warning device, which warns the user of the situation when the door controller determines that the door and the wheel are in an interference state.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2018-0152560 filed on November 30, 2018, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a system and method for preventing interference between opposing sliding doors and wheels, which can be applied when all front doors and rear doors of a vehicle are sliding doors. More specifically, the present invention relates to a system and method that can determine whether the wheels are in an aligned state in which the wheels are parallel to the longitudinal direction of the vehicle, and can warn a user when the wheels are not in the aligned state, thereby preventing damage to the vehicle doors. Background Art

[0004] Recently, in order to adopt autonomous vehicles and optimize conditions for allowing occupants to enter and exit the vehicle in a narrow space, it is necessary to develop relative sliding doors that can be applied to all front doors and rear doors of the vehicle so that the front doors and rear doors are opened in a sliding manner.

[0005] However, for relative sliding doors, the front door can be opened when the door slides toward the front side of the vehicle. Therefore, if the front wheels are not aligned with the wheels parallel to the longitudinal direction of the vehicle, there is a risk that the wheels and the door may collide with each other when the door is opening.

[0006] In this regard, the related field Korean patent application publication No. 10-2011-0089753 (device and method for controlling vehicle doors) relates to a device and method for controlling vehicle doors, and it provides a device and method for preventing collision between vehicle doors and surrounding objects. Since a door control system is provided on each vehicle door, the door control system includes: a sensor for measuring the distance between each vehicle door and surrounding objects, and a microcomputer for controlling the opening angle of the vehicle door.

[0007] However, the system and method in the related art are applied to swing front doors and rear doors, detect obstacles spaced apart from the vehicle body, and control the opening angle of the doors, so the system and method cannot be applied to sliding doors that may collide with the front wheels of the vehicle when the doors are being opened. Summary of the invention

[0008] The present invention is directed to providing a system and method for preventing interference between a relative sliding door and a wheel, wherein in a device and method for controlling a vehicle door in the related art, when a user opens the relative sliding door, a door controller determines whether the wheel is in an aligned state parallel to the longitudinal direction of the vehicle based on the operating state of the door and the steering angle of the vehicle; when the wheel is not in the aligned state, the door controller limits the steering angle of the vehicle and warns the user.

[0009] According to an exemplary embodiment of the present invention, a system for preventing interference between a sliding door and a wheel prevents collision between the wheel and the door when the door of a vehicle is opened or closed, and the system may include: a door open / close switch, which receives an operation instruction for opening or closing the door from a user; a door position sensor, which detects the position of the door; a steering controller, which measures the steering angle of the vehicle; a door controller, which receives an operation signal for opening or closing the door from the door open / close switch, receives door position information from the door position sensor, receives steering angle information from the steering controller, and when the user attempts to open the door, when the wheel is not in an aligned state in which the wheel is parallel to the longitudinal direction of the vehicle, the door controller determines that the door and the wheel are in an interference state; and a warning device, which warns the user of a dangerous situation when the door controller determines that the door and the wheel are in an interference state.

[0010] When the door controller determines that the wheel and the door are in an interference state, the steering controller can limit the steering angle to a range in which the wheel and the door do not collide with each other based on the position of the door or the opening / closing operation state of the door and the position of the wheel.

[0011] The warning device may further include: an indication controller which visually warns the user of the interference state; and a buzzer which generates a warning sound about the interference state for the user.

[0012] When the door and the wheel are not in an interference state, the door controller can open or close the door through the motor.

[0013] According to another exemplary embodiment of the present invention, a method for preventing interference between a relative sliding door and a wheel may include: a first step, sending a user's operation signal for opening or closing the door to a door controller through a door open / close switch; a second step, sending door position information to the door controller through a door position sensor, and sending steering angle information to the door controller through a steering controller; a third step, determining by the door controller whether the wheel and the door are in an interference state based on whether the wheel is in an alignment state in which the wheel is parallel to the longitudinal direction of the vehicle; and a fourth step, when the door and the wheel are in an interference state, warning the user of the interference state through a warning device, or operating the door through a motor when the door and the wheel are not in an interference state.

[0014] The third step may further include: a process of determining whether the wheel is in an aligned state; and a process of determining whether a rotation radius of the wheel is within a door operable area.

[0015] In the fourth step, when the rotation radius of the wheel is within the area where the vehicle door can be operated, the indicator controller can generate a visual warning and the buzzer can generate a discontinuous warning sound; and when the rotation radius of the wheel is within the area where the vehicle door cannot be operated, the indicator controller can generate a visual warning and the buzzer can generate a continuous warning sound.

[0016] In an interference state, the steering controller can limit the vehicle's steering angle to a range where the doors and wheels do not collide with each other.

[0017] The buzzer may output a discontinuous warning sound having a generation period that increases as the wheels become closer to an aligned state.

[0018] According to the present invention configured as described above, there is an advantage in that a user can perceive the risk of collision between the front wheel and the front door of the vehicle swing door in the related art, and thus the sliding door can be safely used as the front door.

[0019] According to the present invention, there is an advantage in that even if the user attempts to open the sliding door without sensing the state of the wheel, the user can sense the risk of collision between the wheel and the sliding door through the warning sound or the warning message.

[0020] According to the present invention, there is an advantage in that the warning method is changed according to the degree of the collision risk between the wheel and the sliding door, and thus the user can perceive the degree of the collision risk between the wheel and the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A view showing the overall configuration of a system for preventing interference between opposing sliding doors and wheels according to an aspect of the present invention.

[0022] Figure 2 The present invention is a flowchart of a method for preventing interference between relatively sliding doors and wheels according to one aspect of the present invention.

[0023] Figure 3 A diagram showing a specific process of the third step according to an aspect of the present invention.

[0024] Figure 4 A diagram showing a rotation trajectory of a wheel according to an alignment state of the wheel and an operable state of a door.

[0025] Figure 5A and Figure 5B A view showing a method of preventing interference between an opposing sliding door and a wheel according to a change in a state of the wheel according to an aspect of the present invention. DETAILED DESCRIPTION

[0026] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not restricted or limited by the exemplary embodiments. The same reference numerals in the various drawings refer to components that perform substantially the same functions.

[0027] According to the following description, the purpose and effect of the present invention can be naturally understood, or the purpose and effect of the present invention can be made clearer, and the purpose and effect of the present invention are not limited to the following description. In addition, in the description of the present invention, when it is determined that the specific description will unnecessarily obscure the subject of the present invention, the specific description of the known technology related to the present invention will be omitted.

[0028] Figure 1 The overall configuration of a system for preventing interference between opposing sliding doors and wheels according to one aspect of the present invention is shown.

[0029] refer to Figure 1 , a system for preventing interference between relative sliding doors and wheels according to one aspect of the present invention may include a door open / close switch 20, a door position sensor 40, a steering controller 30, a door controller 50, a motor 60, and a warning device.

[0030] The steering controller 30 and the door controller 50 of the system according to the exemplary embodiment of the present invention can be a processor (e.g., a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, etc.). The controller can be implemented by a non-transitory memory and a processor, wherein the non-transitory memory stores programs, software instruction reproduction algorithms, etc. (which control the operation of various components of the vehicle (e.g., steering wheel, door, etc.) when executed), and the processor is configured to execute the programs, software instruction reproduction algorithms, etc. Here, the memory and the processor can be implemented as separate semiconductor circuits. Alternatively, the memory and the processor can be implemented as a single integrated semiconductor circuit. The processor can be implemented as one or more processors.

[0031] The door open / close switch 20 is mounted on the door, receives an operation command for opening or closing the door from a user so as to open or close the sliding door in opposite directions, and transmits an operation signal for opening or closing the door to the door controller 50 .

[0032] The door position sensor 40 is installed on the door, detects the position of the door, and transmits the door position information to the door controller 50 .

[0033] The steering controller 30 measures the steering angle of the vehicle and transmits the steering angle information to the door controller 50. When the driver turns the vehicle, the front wheels rotate proportionally, so by measuring the steering angle, the rotation angle of the wheel 10 can be obtained. In addition to the steering controller 30, a sensor for directly measuring the rotation angle of the wheel 10 can be used to measure the rotation angle and whether the wheel 10 rotates.

[0034] When a user attempts to open a door, the door controller 50 may receive an operation signal for opening or closing the door from the door open / close switch 20 , receive door position information from the door position sensor 40 , and receive steering angle information from the steering controller 30 .

[0035] Based on the steering angle information, when the steering angle is "0", the door controller 50 determines that the wheel 10 is in an alignment state in which the wheel 10 is parallel to the longitudinal direction of the vehicle, and when the steering angle is not "0", the door controller 50 determines that the wheel 10 is in an interference state.

[0036] When the door controller 50 determines that the wheel 10 is in the aligned state, the door controller 50 sends alignment state information to the motor 60 so that the motor 60 can open the door.

[0037] On the contrary, in the case where the door controller 50 determines that the wheel 10 is not in the aligned state, the door controller 50 determines that the door and the wheel 10 are in the interference state, and transmits the interference state information to the steering controller 30 and the warning device.

[0038] The steering controller 30 that has received the interference state information may limit the steering angle so that the rotation area of ​​the wheel 10 is in an area where the wheel 10 does not collide with the door.

[0039] When the door controller 50 determines that the door and the wheel 10 are in an interference state, the warning device according to the present invention is used to warn the user of a dangerous situation, and the warning device may include an indication controller 70 and a buzzer 80 .

[0040] The instruction controller 70 visually warns the user of the interference state through interference warning text on the display of the vehicle. The buzzer 80 generates a warning sound about the interference state for the user.

[0041] The indication controller 70 of the warning device according to the exemplary embodiment of the present invention may be a processor (e.g., a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, etc.). The indication controller 70 may be implemented by a non-transitory memory and a processor, wherein the non-transitory memory stores programs, software instructions, reproduction algorithms, etc. (which control the operation of the warning device of the vehicle when executed), and the processor is configured to execute the programs, software instructions, reproduction algorithms, etc.

[0042] As described below, the warning device according to one aspect of the present invention changes the warning method according to the degree of collision risk between the wheel 10 and the sliding door, thereby enabling the user to perceive the degree of collision risk between the wheel 10 and the door.

[0043] Figure 2 A flow chart showing a method for preventing interference between a relative sliding door and a wheel 10 according to one aspect of the present invention is shown. Figure 3 The specific process of the third step according to one aspect of the present invention is shown.

[0044] refer to Figure 2 and Figure 3 The method for preventing interference between the relative sliding door and the wheel 10 according to one aspect of the present invention may include first to third steps.

[0045] In a first step, the door open / close switch 20 may transmit a user's operation signal for opening or closing the door to the door controller 50 .

[0046] In the second step, the door position sensor 40 may transmit the door position information to the door controller 50 , and the steering controller 30 may transmit the steering angle information to the door controller 50 .

[0047] In the third step, based on whether the wheel 10 is in an aligned state in which the wheel 10 is parallel to the longitudinal direction of the vehicle, the door controller 50 may determine whether the wheel 10 and the door are in an interference state.

[0048] The third step of determining the alignment state of the wheel 10 or the interference state between the wheel 10 and the door may further include: a process of determining whether the wheel 10 is in the alignment state, and a process of determining whether the rotation radius of the wheel 10 is within the door operable area.

[0049] In the fourth step, the warning device warns the user of the interference state when the door and the wheel are in the interference state, and when the door and the wheel are not in the interference state, the motor 60 can operate the door.

[0050] refer to Figure 4 The alignment state of the wheel 10 refers to the situation where the wheel 10 is parallel to the longitudinal direction of the vehicle and the steering angle is "0", and the interference state refers to the situation where the wheel 10 is not in the alignment state. According to the rotation trajectory of the wheel 10 based on the alignment state of the wheel 10 and whether the door is operable, the area can be divided into area A and area B.

[0051] Region A relates to a rotation trajectory of the wheel 10 such that when the user attempts to open the door, the door can be operated, but if a further steering operation is performed, the wheel 10 and the door may collide with each other. Region B relates to a rotation trajectory of the wheel 10 such that when the user attempts to open the door, the wheel 10 and the door collide with each other.

[0052] When the wheel 10 is located in area A, the steering controller 30 can limit the steering angle of the vehicle to a range where the door and the wheel 10 do not collide with each other, the indication controller can generate a visual warning on the vehicle's display, and the buzzer 80 can generate a discontinuous warning sound.

[0053] On the contrary, in the case where the wheel 10 is located in the area B, the steering controller 30 limits the steering angle of the vehicle to a range in which the door and the wheel 10 do not collide with each other, and instructs the controller to generate a visual warning on the display of the vehicle in the same manner as in the case of the area A. However, unlike the case of the area A, the buzzer 80 may generate a continuous warning sound.

[0054] In region A, the discontinuous warning sound output by the buzzer 80 has a generation period that increases as the wheel 10 approaches the alignment state and decreases as the wheel 10 moves away from the alignment state, so when the wheel 10 enters region B, a continuous warning sound is generated.

[0055] Figure 5A and Figure 5B A method of preventing interference between an opposing sliding door and a wheel 10 according to a change in a state of the wheel 10 according to one aspect of the present invention is shown.

[0056] You can refer to Figure 5A To determine the transition process from state 1 to state 8, you can refer to Figure 5B To determine the transition process from state 9 to state 12.

[0057] The door stop state refers to a state in which the door stops after being opened or closed or a state in which the door stops due to a user's intention while the door is being opened or closed, in which the wheel 10 is in an aligned state.

[0058] The door operation state means a state in which the door is moved by a user's command to open or close the door. In the door open state, the wheel 10 is in an aligned state.

[0059] The door operation state and warning means a state in which the door is being opened or closed when the wheel 10 is in the area A.

[0060] The door stopped state and warning means the state in which the door stops after being opened or closed when the wheel 10 is in area A or the state in which the door stops due to the user's intention when the door is being opened or closed, and means the state in which the door stops when the wheel 10 reaches area B.

[0061] Hereinafter, a warning method of a warning device according to an aspect of the present invention is defined as follows.

[0062] Table 1

[0063] Warning Operation warning device Warning method Warning 1 Indicator controller 70 Produce visual warning Warning 2 Steering controller 30 Limit steering angle Warning 3 Buzzer 80 Intermittent warning sound Warning 4 Buzzer 80 Continuous warning sound

[0064] State 1 refers to a state where the user inputs an operation command for opening or closing the door through the door open / close switch 20 when the wheel 10 is in the aligned state, thereby operating the door. State 2 refers to a state where the operation of the door being operated when the wheel 10 is in the aligned state ends, or the door stops operating as the user inputs an instruction for stopping the door.

[0065] During State 1 and State 2, before and after the door is operated, the wheel 10 is in an aligned state, so none of Warnings 1 to 4 is generated.

[0066] State 3 refers to the case where the wheel 10 rotates from the aligned state to the area A while the door is being operated. In this case, warnings 1, 2, and 3 are generated as the wheel 10 enters the area A. As the wheel 10 moves away from the aligned state, the generation cycle of the discontinuous warning sound decreases.

[0067] State 4 refers to the case where the wheel 10 rotates from area A to the aligned state while the door is being operated. As the wheel 10 gets closer to the aligned state, the generation cycle of the discontinuous warning sound increases. When the wheel 10 finally enters the aligned state, warnings 1 to 3 including the warning sound disappear.

[0068] State 5 refers to the situation where the steering angle of the wheel 10 increases while the vehicle door is being operated, that is, when the wheel 10 rotates from area A to area B or the wheel 10 rotates in area A and the position of the wheel 10 is in area A or area B when the operation of the vehicle door is completed.

[0069] Warnings 1 to 3 are generated when the wheel 10 rotates from area A to area B. When the wheel 10 finally enters area B as the steering angle increases, warnings 1, 2, and 4 are generated, thereby generating continuous warning sounds.

[0070] Indiscriminately, warnings 1 to 3 are generated in the case where the wheel 10 rotates in the area A, but the generation cycle of the discontinuous warning sound decreases as the steering angle increases.

[0071] Contrary to State 5, State 6 refers to a case where the steering angle of the wheel 10 decreases while the stopped door is being operated, that is, the wheel 10 rotates in area A or rotates from area B to area A. State 6 can be described as a mechanism opposite to State 5.

[0072] State 7 refers to a case where the wheel 10 rotates to the aligned state from the area A or area B while the door is stopped. Since the door is stopped while the wheel 10 is rotating, none of the warnings 1 to 4 is generated.

[0073] State 8 refers to a case where the wheel 10 rotates to the area B after the wheel 10 is in an aligned state in a state where the door is stopped. In this case, when the user operates the door open / close switch 20, warnings 1, 2, and 4 are generated.

[0074] State 9 refers to a case where, when the wheel 10 is in the aligned state or the area A, the user inputs an operation command for opening or closing the door through the door open / close switch 20, so that the wheel 10 enters the area A as the steering angle of the wheel 10 increases while the door is being operated. In this case, warning 1, warning 2, and warning 3 are generated, and the generation cycle of the discontinuous warning sound decreases as the wheel 10 moves away from the aligned state.

[0075] State 10 refers to a case where the steering angle of the wheel 10 decreases and the wheel 10 finally enters the aligned state when the wheel 10 rotates in the area A and the operation of the door ends. As the wheel 10 gets closer to the aligned state, the generation cycle of the discontinuous warning sound increases. When the wheel 10 finally enters the aligned state, warnings 1 to 3 including the warning sound disappear.

[0076] State 11 refers to a case where the steering angle of the wheel 10 increases while the door is being operated, that is, a case where the wheel 10 is rotated in an aligned state and the position of the wheel 10 is in area A or area B when the operation of the door is completed.

[0077] Warnings 1 to 3 are generated when the wheel 10 rotates to the area A. When the wheel 10 finally enters the area B as the steering angle increases, warnings 1, 2, and 4 are generated, thereby generating a continuous warning sound.

[0078] State 12 refers to a case where the steering angle of the wheel 10 decreases while the door is being operated, and the wheel 10 rotates in area A or area B to enter the alignment state. When the wheel 10 enters area A from area B, warnings 1 and 2 are maintained, but the warning sound of the buzzer 80 changes from a continuous warning sound to a discontinuous warning sound. As the wheel 10 in area A becomes closer to the alignment state, the generation cycle of the discontinuous warning sound increases. When the wheel 10 finally enters the alignment state, warnings 1 to 3 including the warning sound disappear.

[0079] Although the present invention has been described in detail with reference to representative exemplary embodiments, it will be appreciated by those skilled in the art that various modifications may be made to the exemplary embodiments without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the exemplary embodiments described, but should be limited not only by the appended claims, but also by all changes or modifications caused by concepts equivalent to the claims.

Claims

1. A system for preventing interference between a sliding door and a wheel of a vehicle, the system preventing collision between the wheel and the sliding door when the sliding door is opened or closed, the system comprising: a door open / close switch that receives an operation instruction from a user for opening or closing the sliding door; a door position sensor that detects the position of the sliding door; a steering controller that measures the steering angle of the vehicle; The door controller is configured as follows: receiving an operation signal for opening or closing the sliding door from the door open / close switch, receiving door position information from the door position sensor, receiving steering angle information from the steering controller, When a user attempts to open the sliding door, the door controller determines that the sliding door and the wheel are in an interference state in a case where the wheel is not in an aligned state in which the wheel is parallel to a longitudinal direction of the vehicle; and a warning device configured to warn a user of a dangerous situation when the door controller determines that the sliding door and the wheel are in an interference state; Wherein, the warning device further comprises: an indicator control that visually alerts a user to the jamming condition; and a buzzer that generates a warning sound for the user regarding the interference status; The warning output by the warning device is divided into four warning levels, the four warning levels including: warning 1, warning 2, warning 3 and warning 4; Wherein, in the warning 1, a visual warning is output by the indicating controller; In the warning 2, the steering angle is limited by the steering controller; In the warning 3, a buzzer outputs a discontinuous warning sound; In the warning 4, a buzzer outputs a continuous warning sound; According to the rotation trajectory of the wheel based on the wheel alignment state and whether the door is operable, it is divided into area A and area B; in area A, when the user opens the door, the door can be operated, and if further steering operation is performed, the wheel and the door will collide with each other; in area B, when the user opens the door, the wheel and the door collide with each other; Wherein, the door controller is configured as follows: When the wheels are in the aligned state and the user inputs an operation instruction for opening or closing the door through the door open / close switch, it is determined as state 1; in state 1, no warning is output; When the wheels are in an aligned state, the operation of the door being operated is completed, or the door stops operating, it is determined to be state 2; in state 2, no warning is output; When the door is being operated and the wheel rotates from the aligned state to the area A, it is determined as state 3; in state 3, as the wheel enters the area A, warnings 1, 2 and 3 are generated, and as the wheel moves away from the aligned state, the generation cycle of the discontinuous warning sound decreases; When the door is being operated and the wheel rotates from area A to the aligned state, it is determined as state 4; in state 4, as the wheel becomes closer to the aligned state, the generation cycle of the discontinuous warning sound increases, and when the wheel finally enters the aligned state, warnings 1 to 3 disappear; When the door is being operated and the steering angle of the wheel increases, it is determined to be state 5; in state 5, when the wheel rotates from area A to area B, warnings 1 to 3 are generated, and when the wheel finally enters area B as the steering angle increases, warnings 1, 2 and 4 are generated; When the stopped door is being operated and the steering angle of the wheel is reduced, it is determined to be state 6; When the door is stopped and the wheel rotates from area A or area B to the aligned state, it is determined to be state 7; in state 7, no warning is output; When the door is stopped, the wheels are aligned and then rotate to area B, it is determined to be state 8; in state 8, when the user operates the door open / close switch, warnings 1, 2, and 4 are generated; When the wheel is in the aligned state or area A, when the steering angle of the wheel increases while the door is being operated so that the wheel enters area A, it is determined to be state 9; in state 9, warning 1, warning 2 and warning 3 are generated, and as the wheel moves away from the aligned state, the generation period of the discontinuous warning sound decreases; When the steering angle of the wheel decreases, and when the wheel finally enters the aligned state when the wheel rotates in area A and the operation of the door ends, it is determined as state 10; in state 10, as the wheel becomes closer to the aligned state, the generation cycle of the discontinuous warning sound increases, and when the wheel finally enters the aligned state, warnings 1 to 3 disappear; When the door is being operated and the steering angle of the wheel increases, it is determined to be state 11; in state 11, when the wheel rotates to area A, warnings 1 to 3 are generated, and when the wheel finally enters area B as the steering angle increases, warnings 1, 2 and 4 are generated; When the vehicle door is being operated, the steering angle of the wheel decreases, and the wheel rotates in area A or area B to enter the alignment state, it is determined as state 12; in state 12, when the wheel enters area A from area B, warnings 1 and 2 are maintained, and as the wheel in area A becomes closer to the alignment state, the generation cycle of the discontinuous warning sound increases, and when the wheel finally enters the alignment state, warnings 1 to 3 disappear.

2. The system for preventing interference between a sliding door and a wheel of a vehicle according to claim 1, wherein: When the door controller determines that the wheel and the sliding door are in an interference state, the steering controller limits the steering angle to a range in which the wheel and the sliding door do not collide with each other based on the position of the sliding door or the opening / closing operation state of the sliding door and the position of the wheel.

3. The system for preventing interference between a sliding door and a wheel of a vehicle according to claim 1, wherein: When the sliding door and the wheel are not in an interference state, the door controller opens or closes the sliding door through the motor.

4. A method for preventing interference between a sliding door and a wheel, the method being performed by the system for preventing interference between a sliding door and a wheel of a vehicle according to claim 1, the method comprising: In a first step, a user's operation signal for opening or closing the sliding door is sent to a door controller through a door opening / closing switch; In a second step, the door position information is sent to the door controller via the door position sensor, and the steering angle information is sent to the door controller via the steering controller; a third step of determining, by the door controller, whether the wheel and the sliding door are in an interference state based on whether the wheel is in an alignment state in which the wheel is parallel to the longitudinal direction of the vehicle; as well as The fourth step is to warn the user of the interference state through a warning device when the sliding door and the wheel are in an interference state, or to operate the sliding door through a motor when the sliding door and the wheel are not in an interference state.

5. The method for preventing interference between a sliding door and a wheel according to claim 4, wherein: The third step further comprises: The process of determining whether a wheel is in alignment; and The process of determining whether the wheel's turning radius is within the sliding door's operable area.

6. The method for preventing interference between a sliding door and a wheel according to claim 5, wherein: In the interference state, When the wheel's rotation radius is within the sliding door's operable area, the controller is instructed to generate a visual warning and the buzzer generates a discontinuous warning sound. When the rotation radius of the wheel is within the area where the sliding door cannot be operated, the controller is instructed to generate a visual warning, while the buzzer generates a continuous warning sound.

7. The method for preventing interference between a sliding door and a wheel according to claim 4, wherein: In the interference state, the steering controller limits the steering angle of the vehicle to a range in which the sliding door and the wheel do not collide with each other.

8. The method for preventing interference between a sliding door and a wheel according to claim 6, wherein: The buzzer outputs the discontinuous warning sound having a generation period that increases as the wheel becomes closer to an aligned state.

Images