A control method and device of a vehicle wing door, a vehicle and a storage medium

Abstract

This invention provides a control method, device, vehicle, and storage medium for a vehicle wing door. The wing door includes at least one side door and at least one top door. The side door opens and closes a side door opening in the vehicle body, and the top door opens and closes a top door opening in the vehicle body. The side door openings and the top door openings are connected. The control method includes: acquiring the vehicle body's tilt angle; acquiring the vehicle's state; when a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is parked, then the top door is kept closed, and the side door is opened; when a door opening command is received, if the tilt angle is not greater than the first tilt angle threshold and the vehicle is parked, then the top door is opened, and the side door is opened. This invention can improve the safety and stability of vehicle top door opening.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method, device, vehicle, and storage medium for a vehicle wing door. Background Technology

[0002] Currently, with the development of technology, in addition to basic transportation attributes, comfort, avant-garde design, sportiness, and the expression of individuality are gradually becoming key considerations in the design and development of modern vehicles. For example, some advanced cars are equipped with wing-door structures. Wing doors consist of side doors that open laterally and top doors that open upwards. The two symmetrically arranged top doors, when opened, resemble outstretched wings, hence the name wing doors. When the wing doors are open, the side door openings and top door openings are connected, resulting in a larger outward opening space and improving the comfort of entering and exiting the vehicle. Furthermore, each door is equipped with a motor, enabling the electric opening and closing of each door, either independently or in coordination.

[0003] However, in practical applications, the inventors of this application have found that since top doors are usually opened by using support rods, the support rods usually have a maximum force limit. In some specific scenarios, the maximum force limit may be exceeded, which will reduce the stable support performance of the support rods and thus affect the safety and stability of the top door when it is opened. Summary of the Invention

[0004] This invention provides a control method, device, vehicle, and storage medium for a vehicle wing door, to solve the problems of low safety and stability when the vehicle top door is opened in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a control method for a vehicle wing door, the vehicle wing door including at least one side door and at least one top door, the side door opening and closing the side door opening of the vehicle body, the top door opening and closing the top door opening of the vehicle body, and the side door opening and the top door opening communicating with each other.

[0006] Control methods include:

[0007] Obtain the vehicle's tilt angle;

[0008] Get the vehicle's status;

[0009] When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is parked, the top door is kept closed and the side door is opened.

[0010] When a door opening command is received, if the tilt angle is not greater than the first tilt angle threshold and the vehicle is parked, the top door is opened and the side door is opened.

[0011] In one possible implementation, after obtaining the vehicle's state, the following is also included:

[0012] When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold in the previous preset time period and the vehicle is in motion, then the top door is kept closed and the side door is kept closed.

[0013] In one possible implementation, after obtaining the vehicle's state, the following is also included:

[0014] If the tilt angle is not greater than the first tilt angle threshold, and the vehicle is in motion, then calculate the rate of change of the tilt angle.

[0015] If the rate of change is greater than the preset rate of change threshold, the top door will be kept closed, and the side door will also be kept closed.

[0016] In one possible implementation, the control method also includes:

[0017] If the rate of change is not greater than the rate of change threshold, the top door is opened and the side door remains closed.

[0018] In one possible implementation, calculating the rate of change of the tilt angle includes:

[0019] The number of times the tilt angle is greater than the second tilt angle threshold within a preset time period is counted, where the second tilt angle threshold is less than the first tilt angle threshold.

[0020] If the number of times exceeds the preset number of times, then the rate of change is determined to be greater than the rate of change threshold.

[0021] If the number of attempts is not greater than the preset number of attempts, then the rate of change is determined to be not greater than the rate of change threshold.

[0022] In one possible implementation, the control method also includes:

[0023] Obtain the rated maximum strut force value of the vehicle's top door support rod;

[0024] Obtain the tilt angle of the vehicle body when the rated maximum strut force is reached, and determine this tilt angle as the first tilt angle threshold.

[0025] In one possible implementation, obtaining the vehicle's state includes:

[0026] If the vehicle is powered on, in neutral (N) or park (P) gear, and the vehicle is traveling at a speed of 0, then the vehicle is considered to be in a parked state.

[0027] If the vehicle's speed is not zero, then the vehicle is in motion.

[0028] Secondly, embodiments of the present invention provide a control device for a vehicle wing door, the wing door including at least one side door and at least one top door, the side door opening and closing the side door opening of the vehicle body, the top door opening and closing the top door opening of the vehicle body, and the side door opening and the top door opening communicating with each other.

[0029] The device includes:

[0030] The acquisition module is used to acquire the tilt angle of the vehicle body;

[0031] The acquisition module is also used to acquire the vehicle's status;

[0032] The control module is used to control the top door to remain closed and the side door to open when it receives a door opening command, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is in a parked state.

[0033] The control module is also used to, when receiving a door opening command, if the tilt angle is not greater than a first tilt angle threshold and the vehicle is in a parked state, control the top door to open and control the side door to open.

[0034] Thirdly, embodiments of the present invention provide a vehicle, including: a control terminal;

[0035] The control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method as described in any possible implementation of the first aspect above.

[0036] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any possible implementation thereof.

[0037] This invention provides a method, device, vehicle, and storage medium for controlling a vehicle wing door. By monitoring the vehicle's state and tilt angle, when a door opening command is received, the top door can be controlled to open or remain closed according to different tilt angles and vehicle states. This prevents structural damage that may be caused by the vehicle's top door opening at excessive tilt angles, thereby improving the safety and stability of the vehicle's top door structure. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a flowchart illustrating the implementation of a control method for a vehicle wing door provided in an embodiment of the present invention;

[0040] Figure 2 This is a structural block diagram of a control device for a vehicle wing door provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the vehicle control terminal provided in an embodiment of the present invention. Detailed Implementation

[0042] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0043] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0044] The vehicle structure to which the vehicle wing door control method provided in this embodiment of the invention is applied is described as follows: The vehicle wing door includes at least one side door and at least one top door. The side door opens and closes the side door opening of the vehicle body, and the top door opens and closes the top door opening of the vehicle body. The side door opening and the top door opening are connected.

[0045] The vehicle may include a central controller, which can send control commands to the door controllers to control the opening and closing of the doors. The central controller can also acquire sensing information from various sensors mounted on the vehicle, obtain various state and environmental information based on this sensing information, and make comprehensive judgments based on this state and environmental information to implement various vehicle control strategies. The executing entity of the embodiment of this invention can be the vehicle's central controller, also known as the vehicle's control terminal.

[0046] Figure 1 This is a flowchart illustrating the implementation of a control method for a wing door according to an embodiment of the present invention. Figure 1 As shown:

[0047] Step 101: Obtain the tilt angle of the vehicle body.

[0048] In this embodiment, the vehicle's tilt angle represents the slope of the vehicle's current position. For example, when parking on a slope, the vehicle may be tilted to the left or right, with the front or rear facing upwards. If the left tilt angle is too large, it will cause excessive pressure on the left roof support rod, affecting the opening of the left roof door; conversely, it will reduce the pressure on the right roof support rod, affecting the closing of the right roof door. When the vehicle tilts forward or backward, the connection structure between the roof door and the roof beam will bear abnormal gravity, affecting the stability of the connection structure. Therefore, it is necessary to control the opening and closing of the roof door according to the tilt angle.

[0049] For example, a vehicle can be equipped with a multi-axis gyroscope, which can sense the vehicle's tilt angle and tilt direction. If the current tilt angle of the vehicle is 0°, it can be determined that the vehicle is currently on flat ground, and the side door or top door opening command can be executed normally. If the current tilt angle of the vehicle is 35° and tilts forward, it can be determined that the vehicle is currently on a slope, and the opening of the top door will be restricted when the door opening command is received.

[0050] This embodiment determines the slope of the vehicle's position based on the vehicle's tilt angle. When the vehicle tilts left or right, the opening action of the side door on the tilted side is restricted, and the closing action of the side door on the other side is restricted. When the vehicle is tilted forward or backward, the opening and closing action of the vehicle's top door is restricted.

[0051] Step 102: Obtain the vehicle's status.

[0052] In this embodiment, the vehicle's state can include a driving state and a parked state. When the vehicle is in a driving state, the pressure on the support rod of the vehicle's side door increases, which affects the opening action of the side door. In order to ensure the safety of the users inside the vehicle, when the vehicle's side door is in an open state, the vehicle's side door will be controlled to close. When the vehicle is in a parked state, the opening or closing action of the vehicle's top door or side door will be determined according to the vehicle's tilt angle.

[0053] For example, a vehicle is equipped with a speed sensor that can monitor the vehicle's speed. When the speed is 0, it can be determined that the vehicle is in a parked state; when the speed is not 0, it can be determined that the vehicle is in a moving state.

[0054] Step 103: When a door opening command is received, if the tilt angle is greater than the preset first tilt angle threshold and the vehicle is parked, the top door is kept closed and the side door is opened.

[0055] In this embodiment, the vehicle's monitoring system monitors the vehicle's status and tilt angle in real time. Before receiving a door opening command, it determines the vehicle's tilt angle and status. If the current vehicle tilt angle exceeds a preset first tilt angle threshold, and the vehicle is parked, the side doors will open according to the door opening command, but the top door will not open. This is because if the top door is opened when the vehicle's tilt angle is too large, the connection structure between the top door and the roof beam will experience increased pressure, affecting the stability of the connection structure. Therefore, to protect the connection structure, when the tilt angle is too large, the side doors will open after receiving the door opening command, keeping the top door closed. The preset first tilt angle threshold can be 15°, 16°, or 20°, and is not limited here.

[0056] For example, if the current vehicle tilt angle is 25° and the vehicle is in a parked state, the vehicle's control terminal will receive a door opening command and control the side doors to open while keeping the top door closed.

[0057] In this embodiment, the first tilt angle threshold means that when the vehicle's tilt angle is not greater than the first tilt angle threshold, the vehicle's tilt is relatively slight. Specifically, it is defined as not affecting the opening of the side doors and the top door. That is, at this tilt angle, the doors can be opened and closed normally, including automatic and manual opening and closing. When the vehicle's tilt angle is greater than the first tilt angle threshold, the vehicle's tilt is relatively severe. Opening the top door at this tilt angle may cause the top door support rod to bear more force than normal, thereby damaging the support structure of the top door support rod, reducing its service life, and affecting the safety of the top door opening and closing. For example, when the vehicle body tilts too much to the left, the pressure on the left top door support rod will be too great, affecting the support structure and opening and closing action of the left top door. The first tilt angle threshold can be determined based on actual vehicle testing to find a suitable specific value. For example, a suitable threshold can be selected based on the normal force on the top door support rod.

[0058] In other embodiments, a third tilt angle threshold may also be set. The third tilt angle threshold is a value greater than the first tilt angle threshold. This means that when the tilt angle of the vehicle body is greater than the third tilt angle threshold, it will affect the opening and closing of the side door. For example, when the vehicle body tilts too far to the left, if the left door is opened, the center of gravity of the vehicle body will shift to the left, which may cause the vehicle to roll over. Based on this scenario, the control method in this embodiment may also include:

[0059] When a door opening command is received, if the tilt angle is greater than a preset third tilt angle threshold and the vehicle is parked, the top door is kept closed, and the automatic opening function of the vehicle's side doors is canceled.

[0060] In this embodiment, because the vehicle body tilt angle is too large, the side door will automatically open after parking, which may cause the vehicle center to shift and cause the vehicle to roll over. Therefore, the automatic opening function of the vehicle side door is disabled. In this scenario, a prompt message can also be output through the vehicle's speaker to remind the driver to pay attention to the vehicle body tilt when manually opening the side door to prevent accidents.

[0061] Furthermore, in scenarios where the vehicle body tilt angle is greater than a preset third tilt angle threshold and the vehicle is parked, if it is detected that the side door on the tilt side of the vehicle is manually opened, a prompt message can be output to remind the user to close the side door in time to maintain the stability of the vehicle's center of gravity.

[0062] Step 104: When a door opening command is received, if the tilt angle is not greater than the first tilt angle threshold and the vehicle is in a parked state, then control the top door to open and control the side door to open.

[0063] In this embodiment, the vehicle's monitoring system monitors the vehicle's status and tilt angle in real time. When a door opening command is received, if the vehicle's tilt angle is not greater than a preset first tilt angle and the vehicle is in a parked state, the pressure on the support devices of the vehicle's top door and side door is within its preset bearable support force range. Therefore, when a door opening command is received, the control terminal will control the vehicle's top door and side door to open.

[0064] For example, if the vehicle is currently tilted at an angle of 10° and is in a parked state, and the vehicle's control terminal receives a door opening command, then the control terminal will control the opening of the vehicle's side doors and top door.

[0065] In summary, this embodiment monitors the vehicle's status and tilt angle. When a door opening command is received, it can control the top door to open or remain closed based on different tilt angles and vehicle statuses. This prevents structural damage that may occur when the vehicle's top door opens at excessive tilt angles, thereby improving the safety and stability of the vehicle's top door structure.

[0066] In some possible implementations, step 102 above, after obtaining the vehicle's status, may further include:

[0067] When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold in the previous preset time period and the vehicle is in motion, then the top door is kept closed and the side door is kept closed.

[0068] In this embodiment, the vehicle monitoring system monitors the vehicle's status and tilt angle in real time and stores the monitoring results in a storage device. When a door opening command is received, the control terminal retrieves records from the storage device for a preset time period preceding the current moment. If the vehicle's tilt angle is greater than a preset first tilt angle threshold during this preset time period, and the vehicle is in motion, the control terminal will not execute the door opening command but will instead keep both the side doors and the top door closed. The preset time period can be set by the user through the control terminal or it can be set uniformly by the manufacturer when the vehicle leaves the factory; this is not limited here.

[0069] In this embodiment, by monitoring the vehicle's status and tilt angle within a preset time period before receiving the instruction, the vehicle's status and tilt angle in the near future can be predicted, thereby determining whether the door opening instruction can be executed. First, when the vehicle's tilt angle is greater than a preset first tilt angle, the top door will not open to avoid damaging the top door's support device. Second, when the vehicle is in motion, opening the side door may cause the user inside the vehicle to accidentally fall out, posing a safety hazard. Therefore, to ensure the safety of the vehicle itself and the user inside, when the vehicle's tilt angle is greater than a preset first tilt angle within a preset time period before receiving the instruction and the vehicle is in motion, the side door and top door will not be opened, but will be kept closed.

[0070] In some possible implementations, step 102 above, after obtaining the vehicle's status, may further include:

[0071] If the tilt angle is not greater than the first tilt angle threshold, and the vehicle is in motion, then calculate the rate of change of the tilt angle.

[0072] If the rate of change is greater than the preset rate of change threshold, the top door will be kept closed, and the side door will also be kept closed.

[0073] In this embodiment, if the vehicle is currently in a tilt state and the vehicle's tilt angle is not greater than a first tilt angle threshold, then it is necessary to calculate the rate of change of the vehicle's tilt angle, where the rate of change of the tilt angle represents the number of angle changes within a preset time period. If the rate of change of the vehicle is greater than a preset rate of change, then the side doors and top door of the vehicle are controlled to close completely; where the preset rate of change threshold can be 2 times / second, and is not limited here.

[0074] For example, the first tilt angle threshold can be 10°, the current tilt angle of the vehicle is 15°, and the vehicle is in motion. The tilt angle changes at a rate of 3 times per second. After receiving the door opening command, the control terminal will control the top door and side door to remain closed.

[0075] This embodiment calculates the rate of change of the vehicle's tilt angle during driving to determine whether the vehicle door needs to be closed. If the rate of change of the vehicle's tilt angle is greater than the preset rate of change, it can be determined that the vehicle is on a bumpy road. If the top door of the vehicle remains open on a bumpy road, the support device of the top door will be subjected to uneven force, which may damage the support device. Furthermore, if the side door of the vehicle is accidentally opened while driving, it will cause a safety hazard. Therefore, if a door opening command is received at this time, the control terminal will control the side door and the top door of the vehicle to remain closed.

[0076] In some possible implementations, the above control method may further include:

[0077] If the rate of change is not greater than the rate of change threshold, the top door is opened and the side door remains closed.

[0078] In this embodiment, if the vehicle is currently in motion and the rate of change of the vehicle's tilt angle is no greater than a preset rate of change, then upon receiving a door opening command, the top door of the vehicle can be opened, but the side doors of the vehicle will remain closed.

[0079] For example, if the vehicle is currently in motion and its speed of change is 1 time per second, when the control system receives a door opening command, it will control the top door to open and control the side doors to remain closed.

[0080] In this embodiment, if the speed of angle change of a vehicle in motion is not greater than a preset speed of change, the top door can be opened according to the door opening command, but the side door will not be opened; instead, the side door will remain open.

[0081] The top door can be closed because opening it will not affect the support structure of the top door when the speed of change is small and the road conditions are flat. However, opening the side doors while driving poses a safety hazard.

[0082] Therefore, the side door will remain closed.

[0083] In some possible implementations, calculating the rate of change of the tilt angle in the above control method may include:

[0084] Count the number of times the tilt angle is greater than the second tilt angle threshold within a preset time period, wherein the second tilt angle threshold is less than the first tilt angle threshold;

[0085] If the number of times exceeds the preset number of times, then the rate of change is determined to be greater than the rate of change threshold.

[0086] If the number of attempts is not greater than the preset number of attempts, then the rate of change is determined to be not greater than the rate of change threshold.

[0087] In this embodiment, calculating the rate of change of the tilt angle may include: counting the number of times the tilt angle is greater than a second tilt angle threshold within a preset time period, wherein the second tilt angle threshold is less than a first tilt angle threshold of 5 degrees, and the second tilt angle can be 8°; the preset time period can be 1 second, and the number of times can be 2.

[0088] No limit is set here. If the number of times exceeds the preset number of times, the rate of change is determined to be greater than the rate of change threshold; if the number of times does not exceed the preset number of times, the rate of change is determined to be less than the rate of change threshold.

[0089] For example, if the current vehicle exceeds the second tilt angle 3 times in 1 second, then it can be determined that the current speed of change is greater than the preset speed; if the current vehicle exceeds the second tilt angle 0 times in 1 second, then it can be determined that the current speed of change is less than the preset speed.

[0090] This embodiment monitors the number of times the tilt angle exceeds a preset second tilt angle within a preset time period to determine whether the current rate of change exceeds a preset rate of change. When the number of detected tilt angles exceeds a preset number, it can be determined that the current rate of change of tilt angle exceeds the preset rate of change.

[0091] When a door opening command is received, the side door and top door will remain closed. If the number of detected changes is less than 5 preset times, it can be determined that the current rate of change of the tilt angle is less than the preset rate of change. Therefore, when a door opening command is received, the side door will remain closed, and the top door will be opened. This embodiment determines the rate of change based on the magnitude of the angle change and the number of changes within a preset time, which can avoid misjudgment.

[0092] In some possible implementations, the above control method may further include:

[0093] Obtain the rated maximum strut force value of the vehicle's top door support rod;

[0094] Obtain the tilt angle of the vehicle body when the rated maximum strut force is reached, and determine this tilt angle as the first tilt angle threshold.

[0095] In this embodiment, the pressure on the support rod of the vehicle's roof door is related to the vehicle's tilt angle. The greater the vehicle's tilt angle, the greater the pressure on the support rod. Therefore, a first tilt angle threshold can be determined based on the rated maximum support rod force of the vehicle's roof door support rod. Specifically, when the pressure on the support rod is equal to the rated maximum support rod force, the corresponding tilt angle of the vehicle is determined, and this angle is used as the first tilt angle threshold. This ensures that when the vehicle's tilt angle is less than the first tilt angle threshold, the pressure on the support rod remains within its rated range. The rated maximum support rod force can be 200N, and is not limited here.

[0096] For example, if the current vehicle's rated maximum support rod force is 200N, and the pressure on the support rod of the vehicle's top door is 200N, then it can be determined that the current support rod has reached the rated maximum support rod force. At this time, the vehicle's tilt angle is 20°, so the first tilt angle threshold can be set to 20°.

[0097] In some possible implementations, step 102 of obtaining the vehicle's status may include:

[0098] If the vehicle is powered on, in neutral (N) or park (P) gear, and the vehicle speed is 0, then the vehicle is considered to be in a parked state.

[0099] If the vehicle's speed is not zero, then the vehicle is in motion.

[0100] In this embodiment, the vehicle is equipped with a speed sensor, which can acquire the vehicle's speed and gear. Based on the vehicle's gear and speed, the vehicle's state can be determined. Specifically, if the vehicle is powered on, in neutral (N) or park (P) gear, and the vehicle's speed is 0, then the vehicle can be determined to be in a parked state.

[0101] If the current vehicle speed is not 0, then it can be determined that the vehicle is in motion.

[0102] In summary, by monitoring the vehicle's status and tilt angle, this embodiment of the invention can control the opening or closing of the top door according to different tilt angles and vehicle statuses when a door opening command is received. This prevents structural damage that may be caused by the top door opening at excessive tilt angles, thereby improving the safety and stability of the vehicle's top door structure.

[0103] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0104] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0105] Figure 2 A schematic diagram of a control device for a vehicle wing door according to an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0106] The wing door includes at least one side door and at least one top door. The side door opens and closes the side door opening of the vehicle body, and the top door opens and closes the top door opening of the vehicle body. The side door opening and the top door opening are connected.

[0107] Specifically, the control device 20 includes:

[0108] Module 21 is used to acquire the tilt angle of the vehicle body;

[0109] The acquisition module 21 is also used to acquire the vehicle's status;

[0110] The control module 22 is used to control the top door to remain closed and control the side door to open when it receives a door opening command, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is in a parked state.

[0111] The control module 22 is also used to, when receiving a door opening command, if the tilt angle is not greater than a first tilt angle threshold and the vehicle is in a parked state, control the top door to open and control the side door to open.

[0112] In some possible implementations, after acquiring the vehicle's status, the control device 22 further includes:

[0113] When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold in the previous preset time period and the vehicle is in motion, then the top door is kept closed and the side door is kept closed.

[0114] In some possible implementations, after acquiring the vehicle's status, the control device 22 further includes:

[0115] If the tilt angle is not greater than the first tilt angle threshold, and the vehicle is in motion, then calculate the rate of change of the tilt angle.

[0116] If the rate of change is greater than the preset rate of change threshold, the top door will be kept closed, and the side door will also be kept closed.

[0117] In some possible implementations, the control module 22 further includes:

[0118] If the rate of change is not greater than the rate of change threshold, the top door is opened and the side door remains closed.

[0119] In some possible implementations, the control module 22 is also used to calculate the rate of change of the tilt angle; specifically, the control module is used to:

[0120] The number of times the tilt angle is greater than the second tilt angle threshold within a preset time period is counted, where the second tilt angle threshold is less than the first tilt angle threshold.

[0121] If the number of times exceeds the preset number of times, then the rate of change is determined to be greater than the rate of change threshold.

[0122] If the number of attempts is not greater than the preset number of attempts, then the rate of change is determined to be not greater than the rate of change threshold.

[0123] In some possible implementations, the acquisition module 21 is further configured to:

[0124] Obtain the rated maximum strut force value of the vehicle's top door support rod;

[0125] Obtain the tilt angle of the vehicle body when the rated maximum strut force is reached, and determine this tilt angle as the first tilt angle threshold.

[0126] In some possible implementations, the acquisition module 21 is further configured to: acquire the status of the vehicle;

[0127] If the vehicle is powered on, in neutral (N) or park (P) gear, and traveling at a speed of 0, then the vehicle is considered to be in a parked state.

[0128] This invention provides a control device for a vehicle wing door. By monitoring the vehicle's status and tilt angle, when a door opening command is received, the device can control the top door to open or remain closed according to different tilt angles and vehicle statuses. This prevents structural damage that may be caused by the vehicle's top door opening at excessive tilt angles, thereby improving the safety and stability of the vehicle's top door structure.

[0129] This invention also provides a vehicle, which includes a control terminal, see below. Figure 3 , Figure 3 This is a schematic block diagram of a control terminal provided in an embodiment of the present invention. Figure 3The device 300 shown in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules in the above-described device embodiments, such as... Figure 2 The functions of modules 21 and 22 shown.

[0130] It should be understood that, in this embodiment of the invention, the processor 301 may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0131] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0132] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store device type information.

[0133] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of the present invention can execute the implementation methods described in the first and second embodiments of the vehicle control method provided in the embodiments of the present invention, or they can execute the implementation methods of the device described in the embodiments of the present invention, which will not be repeated here.

[0134] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. The computer program can also instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0135] The computer-readable storage medium can be an internal storage unit of the device in any of the foregoing embodiments, such as the device's hard disk or memory. The computer-readable storage medium can also be an external storage device of the device, such as an on-device plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices. The computer-readable storage medium is used to store computer programs and other programs and data required by the device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0136] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0137] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces or units, or it may be an electrical, mechanical, or other form of connection.

[0139] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0140] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0141] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0142] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a vehicle wing door, characterized in that, The wing door includes at least one side door and at least one top door. The side door opens and closes the side door opening of the vehicle body, and the top door opens and closes the top door opening of the vehicle body. The side door opening is connected to the top door opening. The control method includes: Obtain the vehicle's tilt angle; Get the vehicle's status; When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is parked, the top door is kept closed and the side door is opened. When a door opening command is received, if the tilt angle is not greater than the first tilt angle threshold and the vehicle is parked, the top door is opened and the side door is opened.

2. The control method for a vehicle wing door according to claim 1, characterized in that, Following the acquisition of the vehicle's status, the following is also included: When a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold in the previous preset time period and the vehicle is in motion, then the top door is controlled to remain closed, and the side door is controlled to remain closed.

3. The control method for a vehicle wing door according to claim 1, characterized in that, Following the acquisition of the vehicle's status, the following is also included: If the tilt angle is not greater than the first tilt angle threshold, and the vehicle is in a driving state, then the rate of change of the tilt angle is calculated. If the rate of change is greater than a preset rate of change threshold, then the top door is controlled to remain closed, and the side door is also controlled to remain closed.

4. The control method for a vehicle wing door according to claim 3, characterized in that, The control method further includes: If the rate of change is not greater than the rate of change threshold, then the top door is controlled to open, and the side door is controlled to remain closed.

5. The control method for a vehicle wing door according to claim 4, characterized in that, The calculation of the rate of change of the tilt angle includes: The number of times the tilt angle is greater than the second tilt angle threshold within a preset time period is counted, wherein the second tilt angle threshold is less than the first tilt angle threshold; If the number of times is greater than the preset number of times, then the rate of change is determined to be greater than the rate of change threshold. If the number of times is not greater than the preset number of times, then the rate of change is determined to be not greater than the rate of change threshold.

6. The control method for a vehicle wing door according to claim 1, characterized in that, The control method further includes: Obtain the rated maximum strut force value of the vehicle's top door support rod; The tilt angle of the vehicle body when the rated maximum strut force is reached is obtained, and this tilt angle is determined as the first tilt angle threshold.

7. A control method for a vehicle wing door according to any one of claims 1 to 6, characterized in that, The acquisition of the vehicle's status includes: If the vehicle is powered on, in neutral (N) or park (P) gear, and traveling at a speed of 0, then the vehicle is determined to be in a parked state. If the vehicle's speed is not 0, then the vehicle is determined to be in motion.

8. A control device for a vehicle wing door, characterized in that, The wing door includes at least one side door and at least one top door. The side door opens and closes the side door opening of the vehicle body, and the top door opens and closes the top door opening of the vehicle body. The side door opening is connected to the top door opening. The device includes: The acquisition module is used to acquire the tilt angle of the vehicle body; The acquisition module is also used to acquire the vehicle's status; The control module is used to control the top door to remain closed and the side door to open when a door opening command is received, if the tilt angle is greater than a preset first tilt angle threshold and the vehicle is in a parked state. The control module is further configured to, when receiving a door opening command, if the tilt angle is not greater than the first tilt angle threshold and the vehicle is in a parked state, control the top door to open and control the side door to open.

9. A vehicle, characterized in that, include: Control terminal; The control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the control method for the vehicle wing door as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the vehicle wing door as described in any one of claims 1 to 7.

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