Vehicle control method and vehicle

Abstract

The present invention relates to the field of intelligent vehicle control, and more specifically, to a vehicle control method and vehicle. The method provided in an embodiment of the present application monitors the passive rotation amount of a vehicle door in real time. When a vehicle door is passively rotated due to an external force, whether controlling a single door or the simultaneous rotation of two doors, the goal is always to guide the corresponding rotating door to a closed position or a safe zone. This ensures that the doors are not simultaneously in an unsafe zone where they may come into contact with each other during the entire control process, thereby ensuring the safety of the door positions during vehicle use. Furthermore, the entire process does not require manual processing by the user, providing a smoother and more efficient vehicle experience for 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 specialized rear door structures (such as upper and lower doors), safe rear door operation is crucial. During daily vehicle use, users frequently open and close the rear doors, which requires door displacement control. With the advancement of vehicle technology, the demand for intelligent door control continues to increase.

[0003] In traditional vehicle door design and control solutions, there is a lack of effective coordinated control of the mutual movement relationship between the upper and lower doors in the vehicle tailgate, which makes it easy for both 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 existing technology lacks effective coordinated control of the mutual movement relationship between the upper and lower doors, and the two doors are prone to enter the area where collision may occur 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 communicatively connected to the first drive device and the second drive device respectively; 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 respectively; 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 no contact between each other is possible; it is characterized in that

[0006] 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;

[0007] 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 zone.

[0008] Further,

[0009] The controller is further configured to, when the passive rotation amount of only one of the first door and the second door is not zero, 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 in the passive rotation direction to the closed position or the safety zone; or

[0010] The controller is also used to detect the passive rotation direction of the door with non-zero passive rotation amount when only one of the first door and the second door has a non-zero passive rotation amount, and actively control the other door with zero passive rotation amount to move in the opposite direction of the passive rotation direction to a closed position or a safe zone.

[0011] Further,

[0012] The controller is further configured 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.

[0013] Further,

[0014] The sensor is specifically configured to detect the passive rotation direction of the door having a non-zero passive rotation amount when the passive rotation amount of only one of the first door and the second door is non-zero;

[0015] 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, 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.

[0016] Further,

[0017] 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 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, control the first door and / or the second door to stop rotating.

[0018] Further,

[0019] The sensor is specifically configured to detect a first stop position of the first vehicle door and / or a second stop position of the second vehicle door where the vehicle stops;

[0020] The controller is specifically used to determine whether the corresponding first stop position and / or second stop position is located in the unsafe area. When the first stop position and / or the second stop position is located in the unsafe area, the corresponding first door and / or second door is controlled to rotate to the closed position or the safe area.

[0021] Further,

[0022] 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 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 the closed position or the safety zone.

[0023] Further,

[0024] The controller 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 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 the 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.

[0025] Further,

[0026] The sensor is further configured to detect whether the first door and the second door are passively stationary during the rotation of the first door and the second door;

[0027] The controller is used to control the first door or the second 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.

[0028] 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 of which are 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, an unsafe zone in which they may contact each other, and a safe zone in which they do not contact each other; the method includes:

[0029] Obtaining the passive rotation amount of the first door and / or the second door;

[0030] 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 either or both of them; until the corresponding rotated first door and / or second door is in a closed position or a safe area.

[0031] Furthermore, actively controlling one 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 includes:

[0032] When the passive rotation amount of only one of the first door and the second door is non-zero, detecting the passive rotation direction of the door whose passive rotation amount is non-zero, and actively controlling the door whose passive rotation amount is non-zero to continue rotating in the passive rotation direction to a closed position or a safety zone;

[0033] or,

[0034] 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 zone.

[0035] Furthermore, actively controlling one 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 a safe zone includes:

[0036] 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.

[0037] Furthermore, actively controlling the first door and the second door to rotate includes:

[0038] 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;

[0039] 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.

[0040] Furthermore, after controlling the door of 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 door of the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction, the method further includes:

[0041] When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching if the first door and the second door continue to rotate according to the current motion state;

[0042] If there is a risk of pinching hands, the first door and / or the second door are controlled to stop rotating.

[0043] Furthermore, after controlling the first door and / or the second door to stop rotating, the method further includes:

[0044] Acquire a first stop position of the first vehicle door and / or a second stop position of the second vehicle door where the vehicle stops;

[0045] 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.

[0046] Furthermore, after controlling the door of 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 door of the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction, the method further includes:

[0047] When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching if the first door and the second door continue to rotate according to the current motion state;

[0048] 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.

[0049] Furthermore, after controlling the door of 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 door of the first door and the second door whose passive rotation amount is zero to rotate in the opposite direction of the passive rotation direction, the method further includes:

[0050] When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching if the first door and the second door continue to rotate according to the current motion state;

[0051] If there is no risk of pinching fingers, the first door and the second door are continued to be 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.

[0052] 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 obtained to be non-zero, the method further includes:

[0053] During 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;

[0054] If any one of the first door and the second door is passively stationary, the one of the first door and the second door that is not passively stationary is controlled to also stop rotating.

[0055] 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, computer instructions being stored in the memory, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0056] 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.

[0057] The method provided by the embodiments of this application monitors the passive rotation of vehicle doors in real time. When a door is passively rotated due to an external force, whether controlling a single door or the simultaneous rotation of two doors, the goal is always to guide the corresponding rotating door to a closed position or a safe zone. This ensures that the doors are not simultaneously in an unsafe zone where they could come into contact, thus ensuring the safe positioning of the doors during vehicle use. Furthermore, the entire process requires no manual intervention from the user, providing a smoother and more efficient user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0060] 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;

[0061] Figure 3 is a schematic diagram of a non-safe zone according to some embodiments of the present invention;

[0062] Figure 4 is a schematic diagram of a safety zone according to some embodiments of the present invention;

[0063] 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;

[0064] 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;

[0065] 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;

[0066] Figure 8 is a schematic diagram of finger pinching risks according to some embodiments of the present invention;

[0067] Figure 9 is a schematic diagram of a closed state of a first vehicle door and a second vehicle door according to some embodiments of the present invention;

[0068] Figure 10 is a schematic diagram of opening a first door and a second door according to some embodiments of the present invention;

[0069] Figure 11 is a flow chart of a vehicle control method according to some embodiments of the present invention;

[0070] Figure 12 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0071] Figure 13 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0072] Figure 14 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0073] Figure 15 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0074] Figure 16 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0075] Figure 17 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0076] Figure 18 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0077] Figure 19 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0078] Figure 20 is a flow chart of another vehicle control method according to some embodiments of the present invention;

[0079] Figure 21 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0080] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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 making creative efforts shall fall within the scope of protection of the present invention.

[0081] 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.

[0082] The embodiment of the present application provides a vehicle, such as Figure 1As 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. Figure 2 As shown in FIG, the first door and the second door are fully opened. Figure 3 As shown, this is a structural schematic diagram of the first door and the second door in the closed position.

[0083] In the embodiment of the present application, the first and second doors have two motion modes: active rotation and passive rotation. Active rotation refers to the ability of the door to achieve purposeful rotation based on instructions from the vehicle control system or user operation, using its own power drive device (such as a motor), thereby completing the door opening or closing action. Passive rotation refers to the rotation of the door caused by external forces not applied by the 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, or the vehicle being subjected to external impact causing force on the door.

[0084] like Figure 4 As shown, the closed position defined by the first door 11 and the second door 12 can be understood as follows: during the door closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping the second door, thereby forming a complete closed structure that isolates 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 5 As shown in FIG, the non-safe zone 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 reasons such as the movement trajectory and angle change of the door. Figure 6 As shown in FIG, the safety zone refers to the area where the two doors will not touch each other when the doors rotate.

[0085] 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 .

[0086] 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.

[0087] The sensor 16 primarily monitors the passive rotation of the first door 11 and / or the second door 12. Passive rotation refers to the change in door rotation caused by external forces (not actively applied by the vehicle's own drive system). This external force may come from manual pushing or pulling by the user, collision with an external object, or other factors. The sensor can be a Hall effect element in the motor. The Hall effect element can accurately sense the motor's rotation, thereby indirectly detecting the passive rotation of the first door 11 and / or the second door 12. When the door passively rotates due to external factors, the Hall effect element connected to the door drive will sense the change in motor rotation and feed back the relevant electrical signal to the controller 13. Upon 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 actively rotate. During the active rotation of the door, the Hall element continuously monitors the motor rotation until it detects that the corresponding 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.

[0088] When sensor 16 detects that the passive rotation of first door 11 and / or second door 12 is non-zero, it indicates that the door has been tampered with. In this case, controller 13 responds by controlling the corresponding first door 11 and / or second door 12 to actively rotate. Active rotation involves the vehicle's drive system (e.g., a motor) driving the door in accordance with instructions set by the controller. The controller's goal is to ensure that the doors, in this state, eventually reach a closed position (i.e., fully closed) or a safe zone (a region where the first and second doors do not contact each other during rotation).

[0089] It should be noted that active rotation includes situations where the user is also pulling on the door during active door rotation. For example, a user might, for some reason, pull on the door manually while the vehicle automatically closes. Once the user removes the pulling force, the door will continue to move for a certain distance in the active rotation mode set by the controller. This is because the controller has already issued an active rotation command based on the previously detected passive rotation amount, and the vehicle drive system will continue to execute this command until the door reaches the closed position or the safety zone.

[0090] Alternatively, once the sensor detects passive rotation, the user no longer applies additional force to the door. In this case, the door's subsequent movement is completed by the vehicle's own active rotation. This is because once the sensor detects passive rotation, the controller intervenes and initiates active rotation control. Even if the user no longer applies external force, the vehicle's drive system continues to drive the door to the closed position or safety zone according to the controller's program. This design ensures that no matter how the user operates after passive rotation, the door will complete the corresponding movement in a safe state, improving the convenience and safety of vehicle use.

[0091] In an 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.

[0092] In this 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 non-zero, this indicates that only one of the doors is subject to an external interference force, causing it to rotate outside the system's active control. At this point, the controller 13 further detects the passive rotation direction of the door with a non-zero passive rotation amount. This direction is determined by the moment the external interference force is applied. For example, if a user manually pulls the door, the direction of the door's movement is the passive rotation direction.

[0093] 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 situation mentioned above. For example, it is possible that the user pulls the door (generating passive rotation), and after the sensor senses the passive rotation, 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 certain 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.

[0094] As an example, Figure 7As shown in the figure, a user manually pulls on first door 11, causing it to generate a non-zero passive rotation. At this point, the passive rotation of second door 12 is zero. The vehicle sensor detects this state and transmits this information to controller 13. Controller 13 detects that the passive rotation direction of first door 11 is counterclockwise. Based on this passive rotation direction, controller 13 actively controls the first drive device of first door 11, directing it to a safe zone where the two doors do not contact each other.

[0095] In an 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.

[0096] In this embodiment of the present application, the vehicle uses sensors to monitor the passive rotation of the first door 11 and the second door 12 in real time. This control strategy takes effect only when the passive rotation of only one of the two doors is non-zero, that is, only one door is rotating due to an external force not actively applied by the vehicle system (for example, a user manually pushing or pulling the door, or an accidental collision), and the passive rotation of the other door is zero.

[0097] Once the above conditions are met, the controller 13 will detect the passive rotation direction of the door whose passive rotation amount is non-zero. This direction is determined by the moment of external force application. For example, if a user pushes the door from inside the car, the outward rotation direction of the door is the passive rotation direction that the controller wants to detect.

[0098] The controller 13 will actively control the door with zero passive rotation to move in the opposite direction of the detected passive rotation. This is done to prevent the two doors from colliding during subsequent movement, or to ensure that the doors can still be closed or remain in a safe position in such a situation. For example, if the first door 11 is rotated toward the front of the vehicle (passive rotation direction is upward) due to external force, the controller 13 will control the second door 12 with zero passive rotation to rotate toward the rear of the vehicle, that is, in the opposite direction of the passive rotation of the first door 11.

[0099] The controller 13 controls the door's zero passive rotation to reverse motion, ultimately aiming for it to reach a closed position or safety zone. The closed position means the door is completely closed, creating an enclosed space within the vehicle. The safety zone is the area where the two doors avoid contact during movement, ensuring door safety during movement and preventing damage from collisions, thereby ensuring the normal operation and safety of the vehicle as a whole.

[0100] As an example, Figure 8 As shown, the user operates the first door 11, causing it to passively rotate with a non-zero amount of rotation, while the second door 12 remains stationary with a zero amount of passive rotation. The vehicle's sensor system monitors the door status in real time and transmits information about the passive rotation of the first door 11 to the controller 13. Upon receiving this information, the controller 13 detects the direction of the passive rotation of the first door 11, assuming it is counterclockwise. Based on this detection result, the controller 13 issues a command to actively control the drive mechanism of the second door 12, causing it to move in the opposite direction of the passive rotation of the first door 11, namely, clockwise. During this movement, the controller 13 determines whether the second door 12 can safely reach the closed position based on data fed back by the door position sensor. If there is a risk of collision with the first door 11 during closing, the controller 13 promptly adjusts the movement of the second door 12 to keep it within a safe zone, ensuring that the two doors do not contact each other during rotation.

[0101] In an 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 a closed position, or both the first door 11 and the second door 12 are in a safe zone.

[0102] In this embodiment of the present application, the closed position refers to the doors being completely closed, forming an enclosed space with the vehicle body, achieving a properly enclosed state. The safety zone refers to the area where the two doors do not contact each other during rotation. Ensuring the doors are in the safety zone effectively prevents collisions and damage during movement.

[0103] Through this active control method, no matter what the initial state of the vehicle is, as long as the controller 13 activates 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.

[0104] As an example, Figure 9As shown, the vehicle's controller 13 actively controls the drive devices of the first door 11 and the second door 12, causing the two doors to start rotating. 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 status 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 intersect, 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 zone to prevent the doors from colliding and being damaged during movement.

[0105] In the embodiment of the present application, the sensor 16 is specifically configured to detect the passive rotation direction of the door having a non-zero passive rotation amount when the passive rotation amount of only one of the first door and the second door is non-zero;

[0106] The controller 13 is specifically used to control the first drive device and the second drive 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.

[0107] In this embodiment of the present application, controller 13 receives passive rotation direction information from sensor 16 and, based on this information, precisely controls the first and second drive mechanisms, thereby achieving optimal adjustment of the rotation of the two doors. Controller 13 controls the corresponding drive mechanism to ensure that the door with a non-zero passive rotation amount continues to rotate in the passive rotation direction detected by the sensor. It is understood that if the first door is opened outward due to an external force, controller 13 will control the first drive mechanism to continue opening the first door outward.

[0108] At the same time, the controller 13 controls another driving device to rotate the door with zero passive rotation in a direction opposite to the detected passive rotation direction. For example, when the first door is opened outward by an external force, the controller 13 controls the second driving device to rotate the second door in the direction of closing.

[0109] As an example, the user manually pushes the first door, causing it to passively rotate and the amount of rotation is not zero. At this time, the second door is stationary and the amount of passive rotation is zero. The sensor 16 monitors the state of the doors in real time. After detecting the passive rotation of the first door, it quickly determines its passive rotation direction 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, so that the second door with a zero passive rotation amount rotates 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.

[0110] In an 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 a risk of pinching the hands, the first door and / or the second door is controlled to stop rotating.

[0111] In the embodiment of the present application, when the controller 13 obtains that the passive rotation amounts 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 hand pinching risk judgment mechanism. Among them, the current motion state includes the rotation speed and rotation direction of the door, and can also include the rotation acceleration of the door, etc. The hand pinching risk judgment can be determined in the following ways:

[0112] The angle between the first and second doors is used as a criterion for judgment. When this angle is less than or equal to a preset angle, the space between the doors is already small. Further rotation would further reduce the space, resulting in a hand pinching risk. Another criterion is the gap between the first and second doors. If the gap is less than or equal to the preset distance, further rotation of the door also creates a high probability of pinching objects or human body parts, thus also determining a hand pinching risk.

[0113] 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 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 due to rapid approach in a short period of time. During continuous monitoring, such as Figure 10As 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 hand pinching.

[0114] In the embodiment of the present application, the sensor 16 is specifically configured to detect a first stop position of the first door and / or a second stop position of the second door where the vehicle stops;

[0115] The controller 13 is specifically used to determine whether the corresponding first stop position and / or second stop position is located in an unsafe area. When the first stop position and / or second stop position is located in an unsafe area, the corresponding first door and / or second door is controlled to rotate to a closed position or a safe area.

[0116] Specifically, sensor 16 uses a built-in position detection module (e.g., a combination of a high-precision displacement sensor and an angle sensor) to monitor the movement of the first and second doors in real time. When the first or second door stops moving, sensor 16 immediately captures the position information at the moment of stop, generating first stop position data for the first door and second stop position data for the second door, respectively.

[0117] 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) inside the vehicle.

[0118] After receiving the stop position data from sensor 16, controller 13 makes a determination based on a pre-set unsafe zone model. This model may be constructed based on parameters such as the door's motion trajectory, size, and possible rotation range. Controller 13 compares the received stop position data with the data in the unsafe zone model to determine whether the first stop position and / or the second stop position fall within the unsafe zone. If controller 13 determines that the first stop position and / or the second stop position are within the unsafe zone, it immediately activates the corresponding control strategy. Based on the vehicle's current state and pre-set logic, it sends control instructions to the corresponding drive device of the first door and / or the second door.

[0119] After receiving instructions from controller 13, the first and second drive units rotate the doors according to the instructions. If the target position is a closed position, the doors are controlled to fully close, forming an enclosed space with the vehicle body. If the target is a safe zone, the doors are controlled to rotate based on real-time position feedback, reaching a position where they will not contact each other during subsequent rotation. During this process, sensors 16 continuously monitor the door position and provide feedback to controller 13, allowing it to adjust its control strategy in real time to ensure the doors accurately reach the target position.

[0120] In an embodiment of the present application, the controller 13 is also used to determine whether there is a risk of hand pinching 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 hand pinching, 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.

[0121] 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 the acceleration sensor to obtain information such as rotation acceleration to fully understand the current movement state of the door.

[0122] The controller 13 calculates the angle between the first and second doors based on the angle sensor data. If this angle is less than or equal to a preset safety angle threshold (e.g., 10°) and the doors are rotating toward each other, a pinching risk is determined. Alternatively, the distance sensor measures the gap between the first and second doors. If the gap is less than or equal to a preset safety distance threshold (e.g., 5 cm) and the gap is expected to decrease further based on the rotation speed and direction, a pinching risk is also determined.

[0123] If the controller 13 determines a risk of hand entrapment exists, it will formulate an adjustment strategy based on the severity of the risk and the current state of the door. For example, if the door is currently rotating at a high speed, the controller 13 will send a command to the door's drive to reduce the motor's output power, thereby slowing 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 can be used. Alternatively, the controller 13 will recalculate the door's rotation time based on the door's current and target positions. If rotating the door within the original timeframe is expected to increase the risk of hand entrapment, the controller 13 will appropriately extend the rotation time. Based on the current door position and a collision risk assessment, the controller 13 will decide whether to rotate the door to the closed position or to a safe zone. If the calculation and determination show that further door rotation to the closed position will not pose a new risk, the door will be controlled to rotate toward the closed position. If there is a risk of collision, the door will be controlled to rotate to the safe zone.

[0124] The controller 13 sends control signals to the drive mechanism of the first and / or second doors, driving the doors toward their target positions according to the adjusted rotation speed and time. During the rotation process, sensors continuously provide feedback on the door's position, speed, and other information, allowing the controller 13 to adjust control parameters in real time to ensure the doors reach their target positions.

[0125] In an 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 are continued to be controlled to rotate in the passive rotation direction until the first door and / or the second door are rotated to a closed position or a safe area.

[0126] Specifically, the controller 13 uses various sensors installed on the vehicle doors to obtain relevant data. The speed sensor provides the rotation speed of the first and second doors, the angle sensor obtains the rotation direction, and the acceleration sensor obtains the rotation acceleration, thereby obtaining the current motion state.

[0127] The controller 13 calculates the angle between the first and second doors. If this angle is greater than a preset safety angle threshold (e.g., 10°) and the door rotation direction will not reduce the angle further to a dangerous level, a preliminary determination is made that there is no risk of hand pinching. Alternatively, a distance sensor is used to measure the gap between the first and second doors. If the gap is greater than a preset safety distance threshold (e.g., 5 cm) and, based on the rotation speed and direction, it is determined that the gap will not reduce to a dangerous level, a further determination is made that there is no risk of hand pinching.

[0128] After determining that there is no risk of hand pinching, the controller 13 determines the target position for the first and second doors, namely the closed position or the safe zone. If there are no obstacles between the current and closed positions of the doors 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 control instructions to the drive devices corresponding to the first and second doors, respectively. The instructions contain target position information and corresponding parameters such as rotation speed and rotation time. These parameters are calculated and adjusted based on the current and target positions of the doors and pre-set motion rules.

[0129] During door rotation, the sensor continuously feeds information such as the door's position, speed, and angle back to the controller 13. Based on this feedback, the controller 13 adjusts control instructions in real time to ensure the door accurately rotates to the target position in the predetermined passive rotation direction and speed. For example, if the actual door rotation speed deviates from the preset speed, the controller 13 adjusts the motor's drive current or voltage to restore the door's rotation speed to the predetermined value.

[0130] As an example, the user applies external force to the first door and the second door at the same time to rotate them, 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 hand pinching 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 hand pinching, 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 rotates to the maximum opening angle, so as to avoid the occurrence of hand pinching.

[0131] In the embodiment of the present application, the sensor 16 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 both rotating;

[0132] The controller 13 is used to control the first door or the second door to stop rotating when any one of the first door and the second door is passively stationary, through the first driving device or the second driving device.

[0133] Specifically, after receiving data from the sensor 16, the controller 13 can compare the angular velocity and displacement data at multiple consecutive sampling moments to determine whether the door has reached passive rest. For example, if the angular velocity of a door is zero and the displacement remains unchanged for three consecutive sampling moments, the door is determined to have reached passive rest.

[0134] During the judgment process, the controller 13 excludes active stationary conditions, such as normal parking, and only identifies passive stationary conditions caused by external interference (such as obstacles or human obstruction). When the controller 13 determines that either the first or second door has passively stationary, it immediately generates a corresponding control instruction based on the information about the door experiencing passive stationary conditions. If the first door has passively stationary conditions, the controller 13 generates a command to stop the rotation of the second door; conversely, if the second door has passively stationary conditions, the controller 13 generates a command to stop the rotation of the first door.

[0135] 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 quickly stop the other door from rotating to avoid possible collision or other safety accidents.

[0136] 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. Figure 11 As shown, the process includes the following steps:

[0137] Step S101: Acquire the passive rotation amount of the first door and / or the second door.

[0138] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0139] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0140] 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.

[0141] 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 includes: 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 the closed position or the safe zone.

[0142] Specifically, for doors with non-zero passive rotation, the controller analyzes the electrical signal characteristics of the Hall effect element's output. Different rotation directions can result in differences in the phase and pulse sequence of the Hall effect element's output signal. Based on this, the controller accurately determines the passive rotation direction of the door according to a preset correspondence between the signal and rotation direction.

[0143] The controller determines the target position for doors with a non-zero passive rotation amount. If the door's current position is close to the closed position and the door's rotation will not enter an unsafe zone where a collision could occur, the closed position is set as the target position. If further rotation to the closed position would involve passing through an unsafe zone, the safe zone is selected as the target position. Based on the determined target position and the detected passive rotation direction, the controller calculates the control parameters required to rotate the door to the target position, including rotation speed and time. Based on the calculated control parameters, the controller sends control instructions to the door's actuator.

[0144] During the door's rotation, the Hall effect element continuously feeds the motor's rotation status back to the controller. The controller monitors the door's position in real time. When the door approaches its target position, it determines whether it has reached the target position based on the position information fed back by the Hall effect element and a preset position threshold. For example, the controller calculates the door's rotation angle or displacement and compares it with the angle or displacement corresponding to the target position. If the difference is within the allowable error range, the controller determines that the door has reached the target position. Upon determining that the door has reached the target position, the controller sends a stop command to the corresponding door drive, causing the motor to stop. This ensures that the door, with a non-zero passive rotation amount, remains stably in the closed position or safe zone.

[0145] Alternatively, 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 zone.

[0146] Similarly, for doors with non-zero passive rotation, the controller analyzes the electrical signal characteristics of the Hall effect element's output. Different rotation directions result in variations in the phase and pulse sequence of the Hall effect element's output signal. Based on this, the controller accurately determines the passive rotation direction of the door according to a pre-set correlation between the signal and rotation direction.

[0147] The controller determines the target position of the door with zero passive rotation. If the door's current position is close to the closed position and the rotation process will not enter the unsafe zone where a collision could occur, the closed position is set as the target position. If further rotation to the closed position would involve passing through the unsafe zone, the safe zone is selected as the target position. Based on the determined target position and the direction opposite to the passive rotation direction, the controller calculates the control parameters required to rotate the door to the target position, including rotation speed and rotation time. Based on the calculated control parameters, the controller sends control instructions to the door's actuator.

[0148] During the door's rotation, the Hall effect element continuously feeds the motor's rotational status back to the controller. The controller monitors the door's position in real time. When the door approaches its target position, it determines whether it has reached it based on the position information provided by the Hall effect element and a preset position threshold. For example, the controller calculates the door's rotation angle or displacement and compares it with the angle or displacement corresponding to the target position. If the difference is within the allowable error range, the controller determines that the door has reached the target position. Upon determining that the door has reached the target position, the controller sends a stop command to the corresponding door drive, halting the motor. This ensures that the door, with its passive rotation amount at zero, remains stably in the closed position or safe zone.

[0149] The method provided by the embodiments of this application monitors the passive rotation of vehicle doors in real time. When a door is passively rotated due to an external force, whether controlling a single door or the simultaneous rotation of two doors, the goal is always to guide the corresponding rotating door to a closed position or a safe zone. This ensures that the doors are not simultaneously in an unsafe zone where they could come into contact, thus ensuring the safe positioning of the doors during vehicle use. Furthermore, the entire process requires no manual intervention from the user, providing a smoother and more efficient user experience.

[0150] 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. Figure 12 As shown, the process includes the following steps:

[0151] Step S201: Obtain the passive rotation amount of the first door and / or the second door.

[0152] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0153] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0154] 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 safe zone.

[0155] In this embodiment of the present application, when the passive rotation amount of the first door and / or the second door is detected to be non-zero, the target position is either the closed position or the safety zone. For example, if the doors are currently open at a small angle and are in a position where they could collide with each other, the controller will prioritize the safety zone as the target position. If the doors are nearly fully closed and there is no risk of collision, the closed position is selected as the target position.

[0156] Based on the target position and the current door position, the controller calculates the required rotation direction and speed for each door. For the first and second doors, the controller calculates the rotation angle and time required, respectively, and then determines the rotation speed. The controller sends the calculated rotation direction and speed instructions to the drive units for the first and second doors. Upon receiving the instructions, the drive units control the motors to rotate in the specified direction and speed, thereby actively rotating the doors.

[0157] The controller uses feedback from the Hall effect sensors to calculate the door positions in real time. When both the first and second doors meet the target positions (i.e., both are closed or within the safe zone), the controller sends a stop command to the drive units of the first and second doors. The drive units stop their motors, halting the doors' movement and completing the active rotation control process.

[0158] The method provided in this embodiment proactively drives the synchronous rotation of the first and / or second doors upon detecting that the passive rotation amount of the first and / or second doors is non-zero, guiding them to a closed position or a safe zone. Throughout this control process, the door states are continuously adjusted to ensure that both doors are not simultaneously in an unsafe zone, effectively mitigating potential risks and ensuring the safety of the door positions during vehicle use.

[0159] 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. Figure 13 As shown, the process includes the following steps:

[0160] Step S301: Acquire the passive rotation amount of the first door and / or the second door.

[0161] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0162] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0163] Step S302 : 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.

[0164] 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 vehicle controller.

[0165] After receiving the signals from the sensors, the controller processes and analyzes them. By calculating parameters such as the signal's rate of change and the number of pulses, it obtains data on the rotation of the first and second doors. The calculated rotation of the first and second doors is compared with a preset threshold. If the rotation of only one door exceeds the threshold (i.e., is not zero), it is determined that the door has passively rotated.

[0166] For doors with non-zero passive rotation, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions cause the sensor output signal to exhibit different characteristics in terms of phase, frequency, or pulse sequence. For example, in a brushless DC motor, the Hall effect sensor outputs different signal combinations when rotating forward or reverse. The controller can identify the rotation direction based on a preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0167] 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.

[0168] 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 safe zone, according to its passive rotation direction; for a vehicle door whose passive rotation amount is zero, the goal is to rotate to a corresponding safe position in the opposite direction of the passive rotation direction.

[0169] The controller calculates the control parameters required for each door's rotation, including rotation speed and rotation time. For example, it calculates the appropriate rotation speed based on the door's rotation angle and the desired rotation time. Based on the calculated control parameters, it then generates corresponding drive signals and sends them to the first and second drive devices corresponding to the first and second doors, respectively. Upon receiving the signals, the first and second drive devices drive the doors to rotate according to the instructions.

[0170] During the door rotation process, the sensor continuously monitors the door's rotation status in real time and sends feedback signals to the controller. Based on these feedback signals, the controller obtains the door's actual rotation status, including rotation speed and position, in real time. When both doors reach their respective target positions, the controller sends a stop command to the first and second drive units, halting the motor rotation and thus completing the entire control process.

[0171] The method provided in the embodiments of this application obtains the passive rotation amount of the vehicle doors. When only one door is passively rotating, it can determine its rotation direction and control the movement of both doors accordingly. This effectively avoids the risk of collision with another door caused by accidental passive rotation of a single door and guides the doors to a safe position.

[0172] 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. Figure 14 As shown, the process includes the following steps:

[0173] Step S401: Obtain the passive rotation amount of the first door and / or the second door.

[0174] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0175] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0176] Step S402 : 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.

[0177] 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 vehicle controller.

[0178] After receiving the signals from the sensors, the controller processes and analyzes them. By calculating parameters such as the signal's rate of change and the number of pulses, it obtains data on the rotation of the first and second doors. The calculated rotation of the first and second doors is compared with a preset threshold. If the rotation of only one door exceeds the threshold (i.e., is not zero), it is determined that the door has passively rotated.

[0179] For doors with non-zero passive rotation, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions cause the sensor output signal to exhibit different characteristics in terms of phase, frequency, or pulse sequence. For example, in a brushless DC motor, the Hall effect sensor outputs different signal combinations when rotating forward or reverse. The controller can identify the rotation direction based on a preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0180] Step S403: 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.

[0181] 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 the fully open position, fully closed position or safe area of ​​the vehicle door) according to its passive rotation direction; for a vehicle door whose passive rotation amount is zero, it rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two vehicle doors.

[0182] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, motor torque, 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.

[0183] Step S404: 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 hand pinching if the first door and the second door continue to rotate according to the current motion state.

[0184] In an embodiment of the present application, the controller continuously monitors the electrical signals from the sensors for the first and second doors and recalculates the passive rotation of the two doors. When the passive rotation of both doors is determined to be zero, the controller proceeds to a pinch risk assessment. Specifically, the controller, based on the current positions and rotation speeds of the first and second doors, determines whether a pinch risk exists if the doors continue to rotate in their current state. For example, the controller calculates the angle between the first and second doors. If this angle is greater than a preset safety angle threshold (e.g., 10°) and the direction of door rotation does not reduce the angle to a dangerous range, the controller preliminarily determines that there is no pinch risk. Otherwise, there is a pinch risk. Alternatively, a distance sensor is used to measure the gap between the first and second doors. If the gap is greater than a preset safety distance threshold (e.g., 5 cm) and, based on the rotation speed and direction, the gap is determined to be unlikely to reduce to a dangerous level, the controller determines that there is no pinch risk. Otherwise, there is a pinch risk.

[0185] Step S405: If there is a risk of hand pinching, control the first door and / or the second door to stop rotating.

[0186] In this embodiment of the present application, when the controller determines a risk of hand pinching exists, it determines whether to stop the first door, the second door, or both doors simultaneously, based on the specific risk (e.g., which door is closer to the pinching location, which door is more likely to stop, etc.). The controller sends a stop command to the corresponding drive device of the door. Upon receiving the command, the drive device immediately stops, causing the door to stop rotating, thereby preventing a hand pinching accident. Simultaneously, the controller can trigger relevant warning devices (e.g., audible alarms, light prompts, etc.) to alert the user to the door status.

[0187] When only one door is passively rotating, the method provided in this embodiment determines its rotational direction and independently controls the movement of both doors, preventing potential collisions between the doors. Furthermore, the method subsequently determines whether there is a risk of hand pinching if the doors are rotating in their current state. If this risk is detected, the doors are immediately stopped. This ensures that the doors always move in the expected manner, improving the stability and reliability of vehicle operation.

[0188] 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. Figure 15 As shown, the process includes the following steps:

[0189] Step S501: Obtain the passive rotation amount of the first door and / or the second door.

[0190] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0191] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0192] Step S502 : 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.

[0193] 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 vehicle controller.

[0194] After receiving the signals from the sensors, the controller processes and analyzes them. By calculating parameters such as the signal's rate of change and the number of pulses, it obtains data on the rotation of the first and second doors. The calculated rotation of the first and second doors is compared with a preset threshold. If the rotation of only one door exceeds the threshold (i.e., is not zero), it is determined that the door has passively rotated.

[0195] For doors with non-zero passive rotation, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions cause the sensor output signal to exhibit different characteristics in terms of phase, frequency, or pulse sequence. For example, in a brushless DC motor, the Hall effect sensor outputs different signal combinations when rotating forward or reverse. The controller can identify the rotation direction based on a preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0196] 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.

[0197] In an embodiment of the present application, for a vehicle door whose passive rotation amount is not zero, it continues to rotate to the target position (such as the fully open position, fully closed position or safe area of ​​the vehicle door) according to its passive rotation direction; for a vehicle door whose passive rotation amount is zero, it rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two vehicle doors.

[0198] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, motor torque, 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.

[0199] Step S504: 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 hand pinching if the first door and the second door continue to rotate according to the current motion state.

[0200] In this embodiment of the present application, the controller monitors the electrical signals from the sensors for the first and second doors and recalculates the passive rotation of the two doors. If the passive rotation of both doors is determined to be zero, the controller proceeds to a pinch risk assessment. This involves combining the current positions and rotation speeds of the first and second doors to determine whether a pinch risk exists if the doors continue to rotate in their current motion. For example, the controller calculates the angle between the first and second doors. If this angle is greater than a preset safety angle threshold (e.g., 10°) and the direction of door rotation does not reduce the angle to a dangerous range, a preliminary determination is made that there is no pinch risk. Otherwise, a pinch risk exists. Alternatively, a distance sensor is used to measure the gap between the first and second doors. If the gap is greater than a preset safety distance threshold (e.g., 5 cm) and, based on the rotation speed and direction, the gap is determined to be unlikely to reduce to a dangerous level, the controller determines that there is no pinch risk. Otherwise, a pinch risk exists.

[0201] Step S505: If there is a risk of hand pinching, the first door and / or the second door are controlled to stop rotating.

[0202] In this embodiment of the present application, when the controller determines a risk of hand pinching exists, it determines whether to stop the first door, the second door, or both doors simultaneously, based on the specific risk (e.g., which door is closer to the pinching location, which door is more likely to stop, etc.). The controller sends a stop command to the corresponding drive device of the door. Upon receiving the command, the drive device immediately stops, causing the door to stop rotating, thereby preventing a hand pinching accident. Simultaneously, the controller can trigger relevant warning devices (e.g., audible alarms, light prompts, etc.) to alert the user to the door status.

[0203] Step S506: Acquire the first stop position of the first door and / or the second stop position of the second door where the vehicle stops.

[0204] In the embodiments of the present application, the sensor converts the door's stop position information into an electrical signal and transmits it to the controller. The controller processes and analyzes the received position sensor signals to accurately determine the first stop position of the first door and / or the second stop position of the second door. For example, for the angle sensor, the controller analyzes the electrical signal output by the angle sensor to calculate the door's rotation angle, thereby determining the door's stop position.

[0205] 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 second door is controlled to rotate to the closed position or the safe zone.

[0206] In this 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 a pre-defined safety zone to determine whether these stop positions are within the unsafe zone. If the first stop position and / or the second stop position are determined to be within the unsafe zone, the controller calculates the parameters required for the doors to rotate to the target positions, including rotation speed and rotation time, based on the current positions of the doors and the target position (closed position or safety zone).

[0207] The controller converts the calculated drive parameters into control instructions and sends them to the first drive device corresponding to the first door and / or the second drive device corresponding to the second door. Upon receiving the instructions, the first and / or second drive devices rotate the doors according to the specified parameters, moving them to the closed position or safety zone.

[0208] 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, 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 amount of both doors is zero, it will be determined whether there is a risk of hand pinching 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 hand pinching of users. Moreover, for doors that stop due to risks, the solution will obtain their stop position. If they are in an unsafe area, the door will be further controlled to rotate to a closed position or a safe area, comprehensively ensuring that the doors will not collide in various situations and will not cause hand pinching risks to users due to rotation.

[0209] 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. Figure 16 As shown, the process includes the following steps:

[0210] Step S601: Obtain the passive rotation amount of the first door and / or the second door.

[0211] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0212] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0213] Step S602 : 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.

[0214] 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 vehicle controller.

[0215] After receiving the signals from the sensors, the controller processes and analyzes them. By calculating parameters such as the signal's rate of change and the number of pulses, it obtains data on the rotation of the first and second doors. The calculated rotation of the first and second doors is compared with a preset threshold. If the rotation of only one door exceeds the threshold (i.e., is not zero), it is determined that the door has passively rotated.

[0216] For doors with non-zero passive rotation, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions cause the sensor output signal to exhibit different characteristics in terms of phase, frequency, or pulse sequence. For example, in a brushless DC motor, the Hall effect sensor outputs different signal combinations when rotating forward or reverse. The controller can identify the rotation direction based on a preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0217] 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.

[0218] 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 the fully open position, fully closed position or safe area of ​​the vehicle door) according to its passive rotation direction; for a vehicle door whose passive rotation amount is zero, it rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two vehicle doors.

[0219] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, motor torque, 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.

[0220] Step S604: 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 hand pinching if the first door and the second door continue to rotate according to the current motion state.

[0221] In an embodiment of the present application, the controller continuously monitors the electrical signals from the sensors for the first and second doors and recalculates the passive rotation of the two doors. When the passive rotation of both doors is determined to be zero, the controller proceeds to a pinch risk assessment. Specifically, the controller, based on the current positions and rotation speeds of the first and second doors, determines whether a pinch risk exists if the doors continue to rotate in their current state. For example, the controller calculates the angle between the first and second doors. If this angle is greater than a preset safety angle threshold (e.g., 10°) and the direction of door rotation does not reduce the angle to a dangerous range, the controller preliminarily determines that there is no pinch risk. Otherwise, there is a pinch risk. Alternatively, a distance sensor is used to measure the gap between the first and second doors. If the gap is greater than a preset safety distance threshold (e.g., 5 cm) and, based on the rotation speed and direction, the gap is determined to be unlikely to reduce to a dangerous level, the controller determines that there is no pinch risk. Otherwise, there is a pinch risk.

[0222] 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 zone.

[0223] In the embodiments of the present application, the controller formulates a corresponding control strategy based on the specific circumstances of the hand pinching risk (e.g., the severity of the risk, the distance between the current door position 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 significantly reduce the door's rotation speed 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 quickly move the door to the safe zone.

[0224] The controller calculates the rotational speed of the first and / or second doors that require adjustment. For electrically driven doors, the controller can adjust the speed by changing parameters such as the voltage, current, or frequency of the drive unit. For example, reducing the drive unit voltage reduces the motor speed, thereby reducing the door's rotational speed. Alternatively, the controller recalculates the rotational time required for the door to reach the target position based on the adjusted speed and the distance between the door's current position and the target position (closed position or safety zone). By optimizing the rotational time, the door can reach the target position as quickly as possible while maintaining safety.

[0225] The controller converts the calculated and adjusted drive parameters, such as rotation speed and / or rotation time, into control instructions and sends them to the corresponding door actuators. Upon receiving the control instructions, the actuators rotate the doors according to the specified parameters until they reach the closed position or safety zone.

[0226] The embodiments of the present application obtain the passive rotation amount of the first door and / or the second door in real time. When only one door is passively rotating, the rotation direction can be quickly and accurately determined, 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. Throughout the entire process, when the passive rotation amount of both doors is monitored to be zero, a further determination is made as to whether there is a risk of hand pinching if the doors continue to rotate in the current state. Once a risk is detected, the rotation speed and / or rotation time of the first door and / or the second door are immediately adjusted, and the corresponding doors are controlled to rotate to a closed position or a safe zone, thereby comprehensively avoiding the possibility of hand pinching caused by door rotation.

[0227] 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. Figure 17 As shown, the process includes the following steps:

[0228] Step S701: Obtain the passive rotation amount of the first door and / or the second door.

[0229] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0230] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0231] Step S702 : When the passive rotation amount of only one of the first door and the second door is not zero, obtain the passive rotation direction of the door whose passive rotation amount is not zero.

[0232] 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 vehicle controller.

[0233] After receiving the signals from the sensors, the controller processes and analyzes them. By calculating parameters such as the signal's rate of change and the number of pulses, it obtains data on the rotation of the first and second doors. The calculated rotation of the first and second doors is compared with a preset threshold. If the rotation of only one door exceeds the threshold (i.e., is not zero), it is determined that the door has passively rotated.

[0234] For doors with non-zero passive rotation, the controller further analyzes the corresponding sensor signal characteristics. Different rotation directions cause the sensor output signal to exhibit different characteristics in terms of phase, frequency, or pulse sequence. For example, in a brushless DC motor, the Hall effect sensor outputs different signal combinations when rotating forward or reverse. The controller can identify the rotation direction based on a preset signal-direction correspondence. Based on the results of the signal characteristic analysis, the controller accurately determines the passive rotation direction of the door.

[0235] 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.

[0236] In an embodiment of the present application, for a vehicle door whose passive rotation amount is not zero, it continues to rotate to the target position (such as the fully open position, fully closed position or safe area of ​​the vehicle door) according to its passive rotation direction; for a vehicle door whose passive rotation amount is zero, it rotates to a safe position in the opposite direction of the passive rotation direction to avoid collision between the two vehicle doors.

[0237] The controller calculates the driving parameters required for the rotation of each door, including the rotation speed, rotation time, motor torque, 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.

[0238] 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 hand pinching if the first door and the second door continue to rotate according to the current motion state.

[0239] In an embodiment of the present application, when the controller determines that the passive rotation amount of both doors is zero, it enters the finger pinch risk judgment process. That is, based on the current position and rotation speed of the first and second doors, it determines whether there will be a finger pinch risk if the two doors continue to rotate according to the current motion state. For example, the controller calculates the angle between the first and second doors. 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 pinch risk. Otherwise, there is a finger pinch risk. Alternatively, a distance sensor is used to measure the gap distance between the first and second doors. When the gap distance is greater than a preset safety distance threshold (such as 5 cm) and the gap is determined not to be reduced to a dangerous value based on the rotation speed and direction, it is confirmed that there is no finger pinch risk. Otherwise, there is a finger pinch risk.

[0240] Step S705: If there is no risk of pinching the hand, 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 the closed position or the safety zone.

[0241] In this embodiment of the present application, the controller calculates the control parameters required for the first and second doors to continue rotating. These parameters include, but are not limited to, rotation speed, rotation acceleration, and rotation time. The rotation speed setting must take into account factors such as the distance between the doors and the target position (closed position or safety zone), the overall operating state of the vehicle, and safety requirements. For example, if the doors are close to the closed position, the controller may appropriately reduce the rotation speed to ensure a smooth closing of the doors. If the doors are still some distance from the safety zone and there are no other special circumstances, they will rotate at a relatively stable speed.

[0242] Based on the calculated control parameters, the controller generates corresponding control instructions and sends them to the first and second drive units, respectively. The first and second drive units control the rotation of the first and second doors, respectively. When the first and / or second doors approach their target positions (closed position or safety zone), the controller determines whether the doors have reached their target positions based on the position information fed back by the sensors and a preset target position range (within a certain tolerance range). For example, for the closed position, the controller determines that the doors have reached the closed position when the deviation between the door position and the fully closed position is within the allowable tolerance range and the door rotation speed has decreased to near zero. For the safety zone, the controller determines that the doors have reached the safety zone when the doors enter the preset safety zone and other relevant conditions are met (such as the distance between the doors meeting safety requirements).

[0243] When only one door is passively rotating, the method provided in an embodiment of the present application determines its rotation direction and controls the movement of both doors separately, causing the door with a non-zero passive rotation amount to rotate in its original direction and the door with a zero passive rotation amount to rotate in the opposite direction. This effectively prevents collisions between the first and second doors due to accidental passive rotation. Next, when the passive rotation amounts of both doors are zero, a further determination is made as to whether continued rotation in the current state poses a risk of hand pinching. If there is no risk of hand pinching, the doors continue to be controlled to rotate in the passive rotation direction to a closed position or a safe zone. If there is a risk, timely adjustments are made, thereby avoiding the potential danger of hand pinching caused by door rotation.

[0244] 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. Figure 18 As shown, the process includes the following steps:

[0245] Step S801: Obtain the passive rotation amount of the first door and / or the second door.

[0246] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0247] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0248] 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.

[0249] In an embodiment of the present application, the sensor collects door rotation data at a certain frequency, 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 results, 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.

[0250] The target position for active rotation is determined, i.e., the closed position or the safe zone. For example, if the door's current position is close to the closed position and there's no collision risk, 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. Based on the target position and the door's current position, the controller calculates the parameters required for door rotation, such as the direction (clockwise or counterclockwise) and speed, and generates corresponding control instructions. These control instructions are sent to the corresponding first and / or second drive devices. The first and / or second drive devices then control the rotation of either or both of the first and second doors until the corresponding rotating first and / or second doors are in the closed position or the safe zone.

[0251] Step S803 : While controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0252] In this embodiment of the present application, a sensor collects angular velocity and displacement data of the first and second doors in real time at a set frequency and transmits it to a controller. After receiving this data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a particular door is zero and the displacement remains unchanged at multiple consecutive sampling moments, it is preliminarily determined that the door has experienced passive stationary motion.

[0253] In step S804 , 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.

[0254] In this embodiment of the present application, when the controller determines that either the first or second door has become passively stationary, it immediately generates a corresponding control instruction based on the information about the door experiencing the passive stationary condition (i.e., the first or second door). If the first door has become passively stationary, the controller generates an instruction to stop the rotation of the second door; if the second door has become passively stationary, the controller generates an instruction to stop the rotation of the first door. The controller then sends the generated control instruction to the corresponding first or second drive device. Upon receiving the instruction, the drive device immediately adjusts the motor's output power or current to quickly stop the rotation of the other door.

[0255] When the method provided in the embodiments of the present application detects that the passive rotation amount of a door is non-zero, it actively controls the rotation of the corresponding door or both doors simultaneously, guiding the doors to a closed position or a safe zone, thus preventing the risk of door collisions caused by accidental passive rotation. During the process of controlling door rotation, it is determined in real time whether the doors are passively stationary. If any door is passively stationary, the remaining door is immediately controlled to stop rotating, effectively preventing collisions that could occur if one door is stationary while the other continues to rotate. This ensures the safety and stability of the vehicle door system and reduces the maintenance costs and safety hazards that may arise from door collisions.

[0256] 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. Figure 19 As shown, the process includes the following steps:

[0257] Step S901: Acquire the passive rotation amount of the first door and / or the second door.

[0258] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0259] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0260] 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.

[0261] In this embodiment of the present application, upon detecting that a door's passive rotation amount is non-zero, the controller determines which door to actively control based on the specific situation. If only one door's passive rotation amount is non-zero, that door is prioritized for rotation. If both doors' passive rotation amounts are non-zero, or based on the vehicle's overall state and safety requirements, both doors can be controlled for rotation simultaneously.

[0262] The target position for active rotation is determined, i.e., the closed position or the safety zone. For example, if the door's current position is close to the closed position and there is no collision risk, the target position is set to the closed position. If there are obstacles around the door, the target position is set to the safety zone.

[0263] Based on the target position and the current door position, the controller calculates the parameters required for door rotation, such as rotation direction (clockwise or counterclockwise), rotation speed, and rotation acceleration, and generates corresponding control instructions. These instructions are then sent to the corresponding first or second drive unit. The first drive unit then controls the rotation of the first door, the second drive unit controls the rotation of the second door, or both the first and second drives control the rotation of the first and second doors, respectively, until the corresponding rotating first and / or second doors are in the closed position or in the safe zone.

[0264] Step S903 : While controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0265] In this embodiment of the present application, a sensor collects angular velocity and displacement data of the first and second doors in real time at a set frequency and transmits it to a controller. After receiving this data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a particular door is zero and the displacement remains unchanged at multiple consecutive sampling moments, it is preliminarily determined that the door has experienced passive stationary motion.

[0266] Step S904: If any one of the first door and the second door is in passive stationary state, determine whether the door that is in passive stationary state among the first door and the second door stops in an unsafe zone; if the door that is in passive stationary state stops in an unsafe zone, control the door that is not in passive stationary state among the first door and the second door to continue moving.

[0267] In this embodiment of the present application, upon detecting that a door (designated as passively stationary) has become passively stationary, the controller obtains the current position of the door. The controller compares the current position of the passively stationary door with pre-defined safe and unsafe zones to determine whether the door is within the unsafe zone. If the passively stationary door stops within the unsafe zone, the controller controls the first or second door (whichever is not passively stationary) to continue moving.

[0268] Based on the current position of the door that has not been passively immobilized and the target position (which may be a safe zone or other suitable location), the controller calculates the parameters required for the door to continue moving, such as rotation direction, rotation speed, and rotation acceleration, and generates corresponding control instructions. The control instructions are then sent to the corresponding actuator (first actuator or second actuator) of the door that has not been passively immobilized. Upon receiving the instructions, the actuator of the door that has not been passively immobilized continues to move according to the specified parameters.

[0269] When the method provided in an embodiment of the present application detects that the passive rotation amount of a door is non-zero, it actively controls the simultaneous rotation of one or both of the first and second doors, causing the doors to move toward a closed position or a safe zone, effectively reducing the possibility of collision caused by accidental passive rotation of the doors. While controlling the rotation of the two doors, the doors are continuously monitored for passive stationary states. If either door is passively stationary, a further determination is made as to whether it is in an unsafe zone. If so, the door that has not been passively stationary is controlled to continue moving, thus avoiding the risk of collision caused by one door being stationary in an unsafe zone while the other door continues to rotate.

[0270] 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. Figure 20 As shown, the process includes the following steps:

[0271] Step S1001: Acquire the passive rotation amount of the first door and / or the second door.

[0272] In the embodiments of this application, the Hall element in the motor is used as a sensor to obtain the amount of passive rotation. The Hall element works based on the Hall effect and can accurately sense the rotation of the motor. Because the door is connected to the drive device, when the door is passively rotated due to external forces (such as manual pushing and pulling by the user, collision with external objects, and other forces not actively applied by the vehicle's own drive system), it will drive the motor to rotate, and the Hall element can sense the change in motor rotation.

[0273] After sensing changes in motor rotation, the Hall effect element converts them into relevant electrical signals. These signals contain information about the motor's rotation, such as speed and direction. The Hall effect element feeds the generated electrical signals back to the controller. After receiving these signals, the controller uses specific algorithms and processing procedures to convert them into specific passive rotation data, such as rotation angle and speed, thereby obtaining the passive rotation of the first and / or second doors.

[0274] 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 zone.

[0275] In an embodiment of the present application, the sensor collects door rotation data at a certain frequency, 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 results, 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.

[0276] The target position for active rotation is determined, i.e., the closed position or the safe zone. For example, if the door's current position is close to the closed position and there's no collision risk, 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. Based on the target position and the door's current position, the controller calculates the parameters required for door rotation, such as the direction (clockwise or counterclockwise) and speed, and generates corresponding control instructions. These control instructions are sent to the corresponding first and / or second drive devices. The first and / or second drive devices then control the rotation of either or both of the first and second doors until the corresponding rotating first and / or second doors are in the closed position or the safe zone.

[0277] Step S1003 : While controlling the first door and the second door to rotate, obtaining whether the first door and the second door are passively stationary.

[0278] In this embodiment of the present application, a sensor collects angular velocity and displacement data of the first and second doors in real time at a set frequency and transmits it to a controller. After receiving this data, the controller compares the angular velocity and displacement data at multiple consecutive sampling moments. If the angular velocity of a particular door is zero and the displacement remains unchanged at multiple consecutive sampling moments, it is preliminarily determined that the door has experienced passive stationary motion.

[0279] 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 has stopped in an unsafe area; if the passively stationary door has not stopped in the unsafe area, control the door of the first door and the second door that has not been passively stationary to continue moving, or control the door of the first door and the second door that has not been passively stationary to respond to subsequent electric control.

[0280] In an 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 that has not stopped passively between the first door and the second door.

[0281] Based on factors such as the current position of the door that has not been passively immobilized, the target position (such as a safe zone or other suitable location), and the vehicle's mechanical structure and drive system characteristics, the controller calculates the control parameters required for continued door movement, such as rotation direction (clockwise or counterclockwise), rotation speed, and rotation acceleration. The controller then converts these control parameters into corresponding control instructions and sends them to the drive unit (such as the drive unit and its control system) of the door that has not been passively immobilized. Upon receiving the instructions, the drive unit drives the door to continue moving according to the specified parameters. During the door's movement, sensors continuously monitor the door's actual motion status and transmit feedback information to the controller in real time, allowing the controller to adjust the control instructions based on the actual situation to ensure that the door reaches the target position safely and accurately.

[0282] Alternatively, the controller maintains monitoring of the actuators of any doors that have not been passively immobilized, awaiting subsequent instructions for electrically operating those doors (e.g., from the driver or an automatic control command from the vehicle system). Upon receiving the subsequent electric command, the controller sends corresponding control signals to the actuators of the doors that have not been passively immobilized, causing the doors to electrically operate as instructed. During this process, sensors also continuously monitor the door status, providing real-time feedback to the controller so it can make necessary control adjustments.

[0283] The method provided in the embodiment of the present application actively controls the rotation of the first door and / or the second door so that it moves toward a closed position or a 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 stationary state. When any door is in a passive stationary state, it is further determined whether it is in an unsafe zone. If the passively stationary door is not in an unsafe zone, the door that is not in a passive stationary state is controlled to continue moving or respond to subsequent electric operations, thereby avoiding collisions caused by one door being stationary and the other door continuing to rotate. This solution comprehensively and multi-layeredly ensures that the first door and the second door will not collide by monitoring the passive rotation amount of the doors, determining the passive stationary state, and taking corresponding control measures.

[0284] See also Figure 21 , Figure 211 is a schematic diagram of the structure 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 the 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).

[0285] 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 an application-specific 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.

[0286] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0287] 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 based on the use of a computer device for displaying 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 located 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 a combination thereof.

[0288] 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.

[0289] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0290] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, 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 drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. 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.

[0291] Although the embodiments of the present invention have been described with reference to 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. 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 includes a body and a first door and a second door, both of which are rotatably connected to the body; the first door and the second door are both actively and passively rotatable relative to the body; the first door can cover and partially overlap the second door by rotating to close the body; the first door and the second door define a closed position, an unsafe zone where they may contact each other, and a safe zone where they do not contact each other; the method includes: Obtaining a passive rotation amount of the first door and / or the second door, wherein the passive rotation amount is an amount of rotation generated when the door is manually pushed or pulled by a user; If the passive rotation amount of the corresponding first door and / or second door is obtained to be non-zero, the door with a non-zero passive rotation amount is controlled to rotate to a closed position or a safe zone, wherein, if the door with a non-zero passive rotation amount or a zero passive rotation amount is close to the closed position, and the door with a non-zero passive rotation amount or a zero passive rotation amount will not enter the unsafe zone during the rotation process, the door is controlled to rotate to the closed position; or, if the door with a non-zero passive rotation amount or a zero passive rotation amount may enter the unsafe zone during the rotation process, the door with a non-zero passive rotation amount or a zero passive rotation amount is controlled to rotate to a safe zone, so as to avoid the first door and the second door being in an unsafe zone where they may contact each other at the same time, and to avoid the first door colliding with the second door.

2. The method according to claim 1, characterized in that Also includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching 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.

3. The method according to claim 2, 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 vehicle door and / or a second stop position of the second vehicle door where the vehicle stops; 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.

4. The method according to claim 1, wherein Also includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching 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.

5. The method according to claim 1, wherein Also includes: When the passive rotation amounts of the first door and the second door are both zero, determining whether there is a risk of hand pinching if the first door and the second door continue to rotate according to the current motion state; If there is no risk of pinching the hands, the first door and the second door are 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.

6. 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 the passive rotation amount of the corresponding first door and / or second door is obtained to be non-zero: During 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 passively stationary, the one of the first door and the second door that is not passively stationary is controlled to also stop rotating.

7. 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 connected to the first door and the second door respectively, and the controller is communicatively connected to the first drive device and the second drive device respectively; 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 respectively; 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 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 a passive rotation amount of the first door and / or the second door, wherein the passive rotation amount is an amount of rotation generated when the door is manually pushed or pulled by a user; If the controller obtains that the passive rotation amount of the corresponding first door and / or second door is not zero, the controller controls the door with a non-zero passive rotation amount to rotate to a closed position or a safe zone, wherein, if the door with a non-zero passive rotation amount or a zero passive rotation amount is close to the closed position, and the door with a non-zero passive rotation amount or a zero passive rotation amount will not enter the unsafe zone during the rotation process, the controller controls the door to rotate to the closed position; or, if the door with a non-zero passive rotation amount or a zero passive rotation amount may enter the unsafe zone during the rotation process, the controller controls the door with a non-zero passive rotation amount or a zero passive rotation amount to rotate to the safe zone, so as to avoid the first door and the second door being in the unsafe zone where they may contact each other at the same time, and to avoid the first door colliding with the second door.

8. The vehicle according to claim 7, 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 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, control the first door and / or the second door to stop rotating.

9. The vehicle according to claim 8, characterized in that The sensor is specifically configured to detect a first stop position of the first vehicle door and / or a second stop position of the second vehicle door where the vehicle stops; The controller is specifically used to determine whether the corresponding first stop position and / or second stop position is located in the unsafe area. When the first stop position and / or the second stop position is located in the unsafe area, the corresponding first door and / or second door is controlled to rotate to the closed position or the safe area.

10. The vehicle according to claim 7, 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 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 the closed position or the safety zone.

11. The vehicle according to claim 7, wherein: The controller 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 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 the 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.

12. The vehicle according to claim 7, characterized in that The sensor is further configured to detect whether the first door and the second door are passively stationary during the rotation of the first door and the second door; The controller is used to control the first door or the second 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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