Vehicle control method and vehicle

Abstract

The invention relates to the field of vehicle intelligent control, in particular to a vehicle control method and a vehicle. According to the method provided by the embodiment of the invention, by monitoring the passive rotation amount of the vehicle door in real time, when the vehicle door is passively rotated due to external force, the target is always clear to guide the corresponding rotating vehicle door to the closed position or the safe area no matter whether the single vehicle door or the two vehicle doors are controlled to rotate at the same time. Therefore, in the whole control process, the vehicle doors cannot be simultaneously located in non-safe areas which are possibly in contact with each other, and the safety of the positions of the vehicle doors in the using process of the vehicle is guaranteed. Meanwhile, the whole process does not need manual processing of the user, and smoother and more efficient vehicle using experience is brought to the user.

Description

Technical Field

[0001] The present invention relates to the field of vehicle intelligent control, and in particular to a vehicle control method and a vehicle. Background Art

[0002] In modern vehicle design, especially for vehicles with special rear doors (such as upper and lower doors), safe operation of rear doors is crucial. In daily use of the vehicle, users frequently open and close the rear doors, which involves the displacement control of the doors. With the development of vehicle technology, the demand for intelligent control of doors is increasing.

[0003] In the traditional vehicle door design and control scheme, there is a lack of effective coordinated control of the mutual movement relationship between the upper and lower doors in the vehicle's tailgate, which makes it easy for the two doors to enter the possible collision area at the same time during the opening and closing process. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a vehicle control method and a vehicle to solve the problem that the prior art lacks effective coordinated control of the mutual movement relationship between the upper and lower doors, and the two doors are prone to enter a possible collision area during the opening and closing process.

[0005] In a first aspect, a vehicle comprises a vehicle body, a first door, a second door, a controller, a first drive device and a second drive device, wherein the first drive device and the second drive device are respectively connected to the first door and the second door, and the controller is respectively connected to the first drive device and the second drive device for communication; the controller can drive the first door and the second door to rotate relative to the vehicle body by controlling the first drive device and the second drive device; the first door can cover and partially overlap the second door to close the vehicle body by rotating; the first door and the second door define a closed position, a non-safe zone where there is a probability of contact between each other, and a safe zone where there is no contact between each other; it is characterized in that The vehicle further includes a sensor communicatively connected to the controller, the sensor being configured to detect an amount of passive rotation of the first door and / or the second door; When the sensor detects that the passive rotation amount of the first door and / or the second door is not zero, the controller controls the corresponding first door and / or the second door to actively rotate until the sensor detects that the corresponding rotated first door and / or the second door is in a closed position or in a safe area.

[0006] Furthermore, The controller is further configured to, when only one of the first door and the second door has a non-zero passive rotation amount, detect the passive rotation direction of the door whose passive rotation amount is not zero, and actively control the door whose passive rotation amount is not zero to continue rotating to a closed position or a safety zone according to the passive rotation direction; or, The controller is also used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door and the second door has a passive rotation amount that is not zero, and actively control the other door whose passive rotation amount is zero to move in the opposite direction of the passive rotation direction to a closed position or a safe area.

[0007] Furthermore, The controller is further used to actively control the first door and the second door to rotate until both the first door and the second door are in the closed position, or both the first door and the second door are in the safety zone.

[0008] Furthermore, The sensor is specifically used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door and the second door has a passive rotation amount that is not zero; The controller is specifically used to control the first drive device and the second drive device according to the passive rotation direction detected by the sensor, to rotate the door of the first door and the second door whose passive rotation amount is not zero in the passive rotation direction, and to rotate the door of the first door and the second door whose passive rotation amount is zero in the opposite direction of the passive rotation direction.

[0009] Furthermore, The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, control the first door and / or the second door to stop rotating.

[0010] Furthermore, The sensor is specifically used to detect a first stop position of the first door and / or a second stop position of the second door where a stop occurs; The controller is specifically used to determine whether the corresponding first stop position and / or second stop position is located in the unsafe zone. When the first stop position and / or the second stop position is located in the unsafe zone, the corresponding first door and / or the second door is controlled to rotate to the closed position or the safe zone.

[0011] Furthermore, The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, adjust the rotation speed and / or rotation time of the first door and / or the second door, and control the corresponding first door and / or the second door to rotate to the closed position or the safety zone.

[0012] Furthermore, The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is no risk of pinching hands, continue to control the first door and the second door to rotate in the passive rotation direction until the first door and / or the second door rotate to the closed position or the safety zone.

[0013] Furthermore, The sensor is further used to detect whether the first door and the second door are passively stationary during the process of the first door and the second door rotating; The controller is used to control the other door to stop rotating through the first driving device or the second driving device when any one of the first door and the second door is passively stationary.

[0014] In a second aspect, an embodiment of the present invention provides a vehicle control method, wherein the vehicle includes a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, the first door can cover and partially overlap the second door by rotating to close the vehicle body, the first door and the second door define a closed position, a non-safe zone that may contact each other, and a safe zone that does not contact each other; the method includes: Obtaining the passive rotation amount of the first door and / or the second door; If it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, either or both of the first door and the second door are actively controlled to rotate; until the corresponding rotated first door and / or second door is in a closed position or a safe area.

[0015] Further, actively controlling either or both of the first door and the second door to rotate until the correspondingly rotated first door and / or the second door is in a closed position or in a safe zone, comprises: When the passive rotation amount of only one of the first door and the second door is not zero, detecting the passive rotation direction of the door whose passive rotation amount is not zero, and actively controlling the door whose passive rotation amount is not zero to continue rotating to a closed position or a safety zone according to the passive rotation direction; or, When the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is detected, and the other door whose passive rotation amount is zero is actively controlled to move in the opposite direction of the passive rotation direction to a closed position or a safe area.

[0016] Further, actively controlling one or both of the first door and the second door to rotate until the correspondingly rotated first door and / or the second door is in a closed position or a safe zone, comprises: The first door and the second door are actively controlled to rotate until both of the first door and the second door are in the closed position or both of the first door and the second door are in the safety zone.

[0017] Further, actively controlling the first door and the second door to rotate includes: When the passive rotation amount of only one of the first door and the second door is not zero, obtaining the passive rotation direction of the door whose passive rotation amount is not zero; Actively control the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and control the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0018] Furthermore, after controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is a risk of pinching hands, the first door and / or the second door are controlled to stop rotating.

[0019] Furthermore, after controlling the first door and / or the second door to stop rotating, the method further includes: Acquire a first stop position of the first door and / or a second stop position of the second door where the door stops; When the first stop position and / or the second stop position is located in the unsafe zone, the corresponding first door and / or the second door is controlled to rotate to the closed position or the safe zone.

[0020] Furthermore, after controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is a risk of pinching hands, the rotation speed and / or rotation time of the first door and / or the second door are adjusted, and the corresponding first door and / or the second door are controlled to rotate to the closed position or the safety zone.

[0021] Furthermore, after controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is no risk of pinching fingers, the first door and the second door are continuously controlled to rotate in the passive rotation direction until the first door and / or the second door rotate to the closed position or the safety zone.

[0022] Furthermore, after actively controlling one or both of the first door and the second door to rotate if the passive rotation amount of the corresponding first door and / or second door is not zero, the method further includes: In the process of controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary; If any one of the first door and the second door is in passive stationary state, the one of the first door and the second door that is not in passive stationary state is controlled to also stop rotating.

[0023] In a third aspect, an embodiment of the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0024] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0025] The method provided in the embodiment of the present application can monitor the passive rotation amount of the door in real time. When the door is passively rotated due to external force, whether it is controlling a single door or two doors to rotate simultaneously, the goal is always to guide the corresponding rotating door to a closed position or a safe zone. Therefore, during the entire control process, it is ensured that the doors will not be in an unsafe zone where they may contact each other at the same time, ensuring the safety of the door position during vehicle use. At the same time, the entire process does not require manual processing by the user, bringing users a smoother and more efficient car experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 is a schematic diagram of a vehicle structure according to some embodiments of the present invention; Figure 2 is a schematic diagram of a closed position of a first door and a second door according to some embodiments of the present invention; Figure 3 is a schematic diagram of a non-safe zone according to some embodiments of the present invention; Figure 4 is a schematic diagram of a safety zone according to some embodiments of the present invention; Figure 5 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 6 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 7 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 8 is a schematic diagram of finger pinching risk according to some embodiments of the present invention; Fig. 9 is a schematic diagram of a closed state of a first door and a second door according to some embodiments of the present invention; Fig.10 is a schematic diagram of opening a first door and a second door according to some embodiments of the present invention; Fig.11 is a flow chart of a vehicle control method according to some embodiments of the present invention; Fig.12 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.13 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.14 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.15 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.16 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.17 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.18 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.19 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig. 20 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.21 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0029] According to an embodiment of the present invention, a vehicle control method and a vehicle are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The present application embodiment provides a vehicle, such as Figure 1 As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15. The first drive device 14 and the second drive device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively connected to the first drive device 14 and the second drive device 15 for communication; the controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive device 14 and the second drive device 15; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe zone where there is a probability of contact with each other, and a safe zone where there is no contact with each other. As shown Figure 2 As shown in FIG. 1 , a schematic diagram of the structure in which the first door and the second door are fully opened. Figure 3 As shown, it is a schematic structural diagram of the first door and the second door in the closed position.

[0031] In the embodiment of the present application, the first door and the second door have two movement modes: active rotation and passive rotation. Active rotation means that the door can achieve purposeful rotation through its own power drive device (such as a motor, etc.) according to the instructions of the vehicle control system or the user's operation, thereby completing the door opening or closing action. Passive rotation refers to the rotation of the door when it is subjected to the force applied by an external non-vehicle control system. This external force may come from a variety of situations, such as the user manually forcibly pushing the door, the door encountering an obstacle during movement, the vehicle being hit by an external impact causing the door to be subjected to force, etc.

[0032] like Figure 4 As shown, the first door 11 and the second door 12 define a closed position, which can be understood as follows: during the door closing process, the first door rotates around the connection point between the first door and the vehicle body, and finally covers the second door, and partially overlaps with the second door, thereby forming a complete closed structure to isolate the interior of the vehicle body from the external environment. In addition, during the rotation of the first door and the second door relative to the vehicle body, different areas will be formed according to their movement trajectories and spatial position relationship. Figure 5As shown in FIG. 1 , the non-safe area refers to the area where the first door and the second door may contact each other during the door rotation process, which is usually caused by the movement trajectory and angle change of the door. Figure 6 As shown, the safety zone refers to the area where the two doors will not touch each other when the doors are swung.

[0033] In the embodiment of the present application, the vehicle further includes a sensor 16 communicatively connected to the controller 13 , and the sensor 16 is used to detect the passive rotation amount of the first door 11 and / or the second door 12 .

[0034] When the sensor detects that the passive rotation amount of the first door 11 and / or the second door 12 is not zero, the controller 13 controls the corresponding first door 11 and / or the second door 12 to actively rotate until the sensor detects that the corresponding rotated first door 11 and / or the second door 12 is in a closed position or in a safe area.

[0035] The sensor 16 mainly monitors the passive rotation of the first door 11 and / or the second door 12. The so-called passive rotation refers to the rotation change of the door due to external force (not the force actively applied by the vehicle's own drive system). This external force may come from manual pushing and pulling by the user, collision with external objects, etc. Among them, the sensor can be a Hall element in the motor. The Hall element can accurately sense the rotation of the motor, thereby indirectly detecting the passive rotation of the first door 11 and / or the second door 12. When the door is passively rotated due to external factors, the Hall element connected to the door drive device will sense the rotation change of the motor and feed back the relevant electrical signal to the controller 13. After receiving the signal, if the controller 13 determines that the passive rotation of the first door 11 and / or the second door 12 is not zero, it will control the corresponding first door 11 and / or the second door 12 to rotate actively. During the active rotation of the door, the Hall element continuously monitors the rotation of the motor until it detects that the correspondingly rotating first door 11 and / or second door 12 is in a closed position or in a safe zone, at which time the controller 13 stops the active rotation control of the door.

[0036] When the sensor 16 detects that the passive rotation amount of the first door 11 and / or the second door 12 is not zero, it means that the door is interfered with by the outside world. At this time, the controller 13 will respond by controlling the corresponding first door 11 and / or the second door 12 to actively rotate. Active rotation means that the vehicle's own drive system (such as a motor and other devices) drives the door to rotate according to the instructions set by the controller. The goal of the controller is to make the door in this state eventually reach the closed position (i.e. the state where the door is completely closed) or be in a safe zone (an area where the first door and the second door will not contact each other during the rotation process).

[0037] It should be noted that active rotation includes: during the active rotation of the door, the user may also pull the door. For example, when the vehicle automatically closes the door, the user may pull the door manually for some reason. When the user removes the pulling force, the door will continue to move a certain distance in the active rotation mode set by the controller. This is because the controller has issued an active rotation instruction based on the passive rotation amount detected previously, and the vehicle drive system will continue to execute this instruction until the door reaches the closed position or the safety zone.

[0038] There is another situation, that is, after the sensor senses the passive rotation, the user no longer applies additional driving force to the door. At this time, the entire subsequent movement of the door is completed by the vehicle's own active rotation. This is because once the sensor detects the passive rotation, the controller will intervene and start the active rotation control. Even if the user no longer applies external force, the vehicle's drive system will still drive the door to the closed position or safe zone according to the program set by the controller. This design ensures that no matter how the user operates after the passive rotation, the door can complete the corresponding action in a safe state, improving the convenience and safety of vehicle use.

[0039] In the embodiment of the present application, the controller 13 is also used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door 11 and the second door 12 has a passive rotation amount that is not zero, and actively control the door whose passive rotation amount is not zero to continue rotating in the passive rotation direction to a closed position or a safe zone.

[0040] In the embodiment of the present application, when it is detected that the passive rotation amount of only one of the first door 11 and the second door 12 is not zero, it indicates that only one of the doors is subjected to external interference force, resulting in a rotation that is not actively controlled by the system. At this time, the controller 13 will further detect the passive rotation direction of the door whose passive rotation amount is not zero. This direction is determined by the moment when the external interference force is applied. For example, when the user manually pulls the door, the direction in which the door moves is the passive rotation direction.

[0041] Then, the controller 13 will actively control the door to continue rotating based on the detected passive rotation direction. The active rotation here corresponds to the active rotation mentioned above. For example, it may happen that the user pulls the door (generates passive rotation) so that the sensor senses the passive rotation and the user no longer applies additional driving force. At this time, the controller intervenes and actively controls the door to continue rotating through the drive device according to the detected passive rotation direction. Even after the user removes the pulling force, the door will continue to move a distance according to the active rotation instruction set by the controller based on the passive rotation direction until it reaches the closed position (the state where the door is completely closed) or the safety zone (the area where the doors do not touch each other). This design not only takes into account the user's temporary operation needs, but also ensures that the door is ultimately in a safe and appropriate position through the active control of the system, thereby ensuring the normal use and safety of the vehicle.

[0042] As an example, Figure 7 As shown, the user manually pulls the first door 11 to generate a non-zero passive rotation amount, and the passive rotation amount of the second door 12 is zero. After the vehicle sensor detects this state, it transmits the information to the controller 13. The controller 13 detects that the passive rotation direction of the first door 11 is counterclockwise. Subsequently, the controller 13 actively controls the first driving device of the first door 11 according to the passive rotation direction, and controls the first door 11 to move to a safe area where the two doors do not contact each other.

[0043] In the embodiment of the present application, the controller 13 is also used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door 11 and the second door 12 has a passive rotation amount that is not zero, and actively control the other door whose passive rotation amount is zero to move in the opposite direction of the passive rotation direction to a closed position or a safe zone.

[0044] In the embodiment of the present application, the vehicle monitors the passive rotation amount of the first door 11 and the second door 12 in real time through sensors. This control strategy takes effect when and only when the passive rotation amount of only one of the two doors is not zero, that is, only one door rotates due to the force actively applied by the external non-vehicle system (for example, the user may manually push or pull the door, or the door may be accidentally hit, etc.), and the passive rotation amount of the other door is zero.

[0045] Once the above conditions are met, the controller 13 will detect the passive rotation direction of the door whose passive rotation amount is not zero. This direction is determined by the moment of external force application. For example, when a user pushes the door from inside the car to outside, the outward rotation direction of the door is the passive rotation direction to be detected by the controller.

[0046] The controller 13 will actively control the door with a passive rotation amount of zero to move in the opposite direction to the detected passive rotation direction. This is done to avoid collision between the two doors during subsequent movement, or to ensure that the doors can still complete the closing action or remain in a safe position in this special case. For example, if the first door 11 rotates toward the front of the vehicle (the passive rotation direction is upward) due to external force, the controller 13 will control the second door 12 with a passive rotation amount of zero to rotate toward the rear of the vehicle, that is, in the opposite direction to the passive rotation direction of the first door 11.

[0047] The controller 13 controls the door with zero passive rotation to move in reverse, with the ultimate goal of making the door reach the closed position or safety zone. The closed position means that the door is completely closed, providing a closed space inside the vehicle; the safety zone refers to the area where the two doors will not contact each other during the movement of the door, so as to ensure the safety of the door during the movement, prevent damage to the door due to collision, and ensure the normal use and safety of the vehicle as a whole.

[0048] As an example, Figure 8 As shown, the user operates the first door 11, causing it to passively rotate and the amount of rotation is not zero, while the second door 12 remains stationary and the amount of passive rotation is zero. The vehicle's sensor system monitors the door status in real time and transmits the passive rotation information of the first door 11 to the controller 13. After receiving the information, the controller 13 detects the passive rotation direction of the first door 11, assuming it is counterclockwise. Based on this detection result, the controller 13 issues an instruction to actively control the drive device of the second door 12, so that the second door 12 moves in the opposite direction of the passive rotation direction of the first door 11, that is, in the clockwise direction. During the movement, the controller 13 determines whether the second door 12 can safely reach the closed position based on the data fed back by the door position sensor. If there is a risk of collision with the first door 11 during the closing process, the controller 13 will promptly adjust the movement of the second door 12 so that it stays in the safe zone to ensure that the two doors do not contact each other when rotating.

[0049] In the embodiment of the present application, the controller 13 is also used to actively control the first door 11 and the second door 12 to rotate until both the first door 11 and the second door 12 are in the closed position, or both the first door 11 and the second door 12 are in the safety zone.

[0050] In the embodiments of the present application, the closed position refers to the door being completely closed, forming a closed space with the vehicle body, and realizing the normal closed state of the vehicle. The safety zone refers to the area where the two doors will not contact each other during the rotation of the door. Ensuring that the door is in the safety zone can effectively avoid collisions during the movement of the door and prevent damage to the door.

[0051] Through this active control method, no matter what the initial state of the vehicle is, as long as the controller 13 starts this function, it can ensure that the first door 11 and the second door 12 move towards a closed or safe position, thereby improving the convenience and safety of vehicle use and avoiding potential risks caused by doors not being closed or collisions during movement.

[0052] As an example, Fig. 9 As shown, the controller 13 of the vehicle actively controls the driving devices of the first door 11 and the second door 12, so that the two doors start to rotate. During the rotation process, the controller 13 continuously receives feedback information from the door position sensor and the angle sensor, and monitors the position and state of the two doors in real time. If no collision risk is detected between the doors during the rotation process, the controller 13 will continue to control the rotation of the two doors until the first door 11 and the second door 12 both reach the closed position, forming a closed space with the vehicle body, and achieving a normal closed state of the vehicle. If during the rotation process, it is detected that there may be a collision between the doors, for example, the door angle and position data show that the movement trajectories of the two will cross, the controller 13 will promptly adjust the rotation speed and direction of the two doors, and control the first door 11 and the second door 12 to a safe area to avoid collision and damage to the doors during movement.

[0053] In the embodiment of the present application, the sensor 16 is specifically used to detect the passive rotation direction of the door whose passive rotation amount is not zero when the passive rotation amount of only one of the first door and the second door is not zero; The controller 13 is specifically used to control the first driving device and the second driving device according to the passive rotation direction detected by the sensor, rotate the door of the first door and the second door whose passive rotation amount is not zero in the passive rotation direction, and rotate the door of the first door and the second door whose passive rotation amount is zero in the opposite direction of the passive rotation direction.

[0054] In the embodiment of the present application, the controller 13 receives the passive rotation direction information from the sensor 16, and accurately controls the first drive device and the second drive device based on this information, so as to achieve reasonable adjustment of the rotation of the two doors. The controller 13 will control the corresponding drive device to allow the door whose passive rotation amount is not zero to continue to rotate in the passive rotation direction detected by the sensor. It can be understood that if the first door is opened outward due to external force, the controller 13 will use the first drive device to make the first door continue to open outward.

[0055] At the same time, the controller 13 will instruct another driving device to rotate the door with zero passive rotation amount in the direction opposite to the detected passive rotation direction. For example, when the first door is opened outwards under the action of external force, the controller 13 will control the second driving device to rotate the second door in the closing direction.

[0056] As an example, the user manually pushes the first door, causing it to passively rotate and the amount of rotation is not zero, while the second door is stationary and the amount of passive rotation is zero. The sensor 16 monitors the state of the door in real time. After detecting the passive rotation of the first door, it quickly determines the direction of its passive rotation and transmits the information to the controller 13. The controller 13 receives the direction information and controls the first drive device based on it, so that the first door with a non-zero passive rotation amount continues to rotate in the detected passive rotation direction. At the same time, the controller 13 controls the second drive device to rotate the second door with a zero passive rotation amount in the opposite direction of the passive rotation direction of the first door. During the rotation process, the controller 13 monitors the position of the two doors in real time based on the data fed back by the door position sensor. If it is found that the two doors are at risk of collision, the control parameters of the drive device are adjusted in time to ensure that the two doors are always in a non-collision state.

[0057] In an embodiment of the present application, the controller 13 is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, the first door and / or the second door is controlled to stop rotating.

[0058] In the embodiment of the present application, when the controller 13 obtains that the passive rotation of the first door and the second door are both zero, it indicates that the doors are no longer subject to external forces such as external push and pull. The vehicle is in a relatively stable operating state, and the movement of the doors is only controlled by the vehicle's own drive system. In this case, the controller 13 activates the finger pinching risk judgment mechanism. Among them, the current motion state includes the rotation speed of the door and the rotation direction of the door, and can also include the rotation acceleration of the door, etc. The finger pinching risk judgment can be determined in the following ways: The angle between the first door and the second door is used as a basis for judgment. When this angle is less than or equal to the preset angle, it means that the space between the doors is already small. If the door is turned further, the space will be further reduced, and at this time, it is determined that there is a risk of hand pinching. Another basis is the gap distance between the first door and the second door. When the gap distance is less than or equal to the preset distance, if the door is turned further, there is also a high possibility that objects or human body parts will be pinched, so it is also determined that there is a risk of hand pinching.

[0059] Specifically, first obtain the rotation speed and direction of the two doors, and judge whether the two doors are approaching or moving away from each other based on the rotation direction. If they are approaching each other, then analyze them in combination with the rotation speed. When the rotation speed is fast, even if the current door angle and gap distance are within a safe range, the space may be reduced in a short period of time due to rapid approach. During continuous monitoring, such as Fig.10 As shown, when it is found that the door angle is less than or equal to a specific preset angle (for example, the angle between angle a and angle b is less than 10°), or the gap distance is less than or equal to a preset distance (for example, 5 cm), and the rotation direction is approaching each other and the rotation speed has not been slowed down to a safe level, it is determined that there is a risk of pinching the hands.

[0060] In the embodiment of the present application, the sensor 16 is specifically used to detect the first stop position of the first door and / or the second stop position of the second door where the vehicle stops; The controller 13 is specifically used to determine whether the corresponding first stop position and / or second stop position is located in an unsafe zone. When the first stop position and / or second stop position is located in the unsafe zone, the corresponding first door and / or second door is controlled to rotate to a closed position or a safe zone.

[0061] Specifically, the sensor 16 monitors the motion state of the first door and the second door in real time through a built-in position detection module (such as a combination of a high-precision displacement sensor, an angle sensor, etc.). When the first door or the second door stops moving, the sensor 16 can immediately capture the position information of the door at the moment of stopping, and generate first stop position data of the first door and second stop position data of the second door respectively.

[0062] The sensor 16 transmits the detected first stop position and / or second stop position data to the controller 13 via a communication bus (such as a CAN bus, etc.) inside the vehicle.

[0063] After receiving the stop position data from the sensor 16, the controller 13 makes a judgment based on the pre-set non-safe zone model. The model may be constructed based on parameters such as the movement trajectory, size, and possible rotation range of the door. The controller 13 compares the received stop position data with the data in the non-safe zone model to determine whether the first stop position and / or the second stop position falls within the non-safe zone. If the controller 13 determines that the first stop position and / or the second stop position is located in the non-safe zone, the corresponding control strategy will be immediately activated. It will send control instructions to the corresponding drive device of the first door and / or the second door according to the current state of the vehicle and the preset logic.

[0064] After receiving the instruction from the controller 13, the first driving device and the second driving device drive the door to rotate according to the instruction. If the target is the closed position, the door is controlled to rotate to be fully closed to form a closed space with the vehicle body; if the target is the safe zone, the door is controlled to rotate according to the real-time feedback position so that the door reaches a position where the two doors will not contact each other during the subsequent rotation process. During this process, the sensor 16 continuously monitors the door position and feeds back the information to the controller 13 so that the controller 13 can adjust the control strategy in real time to ensure that the door accurately reaches the target position.

[0065] In the embodiment of the present application, the controller 13 is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, adjust the rotation speed and / or rotation time of the first door and / or the second door, and control the corresponding first door and / or the second door to rotate to a closed position or a safe area.

[0066] Specifically, the controller 13 obtains the rotation speed of the first door and the second door through the speed sensor, obtains the rotation direction through the angle sensor, and can also combine with the acceleration sensor to obtain information such as rotation acceleration to fully understand the current movement state of the door.

[0067] The controller 13 calculates the angle between the first door and the second door based on the data from the angle sensor. If the angle is less than or equal to a preset safety angle threshold (e.g., 10°), and the rotation directions of the two doors are close to each other, it is determined that there is a risk of pinching the hand. Alternatively, the gap distance between the first door and the second door is measured by the distance sensor. When the gap distance is less than or equal to a preset safety distance threshold (e.g., 5 cm), and it is determined that the gap will be further reduced in combination with the rotation speed and direction, it is also determined that there is a risk of pinching the hand.

[0068] If the controller 13 determines that there is a risk of pinching, it will formulate an adjustment strategy based on the severity of the risk and the specific state of the current door. For example, if the current door rotates at a fast speed, the controller 13 will send a command to the door drive device to reduce the output power of the motor, thereby reducing the door's rotation speed. For DC motors, this can be achieved by adjusting the duty cycle of the PWM (pulse width modulation) signal; for AC motors, variable frequency speed regulation and other methods can be used. Alternatively, the time required for the door to rotate is recalculated based on the current position and target position of the door. If it is expected that rotating according to the original time will increase the risk of pinching, the controller 13 will appropriately extend the rotation time. Based on the current door position and collision risk assessment, the controller 13 decides to rotate the door to a closed position or a safe zone. If, through calculation and judgment, the door continues to rotate to the closed position without causing new risks, the door is controlled to rotate toward the closed position; if there is a possibility of collision, the door is controlled to rotate to the safe zone.

[0069] The controller 13 sends a control signal to the driving device of the first door and / or the second door, and drives the door to rotate toward the target position according to the adjusted rotation speed and rotation time. During the rotation process, the sensor continuously feeds back information such as the position and speed of the door, and the controller 13 adjusts the control parameters in real time to ensure that the door reaches the target position.

[0070] In the embodiment of the present application, the controller 13 is also used to determine whether there is a risk of pinching the hands if the first door and the second door continue to rotate according to the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is no risk of pinching the hands, the first door and the second door continue to be controlled to rotate in the passive rotation direction until the first door and / or the second door rotate to a closed position or a safe area.

[0071] Specifically, the controller 13 calls various sensors installed on the vehicle doors to obtain relevant data. The speed sensor provides the rotation speed of the first door and the second door, the angle sensor obtains the rotation direction, and the acceleration sensor obtains the rotation acceleration, thereby obtaining the current motion state.

[0072] The controller 13 calculates the angle between the first door and the second door. If the angle is greater than a preset safety angle threshold (e.g., 10°), and the door rotation direction will not further reduce the angle to a dangerous range, it is preliminarily determined that there is no risk of pinching the hand. Alternatively, a distance sensor is used to measure the gap distance between the first door and the second door. When the gap distance is greater than a preset safety distance threshold (e.g., 5 cm), and it is determined that the gap will not be reduced to a dangerous value based on the rotation speed and direction, it is further confirmed that there is no risk of pinching the hand.

[0073] After determining that there is no risk of pinching, the controller 13 determines the target position of the first door and the second door, i.e., the closed position or the safe zone. If there is no obstacle between the current position and the closed position of the door and there is no risk of collision, the target position is set to the closed position; if there is a potential risk of collision, the target position is set to the safe zone. The controller 13 sends a control instruction to the drive devices corresponding to the first door and the second door, respectively, and the instruction includes target position information and corresponding parameters such as rotation speed and rotation time. These parameters are calculated and adjusted according to the current position, target position and preset motion rules of the door.

[0074] During the door rotation process, the sensor continuously feeds back information such as the door position, speed, angle, etc. to the controller 13. The controller 13 adjusts the control instructions in real time according to the feedback information to ensure that the door accurately rotates to the target position according to the predetermined passive rotation direction and speed. For example, if the actual door rotation speed deviates from the preset speed, the controller 13 will adjust the driving current or voltage of the motor to restore the door rotation speed to the preset value.

[0075] As an example, the user applies external force to the first door and the second door at the same time to make them rotate, and then stops applying force. At this time, the sensor 16 monitors in real time that the passive rotation of the first door and the second door is zero, which means that they are no longer subject to the pulling force of the user. The sensor 16 quickly transmits this information to the controller 13. The controller 13 then determines whether there is a risk of pinching the hands if the first door and the second door continue to rotate according to the current motion state based on the built-in risk assessment model. If it is determined that there is a risk of pinching the hands, the controller 13 immediately adjusts the rotation speed of the first door and / or the second door, or changes the rotation time. Then, the controller 13 controls the corresponding first door and / or the second door to rotate to the closed position, or rotate to the maximum opening angle, so as to avoid pinching the hands.

[0076] In the embodiment of the present application, the sensor 16 is also used to detect whether the first door and the second door are passively stationary during the process in which both the first door and the second door are rotating; The controller 13 is used to control the other door to stop rotating through the first driving device or the second driving device when any one of the first door and the second door is passively stationary.

[0077] Specifically, after receiving the data sent by the sensor 16, the controller 13 can compare the angular velocity and displacement data at multiple consecutive sampling moments to determine whether the door is passively stationary. For example, if the angular velocity of a door is zero at three consecutive sampling moments and the displacement does not change, it is determined that the door is passively stationary.

[0078] During the judgment process, the controller 13 will exclude active stationary situations such as normal parking, and only identify passive stationary situations caused by external interference (such as obstacles, human obstruction, etc.). When the controller 13 determines that any one of the first door and the second door is in passive stationary state, it will immediately generate corresponding control instructions based on the information of the door in which the passive stationary state occurs. If the first door is in passive stationary state, the controller 13 will generate an instruction to control the second door to stop rotating; conversely, if the second door is in passive stationary state, the controller 13 will generate an instruction to control the first door to stop rotating.

[0079] The controller 13 sends the generated control instruction to the corresponding first drive device or second drive device. After receiving the instruction, the drive device will immediately adjust the output power or current of the motor to stop the other door from rotating quickly to avoid possible collision or other safety accidents.

[0080] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.11 As shown, the process includes the following steps: Step S101, obtaining the passive rotation amount of the first door and / or the second door.

[0081] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0082] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0083] Step S102, if it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, actively control either or both of the first door and the second door to rotate; until the corresponding rotated first door and / or second door is in a closed position or a safe zone.

[0084] In an embodiment of the present application, actively controlling either or both of the first door and the second door to rotate until the correspondingly rotated first door and / or second door is in a closed position or in a safe zone, including: when the passive rotation amount of only one of the first door and the second door is not zero, detecting the passive rotation direction of the door whose passive rotation amount is not zero, and actively controlling the door whose passive rotation amount is not zero to continue rotating in the passive rotation direction to a closed position or a safe zone.

[0085] Specifically, for doors whose passive rotation amount is not zero, the controller analyzes the electrical signal characteristics output by its Hall element. Different rotation directions will result in different phases, pulse sequences, etc. of the Hall element output signal. Based on this, the controller accurately determines the passive rotation direction of the door according to the preset correspondence between the signal and the rotation direction.

[0086] The controller determines the target position of the door whose passive rotation amount is not zero. If the current position of the door is close to the closed position and will not enter the unsafe area where a collision may occur during the rotation process, the closed position is set as the target position; if the door may pass through the unsafe area when it continues to rotate to the closed position, the safe area is selected as the target position. Then, based on the determined target position and the detected passive rotation direction, the controller calculates the control parameters required for the door to rotate to the target position, including the rotation speed, rotation time, etc. The controller sends a control instruction to the drive device of the door based on the calculated control parameters.

[0087] During the door rotation process, the Hall element continuously feeds back the motor's rotation state to the controller. The controller monitors the door position in real time. When the door approaches the target position, the controller determines whether the door has reached the target position based on the position information fed back by the Hall element and the preset position threshold. For example, by calculating the angle or displacement of the door rotation and comparing it with the angle or displacement corresponding to the target position, if the difference between the two is within the allowable error range, it is determined that the door has reached the target position. When it is determined that the door has reached the target position, the controller sends a stop command to the drive device corresponding to the door to stop the motor from rotating, so that the door whose passive rotation amount is not zero stays stably in the closed position or safety zone.

[0088] Alternatively, when the passive rotation amount of only one door among the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is detected, and the other door whose passive rotation amount is zero is actively controlled to move in the opposite direction of the passive rotation direction to a closed position or a safe area.

[0089] Similarly, for doors whose passive rotation amount is not zero, the controller analyzes the electrical signal characteristics of the Hall element output. Different rotation directions will cause the phase and pulse sequence of the Hall element output signal to be different. Based on this, the controller accurately determines the passive rotation direction of the door according to the preset correspondence between the signal and the rotation direction.

[0090] The controller determines the target position of the door with zero passive rotation. If the current position of the door is close to the closed position and will not enter the unsafe area where a collision may occur during the rotation, the closed position is set as the target position; if the door may pass through the unsafe area when continuing to rotate to the closed position, the safe area is selected as the target position. Then, based on the determined target position and the opposite direction of the passive rotation direction, the controller calculates the control parameters required for the door to rotate to the target position, including the rotation speed, rotation time, etc. The controller sends a control instruction to the drive device of the door based on the calculated control parameters.

[0091] During the door rotation process, the Hall element continuously feeds back the motor's rotation status to the controller. The controller monitors the door position in real time. When the door approaches the target position, the controller determines whether the door has reached the target position based on the position information fed back by the Hall element and the preset position threshold. For example, by calculating the angle or displacement of the door rotation and comparing it with the angle or displacement corresponding to the target position, if the difference between the two is within the allowable error range, it is determined that the door has reached the target position. When it is determined that the door has reached the target position, the controller sends a stop command to the drive device corresponding to the door to stop the motor from rotating, so that the door with zero passive rotation can stay stably in the closed position or safety zone.

[0092] The method provided in the embodiment of the present application can monitor the passive rotation amount of the door in real time. When the door is passively rotated due to external force, whether it is controlling a single door or two doors to rotate simultaneously, the goal is always to guide the corresponding rotating door to a closed position or a safe zone. Therefore, during the entire control process, it is ensured that the doors will not be in an unsafe zone where they may contact each other at the same time, ensuring the safety of the door position during vehicle use. At the same time, the entire process does not require manual processing by the user, bringing users a smoother and more efficient car experience.

[0093] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.12 As shown, the process includes the following steps: Step S201, obtaining the passive rotation amount of the first door and / or the second door.

[0094] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0095] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0096] Step S202, if it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, the first door and the second door are actively controlled to rotate until both the first door and the second door are in the closed position, or both the first door and the second door are in the safety zone.

[0097] In the embodiment of the present application, when it is detected that the passive rotation amount of the first door and / or the second door is not zero, the target position is the closed position or the safety zone. For example, if the doors are currently opened at a small angle and are in a position where they may collide with each other, the controller will prioritize the safety zone as the target position; if the doors are close to being fully closed and there is no risk of collision, the closed position is selected as the target position.

[0098] The controller calculates the direction and speed that each door needs to rotate according to the target position and the current position of the door. For the first door and the second door, the rotation angle and the required time are calculated respectively, and then the rotation speed is determined. The controller sends the calculated rotation direction and speed instructions to the drive device of the first door and the second door. After receiving the instructions, the drive device controls the motor to rotate in the specified direction and speed, thereby driving the door to rotate actively.

[0099] The controller calculates the position of the door in real time through the information fed back by the Hall element. When the positions of the first door and the second door meet the target position requirements (that is, both are in the closed position or both are in the safe zone), the controller sends a stop command to the drive device of the first door and the second door, the drive device stops the motor rotation, the door stops moving, and the entire active rotation control process is completed.

[0100] The method provided in the embodiment of the present application actively drives the two doors to rotate synchronously when it is found that the passive rotation amount of the first door and / or the second door is not zero, and guides them to the closed position or the safe zone. During the whole control process, the door status is continuously adjusted to ensure that the two doors are not in the unsafe zone at the same time, effectively avoiding potential risks and ensuring the safety of the door position during the use of the vehicle.

[0101] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.13 As shown, the process includes the following steps: Step S301, obtaining the passive rotation amount of the first door and / or the second door.

[0102] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0103] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0104] Step S302: when the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is obtained.

[0105] In an embodiment of the present application, the sensor monitors the rotation status of the first door and the second door in real time at a certain sampling frequency, and transmits the collected signals to the controller of the vehicle.

[0106] After receiving the signal from the sensor, the controller processes and analyzes it. By calculating the change rate of the signal, the number of pulses and other parameters, the rotation amount data of the first door and the second door are obtained. The calculated rotation amount of the first door and the second door is compared with the preset threshold. If it is found that the rotation amount of only one door exceeds the threshold (that is, it is not zero), it is determined that the door has passive rotation.

[0107] For doors whose passive rotation is not zero, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions will cause the signal output by the sensor to present different characteristics in terms of phase, frequency or pulse sequence. For example, in a brushless DC motor, the signal combination output by the Hall sensor is different when rotating forward and reverse, and the controller can identify the rotation direction based on the preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0108] Step S303, actively controlling the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and controlling the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0109] In an embodiment of the present application, for a vehicle door whose passive rotation amount is not zero, it continues to rotate to a suitable position, such as a closed position or a safety zone, in its passive rotation direction; for a vehicle door whose passive rotation amount is zero, the goal is to rotate to a corresponding safety position in the opposite direction of the passive rotation direction.

[0110] The controller calculates the control parameters required for the rotation of each door, including the rotation speed, rotation time, etc. For example, according to the rotation angle of the door and the expected rotation time, the appropriate rotation speed is calculated. Then, according to the calculated control parameters, the corresponding drive signal is generated, and the generated drive signal is sent to the first drive device and the second drive device corresponding to the first door and the second door respectively. After receiving the signal, the first drive device and the second drive device drive the door to rotate according to the instruction.

[0111] During the door rotation process, the sensor continues to monitor the door rotation status in real time and sends feedback signals to the controller. Based on the feedback signals, the controller obtains the actual door rotation status in real time, including rotation speed, position, etc. When both doors reach their respective target positions, the controller sends a stop command to the first drive device and the second drive device to stop the motor rotation, thus completing the entire control process.

[0112] The method provided in the embodiment of the present application can obtain the passive rotation amount of the door, and when only one door has passive rotation, its rotation direction can be obtained, and the two doors can be controlled in a targeted manner. The risk of collision with another door due to accidental passive rotation of a single door can be effectively avoided, and the door can be guided to a safe position.

[0113] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.14 As shown, the process includes the following steps: Step S401, obtaining the passive rotation amount of the first door and / or the second door.

[0114] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0115] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0116] Step S402: when the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is obtained.

[0117] In an embodiment of the present application, the sensor monitors the rotation status of the first door and the second door in real time at a certain sampling frequency, and transmits the collected signals to the controller of the vehicle.

[0118] After receiving the signal from the sensor, the controller processes and analyzes it. By calculating the change rate of the signal, the number of pulses and other parameters, the rotation amount data of the first door and the second door are obtained. The calculated rotation amount of the first door and the second door is compared with the preset threshold. If it is found that the rotation amount of only one door exceeds the threshold (that is, it is not zero), it is determined that the door has passive rotation.

[0119] For doors whose passive rotation is not zero, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions will cause the signal output by the sensor to present different characteristics in terms of phase, frequency or pulse sequence. For example, in a brushless DC motor, the signal combination output by the Hall sensor is different when rotating forward and reverse, and the controller can identify the rotation direction based on the preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0120] Step S403, actively controlling the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and controlling the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0121] In an embodiment of the present application, for a door whose passive rotation amount is not zero, the door continues to rotate to a suitable position (such as a fully open position, a fully closed position or a safe area) in its passive rotation direction; for a door whose passive rotation amount is zero, the door rotates to a safe position in the opposite direction of the passive rotation direction to avoid a collision between the two doors.

[0122] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, torque of the motor, etc. The controller converts the calculated driving parameters into corresponding control instructions and sends them to the first drive device and the second drive device corresponding to the first door and the second door. After receiving the instructions, the first drive device and the second drive device drive the doors to rotate according to the specified parameters. For example: the door with a passive rotation amount of 0 is the first door, and the door with a passive rotation amount that is not 0 is the second door. At this time, the first drive device controls the first door to rotate in the opposite direction of the passive direction according to the control instruction sent by the controller. The second drive device controls the second door to rotate in the passive rotation direction according to the control instruction sent by the controller.

[0123] Step S404, when it is obtained that the passive rotation amounts of the first door and the second door are both zero, it is determined whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state.

[0124] In the embodiment of the present application, the controller continuously monitors the electrical signals of the sensors of the first door and the second door, and calculates the passive rotation amount of the two doors again. When it is determined that the passive rotation amount of the two doors is zero, the risk of pinching the hand is judged, that is, combining the current position and rotation speed of the first door and the second door, it is judged whether there is a risk of pinching the hand if the two doors continue to rotate according to the current motion state. For example: the controller calculates the angle between the first door and the second door. If the angle is greater than the preset safety angle threshold (such as 10°), and the direction of door rotation will not further reduce the angle to the dangerous range, it is preliminarily determined that there is no risk of pinching the hand, otherwise, there is a risk of pinching the hand. Alternatively, the gap distance between the first door and the second door is measured by a distance sensor. When the gap distance is greater than the preset safety distance threshold (such as 5 cm), and it is determined that the gap will not be reduced to a dangerous value in combination with the rotation speed and direction, it is confirmed that there is no risk of pinching the hand, otherwise there is a risk of pinching the hand.

[0125] Step S405: if there is a risk of pinching hands, control the first door and / or the second door to stop rotating.

[0126] In the embodiment of the present application, when the controller determines that there is a risk of hand pinching, it decides whether to control the first door to stop rotating, the second door to stop rotating, or both doors to stop rotating at the same time according to the specific risk situation (such as which door is closer to the pinched position, which door is easier to stop, etc.). The controller sends a stop command to the drive device corresponding to the corresponding door. After receiving the command, the drive device immediately stops working and stops the door from rotating, thereby avoiding the occurrence of hand pinching accidents. At the same time, the controller can trigger relevant warning devices (such as sound alarms, light prompts, etc.) to remind users to pay attention to the status of the door.

[0127] The method provided in the embodiment of the present application obtains the rotation direction of only one door when it is passively rotating and controls the movement of the two doors separately, thus avoiding possible collision between the doors. At the same time, it is subsequently determined whether there is a risk of pinching the hand when the door rotates in the current state. Once the risk is found, the door is immediately controlled to stop rotating. The door is always moved in a reasonably expected state, which improves the stability and reliability of vehicle operation.

[0128] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.15 As shown, the process includes the following steps: Step S501, obtaining the passive rotation amount of the first door and / or the second door.

[0129] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0130] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0131] Step S502: when the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is obtained.

[0132] In an embodiment of the present application, the sensor monitors the rotation status of the first door and the second door in real time at a certain sampling frequency, and transmits the collected signals to the controller of the vehicle.

[0133] After receiving the signal from the sensor, the controller processes and analyzes it. By calculating the change rate of the signal, the number of pulses and other parameters, the rotation amount data of the first door and the second door are obtained. The calculated rotation amount of the first door and the second door is compared with the preset threshold. If it is found that the rotation amount of only one door exceeds the threshold (that is, it is not zero), it is determined that the door has passive rotation.

[0134] For doors whose passive rotation is not zero, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions will cause the signal output by the sensor to present different characteristics in terms of phase, frequency or pulse sequence. For example, in a brushless DC motor, the signal combination output by the Hall sensor is different when rotating forward and reverse, and the controller can identify the rotation direction based on the preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0135] Step S503, actively controlling the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and controlling the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0136] In an embodiment of the present application, for a door whose passive rotation amount is not zero, the door continues to rotate to the target position (such as the fully open position, fully closed position or safe area of ​​the door) in its passive rotation direction; for a door whose passive rotation amount is zero, the door rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two doors.

[0137] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, torque of the motor, etc. The controller converts the calculated driving parameters into corresponding control instructions and sends them to the first drive device and the second drive device corresponding to the first door and the second door. After receiving the instructions, the first drive device and the second drive device drive the doors to rotate according to the specified parameters. For example: the door with a passive rotation amount of 0 is the first door, and the door with a passive rotation amount that is not 0 is the second door. At this time, the first drive device controls the first door to rotate in the opposite direction of the passive direction according to the control instruction sent by the controller. The second drive device controls the second door to rotate in the passive rotation direction according to the control instruction sent by the controller.

[0138] Step S504, when it is obtained that the passive rotation amounts of the first door and the second door are both zero, it is determined whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state.

[0139] In an embodiment of the present application, the controller monitors the electrical signals of the sensors of the first door and the second door, and calculates the passive rotation amount of the two doors again. When it is determined that the passive rotation amount of the two doors is zero, the risk of pinching is judged, that is, combining the current position and rotation speed of the first door and the second door, it is judged whether there is a risk of pinching if the two doors continue to rotate according to the current motion state. For example: the controller calculates the angle between the first door and the second door. If the angle is greater than the preset safety angle threshold (such as 10°), and the direction of door rotation will not further reduce the angle to the dangerous range, it is preliminarily determined that there is no risk of pinching, otherwise, there is a risk of pinching. Alternatively, the gap distance between the first door and the second door is measured by a distance sensor. When the gap distance is greater than the preset safety distance threshold (such as 5 cm), and combined with the rotation speed and direction, it is determined that the gap will not be reduced to a dangerous value, it is confirmed that there is no risk of pinching, otherwise there is a risk of pinching.

[0140] Step S505: if there is a risk of pinching hands, control the first door and / or the second door to stop rotating.

[0141] In the embodiment of the present application, when the controller determines that there is a risk of hand pinching, it decides whether to control the first door to stop rotating, the second door to stop rotating, or both doors to stop rotating at the same time according to the specific risk situation (such as which door is closer to the pinched position, which door is easier to stop, etc.). The controller sends a stop command to the drive device corresponding to the corresponding door. After receiving the command, the drive device immediately stops working and stops the door from rotating, thereby avoiding the occurrence of hand pinching accidents. At the same time, the controller can trigger relevant warning devices (such as sound alarms, light prompts, etc.) to remind users to pay attention to the status of the door.

[0142] Step S506, acquiring the first stop position of the first door where the vehicle stops and / or the second stop position of the second door where the vehicle stops.

[0143] In the embodiment of the present application, the sensor converts the stop position information of the door into an electrical signal and transmits it to the controller. The controller processes and analyzes the received position sensor signal to accurately obtain the first stop position of the first door and / or the second stop position of the second door where the door stops. For example, for the angle sensor, the controller calculates the rotation angle of the door by analyzing the electrical signal output by the angle sensor, thereby determining the stop position of the door.

[0144] Step S507: when the first stop position and / or the second stop position is located in the non-safe zone, the corresponding first door and / or the second door is controlled to rotate to the closed position or the safe zone.

[0145] In the embodiment of the present application, the controller compares the acquired first stop position of the first door and the second stop position of the second door with the preset safety area range to determine whether these stop positions are located in the unsafe area. If it is determined that the first stop position and / or the second stop position is located in the unsafe area, the controller calculates the parameters required for the door to rotate to the target position according to the current position of the door and the target position (closed position or safety area), including the rotation speed, rotation time, etc.

[0146] The controller converts the calculated driving parameters into control instructions and sends them to the first driving device corresponding to the first door and / or the second driving device corresponding to the second door. After receiving the instructions, the first driving device and / or the second driving device drive the door to rotate according to the specified parameters and rotate the door to the closed position or the safety zone.

[0147] The embodiment of the present application obtains the passive rotation amount of the first door and / or the second door. When only one door has passive rotation, its rotation direction is determined, and then the two doors are controlled separately so that they move along a safe path, thereby avoiding the possibility of collision between the first door and the second door due to accidental passive rotation. In the subsequent process, when the passive rotation amounts of the two doors are both zero, it will be determined whether there is a risk of pinching the hand if they continue to rotate in the current state. Once the risk is found, the door is immediately controlled to stop rotating, effectively avoiding the occurrence of user pinching. Moreover, for the door that stops due to the risk, the solution will obtain its stop position. If it is in an unsafe area, it will further control the door to rotate to a closed position or a safe area, comprehensively ensuring that the door will not collide in various situations and will not cause the risk of pinching the user's hand due to rotation.

[0148] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.16 As shown, the process includes the following steps: Step S601, obtaining the passive rotation amount of the first door and / or the second door.

[0149] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0150] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0151] Step S602: when the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is obtained.

[0152] In an embodiment of the present application, the sensor monitors the rotation status of the first door and the second door in real time at a certain sampling frequency, and transmits the collected signals to the controller of the vehicle.

[0153] After receiving the signal from the sensor, the controller processes and analyzes it. By calculating the change rate of the signal, the number of pulses and other parameters, the rotation amount data of the first door and the second door are obtained. The calculated rotation amount of the first door and the second door is compared with the preset threshold. If it is found that the rotation amount of only one door exceeds the threshold (that is, it is not zero), it is determined that the door has passive rotation.

[0154] For doors whose passive rotation is not zero, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions will cause the signal output by the sensor to present different characteristics in terms of phase, frequency or pulse sequence. For example, in a brushless DC motor, the signal combination output by the Hall sensor is different when rotating forward and reverse, and the controller can identify the rotation direction based on the preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0155] Step S603, actively control the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and control the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0156] In an embodiment of the present application, for a door whose passive rotation amount is not zero, the door continues to rotate to a suitable position (such as a fully open position, a fully closed position or a safe area) in its passive rotation direction; for a door whose passive rotation amount is zero, the door rotates to a safe position in the opposite direction of the passive rotation direction to avoid a collision between the two doors.

[0157] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, torque of the motor, etc. The controller converts the calculated driving parameters into corresponding control instructions and sends them to the first drive device and the second drive device corresponding to the first door and the second door. After receiving the instructions, the first drive device and the second drive device drive the doors to rotate according to the specified parameters. For example: the door with a passive rotation amount of 0 is the first door, and the door with a passive rotation amount that is not 0 is the second door. At this time, the first drive device controls the first door to rotate in the opposite direction of the passive direction according to the control instruction sent by the controller. The second drive device controls the second door to rotate in the passive rotation direction according to the control instruction sent by the controller.

[0158] Step S604, when it is obtained that the passive rotation amounts of the first door and the second door are both zero, it is determined whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state.

[0159] In the embodiment of the present application, the controller continuously monitors the electrical signals of the sensors of the first door and the second door, and calculates the passive rotation amount of the two doors again. When it is determined that the passive rotation amount of the two doors is zero, the risk of pinching the hand is judged, that is, combining the current position and rotation speed of the first door and the second door, it is judged whether there is a risk of pinching the hand if the two doors continue to rotate according to the current motion state. For example: the controller calculates the angle between the first door and the second door. If the angle is greater than the preset safety angle threshold (such as 10°), and the direction of door rotation will not further reduce the angle to the dangerous range, it is preliminarily determined that there is no risk of pinching the hand, otherwise, there is a risk of pinching the hand. Alternatively, the gap distance between the first door and the second door is measured by a distance sensor. When the gap distance is greater than the preset safety distance threshold (such as 5 cm), and it is determined that the gap will not be reduced to a dangerous value in combination with the rotation speed and direction, it is confirmed that there is no risk of pinching the hand, otherwise there is a risk of pinching the hand.

[0160] Step S605: if there is a risk of pinching hands, adjust the rotation speed and / or rotation time of the first door and / or the second door, and control the corresponding first door and / or the second door to rotate to a closed position or a safe area.

[0161] In the embodiment of the present application, the controller formulates a corresponding control strategy according to the specific situation of the risk of pinching (such as the severity of the risk, the distance between the current position of the door and the closed position or the safe zone, etc.). For example, if the risk is high and the door is close to the closed position, the controller may choose to significantly reduce the rotation speed of the door and appropriately extend the rotation time to ensure safety; if the risk is low and the door is close to the safe zone, the controller may appropriately increase the rotation speed to make the door reach the safe zone as soon as possible.

[0162] The controller calculates the rotation speed value of the first door and / or the second door that needs to be adjusted. For electrically driven doors, the controller can achieve speed adjustment by changing parameters such as the voltage, current or frequency of the drive device. For example, reducing the voltage of the drive device can reduce the speed of the motor, thereby reducing the rotation speed of the door. Alternatively, the controller recalculates the rotation time required for the door to reach the target position based on the adjusted speed and the distance between the current position of the door and the target position (closed position or safety zone). By optimizing the rotation time, it is ensured that the door reaches the target position as quickly as possible under the premise of safety.

[0163] The controller converts the calculated adjusted driving parameters such as rotation speed and / or rotation time into a control instruction and sends it to the corresponding door drive device. After receiving the control instruction, the drive device drives the door to rotate according to the specified parameters until it rotates to the closed position or safety zone.

[0164] The embodiment of the present application obtains the passive rotation amount of the first door and / or the second door in real time. When only one door is passively rotating, its rotation direction can be quickly and accurately obtained, and the movement of the two doors can be controlled separately, effectively avoiding the possibility of collision between the first door and the second door due to accidental passive rotation. During the whole process, when it is monitored that the passive rotation amount of the two doors is zero, it will be further determined whether there is a risk of pinching the hand if the current movement state is continued. Once the risk is found, the rotation speed and / or rotation time of the first door and / or the second door are immediately adjusted, and the corresponding door is controlled to rotate to a closed position or a safe area, thereby comprehensively avoiding the situation where the user's hand is pinched due to the rotation of the door.

[0165] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.17 As shown, the process includes the following steps: Step S701, obtaining the passive rotation amount of the first door and / or the second door.

[0166] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0167] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0168] Step S702: when the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is obtained.

[0169] In an embodiment of the present application, the sensor monitors the rotation status of the first door and the second door in real time at a certain sampling frequency, and transmits the collected signals to the controller of the vehicle.

[0170] After receiving the signal from the sensor, the controller processes and analyzes it. By calculating the change rate of the signal, the number of pulses and other parameters, the rotation amount data of the first door and the second door are obtained. The calculated rotation amount of the first door and the second door is compared with the preset threshold. If it is found that the rotation amount of only one door exceeds the threshold (that is, it is not zero), it is determined that the door has passive rotation.

[0171] For doors whose passive rotation is not zero, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions will cause the signal output by the sensor to present different characteristics in terms of phase, frequency or pulse sequence. For example, in a brushless DC motor, the signal combination output by the Hall sensor is different when rotating forward and reverse, and the controller can identify the rotation direction based on the preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0172] Step S703, actively control the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and control the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

[0173] In an embodiment of the present application, for a door whose passive rotation amount is not zero, the door continues to rotate to the target position (such as the fully open position, fully closed position or safe area of ​​the door) in its passive rotation direction; for a door whose passive rotation amount is zero, the door rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two doors.

[0174] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, torque of the motor, etc. The controller converts the calculated driving parameters into corresponding control instructions and sends them to the first drive device and the second drive device corresponding to the first door and the second door. After receiving the instructions, the first drive device and the second drive device drive the doors to rotate according to the specified parameters. For example: the door with a passive rotation amount of 0 is the first door, and the door with a passive rotation amount that is not 0 is the second door. At this time, the first drive device controls the first door to rotate in the opposite direction of the passive direction according to the control instruction sent by the controller. The second drive device controls the second door to rotate in the passive rotation direction according to the control instruction sent by the controller.

[0175] Step S704: When the passive rotation amounts of the first door and the second door are both zero, it is determined whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state.

[0176] In an embodiment of the present application, when the controller determines that the passive rotation amounts of the two doors are both zero, it enters the finger pinching risk judgment, that is, combining the current positions and rotation speeds of the first door and the second door, it is judged whether there will be a finger pinching risk if the two doors continue to rotate according to the current motion state. For example: the controller calculates the angle between the first door and the second door. If the angle is greater than a preset safety angle threshold (such as 10°), and the direction of door rotation will not further reduce the angle to a dangerous range, it is preliminarily determined that there is no finger pinching risk, otherwise, there is a finger pinching risk. Alternatively, a distance sensor is used to measure the gap distance between the first door and the second door. When the gap distance is greater than a preset safety distance threshold (such as 5 cm), and combined with the rotation speed and direction to determine that the gap will not be reduced to a dangerous value, it is confirmed that there is no finger pinching risk, otherwise there is a finger pinching risk.

[0177] Step S705: If there is no risk of pinching hands, continue to control the first door and the second door to rotate in the passive rotation direction until the first door and / or the second door rotates to a closed position or a safety zone.

[0178] In the embodiment of the present application, the controller calculates the control parameters required for the first door and the second door to continue to rotate. These parameters include, but are not limited to, rotation speed, rotation acceleration, rotation time, etc. The setting of the rotation speed needs to take into account factors such as the distance between the door and the target position (closed position or safety zone), the overall operating state of the vehicle, and safety requirements. For example, if the door is close to the closed position, the controller may appropriately reduce the rotation speed to ensure that the door reaches the closed position smoothly; if the door is still a certain distance from the safety zone and there are no other special circumstances, it rotates at a relatively stable speed.

[0179] The controller generates corresponding control instructions based on the calculated control parameters and sends them to the first drive device and the second drive device respectively. The first drive device and the second drive device respectively control the first door and the second door to rotate. When the first door and / or the second door are close to the target position (closed position or safety zone), the controller determines whether the door has reached the target position based on the position information fed back by the sensor and the preset target position range (considering a certain error range). For example, for the closed position, when the deviation between the position of the door and the fully closed position is within the allowable error range and the rotation speed of the door has been reduced to near zero, the controller determines that the door has reached the closed position; for the safety zone, when the door enters the preset safety zone range and meets other relevant conditions (such as the distance between the doors meets safety requirements, etc.), the controller determines that the door has reached the safety zone.

[0180] The method provided in the embodiment of the present application obtains the rotation direction when only one door is in passive rotation, and controls the movement of the two doors separately, so that the door with a non-zero passive rotation amount rotates in the original direction, and the door with a zero passive rotation amount rotates in the opposite direction, effectively avoiding the first door and the second door from colliding due to accidental passive rotation. Then, when the passive rotation amounts of the two doors are both zero, it is further determined whether there is a risk of pinching the hand if the doors continue to rotate in the current motion state. If there is no risk of pinching the hand, the two doors continue to be controlled to rotate in the passive rotation direction to the closed position or the safe zone. If there is a risk, they will be adjusted in time, thereby avoiding the potential danger of pinching the user's hand due to the rotation of the doors.

[0181] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.18 As shown, the process includes the following steps: Step S801, obtaining the passive rotation amount of the first door and / or the second door.

[0182] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0183] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0184] Step S802, if it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, actively control either or both of the first door and the second door to rotate; until the corresponding rotated first door and / or second door is in a closed position or a safe zone.

[0185] In an embodiment of the present application, the sensor collects data on the rotation of the door at a certain frequency, and converts the data into electrical signals and sends them to the controller. After receiving the data sent by the sensor, the controller processes and analyzes the data. By calculating the angular velocity and displacement changes at multiple consecutive sampling moments, the passive rotation amount of the first door and the second door is obtained. The calculated rotation amount is compared with a preset threshold value. If the passive rotation amount of the first door and / or the second door is greater than the threshold value, it is determined that the passive rotation amount is not zero. According to the detection result, if only one door has a non-zero passive rotation amount, the controller actively controls the door with a non-zero passive rotation amount to rotate; if the passive rotation amounts of both doors are not zero, or based on the overall state and safety requirements of the vehicle, the controller can also choose to simultaneously control the first door and the second door to rotate.

[0186] Determine the target position of active rotation, that is, the closed position or the safe zone. For example, if the current position of the door is close to the closed position and there is no risk of collision, the target position is set to the closed position; if there are obstacles around the door, the target position is set to the safe zone. The controller calculates the parameters required for the door rotation, such as the rotation direction (clockwise or counterclockwise), the rotation speed, etc., based on the target position and the current position of the door, and generates corresponding control instructions. The control instructions are sent to the corresponding first drive device and / or second drive device. The first drive device and / or the second drive device control either or both of the first door and the second door to rotate until the corresponding rotating first door and / or second door is in the closed position or the safe zone.

[0187] Step S803, in the process of controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0188] In the embodiment of the present application, the sensor collects the angular velocity and displacement data of the first door and the second door in real time at a set frequency and sends them to the controller. After receiving the data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a door is zero at multiple consecutive sampling moments and the displacement does not change, it is preliminarily determined that the door has been passively stationary.

[0189] Step S804: if any one of the first door and the second door is in passive stillness, the one of the first door and the second door that is not in passive stillness is controlled to stop rotating.

[0190] In the embodiment of the present application, when the controller determines that any one of the first door and the second door is in passive stationary state, the controller will immediately generate a corresponding control instruction according to the information of the door in passive stationary state (whether it is the first door or the second door). If the first door is in passive stationary state, the controller will generate an instruction to control the second door to stop rotating; if the second door is in passive stationary state, the controller will generate an instruction to control the first door to stop rotating. The controller sends the generated control instruction to the corresponding first drive device or second drive device. After receiving the instruction, the drive device will immediately adjust the output power or current of the motor to quickly stop the other door from rotating.

[0191] When the method provided in the embodiment of the present application detects that the passive rotation amount of the door is not zero, the corresponding door is actively controlled or both doors are controlled to rotate at the same time, and the door is guided to a closed position or a safe zone, thereby avoiding the risk of door collision caused by accidental passive rotation from the source. In the process of controlling the rotation of the door, it is obtained in real time whether the door is passively stationary. If any door is passively stationary, the door that is not passively stationary is immediately controlled to stop rotating, effectively preventing the collision problem that may be caused by one door being stationary while the other door continues to rotate. The safety and stability of the vehicle door system are ensured, and the maintenance costs and safety hazards that may be caused by door collisions are reduced.

[0192] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.19 As shown, the process includes the following steps: Step S901, obtaining the passive rotation amount of the first door and / or the second door.

[0193] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0194] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0195] Step S902, if it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, actively control either or both of the first door and the second door to rotate; until the corresponding rotated first door and / or second door is in a closed position or a safe zone.

[0196] In the embodiment of the present application, when it is detected that the passive rotation amount of a door is not zero, the controller determines the object to be actively controlled according to the specific situation. If only one door has a passive rotation amount that is not zero, the door is controlled to rotate first; if the passive rotation amounts of both doors are not zero, or based on the overall state of the vehicle and safety requirements, both doors can be controlled to rotate at the same time.

[0197] Determine the target position for active rotation, i.e., the closed position or the safe zone. For example, if the current position of the door is close to the closed position and there is no risk of collision, the target position is set to the closed position; if there are obstacles around the door, the target position is set to the safe zone.

[0198] The controller calculates the parameters required for the door rotation, such as the rotation direction (clockwise or counterclockwise), rotation speed, rotation acceleration, etc., based on the target position and the current position of the door, and generates corresponding control instructions. The control instructions are sent to the corresponding first drive device or second drive device. The first drive device controls the rotation of the first door, or the second drive device controls the rotation of the second door, or the first drive device and the second drive device respectively control the rotation of the first door and / or the second door, until the corresponding rotating first door and / or second door is in a closed position or a safe zone.

[0199] Step S903, in the process of controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0200] In the embodiment of the present application, the sensor collects the angular velocity and displacement data of the first door and the second door in real time at a set frequency and sends them to the controller. After receiving the data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a door is zero at multiple consecutive sampling moments and the displacement does not change, it is preliminarily determined that the door has been passively stationary.

[0201] Step S904, if any one of the first door and the second door is in passive stationary state, determine whether the passively stationary door of the first door and the second door stops in an unsafe zone; if the passively stationary door stops in an unsafe zone, control the first door and the second door that is not in passive stationary state to continue moving.

[0202] In the embodiment of the present application, when a certain door (a door set to be passively stationary) is detected to be passively stationary, the controller obtains the current position of the door. The current position of the passively stationary door is compared with the pre-set safe zone and unsafe zone range to determine whether the door is in the unsafe zone. If the passively stationary door stops in the unsafe zone, the controller controls the door that is not passively stationary among the first door and the second door to continue moving.

[0203] The controller calculates the parameters required for the door to continue to move, such as the direction of rotation, rotation speed, rotation acceleration, etc., based on the current position and target position (which may be a safe zone or other suitable position) of the door that has not been passively stationary, and generates corresponding control instructions. The control instructions are sent to the drive device (first drive device or second drive device) corresponding to the door that has not been passively stationary. After receiving the instructions, the drive device of the door that has not been passively stationary drives the door to continue to move according to the specified parameters.

[0204] When the method provided in the embodiment of the present application detects that the passive rotation amount of the door is not zero, it actively controls one or both of the first door and the second door to rotate simultaneously, so that the doors move toward the closed position or the safe zone, effectively reducing the possibility of mutual collision caused by accidental passive rotation of the doors. During the control of the rotation of the two doors, the doors are continuously monitored for passive stillness. If any door is passively still, it is further determined whether it is in an unsafe zone. If it is in an unsafe zone, the door that is not passively still is controlled to continue to move, avoiding the risk of collision caused by one door being still in an unsafe zone while the other door continues to rotate.

[0205] In another embodiment of the present application, a vehicle control method is provided. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig. 20 As shown, the process includes the following steps: Step S1001, obtaining the passive rotation amount of the first door and / or the second door.

[0206] In the embodiment of the present application, the Hall element in the motor is used as a sensor to obtain the passive rotation amount. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Since the door is connected to the drive device, when the door is passively rotated due to external force (such as manual pushing and pulling by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the rotation change of the motor.

[0207] After the Hall element senses the change in motor rotation, it converts it into relevant electrical signals. These electrical signals contain information about the motor rotation, such as rotation speed, rotation direction, etc. The Hall element feeds back the generated electrical signals to the controller. After receiving these signals, the controller converts the electrical signals into specific passive rotation data, such as rotation angle, rotation speed, etc., through specific algorithms and processing procedures, so as to obtain the passive rotation of the first door and / or the second door.

[0208] Step S1002, if it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, actively control either or both of the first door and the second door to rotate; until the corresponding rotated first door and / or second door is in a closed position or a safe area.

[0209] In an embodiment of the present application, the sensor collects data on the rotation of the door at a certain frequency, and converts the data into electrical signals and sends them to the controller. After receiving the data sent by the sensor, the controller processes and analyzes the data. By calculating the angular velocity and displacement changes at multiple consecutive sampling moments, the passive rotation amount of the first door and the second door is obtained. The calculated rotation amount is compared with a preset threshold value. If the passive rotation amount of the first door and / or the second door is greater than the threshold value, it is determined that the passive rotation amount is not zero. According to the detection result, if only one door has a non-zero passive rotation amount, the controller actively controls the door with a non-zero passive rotation amount to rotate; if the passive rotation amounts of both doors are not zero, or based on the overall state and safety requirements of the vehicle, the controller can also choose to simultaneously control the first door and the second door to rotate.

[0210] Determine the target position of active rotation, that is, the closed position or the safe zone. For example, if the current position of the door is close to the closed position and there is no risk of collision, the target position is set to the closed position; if there are obstacles around the door, the target position is set to the safe zone. The controller calculates the parameters required for the door rotation, such as the rotation direction (clockwise or counterclockwise), the rotation speed, etc., based on the target position and the current position of the door, and generates corresponding control instructions. The control instructions are sent to the corresponding first drive device and / or second drive device. The first drive device and / or the second drive device control either or both of the first door and the second door to rotate until the corresponding rotating first door and / or second door is in the closed position or the safe zone.

[0211] Step S1003, in the process of controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0212] In the embodiment of the present application, the sensor collects the angular velocity and displacement data of the first door and the second door in real time at a set frequency and sends them to the controller. After receiving the data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a door is zero at multiple consecutive sampling moments and the displacement does not change, it is preliminarily determined that the door has been passively stationary.

[0213] Step S1004, if any one of the first door and the second door is passively stationary, determine whether the passively stationary door of the first door and the second door stops in an unsafe area; if the passively stationary door does not stop in the unsafe area, control the door of the first door and the second door that is not passively stationary to continue moving, or control the door of the first door and the second door that is not passively stationary to respond to subsequent electric power.

[0214] In the embodiment of the present application, if it is determined that the passively stationary door has not stopped in the unsafe zone, the controller will make a decision based on the specific situation and control the door of the first door and the second door that has not stopped passively.

[0215] The controller calculates the control parameters required for the door to continue to move, such as the direction of rotation (clockwise or counterclockwise), rotation speed, rotation acceleration, etc., based on the current position of the door that has not been passively stationary, the target position (such as a safety zone or other suitable position), the mechanical structure of the vehicle, and the characteristics of the drive system. Then, the controller converts these control parameters into corresponding control instructions and sends them to the drive device (such as the drive device and its control system) of the door that has not been passively stationary. After receiving the instructions, the drive device drives the door to continue to move according to the specified parameters. During the movement of the door, the sensor continuously monitors the actual movement state of the door and transmits the feedback information to the controller in real time, so that the controller can adjust the control instructions according to the actual situation to ensure that the door can reach the target position safely and accurately.

[0216] Alternatively, the controller maintains the monitoring state of the driving device of the door that has not been passively stationary, and waits for subsequent instructions on the electric operation of the door (such as operation instructions from the driver or automatic control instructions from the vehicle system, etc.). After receiving the subsequent electric instructions, the controller sends corresponding control signals to the driving device of the door that has not been passively stationary according to the requirements of the instructions, so that the door performs corresponding electric operations according to the instructions. In this process, the sensor also continuously monitors the state of the door and provides real-time feedback information to the controller so that necessary control adjustments can be made.

[0217] The method provided in the embodiment of the present application actively controls the rotation of the first door and / or the second door to move toward the closed position or the safe zone when it detects that the passive rotation amount of the door is not zero, thereby avoiding the risk of collision caused by accidental passive rotation of the door from the source. In the process of controlling the simultaneous rotation of the two doors, the doors are continuously monitored to see if they are in a passive static state. When any door is in a passive static state, it is further determined whether it is in an unsafe zone. If the passive static door is not in an unsafe zone, the door that is not passively static is controlled to continue to move or respond to subsequent electric operations, thereby avoiding collisions caused by one door being static and the other door continuing to rotate. This scheme ensures that the first door and the second door will not collide in an all-round and multi-level manner by monitoring the passive rotation amount of the doors, determining the passive static state, and taking corresponding control measures.

[0218] See also Fig.21 , Fig.21It is a structural diagram of a computer device provided by an optional embodiment of the present invention. As shown in the figure, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to an interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0219] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0220] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0221] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0222] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0223] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0224] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0225] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, the first door can cover and partially overlap the second door by rotating to close the vehicle body, the first door and the second door define a closed position, a non-safety zone that may contact each other, and a safety zone that does not contact each other; the method comprises: Obtaining the passive rotation amount of the first door and / or the second door; If the passive rotation amount of the corresponding first door and / or second door is not zero, either or both of the first door and the second door are actively controlled to rotate until the correspondingly rotated first door and / or second door is in a closed position or a safe area.

2. The method according to claim 1, characterized in that Actively controlling one or both of the first door and the second door to rotate until the correspondingly rotated first door and / or the second door is in a closed position or in a safe zone, comprising: When the passive rotation amount of only one of the first door and the second door is not zero, detecting the passive rotation direction of the door whose passive rotation amount is not zero, and actively controlling the door whose passive rotation amount is not zero to continue rotating to a closed position or a safety zone according to the passive rotation direction; or, When the passive rotation amount of only one of the first door and the second door is not zero, the passive rotation direction of the door whose passive rotation amount is not zero is detected, and the other door whose passive rotation amount is zero is actively controlled to move in the opposite direction of the passive rotation direction to a closed position or a safe area.

3. The method according to claim 1, characterized in that Actively controlling one or both of the first door and the second door to rotate until the correspondingly rotated first door and / or the second door is in a closed position or a safe zone, comprising: The first door and the second door are actively controlled to rotate until both of the first door and the second door are in the closed position or both of the first door and the second door are in the safety zone.

4. The method according to claim 3, characterized in that Actively controlling the first door and the second door to rotate includes: When the passive rotation amount of only one of the first door and the second door is not zero, obtaining the passive rotation direction of the door whose passive rotation amount is not zero; Actively control the first door and the second door whose passive rotation amount is not zero to continue rotating in the passive rotation direction, and control the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction.

5. The method according to claim 4, characterized in that After controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is a risk of pinching hands, the first door and / or the second door are controlled to stop rotating.

6. The method according to claim 5, characterized in that After controlling the first door and / or the second door to stop rotating, the method further includes: Acquire a first stop position of the first door and / or a second stop position of the second door where the door stops; When the first stop position and / or the second stop position is located in the unsafe zone, the corresponding first door and / or the second door is controlled to rotate to the closed position or the safe zone.

7. The method according to claim 4, characterized in that After controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is a risk of pinching hands, the rotation speed and / or rotation time of the first door and / or the second door are adjusted, and the corresponding first door and / or the second door are controlled to rotate to the closed position or the safety zone.

8. The method according to claim 4, characterized in that After controlling the door whose passive rotation amount is not zero among the first door and the second door to continue rotating in the passive rotation direction, and controlling the door whose passive rotation amount is zero among the first door and the second door to rotate in the opposite direction of the passive rotation direction, the method further includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of pinching hands if the first door and the second door continue to rotate according to the current motion state; If there is no risk of pinching fingers, the first door and the second door are continuously controlled to rotate in the passive rotation direction until the first door and / or the second door rotate to the closed position or the safety zone.

9. The method according to claim 1, characterized in that: The method further includes, after actively controlling one or both of the first door and the second door to rotate if it is obtained that the passive rotation amount of the corresponding first door and / or the second door is not zero: In the process of controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary; If any one of the first door and the second door is in passive stationary state, the one of the first door and the second door that is not in passive stationary state is controlled to also stop rotating.

10. A vehicle, comprising a vehicle body, a first door, a second door, a controller, a first drive device and a second drive device, wherein the first drive device and the second drive device are respectively connected to the first door and the second door, and the controller is respectively connected to the first drive device and the second drive device for communication; the controller can drive the first door and the second door to rotate relative to the vehicle body by controlling the first drive device and the second drive device; the first door can cover and partially overlap the second door to close the vehicle body by rotating; the first door and the second door define a closed position, a non-safe zone where there is a probability of contact between each other, and a safe zone where there is no contact between each other; characterized in that The vehicle further includes a sensor communicatively connected to the controller, the sensor being configured to detect an amount of passive rotation of the first door and / or the second door; When the sensor detects that the passive rotation amount of the first door and / or the second door is not zero, the controller controls the corresponding first door and / or the second door to actively rotate until the sensor detects that the corresponding rotated first door and / or the second door is in a closed position or in a safe area.

11. The vehicle according to claim 10, characterized in that The controller is further configured to, when only one of the first door and the second door has a non-zero passive rotation amount, detect the passive rotation direction of the door whose passive rotation amount is not zero, and actively control the door whose passive rotation amount is not zero to continue rotating to a closed position or a safety zone according to the passive rotation direction; or, The controller is also used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door and the second door has a passive rotation amount that is not zero, and actively control the other door whose passive rotation amount is zero to move in the opposite direction of the passive rotation direction to a closed position or a safe area.

12. The vehicle according to claim 10, characterized in that The controller is further used to actively control the first door and the second door to rotate until both the first door and the second door are in the closed position, or both the first door and the second door are in the safety zone.

13. The vehicle according to claim 12, characterized in that The sensor is specifically used to detect the passive rotation direction of the door whose passive rotation amount is not zero when only one of the first door and the second door has a passive rotation amount that is not zero; The controller is specifically used to control the first drive device and the second drive device according to the passive rotation direction detected by the sensor, to rotate the door of the first door and the second door whose passive rotation amount is not zero in the passive rotation direction, and to rotate the door of the first door and the second door whose passive rotation amount is zero in the opposite direction of the passive rotation direction.

14. The vehicle according to claim 13, characterized in that The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, control the first door and / or the second door to stop rotating.

15. The vehicle according to claim 14, characterized in that The sensor is specifically used to detect a first stop position of the first door and / or a second stop position of the second door where a stop occurs; The controller is specifically used to determine whether the corresponding first stop position and / or second stop position is located in the unsafe zone. When the first stop position and / or the second stop position is located in the unsafe zone, the corresponding first door and / or the second door is controlled to rotate to the closed position or the safe zone.

16. The vehicle according to claim 13, characterized in that The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is a risk of pinching hands, adjust the rotation speed and / or rotation time of the first door and / or the second door, and control the corresponding first door and / or the second door to rotate to the closed position or the safety zone.

17. The vehicle according to claim 13, characterized in that The controller is also used to determine whether there is a risk of pinching hands if the first door and the second door continue to rotate in the current motion state when the passive rotation amounts of the first door and the second door are both zero; if there is no risk of pinching hands, continue to control the first door and the second door to rotate in the passive rotation direction until the first door and / or the second door rotate to the closed position or the safety zone.

18. The vehicle according to claim 10, characterized in that The sensor is further used to detect whether the first door and the second door are passively stationary during the process of the first door and the second door rotating; The controller is used to control the other door to stop rotating through the first driving device or the second driving device when any one of the first door and the second door is passively stationary.

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