Vehicle control method and device, storage medium and vehicle

Abstract

The invention relates to a vehicle control method and device, a storage medium and a vehicle, and the vehicle control method comprises the steps: determining that a vehicle door is in a running state, and obtaining first vehicle door control information and / or obstacle information in a preset range of the vehicle door; according to the fact that the first vehicle door control information meets a direction changing control condition, and / or according to the obstacle information, it is determined that an obstacle influencing operation of the vehicle door exists, and the vehicle door is controlled to change the operation direction; wherein the running state comprises that the vehicle door is in an opening process and / or the vehicle door is in a closing process. The moving direction of the vehicle door can be rapidly changed when a user has a demand or encounters an obstacle, the user demand can be met, the vehicle door can be prevented from clamping the user, and potential safety hazards are reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle control method, device, storage medium and vehicle. Background Art

[0002] The existing electric doors of vehicles can usually only open to the maximum opening or close automatically. However, in actual use, users may need to pause or change the direction of the electric door during operation. For example, when the automatic door is about to collide with an obstacle, or in some special scenarios, the user wants the electric door to run in the reverse direction. However, the electric doors of current vehicles can usually only pause and cannot control their switching direction, so the user's needs cannot be met. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a vehicle control method, device, storage medium and vehicle.

[0004] In a first aspect, the present disclosure provides a vehicle control method, comprising:

[0005] Determining that the vehicle door is in an operating state, and obtaining first vehicle door control information and / or obstacle information within a preset range of the vehicle door;

[0006] Controlling the door to change its running direction according to the first door control information satisfying a direction change control condition and / or determining that there is an obstacle affecting the operation of the door according to the obstacle information;

[0007] The operating state includes the vehicle door being in an opening process and / or the vehicle door being in a closing process.

[0008] In some embodiments, the changing direction control condition according to the first door control information comprises:

[0009] According to the triggering number of the first door control information within the preset time satisfying the first preset number, it is determined that the first door control information satisfies the direction change control condition.

[0010] In some embodiments, determining, based on the obstacle information, that there is an obstacle that affects the operation of the door includes:

[0011] It is determined according to the obstacle information that there is an obstacle within a preset range in the door running direction, and it is determined that there is an obstacle that affects the door running.

[0012] In some embodiments, before controlling the vehicle door to change the running direction, the method further includes:

[0013] It is determined according to the obstacle information that there is no obstacle within a preset range in the direction in which the door changes its movement.

[0014] In some embodiments, after controlling the vehicle door to change the running direction, the method further includes:

[0015] It is determined according to the obstacle information that there is an obstacle within a preset range in the direction in which the door changes its movement, and the door is controlled to stop moving.

[0016] In some embodiments, it also includes:

[0017] Determining that the vehicle door is in a stationary state, and acquiring second vehicle door control information;

[0018] According to the second door control information satisfying the start-up operation control condition, the door is controlled to restore the operation state before the door is in the stationary state.

[0019] In some embodiments, the starting operation control condition is satisfied according to the second door control information, including:

[0020] According to the triggering number of the second door control information within the preset time meeting the second preset number, it is determined that the second door control information meets the start-up operation control condition.

[0021] In a second aspect, the present disclosure further provides a vehicle control device, comprising:

[0022] An information acquisition module, used to determine whether the door is in operation, and acquire first door control information and / or obstacle information within a preset range of the door;

[0023] a control module, configured to control the door to change its running direction according to the first door control information satisfying a direction change control condition and / or determining the existence of an obstacle affecting the operation of the door according to the obstacle information;

[0024] The operating state includes the vehicle door being in an opening process and / or the vehicle door being in a closing process.

[0025] In a third aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the vehicle control methods provided in the first aspect are implemented.

[0026] In a fourth aspect, the present disclosure further provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any of the vehicle control methods provided in the first aspect are implemented.

[0027] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0028] The vehicle control method provided by the present disclosure is that when the door is in the process of opening or closing, and the user needs to control it to run in the reverse direction, the user can send a first door control message. When the vehicle determines that the first door control message meets the direction change control condition, it will immediately control the door to change the running direction, thereby increasing the switching speed. Alternatively, when the door is in the process of opening or closing, the vehicle detects that there is an obstacle within the door's running range, and if the door continues to maintain the current running direction, it will contact the obstacle. Therefore, the vehicle controls the door to change its running direction to prevent the obstacle from hindering the door from continuing to run, and also to prevent the door from pinching the user. The present disclosure can change the running direction of the door when encountering an obstacle, to prevent the door from pinching the user, and to reduce safety hazards; it can also quickly change the running direction of the door when the user needs it, to reduce waiting time, and to increase the switching speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] 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.

[0031] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0032] Figure 2 A structural block diagram of a vehicle control device provided by an embodiment of the present disclosure;

[0033] Figure 3 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] As vehicles become more intelligent and diversified, more and more vehicles are equipped with electric doors to enhance the user experience. However, the electric doors in existing vehicles can usually only be opened automatically to the maximum opening or closed automatically. That is, if the electric door is in the open state and the user needs to close the electric door, the electric door will automatically run to the closed state according to the command. If the electric door is in the closed state and the user needs to open the electric door, the electric door will run until it is fully opened. If the electric door is controlled to change its running direction during its operation, it should wait until the electric door runs to the end point on one side, that is, the electric door is fully closed or fully opened, and then the electric door is controlled to change direction. The running direction of the electric door cannot be changed during operation. For example, when the electric door is closing, if the user suddenly gets on or off the vehicle, there is a possibility of pinching the user or damaging the door.

[0037] In view of the above-mentioned defects, an embodiment of the present disclosure provides a vehicle control method. The vehicle control method can be applied in the scene of opening or closing a vehicle door, and the method can be executed by a vehicle control device provided by an embodiment of the present disclosure, and the vehicle control device can be implemented in software and / or hardware. Figure 1 A flow chart of a vehicle operation method provided by an embodiment of the present disclosure, referring to Figure 1 , the vehicle control method includes S110-S120:

[0038] S110: Determine that the vehicle door is in operation, and obtain first vehicle door control information and / or obstacle information within a preset range of the vehicle door.

[0039] Exemplarily, the vehicle door is an electric door, including an electric door drive device and a controller. The controller is electrically connected to the electric door drive device. The electric door drive device includes a motor and a transmission mechanism, which are used to drive the electric door to open and close. The controller is used to control the operation of the electric door drive device. It should be noted that the embodiment of the present disclosure does not limit the specific structure of the vehicle. The above is only an optional implementation method, which can be set according to actual needs.

[0040] First, the vehicle will determine the current state of the door to determine whether the door is in operation. If the door is in operation, for example, the door is in the process of opening or closing, it indicates that the door is moving to one side. When the door is in operation, it may be necessary to adjust the operation state of the door. The vehicle can obtain the first door control information and / or the obstacle information within the preset range of the door, and then control the door accordingly according to the obtained information.

[0041] The first door control information is control information sent by the user to the vehicle according to his / her needs, so as to control the operation state of the door so that the door can operate according to the user's needs. The first door control information can be a variety of different types of information, which will be described in detail in the subsequent embodiments. In addition, the vehicle will also detect obstacle information within a preset range of the door, and control the operation state of the door according to the obstacle information to prevent the obstacle from contacting the door.

[0042] Optionally, the vehicle is also provided with a data acquisition device to monitor obstacle information within the preset range of the door. For example, a variety of different types of sensors such as image sensors, speed sensors, ultrasonic radars, etc. can be used to obtain the required information. The present disclosure does not limit the type of sensor. The specific size and direction of the preset range of the door are also not limited and can be set according to actual conditions.

[0043] S120: Control the door to change its running direction based on whether the first door control information satisfies a direction change control condition and / or whether an obstacle that affects the operation of the door exists is determined based on the obstacle information.

[0044] For example, if the car door is in a closed state and the user needs to open the door to get off the car, the car door will switch from a closed state to an open state, and the car door is in a running state during the switching process (the car door is in the process of opening). If the user changes his mind, does not get off the car and needs to close the car door, in the prior art, it is necessary to wait for the car door to be completely opened before controlling the car door to close. As a result, the running direction of the car door cannot be switched quickly, resulting in a long waiting time and a poor user experience. In the disclosed embodiment, the vehicle obtains the first door control information and determines that it meets the direction change control condition, and can directly control the car door to change the running direction and run in the opposite direction. There is no need to wait for the car door to reach the end point on one side before controlling it, which greatly improves the switching speed of the door running direction and improves the user experience.

[0045] In addition, if the vehicle determines that there are obstacles around the door that affect the operation of the door based on the obstacle information obtained within the preset range of the door, the door will be promptly controlled to change its direction of operation to prevent the door from contacting the obstacle. For example, the door is in the process of closing, but a user approaches the door and wants to get off or get on the car. At this time, there is a risk that the door will pinch the user. In the embodiment of the present disclosure, after the vehicle determines that the user will affect the operation of the door based on the obstacle information, it can control the door to change its direction of operation to prevent the door from contacting the user and prevent the door from pinching the user.

[0046] In the vehicle control method provided by the embodiment of the present disclosure, when the door is in the process of opening or closing, and the user needs to control it to run in the reverse direction, the first door control information can be sent. When the vehicle determines that the first door control information meets the direction change control condition, it will immediately control the door to change the running direction to increase the switching speed. Alternatively, when the door is in the process of opening or closing, the vehicle detects that there is an obstacle within the door's running range, and if the door continues to maintain the current running direction, it will contact the obstacle. The vehicle will control the door to change its running direction to prevent the obstacle from hindering the door from continuing to run, and also to prevent the door from pinching the user. The present disclosure can change the running direction of the door when encountering an obstacle, avoid the door from pinching the user, and reduce safety hazards; it can also quickly change the running direction of the door when the user needs it, reduce waiting time, and increase switching speed.

[0047] In some embodiments, satisfying a direction change control condition according to the first door control information includes:

[0048] According to the triggering number of the first door control information within the preset time satisfying the first preset number, it is determined that the first door control information satisfies the direction change control condition.

[0049] Exemplarily, in order to improve the accuracy of the judgment process, the number of triggering times of the first door control information is detected within a preset time. If the number of triggering times meets the first preset number, it is determined that the first door control information meets the direction change control condition. This can avoid the situation where the number of triggering times is large but the triggering interval is long. For example, the controller is built with a timer, and the interval time of the number of triggering times of the first door control information is detected by the timer. Assume that the preset duration is 0.5 seconds and the first preset number is 2 times. Within 0.5 seconds, the number of triggering times of the first door control information is 3 times, which meets the requirement. If within 0.5 seconds, the number of triggering times of the first door control information is 1 time, the requirement is not met.

[0050] Among them, the first door control information mentioned here can be triggered in a variety of different ways. For example, a key input device is provided on the vehicle, which can be provided inside or outside the vehicle, and the key input device is electrically connected to the vehicle controller for receiving the user's key command. At this time, the first door control information is triggered by the user's key. In some optional embodiments, a gesture recognition device is provided on the vehicle, which can be provided inside or outside the vehicle, and the gesture recognition device is electrically connected to the vehicle controller for receiving the user's gesture command. At this time, the first door control information is triggered by the user's gesture. In some optional embodiments, a wireless communication module is also provided on the vehicle, and the wireless communication module is electrically connected to the vehicle controller, and the wireless communication module is connected to the smart mobile terminal, for example, the smart mobile terminal includes a mobile phone. The user can trigger the first door control information through a program on the mobile phone. Based on this, when the user requires the door to change the current running direction, the first door control information can be triggered, and the number of triggers within the preset time meets the first preset number, and the vehicle determines that the first door control information meets the direction change control condition, and then performs the operation of changing the door direction.

[0051] It should be noted that the above embodiments are only optional triggering methods provided in the embodiments of the present disclosure, and can also be set according to actual needs, or the above embodiments can be combined.

[0052] In some embodiments, determining the presence of an obstacle that affects the operation of the door according to the obstacle information includes:

[0053] It is determined according to the obstacle information that there is an obstacle within a preset range in the door running direction, and it is determined that there is an obstacle that affects the door running.

[0054] Exemplarily, the door is in the process of closing for explanation. For example, when the door is fully opened, it is located at point A; when the door is fully closed, it is located at point B; point C is located between point A and point B; and the door moves from point A to point B (the door is in the process of closing). When the door is at point C, it is determined whether there is an obstacle within a preset range in the direction of the door's movement based on the obstacle information, that is, it is detected whether there is an obstacle within the preset range between point C and point B. If there is an obstacle, it will prevent the door from closing, and the door needs to be controlled to change its direction of movement. Among them, obtaining the obstacle information includes obtaining information such as the position, moving direction, and moving speed of the obstacle; the position, running direction, and running speed of the door can also be obtained. Based on the above information, the relative position relationship between the obstacle and the door can be determined.

[0055] Optionally, if the obstacle moves away from the door, the obstacle will not affect the current operation of the door. The obstacle may be a person or a pet. If the door is not controlled to change its direction in time, the person or pet may be injured and the door may be damaged to a certain extent.

[0056] In some scenarios, the obstacle is a vehicle, and the occupants want to get off the vehicle, while the door is in the process of opening. If a vehicle is detected approaching the door, there is a great safety hazard for getting off the vehicle at this time. It can also be considered that there is an obstacle within the preset range in the direction of the door, which will affect the operation of the door. The door should be closed in time to ensure the safety of the occupants.

[0057] Optionally, the speed of the obstacle and the speed of the door are obtained by a speed sensor, the location information and the moving direction of the obstacle are obtained by an ultrasonic radar, and the moving direction and location information of the door can also be obtained. The required information can also be obtained by an image acquisition device. The data acquisition device can be set according to actual needs, and the embodiments of the present disclosure do not limit this.

[0058] In some embodiments, before controlling the vehicle door to change the running direction, the method further includes:

[0059] It is determined based on the obstacle information that there is no obstacle within the preset range in the direction in which the door changes its movement.

[0060] Exemplarily, before controlling the door to change its running direction, it is also necessary to determine whether there is an obstacle within a preset range in the direction in which the door changes its running direction, so as to avoid collision with the obstacle after the door changes its direction. For example, the door is located at point A when it is fully opened, and at point B when it is fully closed. Point C is located between points A and B, and the door moves from point B to point A before changing its running direction (the door is in the process of opening). When the door is at point C, it receives an instruction to change its running direction (from point C to point B). The instruction here can be that the first door control information satisfies the control condition for changing direction or there is an obstacle that affects the door's continued movement from point B to point A.

[0061] Before changing the running direction, it is necessary to determine whether there are obstacles that affect the door's movement from point C to point B (the door is in the process of closing). Similarly, based on the position, moving direction, moving speed and other information of the obstacle, as well as the position, running direction, running speed and other information of the door, it can be determined whether there are obstacles that affect the door's closing within the preset range of the door's changing running direction. If there are no obstacles within the preset range in the direction from point C to point B, the door can be controlled to change its running direction. In addition, if there is an obstacle in the direction from point C to point A, it will not affect the door's changing running direction because it is not in the door's running direction.

[0062] In some embodiments, after controlling the vehicle door to change the running direction, the method further includes:

[0063] According to the obstacle information, it is determined that there is an obstacle within a preset range in the direction in which the door changes its movement, and the door is controlled to stop moving.

[0064] After controlling the door to change its running direction, the obstacle information within the preset range of the door can be obtained again, and it can be determined whether there is an obstacle within the preset range in the changed running direction of the door. If there is no obstacle, the door can run in the changed direction. If there is an obstacle, the door should be controlled to stop running to avoid the door continuing to run and colliding with the obstacle, which may cause safety hazards. In some optional embodiments, the vehicle is also provided with an alarm device, and when it is determined that there is an obstacle, the vehicle warns the user through the alarm device. For example, it can be prompted by sound or by light, and the embodiments of the present disclosure do not limit this.

[0065] It should be noted that in other examples provided in the embodiments of the present disclosure, corresponding prompts may also be given when obstacles are detected to enable the user to pay attention to the surrounding conditions and ensure safety.

[0066] In some embodiments, it also includes:

[0067] It is determined that the door is in a stationary state, and the second door control information is obtained.

[0068] According to the second door control information satisfying the start-up operation control condition, the door is controlled to restore the operation state before the door is in the stationary state.

[0069] After the door is controlled to stop, the door is in a stationary state, and the vehicle obtains the second door control information, and then adjusts the operating state of the door according to the second door control information to avoid the door being in a stationary state for a long time, which cannot meet the needs of users and affect the normal operation of the vehicle. If the second door control information meets the start-up operation control condition, the door is controlled to restore the operating state before the door is in a stationary state. For example, the door is in a stationary state because there is an obstacle in the running direction. According to the obtained second door control information, it is determined that the obstacle disappears or will not affect the operation of the door, and the start-up operation control condition is met. At this time, the door can be controlled to restore the operating state before the door is in a stationary state. Among them, the second door control information includes multiple different types of information, which will be explained in detail in the subsequent embodiments.

[0070] In some embodiments, the start-up operation control condition is satisfied according to the second door control information, including:

[0071] According to the triggering number of the second door control information within the preset time meeting the second preset number, it is determined that the second door control information meets the start-up operation control condition.

[0072] For example, in order to improve the accuracy of the judgment process, the number of triggering times of the second door control information is detected within a preset time, and if the number of triggering times meets the second preset number, it is determined that the second door control information meets the start-up operation control condition. This can avoid the situation where the number of triggering times is large but the triggering interval is long. For example, the interval time of the number of triggering times of the second door control information is detected by a timer.

[0073] Among them, the second door control information mentioned here can be triggered in a variety of different ways. As with the first door control information type, the second door control information can be triggered by a user button. When the number of button triggerings within a preset time meets a second preset number of times, it is determined that the second door control information meets the start-up operation control condition. In some optional implementations, the second door control information can be triggered by a user gesture. When the number of gesture triggerings within a preset time meets a second preset number of times, it is determined that the second door control information meets the start-up operation control condition. In some optional implementations, the user can trigger the second door control information through a program on a mobile phone. When the number of triggerings within a preset time meets a second preset number of times, it is determined that the second door control information meets the start-up operation control condition.

[0074] It should be noted that the above embodiments are only optional implementations provided by the embodiments of the present disclosure, and can also be configured according to actual needs, or the above embodiments can be combined.

[0075] Regarding the vehicle control method provided by the embodiment of the present disclosure, the embodiment of the present disclosure also provides a vehicle control device, Figure 2 A structural block diagram of a vehicle control device provided by an embodiment of the present disclosure, such as Figure 2 As shown, the vehicle control device includes: an information acquisition module 21 and a control module 22.

[0076] The information acquisition module 21 is used to determine that the door is in an operating state, and obtain the first door control information and / or the obstacle information within the preset range of the door. The control module 22 is used to control the door to change the operating direction according to the first door control information to meet the direction change control condition, and / or to determine that there is an obstacle that affects the operation of the door according to the obstacle information. The operating state includes the door being in the opening process and / or the door being in the closing process.

[0077] The vehicle control device disclosed in the above embodiments can execute the vehicle control method disclosed in the above embodiments, and has the same or corresponding beneficial effects. To avoid repetition, they will not be described again here.

[0078] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method described in any of the above embodiments are implemented.

[0079] It should be noted that examples of readable storage media include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device or component.

[0080] The storage medium provided by the above-mentioned embodiments of the present disclosure and the vehicle control method provided by the embodiments of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs or instructions stored therein.

[0081] The present disclosure also provides a vehicle, Figure 3 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, it includes a memory 31 and a processor 32; the memory 31 stores executable programs or instructions; the processor 32 runs the programs or instructions to implement the steps of the vehicle control method as described in any of the above embodiments.

[0082] It is understood that the memory in this embodiment may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. In some embodiments, the memory stores the following elements: executable units or data structures, or their subsets, or their extended sets of operating systems and applications. In the embodiment of the present disclosure, the processor executes the steps of each embodiment of the vehicle control method provided in the embodiment of the present disclosure by calling the program or instruction stored in the memory.

[0083] The vehicle control method provided by the embodiment of the present disclosure can be applied to a processor or implemented by a processor. The processor can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0084] The steps of the vehicle control method provided in the embodiment of the present disclosure can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software units in the decoding processor. The software unit can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the method in combination with its hardware.

[0085] The vehicle may also include one physical component, or multiple physical components, according to the instructions generated by the processor when executing the vehicle control method provided by the embodiment of the present disclosure. Different physical components can be set inside the vehicle, or outside the vehicle, such as a cloud server, etc. Each physical component cooperates with the processor and the memory to realize the functions of the vehicle in this embodiment.

[0086] 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.

[0087] 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 vehicle control method, characterized in that: include: Determining that the vehicle door is in an operating state, and obtaining first vehicle door control information and / or obstacle information within a preset range of the vehicle door; Controlling the door to change its running direction according to the first door control information satisfying a direction change control condition and / or determining that there is an obstacle affecting the operation of the door according to the obstacle information; The operating state includes the vehicle door being in an opening process and / or the vehicle door being in a closing process.

2. The vehicle control method according to claim 1, characterized in that: The step of satisfying a direction change control condition according to the first door control information includes: According to the triggering number of the first door control information within the preset time satisfying the first preset number, it is determined that the first door control information satisfies the direction change control condition.

3. The vehicle control method according to claim 1, characterized in that: The determining, according to the obstacle information, that there is an obstacle that affects the operation of the door comprises: It is determined according to the obstacle information that there is an obstacle within a preset range in the door running direction, and it is determined that there is an obstacle that affects the door running.

4. The vehicle control method according to claim 1, characterized in that: Before controlling the vehicle door to change the running direction, the method further includes: It is determined according to the obstacle information that there is no obstacle within a preset range in the direction in which the door changes its movement.

5. The vehicle control method according to claim 1, characterized in that: After controlling the vehicle door to change the running direction, the method further includes: It is determined according to the obstacle information that there is an obstacle within a preset range in the direction in which the door changes its movement, and the door is controlled to stop moving.

6. The vehicle control method according to claim 5, characterized in that: Also includes: Determining that the vehicle door is in a stationary state, and acquiring second vehicle door control information; According to the second door control information satisfying the start-up operation control condition, the door is controlled to restore the operation state before the door is in the stationary state.

7. The vehicle control method according to claim 6, characterized in that: The starting operation control condition is satisfied according to the second door control information, comprising: According to the triggering number of the second door control information within the preset time meeting the second preset number, it is determined that the second door control information meets the start-up operation control condition.

8. A vehicle control device, characterized in that: include: An information acquisition module, used to determine whether the door is in operation, and acquire first door control information and / or obstacle information within a preset range of the door; a control module, configured to control the door to change its running direction according to the first door control information satisfying a direction change control condition and / or determining the existence of an obstacle affecting the operation of the door according to the obstacle information; The operating state includes the vehicle door being in an opening process and / or the vehicle door being in a closing process.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the vehicle control method according to any one of claims 1 to 7 when executing the computer program.

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