Control method, device and equipment of vehicle-mounted sliding door, medium and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a control method, device and equipment for a vehicle-mounted sliding door, a medium and a vehicle. The control method comprises the steps that in response to a sliding door opening request, whether a small door is in an opening state or not is detected; determining that the small door is in an open state, controlling the sliding door to slide towards the direction close to the small door, and stopping and keeping at the target safety position; wherein the sliding door and the small door under the target safety position are spaced by a second distance, and the second distance is larger than 0. Therefore, the sliding door can be controlled to be opened and stopped and kept at the target safety position when the small door is opened, and the second distance is reserved between the sliding door and the small door at the target safety position, that is, the sliding door can be controlled to have a certain opening degree when the small door is opened, so that a user can conveniently get on and off the vehicle; meanwhile, a safe interval of a second distance can be kept between the sliding door and the small door, damage caused by collision of the sliding door to the small door is avoided, interlocking between the sliding door and the small door is improved, and use convenience is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a control method, device, equipment, medium and vehicle for a vehicle-mounted sliding door. Background Art

[0002] Vehicles are becoming more and more popular in people's daily lives, and people's requirements for vehicle use experience are also increasing. In related technologies, in order to facilitate getting on and off the vehicle and to open the door in a small parking space, the vehicle door can be set as a sliding door. At the same time, the outer side of the vehicle body is usually provided with an energy port, such as a charging port and / or a refueling port; the energy port can be closed with a small energy port door to ensure safety in use.

[0003] Usually, in order to avoid collision between the energy door and the sliding door, an interlock is set between the energy door and the sliding door, that is, it is not supported to open the sliding door when the energy door is open, nor is it supported to open the energy door when the sliding door is open. As a result, the charging / refueling process and the process of people getting on and off the vehicle cannot be carried out at the same time, and the vehicle is less convenient to use. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a control method, device, equipment, medium and vehicle for a vehicle-mounted sliding door.

[0005] In a first aspect, the present disclosure provides a method for controlling a vehicle-mounted sliding door, wherein the vehicle comprises a small door and a sliding door, the small door and the sliding door are located on the same side of the vehicle, and the sliding door in a fully closed position is spaced a first distance from the small door; the control method comprises:

[0006] In response to a sliding door opening request, detecting whether the small door is in an open state;

[0007] Determine that the small door is in an open state, control the sliding door to slide in a direction close to the small door, and stop and maintain at a target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

[0008] Optionally, after detecting whether the small door is in an open state, the control method further includes:

[0009] Make sure the small door is not in the open state and control the sliding door to stop at the fully open position.

[0010] Optionally, before detecting whether the small door is in an open state, the control method further includes:

[0011] Determine the door mode;

[0012] Determining that the door mode is the electric mode, judging whether the door opening precondition is satisfied; the door opening precondition includes at least one of: the window is not lowered below a reference height, the vehicle is stationary, the vehicle power supply is normal, and the switch inside the vehicle is not triggered;

[0013] Determine that the door opening precondition is met, and instruct to execute the detection of whether the small door is in an open state.

[0014] Optionally, after determining whether the door opening precondition is met, the control method further includes:

[0015] It is determined that the door opening precondition is not met, and the sliding door opening request is not responded to and / or a first prompt message is not issued.

[0016] Optionally, after determining the door mode, the control method further includes:

[0017] Determining that the door mode is a manual mode;

[0018] And determine that the small door is not in an open state, and generate manual door pushing prompt information; the manual door pushing prompt information is used to prompt the user to manually push the door.

[0019] Optionally, after determining that the sliding door is maintained at the target safety position, the control method further includes:

[0020] In response to an opening and closing operation request for the sliding door, a door mode is identified.

[0021] Optionally, after identifying the door mode, the control method further includes:

[0022] Determine that the door mode is in manual mode, and control the sliding door to be out of the hold state;

[0023] Based on the switch operation request, determining whether the switch direction is an on direction;

[0024] Determine that the switch direction is the opening direction, and return to execute the detection of whether the small door is in the open state.

[0025] Optionally, after determining whether the switch direction is an on direction, the control method further includes:

[0026] Determine that the switch direction is a closing direction, and generate manual door closing prompt information; the manual door closing prompt information is used to prompt the user to manually close the sliding door.

[0027] Optionally, after identifying the door mode, the control method further includes:

[0028] Determine that the door mode is electric mode and check whether the small door is in the open state;

[0029] Determining that the small door is in an open state, and judging whether the switch operation request carries direction information;

[0030] Determining that the switch operation request carries direction information, and judging whether the direction information is an opening direction;

[0031] If it is determined that the direction information indicates an opening direction, then the switch operation request is not responded to.

[0032] Optionally, after determining that the door mode is the electric mode and detecting whether the small door is in an open state, the control method further includes:

[0033] Determining that the small door is not in an open state, and determining whether the switch operation request carries direction information;

[0034] Determining that the switch operation request carries direction information, and controlling the sliding door to move in the direction indicated by the direction information; or;

[0035] It is determined that the switch operation request does not carry direction information, and the movement direction of the sliding door is determined.

[0036] Optionally, after the sliding door moves in the direction indicated by the direction information, the control method further includes:

[0037] Detect whether the small door is in the open state;

[0038] Make sure the small door is open and control the sliding door to stop immediately; or

[0039] Determine that the small door is not in an open state, and control the electric opening of the sliding door until the sliding door is in a fully open position.

[0040] Optionally, after determining that the small door is in an open state and judging whether the switch operation request carries direction information, the control method further comprises:

[0041] Determining that the switch operation request does not carry direction information, and issuing a door closing command;

[0042] In response to the door closing command, the sliding door is controlled to be electrically closed.

[0043] Optionally, after determining that the switch operation request carries direction information and judging whether the direction information is a turn-on direction, the control method further comprises:

[0044] It is determined that the direction information does not indicate an opening direction, and the sliding door is electrically closed.

[0045] Optionally, determining that the small door is in an open state includes:

[0046] In response to a small door electric opening request, obtaining a current opening degree of the sliding door;

[0047] Determining whether the current opening exceeds a reference opening;

[0048] Determine that the current opening does not exceed the reference opening, and electrically open the small door.

[0049] Optionally, after determining whether the current opening exceeds a reference opening, the control method further includes:

[0050] Determine that the current opening exceeds the reference opening, do not respond to the small door electric opening request and / or issue a second prompt message.

[0051] In a second aspect, the present disclosure further provides a control device for a vehicle-mounted sliding door, wherein the vehicle comprises a small door and a sliding door, the small door and the sliding door are located on the same side of the vehicle, and the sliding door in a fully closed position is spaced a first distance from the small door; the control device comprises:

[0052] A detection module, for detecting whether the small door is in an open state in response to a sliding door opening request;

[0053] The control module is used to determine that the small door is in an open state, control the sliding door to slide in a direction close to the small door, and stop and maintain at a target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

[0054] Optionally, the control module is further used for:

[0055] Make sure the small door is not in the open state and control the sliding door to stop at the fully open position.

[0056] Optionally, the control device further includes:

[0057] A mode determination module, used for determining a door mode;

[0058] A condition judgment module, used to determine that the door mode is the electric mode, and to judge whether the door opening precondition is satisfied; the door opening precondition includes at least one of: the window is not lowered below a reference height, the vehicle is stationary, the vehicle power supply is normal, and the switch inside the vehicle is not triggered;

[0059] The detection indication module is used to determine whether the door opening precondition is met and to indicate whether the detection door is in an open state.

[0060] Optionally, the control device further includes:

[0061] The first auxiliary control module is used to determine that the door opening precondition is not met, not respond to the sliding door opening request and / or issue a first prompt message.

[0062] Optionally, the control device further includes:

[0063] The first information prompt module is used to determine that the door mode is a manual mode; and to determine that the small door is not in an open state, and to generate manual door pushing prompt information; the manual door pushing prompt information is used to prompt the user to manually push the door.

[0064] Optionally, the control device further includes:

[0065] The mode recognition module is used to recognize a vehicle door mode in response to a switch operation request for the sliding door.

[0066] Optionally, the control device further includes:

[0067] The manual auxiliary module is used to determine that the door mode is manual mode and control the sliding door to disengage the holding state; based on the switch operation request, determine whether the switch direction is the opening direction; determine that the switch direction is the opening direction, and return to execute the detection of whether the small door is in the open state.

[0068] Optionally, the control device further includes:

[0069] The second information prompt module is used to determine that the switch direction is a closing direction and generate manual door closing prompt information; the manual door closing prompt information is used to prompt the user to manually close the sliding door.

[0070] Optionally, the control device further includes:

[0071] The electric auxiliary module is used to determine that the door mode is the electric mode and detect whether the small door is in the open state; if it is determined that the small door is in the open state, it is judged whether the switch operation request carries direction information; if it is determined that the switch operation request carries direction information, it is judged whether the direction information is the opening direction; if it is determined that the direction information indicates the opening direction, then the switch operation request is not responded to.

[0072] Optionally, the control device further includes:

[0073] The motion control module in the electric mode determines that the small door is not in the open state, and judges whether the switch operation request carries direction information; determines that the switch operation request carries direction information, and controls the sliding door to move in the direction indicated by the direction information; or; determines that the switch operation request does not carry direction information, and judges the direction of movement of the sliding door.

[0074] Optionally, the control device further includes:

[0075] The second auxiliary control module is used to detect whether the small door is in an open state; if it is determined that the small door is in an open state, control the sliding door to stop immediately; or if it is determined that the small door is not in an open state, control the sliding door to be electrically opened until the sliding door is in a fully open position.

[0076] Optionally, the control device further includes:

[0077] The first door closing control module is used to determine that the switch operation request does not carry direction information, issue a door closing command; and control the sliding door to be electrically closed in response to the door closing command.

[0078] Optionally, the control device further includes:

[0079] The second door closing control module is used to determine that the direction information does not indicate an opening direction, and control the electric closing of the sliding door.

[0080] Optionally, the control device further includes:

[0081] An opening acquisition module, used for acquiring the current opening of the sliding door in response to a small door electric opening request;

[0082] An opening judgment module, used to judge whether the current opening exceeds a reference opening;

[0083] The electric door opening module is used to determine that the current opening does not exceed the reference opening and electrically open the small door.

[0084] Optionally, the control device further includes:

[0085] The third auxiliary control module is used to determine that the current opening exceeds the reference opening, not respond to the small door electric opening request and / or issue a second prompt message.

[0086] In a third aspect, the present disclosure further provides an electronic device, including: a memory and a processor;

[0087] The memory stores executable programs or instructions;

[0088] The processor runs the program or instruction to implement the steps of any of the above-mentioned methods for controlling a vehicle sliding door.

[0089] In a fourth aspect, the present disclosure further provides a computer-readable medium having a computer program or instructions stored thereon, wherein the computer program or instructions are executed by a processor to implement the steps of any of the above-mentioned methods for controlling a vehicle-mounted sliding door.

[0090] In a fifth aspect, the present disclosure further provides a vehicle, comprising: a sliding door; the sliding door is controlled by using the steps of any of the above-mentioned vehicle-mounted sliding door control methods.

[0091] Optionally, the vehicle further comprises: a power system and a transmission system; the power system is associated with the sliding door through the transmission system;

[0092] The power system provides the sliding door with power required for movement through the transmission system.

[0093] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0094] In the technical solution provided by the present disclosure, the control method for the vehicle-mounted sliding door includes: responding to a sliding door opening request, detecting whether the small door is in an open state; determining that the small door is in an open state, controlling the sliding door to slide in a direction close to the small door, and stopping and maintaining at a target safety position; wherein the sliding door at the target safety position is spaced apart from the small door by a second distance, and the second distance is greater than 0. Thus, the sliding door can be controlled to slide in the direction of the small door when the small door is open, that is, the sliding door is controlled to open, and stop and maintain at the target safety position, and there is a second distance between the sliding door and the small door at the target safety position, that is, when the small door is open, the sliding door can also be controlled to have a certain opening, which is convenient for users to get on and off the vehicle, and at the same time, the sliding door can maintain a safety interval of the second distance with the small door, thereby avoiding damage caused by the sliding door hitting the small door, improving the interlocking between the two, and enhancing the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0096] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0097] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure;

[0098] Figure 2 A flow chart of a control method provided by an embodiment of the present disclosure;

[0099] Figure 3 A schematic diagram of an implementation principle of the control method provided in the embodiment of the present disclosure;

[0100] Figure 4 A flowchart of another control method provided by an embodiment of the present disclosure;

[0101] Figure 5A schematic diagram of the structure of a control device provided in an embodiment of the present disclosure;

[0102] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0103] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0104] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0105] In the related art, in a vehicle with a sliding door (also called a "sliding door" or "sliding door") and a small power door (also referred to as a "small door"), it is not supported to open the sliding door when the small power door is open, nor is it supported to stop and hold after opening without the help of a physical auxiliary block. In addition, for the combination of an electric sliding door + an electric small door, the control method of the electric small door and the sliding door after the sliding door is opened is still blank in the industry.

[0106] In order to solve at least one of the above-mentioned technical problems, the embodiment of the present disclosure proposes a control method for a vehicle-mounted sliding door. By controlling the sliding door, the sliding door can be controlled to stop and maintain at a target safety position when the energy door is open. The sliding door at the target safety position is spaced a second distance from the energy door. That is to say, when the door is open, the sliding door can be controlled to have a certain opening degree to facilitate users getting on and off the vehicle. At the same time, the sliding door can maintain a safety interval of the second distance with the door so that the sliding door will not collide with the energy door, thereby supporting the opening of the sliding door when the energy door is open and avoiding damage caused by the sliding door colliding with the energy door, thereby improving the convenience of vehicle use.

[0107] Optionally, the sliding door is also associated with a transmission system and a power system, and the power system provides power to the sliding door through the transmission system; the sliding door is controlled by utilizing the power system and / or transmission system of the sliding door, which can support the sliding door to stop and remain in the target safety position after opening without the aid of physical auxiliary blocks, thereby reducing mechanical costs and reducing the material costs of the entire vehicle.

[0108] Optionally, after the sliding door is opened, further operation requests can be received, and the sliding door can be controlled in combination with the status of the small door to avoid collision between the two and maintain as large a space as possible for people to enter and exit. In this way, for the combination of electric sliding door + electric small door, a control method for the electric small door and sliding door after the sliding door is opened is provided, which improves ease of use and fills a gap in the industry.

[0109] In the disclosed embodiment, for a fuel vehicle or electric vehicle, the energy door can be opened to reveal an opening and closing device for an energy replenishment path. Generally, energy doors can be divided into electric doors and manual doors, and the applicable scenarios of the technical solution are not limited in this article.

[0110] In the disclosed embodiment, the control of the sliding door can be applied to a side door with a small door to avoid damage caused by hitting the small door in the electric mode and manual mode / operating condition of the sliding door.

[0111] In conjunction with the accompanying drawings, the control method, device, equipment, medium and vehicle of the vehicle-mounted sliding door provided in the embodiments of the present disclosure are exemplarily described below.

[0112] For example, Figure 1 The structural diagram of a vehicle provided by an embodiment of the present disclosure specifically shows the relative position relationship between the sliding door and the small door. In the vehicle, the small door and the sliding door are located on the same side of the vehicle, and the sliding door and the small door are spaced a first distance apart in the fully closed position. Figure 1 , 101 represents the sliding door in the fully closed position, 102 represents the small door in the target safety position, and 103 represents the small door in the fully open position; 121 represents the small door, and 122 represents the small door in the open state; wherein, when the sliding door is in the fully closed position, the distance between the sliding door and the small door is a first distance D1, and when the sliding door is in the target safety position, the distance between the sliding door and the small door is a second distance D2, the second distance ensures that the sliding door and the small door do not collide, and the sliding door has a certain opening degree, so that when the small door is open, the sliding door can be opened to a certain opening degree, thereby facilitating people getting on and off the vehicle, avoiding the problem of poor convenience of use due to the interlocking of the sliding door and the small door, and improving convenience of use.

[0113] In the disclosed embodiments, the position and / or shape of the sliding door may be set, such as the door gap; the position and / or shape of the small door may also be set, such as moving the small door position backward, etc., to meet the above-mentioned distance requirements, which are not limited here.

[0114] On this basis, Figure 2 A flow chart of a control method provided for an embodiment of the present disclosure shows a control method for a vehicle-mounted sliding door. The method can be implemented based on software and / or hardware, for example, can be executed by a door controller, a vehicle-mounted central control, or any controller in the vehicle and / or that can communicate with the vehicle, without limitation herein.

[0115] Reference Figure 2 , the control method may include the following steps:

[0116] S210: In response to the sliding door opening request, detecting whether the small door is in an open state.

[0117] Among them, the sliding door opening request is a request to open the sliding door, which can be generated based on the user's action on the sliding door, or based on the interaction between the user and the vehicle (or a terminal that communicates with the vehicle, such as a mobile terminal such as a mobile phone), which is not limited here.

[0118] Among them, when the small door is in the open state, if the sliding door is directly opened to the fully open position, the sliding door may hit the small door; when the small door is not in the open state, the sliding door can be directly opened to the fully open position without being blocked by the small door. Based on this, when there is a sliding door opening request, it is necessary to respond to the sliding door opening request to detect whether the small door is in the open state, so as to subsequently perform targeted control on the opening degree of the sliding door, and realize sliding door control when the small door is in different states.

[0119] S220, determining that the small door is in an open state, controlling the sliding door to slide toward the small door, and stopping and maintaining at the target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

[0120] Among them, according to the detection result of whether the small door is in the open state, if the small door is in the open state, the sliding door can move, but cannot move directly to the fully open position. Instead, it can move to the target safety position and stop and remain in the target safety position to avoid the sliding door hitting the small door.

[0121] Among them, combined Figure 1 and Figure 3 In the target safety position, the distance between the sliding door and the small door is a second distance D2, which is less than the first distance D1 and greater than 0. This ensures that the sliding door and the small door do not collide with each other, and the sliding door has a certain opening degree, so that when the small door is open, the sliding door can be opened to a certain opening degree, thereby facilitating people getting on and off the vehicle, avoiding the problem of poor convenience caused by the interlocking of the sliding door and the small door, and improving convenience of use.

[0122] For example, the sliding door may include a straight section and a curved section adjacent to the straight section.

[0123] In the related art, when the small door is in the open state, the sliding door cannot be opened, or can only stop at the curved section. At this time, the sliding door opening is small, and it is impossible to get on or off the vehicle. However, in the embodiment of the present disclosure, through the above-mentioned setting of the sliding door and / or the small door, the sliding door can stay in the straight section area when in the target safety position. At this time, the sliding door opening is large, and it is convenient to get on and off the vehicle.

[0124] For example, the target safety position in this article can be represented by the position of the sliding door relative to the vehicle body, or by the opening of the sliding door itself, or by other methods known to those skilled in the art, which are not limited here.

[0125] In the disclosed embodiment, the movement control of the sliding door can be achieved in an electric manner (corresponding to the electric mode hereinafter) or in a manual manner (corresponding to the manual mode hereinafter); in the electric mode, the movement and stop of the sliding door can be controlled by a power component; in the manual mode, the movement of the sliding door can be controlled based on user operation, and the stop of the sliding door can be controlled based on the cut-off of the power component, as exemplified in the following text.

[0126] The control method provided by the embodiment of the present disclosure includes responding to a sliding door opening request, detecting whether the small door is in an open state; determining that the small door is in an open state, controlling the sliding door to slide in a direction close to the small door, and stopping and maintaining at a target safety position; wherein the sliding door at the target safety position is spaced apart from the small door by a second distance, and the second distance is greater than 0. Thus, the sliding door can be controlled to open when the small door is open, specifically stop and maintain at the target safety position, and there is a second distance between the sliding door and the small door at the target safety position, that is, when the small door is open, the sliding door can also be controlled to have a certain opening, which is convenient for users to get on and off the vehicle, and at the same time, the sliding door can maintain a safety interval of the second distance with the small door, thereby avoiding damage caused by the sliding door hitting the small door, improving the interlocking between the two, and enhancing the convenience of use.

[0127] In some optional embodiments, Figure 1 On the basis of, after detecting whether the small door is in an open state, the control method may further include:

[0128] Make sure the small door is not in the open state / is not in the open state, and control the sliding door to stop at the fully open position.

[0129] Specifically, when the small door is not in an open state, the movement of the sliding door will not hit the small door. At this time, the sliding door can be controlled to stop at the fully open position so that the sliding door reaches the upper limit of the opening degree without being restricted by the small door.

[0130] In the above-mentioned embodiment, the sliding door may be controlled based on an electric mode or a manual mode, which are exemplarily described below.

[0131] In some optional embodiments, Figure 1 On the basis of, before detecting whether the small door is in an open state, the control method may further include:

[0132] Determine the door mode;

[0133] Determine that the door mode is electric mode and judge whether the door opening preconditions are met.

[0134] Determine that the door opening preconditions are met, and instruct to execute the detection of whether the small door is in the open state.

[0135] Specifically, before detecting whether the small door is in the open state, first determine the door mode; if the door mode is electric mode, it is necessary to perform a door opening risk check, such as judging the preconditions for opening the door, and then perform a small door status check after the conditions are met to ensure safety.

[0136] The door opening precondition is used to measure whether the sliding door can be opened safely. If the condition is met, the sliding door can be opened safely; if the condition is not met, the sliding door cannot be opened safely. For example, the door opening precondition includes at least one of: the window is not lowered below the reference height, the vehicle is stationary, the vehicle power supply is normal, and the switch inside the vehicle is not triggered; other safety prerequisites known to those skilled in the art may also be included, which will not be repeated or limited here.

[0137] In some optional implementations, after determining whether the door opening precondition is met, the control method may further include:

[0138] It is determined that the door opening precondition is not met, and the sliding door opening request is not responded to and / or the first prompt information is not issued.

[0139] Specifically, if the preconditions for opening the door are not met, there is a safety risk. At this time, the sliding door cannot be forcibly opened. The corresponding setting does not respond to the sliding door opening request, and there is no need to perform subsequent steps such as small door status detection; and / or a first prompt message is issued to remind the user that there is a safety risk in opening the door.

[0140] Exemplarily, the first prompt information may be sent in at least one form of sound (eg, warning sound), text, image, vibration, etc., which is not limited here.

[0141] In some optional implementations, after identifying the door mode, the control method may further include:

[0142] Make sure the door mode is manual;

[0143] And determine that the small door is not in an open state, and generate a manual door-pushing prompt message; the manual door-pushing prompt message is used to prompt the user to manually push the door.

[0144] Specifically, when the car door mode is manual mode, the user needs to manually judge whether there is a safety risk in opening the door. When there is no safety risk and the small door is not in the open state, the door can be pushed manually, and the corresponding sliding door can be in any position between the fully open position and the fully closed position, which can be determined based on user needs and is not limited here.

[0145] Exemplarily, in manual mode, when it is determined that the small door is not in an open state, a manual door-pushing prompt message may be generated to prompt the user to open the door with confidence without any safety risk.

[0146] Exemplarily, the manual door-pushing prompt information may be issued in at least one form of sound (e.g., prompt tone), text, image, vibration, etc. In other embodiments, the manual door-pushing prompt information may not be issued in any form, and the user may continue to push the door by default, which is not limited here.

[0147] In the above implementation, no matter in manual mode or electric mode, when it is determined that the small door is in the open state, the sliding door will at most stop and remain at the target safety position, and cannot continue to approach the small door, thus ensuring that there is no collision between the sliding door and the small door to avoid damage; at the same time, ensuring that there is a certain amount of free space to allow people to get on and off the vehicle.

[0148] On the basis of the above implementation, after the sliding door is maintained at the target safety position, it can further respond to a switch operation request and control the sliding door in combination with the small door status to realize the opening or closing of the sliding door, which is exemplified below.

[0149] In some optional implementations, after determining that the sliding door is maintained at the target safety position, the control method further includes:

[0150] In response to an opening and closing operation request for the sliding door, a door mode is identified.

[0151] In combination with the above, the door modes include electric mode and manual mode.

[0152] The switch operation request for the sliding door is an operation request for opening or closing the sliding door, which may carry switch direction information to indicate the movement of the sliding door.

[0153] In this embodiment, after receiving a switch operation request for the sliding door, the door mode is identified in response to the switch operation request so as to perform the switch control of the sliding door in the electric mode or the manual mode, respectively.

[0154] In some optional implementations, after identifying the door mode, the control method may further include:

[0155] Determine that the door mode is in manual mode, and control the sliding door to be out of the hold state;

[0156] Based on the switch operation request, determining whether the switch direction is an open direction;

[0157] Determine that the switch direction is the open direction, and return to execute the detection whether the small door is in the open state.

[0158] Specifically, if the door mode is the manual mode, based on the state of the sliding door being maintained in the foregoing text, the sliding door is first controlled to be out of the maintained state; then, in combination with the switch operation request, it is determined whether the switch direction is the sliding door opening direction; if the switch direction is indeed the opening direction, the step of controlling the sliding door in combination with the small door state in the manual mode is returned. Exemplarily, the specific steps may include: detecting whether the small door is in the open state; if the small door is in the open state, manually operating the door to open, and controlling the sliding door to stop and remain at the target safety position; if the small door is not in the open state, manually operating the door to open, and controlling the sliding door to stop at any position between the fully open position and the fully closed position.

[0159] In this embodiment, since the switching direction needs to be determined in combination with the sliding door movement, the sliding door needs to be controlled to first leave the holding state; if the switching direction is the opening direction and the small door is in the opening state, the holding state at the target safety position is restored.

[0160] In some optional implementations, after determining whether the switch direction is an open direction, the control method may further include:

[0161] The switch direction is determined to be a closing direction, and a manual door closing prompt message is generated; the manual door closing prompt message is used to prompt the user to manually close the sliding door.

[0162] Specifically, if the switch direction is the closing direction, whether the small door is opened or not will not affect the movement of the sliding door. At this time, the sliding door can be manually closed, for example, the sliding door can be manually moved to the fully closed position.

[0163] For example, in manual mode, when it is determined that the next movement direction of the sliding door after it is at the target safety position is the closing direction, a manual door closing prompt message may be generated to prompt the user that the door can be safely closed without any safety risk.

[0164] Exemplarily, the manual door closing reminder information may be issued in at least one form of sound (such as a prompt tone), text, image, vibration, etc. In other embodiments, the manual door closing reminder information may not be issued in any form, and the user is assumed to be able to close the door, which is not limited here.

[0165] In some optional implementations, after identifying the door mode, the control method may further include:

[0166] Determine that the door mode is electric mode and check whether the small door is in the open state;

[0167] Determine whether the small door is in the open state and whether the switch operation request carries direction information;

[0168] Determine that the switch operation request carries direction information, and judge whether the direction information is an opening direction;

[0169] If it is determined that the direction information indicates the opening direction, the switch operation request is not responded to.

[0170] The direction information is information for indicating an opening direction or a closing direction; the opening direction and the closing direction are both directions for controlling the movement of the sliding door.

[0171] Specifically, when the sliding door remains in the target safety position, the small door being in the open state has an impact on the movement of the sliding door; therefore, if the door mode is electric mode, it is necessary to detect again whether the small door is in the open state; if the small door is in the open state, it is necessary to further determine whether the switch operation request carries direction information; if it is confirmed to be carried, it is necessary to further determine whether the direction information is the opening direction; if the direction information is the opening direction, the small door in the open state will hinder the further opening of the sliding door. At this time, the switch operation request will not be responded, that is, the sliding door will not move, and it will remain in the target safety position to ensure that the small door and the sliding door do not collide.

[0172] In some optional implementations, after determining that the door mode is the electric mode and detecting whether the small door is in an open state, the control method may further include:

[0173] Determine that the small door is not in an open state, and determine whether the switch operation request carries direction information;

[0174] Determine that the switch operation request carries direction information, and control the sliding door to move in the direction indicated by the direction information; or;

[0175] It is determined that the switch operation request does not carry direction information, and the movement direction of the sliding door is determined.

[0176] Specifically, if the small door is not in the open state, the sliding door can move freely. At this time, it is still necessary to determine whether the switch operation request carries direction information, and when the switch operation request carries direction information, the sliding door can be controlled to move in the direction indicated by the direction information. Exemplarily, if the direction indicated by the direction information carried by the switch operation request is the opening direction, the sliding door is controlled to move in the opening direction; if the direction indicated by the direction information carried by the switch operation request is the closing direction, the sliding door is controlled to move in the closing direction, and the position of the sliding door after the movement can be any position between the fully closed position and the fully open position (including the fully closed position and the fully open position), which is not limited here.

[0177] If the switch operation request does not carry direction information, it is necessary to determine the direction of movement of the sliding door. For example, a body control module (BCM) may be used to determine the momentum of the sliding door, determine the direction of movement of the sliding door, and control the sliding door to continue moving.

[0178] In some optional implementations, after the sliding door moves in the direction indicated by the direction information, it is necessary to continue to detect the state of the small door, and control the sliding door in combination with the state of the small door to take into account the safety of both and avoid collision. Exemplarily, the control method may also include:

[0179] Detect whether the small door is in the open state;

[0180] Make sure the small door is open and control the sliding door to stop immediately; or

[0181] Make sure the small door is not in the open state, and control the electric opening of the sliding door until the sliding door is in the fully open position.

[0182] Specifically, after the sliding door moves in the direction indicated by the direction information, during the movement of the sliding door, it is continuously detected whether the small door is in the open state; if it is confirmed that the small door is in the open state, the sliding door is controlled to stop immediately to avoid collision; if it is confirmed that the small door is not in the open state, the electric opening of the sliding door is continued; the detection and judgment are repeated in this way until the sliding door is in the fully open position.

[0183] In this embodiment, if the sliding door moves to a position that affects the opening of the small door, even though a request to control the opening of the small door may be received, the request is not responded to to avoid a collision between the two. This is exemplified in the following text in conjunction with the sliding door opening.

[0184] In some optional implementations, after determining that the small door is in an open state and determining whether the switch operation request carries direction information, the control method may further include:

[0185] Determining that the switch operation request does not carry direction information, a door closing command is issued;

[0186] In response to a door closing command, the sliding door is controlled to be electrically closed.

[0187] Specifically, if the switch operation request does not carry direction information, the BCM may issue a door closing command to control the electric closing of the sliding door, thereby achieving the electric control closing of the sliding door.

[0188] In some optional implementations, after determining that the switch operation request carries direction information and determining whether the direction information is an on direction, the control method may further include:

[0189] Determine that the direction information does not indicate the opening direction and control the electric closing of the sliding door.

[0190] Specifically, if the direction information does not indicate an opening direction, there is no need to open the sliding door. At this time, the sliding door is controlled to be electrically closed, thereby achieving electrically controlled closing of the sliding door.

[0191] In some optional implementations, determining that the small door is in an open state includes:

[0192] In response to a small door electric opening request, obtaining a current opening degree of the sliding door;

[0193] Determine whether the current opening exceeds the reference opening;

[0194] Make sure the current opening does not exceed the reference opening and open the small door electrically.

[0195] Specifically, the small door can also be controlled in combination with the opening of the sliding door, and the opening state of the small door can be determined based on this.

[0196] Among them, when a request for electric opening of the small door is received, the current opening of the sliding door can be obtained in response to the request for electric opening of the small door, and it can be determined whether the current opening exceeds the reference opening; if the current opening does not exceed the reference opening, it indicates that the sliding door in the current position has no effect on the opening of the small door, and the small door can be opened electrically.

[0197] Correspondingly, after the small door is opened electrically, the corresponding small door is in an open state.

[0198] Based on this, when controlling the sliding door, it is necessary to control the movement of the sliding door in combination with the opening state of the small door to avoid collision between the two.

[0199] In the above-mentioned embodiments, the open state may be a fully open state, a half-open state or other states where the small door is away from the energy port, which is not limited here.

[0200] In some optional implementations, after determining whether the current opening exceeds the reference opening, the control method further includes:

[0201] Determine that the current opening exceeds the reference opening, do not respond to the small door electric opening request and / or send a second prompt message.

[0202] Specifically, the reference opening is used to measure whether the sliding door and the small door affect each other. If the current opening does not exceed the reference opening, the two do not affect each other. If the current opening exceeds the reference opening, the two will affect each other.

[0203] In this embodiment, if it is confirmed that the current opening exceeds the reference opening, the sliding door affects the opening of the small door, and the small door electric opening request is not responded to at this time to avoid the small door colliding with the sliding door; and / or a second prompt message is issued to remind the user that there is a safety risk in opening the door.

[0204] Exemplarily, the second prompt information may be sent in at least one form of sound (eg, warning sound), text, image, vibration, etc., which is not limited here.

[0205] In the above implementation manner, the information format of the second prompt information and the first prompt information may be the same or different, which is not limited here.

[0206] In some optional embodiments, Figure 4 FIG. 2 is a flow chart of another control method provided by an embodiment of the present disclosure. Figure 4 , the control method may include the following steps:

[0207] S400: Request to open the sliding door.

[0208] Exemplarily, the control device receives a sliding door opening request.

[0209] S401, determining the door mode.

[0210] For example, in this step, it is determined whether the door mode is electric mode or manual mode. In manual mode, subsequent steps S407 and S409 are executed; in electric mode, subsequent steps S402 and S403 are executed.

[0211] S402: Determine the preconditions.

[0212] Exemplarily, in the electric mode, it is determined whether the door opening precondition is met; if so, S403 is executed; if not, S406 is executed.

[0213] S403: Determine whether the small door is open.

[0214] Exemplarily, it is detected whether the small door is in an open state. If the small door is in an open state, S404 is executed; if the small door is not in an open state, S405 is executed.

[0215] S404, drive to the target safety position, and stop and hold.

[0216] Exemplarily, the sliding door is controlled to stop and maintain at the target safety position; wherein, the sliding door at the target safety position is spaced apart from the small door by a second distance, the second distance being smaller than the first distance and larger than 0, thereby ensuring that the sliding door and the small door do not collide with each other, and the sliding door has a certain opening degree, so that when the small door is open, the sliding door can be opened to a certain opening degree, thereby facilitating people getting on and off the vehicle, avoiding the problem of poor convenience of use due to the interlocking of the sliding door and the small door, and improving convenience of use.

[0217] S405, electrically open sliding door.

[0218] Exemplarily, when the small door is not in an open state, the movement of the sliding door will not hit the small door. At this time, the sliding door can be controlled to move to a fully open position and then stop, so that the sliding door reaches the upper limit of the opening without being restricted by the small door.

[0219] S406, no response + prompt.

[0220] Exemplarily, if the preconditions for opening the vehicle door are not met, there is a safety risk. At this time, the sliding door cannot be forcibly opened, and the corresponding setting does not respond to the sliding door opening request, and there is no need to perform subsequent steps such as small door status detection; and / or a prompt message is issued to remind the user that there is a safety risk in opening the door.

[0221] S407, manual operation.

[0222] For example, in the manual mode, the sliding door can be opened manually, and the state of the small door needs to be detected during the door opening process, that is, S409 is executed.

[0223] S409: Determine whether the small door is open.

[0224] Exemplarily, it is detected whether the small door is in an open state. If so, S404 is executed, and the specific steps are detailed above; if not, S408 is executed.

[0225] S408, push the door manually.

[0226] Exemplarily, when the small door is not in the open state, the door can be pushed manually, and the corresponding sliding door can be in any position between the fully open position and the fully closed position, which can be determined based on user needs and is not limited here.

[0227] After the sliding door is maintained at the target safety position, since it can be further opened and closed, it can be further opened and closed as follows:

[0228] S410: The switch requests to operate the sliding door.

[0229] Exemplarily, the control device receives a switch operation request / switch request for the sliding door.

[0230] S411: Determine the door mode.

[0231] For example, in this step, it is determined whether the door mode is an electric mode or a manual mode. In the manual mode, subsequent steps S412 and S414 are executed; in the electric mode, subsequent steps S413 are executed.

[0232] S412, disengage and hold.

[0233] Exemplarily, the sliding door is controlled to be out of the holding state.

[0234] S414: Determine the opening direction.

[0235] Exemplarily, it is determined whether the switch direction is the sliding door opening direction. If so, S407 and subsequent steps are executed; if not, S416 is executed.

[0236] S416, close the sliding door manually.

[0237] Exemplarily, if the switch direction is not the opening direction, it is the closing direction of the sliding door. At this time, whether the small door is opened or not, it will not affect the movement of the sliding door. At this time, the sliding door can be manually closed, for example, the sliding door can be manually moved to the fully closed position.

[0238] S413, determine whether the small door is open.

[0239] Exemplarily, it is detected whether the small door is in an open state. If so, S420 is executed; if not, S415 is executed.

[0240] S415: Determine direction information.

[0241] For example, when the small door is not in the open state, it is necessary to determine whether the switch request in S410 carries direction information to further control the movement of the sliding door. If yes, execute S419; if not, execute S417.

[0242] S417. Determine the direction.

[0243] Exemplarily, the BCM may be used to determine the movement direction of the sliding door; further, the sliding door may be controlled to move according to the determined movement direction of the sliding door, such as to open or close.

[0244] S419, move in the direction of the switch.

[0245] Specifically, when the switch operation request carries direction information, the sliding door is controlled to move in the direction indicated by the direction information. For example, if the direction indicated by the direction information carried by the switch operation request is an opening direction, the sliding door is controlled to move in the opening direction; if the direction indicated by the direction information carried by the switch operation request is a closing direction, the sliding door is controlled to move in the closing direction, and the position of the sliding door after the movement can be any position between the fully closed position and the fully open position (including the fully closed position and the fully open position), which is not limited here.

[0246] S420: Determine direction information.

[0247] For example, when the small door is in an open state, the small door affects the movement of the sliding door, and it is also necessary to determine whether the switch request in S410 carries direction information; if so, execute S422; if not, execute S421.

[0248] S421, door closing instruction.

[0249] For example, if the switch request does not carry direction information, a door closing command may be issued by the BCM.

[0250] S423, electric door closing.

[0251] Exemplarily, the control device controls the sliding door to move to close according to the door closing command.

[0252] S422, determine the opening direction.

[0253] Exemplarily, if the switch request carries direction information, it can be further determined whether the direction information indicates the opening direction of the sliding door; if so, execute S424; if not, execute the above S423.

[0254] S424, no response + prompt.

[0255] For example, if the direction information indicates the opening direction of the sliding door, since the small door is in the open state, the sliding door continues to move in the opening direction and may hit the small door. At this time, the switch request is not responded to, that is, the sliding door does not move and remains in the target safe position to ensure that the small door and the sliding door do not collide.

[0256] S425. Determine whether the small door is open.

[0257] For example, after the sliding door is controlled to move in the opening and closing direction, it is continuously detected whether the small door is in the open state. If so, S426 is executed; if not, the above S405 is executed until the sliding door reaches the fully open position.

[0258] S426. Stop immediately.

[0259] Exemplarily, the sliding door is controlled to stop immediately.

[0260] In some embodiments, determining that the small door is in an open state may include controlling the movement of the small door before responding to the request for the sliding door, which may be specifically as follows:

[0261] S430, request to open the small door.

[0262] Exemplarily, the control device receives a request for electric opening of the small door.

[0263] S431: Determine the sliding door opening.

[0264] For example, in response to the electric opening request of the small door, the current opening of the sliding door is obtained, and it is determined whether the current opening exceeds the reference opening. If so, S432 is executed; if not, S433 is executed.

[0265] S432, no response + prompt.

[0266] Exemplarily, if the current opening exceeds the reference opening, the sliding door affects the opening of the small door. At this time, the electric opening request of the small door is not responded to to avoid the small door colliding with the sliding door, and a prompt message may be issued.

[0267] S433, electric opening of small door.

[0268] For example, if the current opening does not exceed the reference opening, it indicates that the sliding door in the current position has no effect on the opening of the small door, and the small door can be opened electrically.

[0269] The technical solution provided in the embodiment of the present disclosure can be applied to the opening anti-collision control of sliding doors and small doors, providing a safe and reliable way to open, close and / or keep small doors and sliding doors, and facilitating passengers to get on and off the vehicle. In other implementations, it can also be applied to the opening anti-collision control of other target components, where the sliding doors and / or small doors can be replaced with target components with an influencing relationship, which will not be elaborated here.

[0270] In the above-mentioned embodiment, the method of controlling the sliding door to stop and maintain at the target safety position includes, but is not limited to: using a clutch (electromagnetic clutch, friction clutch), a physical blocking mechanism with or without an electric actuator, using a clutch and a brush motor style drive actuator unit combination, using a physical blocking mechanism with or without an electric actuator and a brush motor style drive actuator unit combination, and a brushless motor style drive actuator unit, which is not limited here.

[0271] Exemplarily, a combination of a clutch and a brushed motor is used to stop and hold the sliding door without using a physical block, including: in manual mode, the motor and the clutch are not energized, and after the sliding door is manually moved to the target safety position, the controller controls the clutch to be energized and engaged, and the self-locking of the stopped motor and the clutch's own torque are used to hold the sliding door in the target safety position; in electric mode, the controller controls the motor to work and the clutch to engage and transfer torque to the gear set, the gear set drives the rope belt, and the rope belt pulls the sliding door, thereby electrically moving the sliding door to the target safety position; and the motor stops working, the clutch is energized and engaged, and the self-locking of the stopped motor and the clutch's own torque are used to hold the sliding door.

[0272] Exemplarily, the brushless motor is used alone without a physical block to stop and hold the sliding door, including: in manual mode, the brushless motor does not work, and after the sliding door is manually moved to the target safe position, the controller finely controls the reverse low-voltage power supply of the brushless motor and uses the motor torque to achieve holding; in electric mode, the controller controls the speed and output power of the brushless motor, finely controls the starting and stopping of the motor, and reverse power supply for holding.

[0273] The stop and hold implemented by the above-mentioned other methods is inspired by the present technical solution and is similar to the above-mentioned examples, and will not be described in detail here.

[0274] Based on the same inventive concept, an embodiment of the present disclosure also provides a control device for a vehicle-mounted sliding door, wherein the vehicle to which the control device is applied includes a small door and a sliding door, wherein the small door and the sliding door are located on the same side of the vehicle, and the sliding door in the fully closed position is separated from the small door by a first distance; the control device is used to execute the steps of any of the above-mentioned vehicle-mounted sliding door control methods, and has corresponding beneficial effects. The similarities can be understood by referring to the above and will not be repeated in the following text.

[0275] In some embodiments, Figure 5 FIG. 1 is a schematic diagram of a control device provided by an embodiment of the present disclosure. Figure 5 The control device 500 includes: a detection module 510, which is used to detect whether the small door is in an open state in response to a sliding door opening request; a control module 520, which is used to determine whether the small door is in an open state, control the sliding door to slide in a direction close to the small door, and stop and maintain at a target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

[0276] In some optional implementations, the control module is further used to: determine that the small door is not in an open state, and control the sliding door to stop at a fully open position.

[0277] In some optional embodiments, the control device also includes: a mode judgment module, used to judge the door mode; a condition judgment module, used to determine that the door mode is an electric mode, and judge whether the door opening preconditions are met; the door opening preconditions include: the window has not dropped below a reference height, the vehicle is stationary, the vehicle power supply is normal, and at least one of the switches inside the vehicle are not triggered; a detection indication module, used to determine that the door opening preconditions are met, and indicate the execution of the detection of whether the small door is in an open state.

[0278] In some optional embodiments, the control device further includes: a first auxiliary control module, configured to determine that a door opening precondition is not satisfied, not respond to the sliding door opening request, and / or issue a first prompt message.

[0279] In some optional embodiments, the control device also includes: a first information prompt module, used to determine that the door mode is a manual mode; and to determine that the small door is not in an open state, and generate manual door pushing prompt information; the manual door pushing prompt information is used to prompt the user to push the door manually.

[0280] In some optional embodiments, the control device further includes: a mode recognition module for identifying a door mode in response to a switch operation request for the sliding door.

[0281] In some optional embodiments, the control device also includes: a manual auxiliary module, used to determine that the vehicle door mode is a manual mode, and control the sliding door to disengage from the holding state; based on the switch operation request, determine whether the switch direction is an opening direction; determine that the switch direction is an opening direction, and return to execute detection whether the small door is in an open state.

[0282] In some optional embodiments, the control device further includes: a second information prompt module, used to determine that the switch direction is the closing direction, and generate manual door closing prompt information; the manual door closing prompt information is used to prompt the user to manually close the sliding door.

[0283] In some optional embodiments, the control device also includes: an electric auxiliary module, used to determine that the vehicle door mode is an electric mode, and detect whether the small door is in an open state; determine that the small door is in an open state, and judge whether the switch operation request carries direction information; determine that the switch operation request carries direction information, and judge whether the direction information is an opening direction; determine that the direction information indicates an opening direction, and then do not respond to the switch operation request.

[0284] In some optional embodiments, the control device also includes: a motion control module in electric mode, which determines that the small door is not in an open state, and judges whether the switch operation request carries direction information; determines that the switch operation request carries direction information, and controls the sliding door to move in the direction indicated by the direction information; or determines that the switch operation request does not carry direction information, and judges the direction of movement of the sliding door.

[0285] In some optional embodiments, the control device also includes: a second auxiliary control module, used to detect whether the small door is in an open state; if it is determined that the small door is in an open state, control the sliding door to stop immediately; or if it is determined that the small door is not in an open state, control the sliding door to be electrically opened until the sliding door is in a fully open position.

[0286] In some optional embodiments, the control device further includes: a first door closing control module, configured to determine that the switch operation request does not carry direction information, issue a door closing command; and control the electric closing of the sliding door in response to the door closing command.

[0287] In some optional embodiments, the control device further includes: a second door closing control module, configured to control the electric closing of the sliding door when determining that the direction information does not indicate an opening direction.

[0288] In some optional embodiments, the control device also includes: an opening acquisition module, which is used to obtain the current opening of the sliding door in response to a request for electric opening of the small door; an opening judgment module, which is used to judge whether the current opening exceeds a reference opening; and an electric door opening module, which is used to determine that the current opening does not exceed the reference opening and electrically open the small door.

[0289] In some optional embodiments, the control device further includes: a third auxiliary control module, configured to determine that the current opening exceeds a reference opening, not respond to the small door electric opening request, and / or issue a second prompt message.

[0290] In the above implementation, the control device can be implemented by software and / or hardware, and can be integrated on any processor or electronic device with computing capabilities. The contents not fully described in the device embodiment of the present disclosure can be referred to the description in any method embodiment of the present disclosure, and will not be repeated here.

[0291] Based on the above implementation, Figure 6 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. Figure 6 The clothing processing device 600 includes: a memory 601 and a processor 602; the memory 601 stores executable programs or instructions; the processor 602 runs the program or instructions to implement the steps of any of the above-mentioned head-up display control methods, which has corresponding beneficial effects. In order to avoid repeated description, it will not be repeated here.

[0292] The processor 602 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the computer to perform desired functions.

[0293] The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 602 may execute the program instructions to implement the method steps of the various embodiments of the present application described above and / or other desired functions.

[0294] In addition to the above-mentioned methods and apparatus, the embodiments of the present disclosure also provide a computer program product, which includes computer program instructions, and when the computer program instructions are executed by a processor, the processor executes the method steps of various embodiments of the present application.

[0295] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0296] On the basis of the above-mentioned implementation manner, the embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by the processor, the processor executes the method steps of various embodiments of the present disclosure to implement any of the above-mentioned vehicle-mounted sliding door control methods, which has corresponding beneficial effects. To avoid repeated description, they will not be repeated here.

[0297] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0298] Computer readable storage media may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0299] On the basis of the above-mentioned implementation manner, the embodiment of the present disclosure further provides a vehicle, including: a sliding door; the sliding door is controlled by adopting the steps of any of the above-mentioned vehicle-mounted sliding door control methods, which has corresponding beneficial effects, and will not be repeated here to avoid repeated description.

[0300] In some optional embodiments, the vehicle further includes: a power system (power component) and a transmission system; the power system is connected to the sliding door through the transmission system; and the power system provides the power required for movement to the sliding door through the transmission system.

[0301] The power assembly is used to provide power to the sliding door and control the sliding door to stop and remain.

[0302] Exemplarily, the power assembly may include a motor, a clutch, etc., and the transmission assembly may include a gear set, a belt, etc., which are not limited here.

[0303] In other embodiments, the vehicle also includes all other vehicle-mounted equipment or devices known to those skilled in the art, such as lidar and vehicle-mounted navigation, etc., which are not limited here.

[0304] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0305] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a vehicle sliding door, characterized in that: include: In response to a sliding door opening request, detecting whether the small door is in an open state; Determine that the small door is in an open state, control the sliding door to slide in a direction close to the small door, and stop and maintain at a target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

2. The method for controlling a vehicle sliding door according to claim 1, characterized in that: After detecting whether the small door is in an open state, the control method further includes: Make sure the small door is not in the open state and control the sliding door to stop at the fully open position.

3. The method for controlling a vehicle sliding door according to claim 1, wherein: Before detecting whether the small door is in an open state, the control method further includes: Determine the door mode; Determining that the door mode is the electric mode, judging whether the door opening precondition is satisfied; the door opening precondition includes at least one of: the window is not lowered below a reference height, the vehicle is stationary, the vehicle power supply is normal, and the switch inside the vehicle is not triggered; Determine that the door opening precondition is met, and instruct to execute the detection of whether the small door is in an open state.

4. The method for controlling a vehicle sliding door according to claim 3, characterized in that: After determining whether the door opening precondition is met, the control method further includes: It is determined that the door opening precondition is not met, and the sliding door opening request is not responded to and / or a first prompt message is not issued.

5. The method for controlling a vehicle sliding door according to claim 3, characterized in that: After determining the door mode, the control method further includes: Determining that the door mode is a manual mode; And determine that the small door is not in an open state, and generate manual door pushing prompt information; the manual door pushing prompt information is used to prompt the user to manually push the door.

6. The method for controlling a vehicle sliding door according to any one of claims 1 to 5, characterized in that: After determining that the sliding door is maintained at the target safety position, the control method further includes: In response to an opening and closing operation request for the sliding door, a door mode is identified.

7. The method for controlling a vehicle sliding door according to claim 6, wherein: After identifying the door mode, the control method further includes: Determine that the door mode is in manual mode, and control the sliding door to be out of the hold state; Based on the switch operation request, determining whether the switch direction is an on direction; Determine that the switch direction is the opening direction, and return to execute the detection of whether the small door is in the open state.

8. The method for controlling a vehicle sliding door according to claim 7, characterized in that: After determining whether the switch direction is an open direction, the control method further includes: Determine that the switch direction is a closing direction, and generate manual door closing prompt information; the manual door closing prompt information is used to prompt the user to manually close the sliding door.

9. The method for controlling a vehicle sliding door according to claim 6, wherein: After identifying the door mode, the control method further includes: Determine that the door mode is electric mode and check whether the small door is in the open state; Determining that the small door is in an open state, and judging whether the switch operation request carries direction information; Determining that the switch operation request carries direction information, and judging whether the direction information is an opening direction; If it is determined that the direction information indicates an opening direction, then the switch operation request is not responded to.

10. The method for controlling a vehicle sliding door according to claim 9, characterized in that: After determining that the door mode is the electric mode and detecting whether the small door is in an open state, the control method further includes: Determining that the small door is not in an open state, and determining whether the switch operation request carries direction information; Determining that the switch operation request carries direction information, and controlling the sliding door to move in the direction indicated by the direction information; or; It is determined that the switch operation request does not carry direction information, and the movement direction of the sliding door is determined.

11. The method for controlling a vehicle sliding door according to claim 10, wherein: After controlling the sliding door to move in the direction indicated by the direction information, the control method further includes: Detect whether the small door is in the open state; Make sure the small door is open and control the sliding door to stop immediately; or Determine that the small door is not in an open state, and control the electric opening of the sliding door until the sliding door is in a fully open position.

12. The method for controlling a vehicle sliding door according to claim 9, wherein: After determining that the small door is in an open state and judging whether the switch operation request carries direction information, the control method further comprises: Determining that the switch operation request does not carry direction information, and issuing a door closing command; In response to the door closing command, the sliding door is controlled to be electrically closed.

13. The method for controlling a vehicle sliding door according to claim 9, wherein: After determining that the switch operation request carries direction information and judging whether the direction information is an opening direction, the control method further includes: It is determined that the direction information does not indicate an opening direction, and the sliding door is electrically closed.

14. The method for controlling a vehicle sliding door according to claim 1, wherein: The step of determining whether the small door is in an open state comprises: In response to a small door electric opening request, obtaining a current opening degree of the sliding door; Determining whether the current opening exceeds a reference opening; Determine that the current opening does not exceed the reference opening, and electrically open the small door.

15. The method for controlling a vehicle sliding door according to claim 14, wherein: After determining whether the current opening exceeds the reference opening, the control method further includes: Determine that the current opening exceeds the reference opening, do not respond to the small door electric opening request and / or issue a second prompt message.

16. A control device for a vehicle sliding door, characterized in that: include: A detection module, for detecting whether the small door is in an open state in response to a sliding door opening request; The control module is used to determine that the small door is in an open state, control the sliding door to slide in a direction close to the small door, and stop and maintain at a target safety position; wherein the sliding door at the target safety position is spaced a second distance from the small door, and the second distance is greater than 0.

17. An electronic device, characterized in that: include: Memory and processor; The memory stores executable programs or instructions; The processor runs the program or instruction to implement the steps of the vehicle sliding door control method according to any one of claims 1-15.

18. A computer readable medium having a computer program or instruction stored thereon, characterized in that: The computer program or instruction is executed by a processor to implement the steps of the method for controlling a vehicle sliding door according to any one of claims 1 to 15.

19. A vehicle, characterized in that: include: Sliding doors; The sliding door is controlled by using the steps of the vehicle-mounted sliding door control method according to any one of claims 1-15.

20. The vehicle according to claim 19, characterized in that Also includes: A power system and a transmission system; the power system is associated with the sliding door through the transmission system; The power system provides the sliding door with power required for movement through the transmission system.

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