Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of vehicle intelligent control, in particular to a vehicle control method and device, electronic equipment and a storage medium. According to the method provided by the embodiment of the invention, the passive rotation amount of the first vehicle door and / or the second vehicle door is obtained, and whether the vehicle door rotates under the action of external force can be sensed. And when it is detected that the passive rotation amount of the corresponding first vehicle door and / or second vehicle door is not zero, the active rotation function of the first vehicle door and the active rotation function of the second vehicle door are both forbidden. When a user operates the upper and lower vehicle doors at the same time or one vehicle door is rotating and the other vehicle door also starts to rotate due to improper coordination, the active rotation function is forbidden once the passive rotation amount of the vehicle door is detected. Therefore, the problem that in the moving process of the two vehicle doors, due to the fact that active rotation and passive rotation exist at the same time and are not coordinated, the two vehicle doors interfere with each other on the moving track and collide with each other is effectively solved. And the active rotation function is forbidden in time, so that damage to the vehicle door caused by collision is avoided.

Description

Technical Field

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

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

[0003] When the user operates the back door, the upper and lower doors may be operated at the same time, or one door may start to rotate due to inaccurate coordination. Such uncoordinated operation may cause the upper and lower doors to interfere with each other in their movement trajectory, thus causing a collision. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a vehicle control method, device, electronic device and storage medium to solve the problem that an upper tailgate and a lower tailgate interfere with each other in their movement trajectories, thereby causing a collision.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method, wherein the vehicle includes a body and a first door and a second door both rotatably connected to the body; the first door and the second door are both capable of actively and passively rotating relative to the body, and the first door can cover and partially overlap the second door by rotating to close the body; the method comprises: obtaining the passive rotation amount of the first door and / or the second door; if the corresponding passive rotation amount of the first door and / or the second door is not zero, then disabling the active rotation function of the first door and the second door.

[0006] Furthermore, 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 they will not contact each other; after disabling the active rotation functions of the first door and the second door, the method also includes: obtaining the position of the first door and / or the second door; if the first door is located in the safe zone, and / or the second door is located in the safe zone or in a closed position, restoring the active rotation function of the first door and the second door is allowed.

[0007] Furthermore, the method further includes: if the first door is located in an unsafe zone or in a closed position, and the second door is located in the unsafe zone, then continuing to disable the active rotation function of the first door and the second door.

[0008] Furthermore, disabling the active rotation function of the first door and the second door includes: Obtaining a starting time when the first door and / or the second door passively rotates; At the starting moment, the active rotation functions of the first door and the second door are disabled.

[0009] Furthermore, disabling the active rotation function of the first door and the second door includes: Acquire the stop moment when the first door and / or the second door stops passively rotating; Active rotation functions of the first door and the second door are disabled at the stopping moment.

[0010] In a second aspect, an embodiment of the present invention provides a vehicle, including a vehicle body, a first door, a second door, a controller, a first drive device and a second drive device, wherein the first drive device and the second drive device are respectively connected to the first door and the second door, and the controller is respectively communicatively connected to the first drive device and the second drive device; the controller can drive the first door and the second door to rotate relative to the vehicle body by controlling the first drive device and the second drive device; the first door can cover and partially overlap the second door 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; the vehicle also includes a sensor communicatively connected to the controller, and the sensor is used to detect the passive rotation amount of the first door and / or the second door; The controller is used to control the first driving device and the second driving device to disable the active rotation function of the first door and the second door when the sensor detects that the passive rotation amount of the corresponding first door and / or second door is not zero.

[0011] Furthermore, the sensor is also used to detect the position of the first door and / or the second door; The controller is used for allowing the active rotation function of the first door and the second door to be restored when the sensor detects that the first door is located in the safety zone and / or the second door is located in the safety zone or in a closed position.

[0012] Further, when the sensor detects that the first door is located in an unsafe zone or in a closed position, and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

[0013] Furthermore, the controller is used to obtain a starting moment for the passive rotation of the first door and / or the second door; and at the starting moment, the active rotation function of the first door and the second door is disabled.

[0014] Furthermore, the controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

[0015] In a third aspect, an embodiment of the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0016] 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.

[0017] The method provided in the embodiment of the present application can sense whether the door is rotated by an external force by obtaining the passive rotation amount of the first door and / or the second door. When it is detected that the passive rotation amount of the corresponding first door and / or the second door is not zero, the active rotation function of the first door and the second door is disabled. That is, when the user operates the upper and lower doors at the same time, or when one door is rotating and the other door also starts to rotate due to improper coordination, once the passive rotation amount of the door is detected, the active rotation function is disabled. This effectively avoids the problem that the two doors interfere with each other on the motion trajectory and cause collisions due to the simultaneous existence and lack of coordination of active rotation and passive rotation during movement. By disabling the active rotation function in a timely manner, damage to the door caused by collision is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of a vehicle structure according to some embodiments of the present invention; Figure 2 is a schematic diagram of a physical structure in which a first door and a second door are fully opened according to some embodiments of the present invention; Figure 3 is a schematic diagram of a physical structure in which a first door and a second door are in a closed position according to some embodiments of the present invention; Figure 4 is a schematic diagram of a first vehicle door and a second vehicle door when both are closed according to some embodiments of the present invention; Figure 5 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 6 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 7 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 8 is a flow chart of a vehicle control method according to an embodiment of the present invention; Fig. 9 is a flow chart of another vehicle control method according to an embodiment of the present invention; Fig.10 is a flow chart of another vehicle control method according to an embodiment of the present invention; Fig.11 is a flow chart of another vehicle control method according to an embodiment of the present invention; Fig.12 is a flow chart of another vehicle control method according to an embodiment of the present invention; Fig.13 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] According to an embodiment of the present invention, a vehicle control method, device, electronic device and storage medium 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.

[0022] The present application embodiment provides a vehicle, such as Figure 1 As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15. The first drive device 14 and the second drive device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively connected to the first drive device 14 and the second drive device 15 for communication; the controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive device 14 and the second drive device 15; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe zone where there is a probability of contact with each other, and a safe zone where there is no contact with each other. As shown Figure 2 As shown in FIG. 1 , a schematic diagram of the structure in which the first door and the second door are fully opened. Figure 3 As shown, it is a schematic structural diagram of the first door and the second door in the closed position.

[0023] In the embodiment of the present application, the first door and the second door have two movement modes: active rotation and passive rotation. Active rotation means that the door can achieve purposeful rotation through its own power drive device (such as a motor, etc.) according to the instructions of the vehicle control system or the user's operation, thereby completing the door opening or closing action. Passive rotation refers to the rotation of the door when it is subjected to the force applied by an external non-vehicle control system. This external force may come from a variety of situations, such as the user manually forcibly pushing the door, the door encountering an obstacle during movement, the vehicle being hit by an external impact causing the door to be subjected to force, etc.

[0024] like Figure 4As shown, the first door 11 and the second door 12 define a closed position, which can be understood as follows: during the door closing process, the first door rotates around the connection point between the door and the vehicle body, and eventually covers the second door, and partially overlaps with the second door, thereby forming a complete closed structure to isolate the interior of the vehicle body from the external environment. In addition, during the rotation of the first door and the second door relative to the vehicle body, different areas will be formed according to their movement trajectories and spatial positional relationships. The unsafe zone refers to the area where the first door and the second door may contact each other during the rotation of the door, which is usually caused by the movement trajectory and angle change of the door. The safe zone refers to the area where the two doors will not contact each other when the door rotates.

[0025] 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 .

[0026] The controller 13 is used to control the first driving device and the second driving device to disable the active rotation function of the first door and the second door when the sensor detects that the passive rotation amount of the corresponding first door and / or second door is not zero.

[0027] Specifically, the sensor 16 (using the Hall element in the motor) monitors the passive rotation of the first door 11 and / or the second door 12 in real time. The passive rotation is the rotation change caused by the external force (such as manual push and pull by the user, collision with external objects, etc., which are not actively applied by the vehicle's own drive system). When the first door 11 and / or the second door 12 is passively rotated due to external factors, the Hall element connected to the door drive device senses the rotation change of the motor and feeds back the relevant electrical signal to the controller 13.

[0028] After receiving the electric signal fed back by the Hall element, the controller 13 determines whether the passive rotation amount of the first door 11 and / or the second door 12 is zero. When the controller 13 determines that the passive rotation amount of the first door and / or the second door is not zero, the controller 13 issues a control instruction to respectively control the first drive device 14 and the second drive device 15. Through this instruction, the first drive device 14 and the second drive device 15 both disable the active rotation function of the first door and the second door, that is, at this time, the door is no longer driven to rotate by the instruction previously set by the controller 13, but is in a state of relative stillness after being affected by the passive rotation of the outside world or only affected by external forces.

[0029] As an example, Figure 5As shown, the user pulls the first door 11 by hand, causing the door to passively rotate. The sensor 16 captures the change in the passive rotation amount of the first door 11, and transmits this data to the controller 13 through the communication line. After receiving the data, the controller 13 determines that the passive rotation amount of the first door 11 is not zero. Then, the controller 13 immediately issues an instruction to control the first drive device and the second drive device through the communication connection, so that the active rotation functions of the first door 11 and the second door 12 are disabled. In this way, even if the vehicle is originally set with active rotation instructions such as automatic door opening and closing, when the door is passively rotated by external force, there will be no conflict between active rotation and passive rotation.

[0030] In an embodiment of the present application, the sensor is also used to detect the position of the first door and / or the second door; the controller is used to allow the active rotation function of the first door and the second door to be restored when the sensor detects that the first door is located in a safety zone and / or the second door is located in a safety zone or in a closed position.

[0031] Specifically, the sensor 16 continuously detects the positions of the first door 11 and the second door 12 in real time. During the detection process, the specific position information of the safety zone (i.e., the area where the first door and the second door will not contact each other during the rotation process) and the closed position (the state where the doors are completely closed) needs to be clarified.

[0032] When the position of the first door 11 and / or the second door 12 changes, the sensor connected to the door drive device senses the corresponding change and feeds back electrical signals related to the positions of the first door 11 and the second door 12 to the controller 13. After receiving the electrical signals fed back by the sensors, the controller 13 determines whether the first door 11 is located in the safety zone, and at the same time determines whether the second door 12 is located in the safety zone or in the closed position.

[0033] If the controller 13 determines that the first door 11 is located in the safety zone, or the second door 12 is located in the safety zone, or the second door 12 is in the closed position (any of the above conditions is satisfied), the controller 13 issues an instruction to allow the active rotation function of the first door 11 and the second door 12 to be restored.

[0034] After receiving the instruction from the controller 13 allowing the active rotation function to be restored, the first driving device and the second driving device restart the relevant mechanism so that the first door 11 and the second door 12 can be actively rotated according to the instruction.

[0035] As an example, Figure 6As shown, take the parking lot scenario as an example. The user opened the second door, and another car drove up from behind, causing the user to fail to completely close the second door, resulting in the door being located in an unsafe zone. At this time, the vehicle's sensor monitors the door position and continuously transmits data to the controller to ensure that the active rotation function is disabled to avoid collisions caused by misoperation of the door. After waiting for the vehicle behind to drive away, the user manually closes the second door to the closed position, or adjusts both the first door and the second door to the safe zone. The sensor captures this position change and feeds the information back to the controller. After analysis and judgment, the controller confirms that the first door is in the safe zone, and / or that the second door is in the safe zone or closed position, and then issues a command to allow the active rotation function of the first door and the second door to be restored. After that, the vehicle can normally perform active operations such as automatic door opening and closing.

[0036] In the embodiment of the present application, when the sensor detects that the first door is located in the unsafe zone or in the closed position and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

[0037] Specifically, if the controller determines that the first door is located in an unsafe zone or in a closed position, and the second door is also located in an unsafe zone, the controller issues a control instruction to continue to control the first drive device and the second drive device, so that the active rotation function of the first door and the second door is maintained in a disabled state. This means that the doors will not be driven to rotate according to the instructions previously set by the controller, and the doors are in a relatively static state or are only affected by external forces.

[0038] As an example, Figure 7 As shown, the user needs to open the door to pick up the goods, and first opens the first door 11. Due to limited space, the first door 11 is in the unsafe zone after rotation, and there is not enough space to fully expand to the normal position. Then, the user opens the second door 12. Similarly, due to the obstruction of the surrounding goods, the second door 12 is also in the unsafe zone. The sensor on the vehicle monitors the status of the two doors, captures the situation that the first door 11 is in the unsafe zone, and the second door 12 is also in the unsafe zone, and transmits the door position information to the controller. According to the pre-set logical rules, the controller determines that the current scene meets the conditions for continuing to disable the active rotation function, and immediately issues instructions to the drive device that controls the rotation of the first and second doors, and continues to disable the active rotation function of the two doors. Even if the vehicle is originally set with a program to automatically open or close the back door, in this dangerous position, the active rotation action will not be performed, thereby effectively avoiding the collision of the door with the surrounding goods and shelves due to active rotation.

[0039] In an embodiment of the present application, the controller is used to obtain the starting time of the passive rotation of the first door and / or the second door; at the starting time, the active rotation function of the first door and the second door is disabled.

[0040] Specifically, when the first door and / or the second door starts to passively rotate due to external factors, the sensor connected to the door drive device senses the rotation of the motor. The sensor converts this rotation into an electrical signal and feeds it back to the controller. After receiving the electrical signal, the controller analyzes and processes the signal to determine the starting time when the first door and / or the second door starts to passively rotate. The starting time is the initial time point of the passive rotation of the door.

[0041] After determining the start time of the passive rotation of the first door and / or the second door, the controller issues a control instruction. The instruction acts on the first drive device and the second drive device at the same time, so that the active rotation function of the first door and the second door is disabled. In other words, at this time, the first drive device and the second drive device no longer drive the door to rotate according to the previous instruction, and the movement of the door will only be determined by the passive force applied by the outside world, and it is in a relatively free (only affected by external forces) rotation state.

[0042] In an embodiment of the present application, the controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

[0043] Specifically, when the first door and / or the second door is passively rotated due to external factors, the sensor connected to the door driving device senses the rotation change of the motor and converts it into an electrical signal to feed back to the controller. After receiving the signal, the controller confirms that the door is in a passive rotation state and starts to track the passive rotation of the door.

[0044] In the process of continuously tracking the passive rotation of the door, the sensor continuously feeds back the electrical signal of the door rotation state to the controller. The controller determines the stop time of the passive rotation of the first door and / or the second door according to the change of the received signal through a preset judgment mechanism (for example, when the rotation change detected for a continuous period of time is 0, it is determined that the door stops passively rotating). This stop time indicates that the door is no longer rotated by external passive force.

[0045] After determining the stop time of the first door and / or the second door to stop passive rotation, the controller issues a control command. The command acts on the first drive device and the second drive device at the same time, so that the active rotation function of the first door and the second door is disabled. In other words, at this time, the first drive device and the second drive device no longer drive the door to rotate according to the previous command, and the movement of the door will only be determined by the passive force applied by the outside world, and it is in a relatively free (only affected by external forces) rotation state.

[0046] 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 8 As shown, the process includes the following steps: Step S101, obtaining the passive rotation amount of the first door and / or the second door.

[0047] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., the motor will be driven to rotate, and the Hall element will be able to sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0048] Step S102: If the passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0049] In an embodiment of the present application, after the controller obtains the passive rotation amount of the first door and / or the second door, it analyzes and determines it. If it is found that the passive rotation amount of the first door or the second door is not zero, it indicates that the door has been interfered with by the outside world. At this time, the controller will immediately issue a control instruction, and act on the drive devices of the first door and the second door at the same time, that is, the first drive device and the second drive device. After receiving the instruction, the two drive devices perform corresponding operations, and both disable the active rotation function of the first door and the second door, so that the vehicle's own drive system no longer drives the door to rotate according to the previously set instructions, and the door enters a state that is only affected by the passive force of the outside world, and after disabling, the Hall element continues to monitor the rotation state of the door, and the controller further determines whether the conditions for restoring the active rotation function are met based on the new information.

[0050] The method provided in the embodiment of the present application can sense whether the door is rotated by an external force by obtaining the passive rotation amount of the first door and / or the second door. When it is detected that the passive rotation amount of the corresponding first door and / or the second door is not zero, the active rotation function of the first door and the second door is disabled. That is, when the user operates the upper and lower doors at the same time, or when one door is rotating and the other door also starts to rotate due to improper coordination, once the passive rotation amount of the door is detected, the active rotation function is disabled. This effectively avoids the problem that the two doors interfere with each other on the motion trajectory and cause collisions due to the simultaneous existence and lack of coordination of active rotation and passive rotation during movement. By disabling the active rotation function in a timely manner, damage to the door caused by collision is avoided.

[0051] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig. 9 As shown, the process includes the following steps: Step S201, obtaining the passive rotation amount of the first door and / or the second door.

[0052] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Since the door is connected to the drive device, when the door is subjected to external forces such as manual pushing and pulling by the user, collision with external objects, etc. that are not actively applied by the vehicle's own drive system, and then produces passive rotation, this rotation will drive the motor connected to it to rotate. At this time, the Hall element can keenly sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving these signals, the controller further converts the electrical signals into specific passive rotation amount data such as rotation angle and rotation speed through specific algorithms and processing procedures, and finally realizes the acquisition of the passive rotation amount of the first door and / or the second door.

[0053] Step S202: If the passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0054] In the embodiment of the present application, if the passive rotation amount of the first door or the second door is not zero, it means that the door has been interfered with by external factors such as manual pushing and pulling by the user, collision with external objects, etc. At this time, the controller issues a control instruction, which is simultaneously transmitted to the respective drive devices of the first door and the second door, namely the first drive device and the second drive device. After receiving the instruction, the two drive devices disable the active rotation function of the first door and the second door.

[0055] Based on this, the vehicle's own drive system no longer drives the door to rotate according to the previously set instructions, and the door is only affected by the passive force applied by the outside world. After disabling the active rotation function, the Hall element will continue to monitor the rotation status of the door and feed back new information to the controller. The controller will determine whether the conditions for restoring the active rotation function are met based on this new information.

[0056] Step S203, obtaining the position of the first door and / or the second door.

[0057] In the embodiment of the present application, the position of the first door and / or the second door is obtained by using specific sensors installed on the vehicle doors and related structures. These sensors can work based on a variety of principles, such as photoelectric sensing, magnetic sensing, etc. When the position of the door changes, the sensor will generate corresponding signal changes due to the change in the relative position of the door and surrounding components. For example, a photoelectric sensor may generate a signal by detecting the degree to which the door blocks light. The sensor sends a signal representing the real-time position of the door to the controller.

[0058] The controller uses pre-set decoding rules and calculation procedures to analyze and process the received signals, and converts the signals into intuitive door position information, such as the current opening angle of the door, the angle required to be turned to fully close, etc., thereby successfully obtaining the position of the first door and / or the second door.

[0059] Step S204: if the first door is located in the safety zone, and / or the second door is located in the safety zone or in the closed position, the active rotation function of the first door and the second door is allowed to be restored.

[0060] In the embodiment of the present application, the controller determines the position state based on continuously receiving and mastering the position information of the first door and the second door. The safety zone is predefined, and within this zone, the first door and the second door will not touch each other when rotating, and the closed position is the state where the doors are completely closed.

[0061] When the controller determines that the first door is in the safety zone, or the second door is in the safety zone / closed position, or the first door is in the safety zone and the second door is in the safety zone / closed position, the corresponding control process will be started. The controller sends a command to the drive device of the first door and the second door to allow the active rotation function to be restored. After receiving the command, the drive device activates the relevant function so that the first door and the second door can be restored according to the command of the vehicle's own system.

[0062] The embodiment of the present application obtains the passive rotation amount of the first door and / or the second door, and disables the active rotation function of the dual doors when the passive rotation amount is not zero, thereby effectively avoiding the conflict between the vehicle drive system and external interference, preventing door collisions and other problems caused by chaotic drive logic, and improving the safety of the doors. Then, the door position information is continuously obtained, and the active rotation function is allowed to be restored when the door is in a safe area or closed position, thereby realizing intelligent door control logic. The overall intelligence level and ease of use of the vehicle are improved.

[0063] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.10 As shown, the process includes the following steps: Step S301, obtaining the passive rotation amount of the first door and / or the second door.

[0064] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Since the door is connected to the drive device, when the door is subjected to external forces such as manual pushing and pulling by the user, collision with external objects, etc. that are not actively applied by the vehicle's own drive system, and then produces passive rotation, this rotation will drive the motor connected to it to rotate. At this time, the Hall element can keenly sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving these signals, the controller further converts the electrical signals into specific passive rotation amount data such as rotation angle and rotation speed through specific algorithms and processing procedures, and finally realizes the acquisition of the passive rotation amount of the first door and / or the second door.

[0065] Step S302: If the passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0066] In the embodiment of the present application, if the passive rotation amount of the first door or the second door is not zero, it means that the door has been interfered with by external factors such as manual pushing and pulling by the user, collision with external objects, etc. At this time, the controller issues a control instruction, which is simultaneously transmitted to the respective drive devices of the first door and the second door, namely the first drive device and the second drive device. After receiving the instruction, the two drive devices disable the active rotation function of the first door and the second door.

[0067] Based on this, the vehicle's own drive system no longer drives the door to rotate according to the previously set instructions, and the door is only affected by the passive force applied by the outside world. After disabling the active rotation function, the Hall element will continue to monitor the rotation status of the door and feed back new information to the controller. The controller will determine whether the conditions for restoring the active rotation function are met based on this new information.

[0068] Step S303, obtaining the position of the first door and / or the second door.

[0069] In the embodiment of the present application, specific sensors installed on the vehicle doors and related structures are used to obtain the position of the first vehicle door and / or the second vehicle door. These sensors can work based on a variety of principles, such as photoelectric sensing, magnetic sensing, etc. When the position of the vehicle door changes, the sensor will generate a corresponding signal change due to the change in the relative position of the vehicle door and surrounding components. For example, a photoelectric sensor may generate a signal by detecting the degree to which the vehicle door blocks light.

[0070] The sensor sends a signal indicating the real-time position of the door to the controller. The controller analyzes and processes the received signal and converts it into intuitive door position information, such as the current opening angle of the door and the angle to be rotated to fully close, so as to successfully obtain the position of the first door and / or the second door.

[0071] Step S304: If the first door is located in the unsafe zone or in the closed position, and the second door is located in the unsafe zone, the active rotation function of the first door and the second door continues to be disabled.

[0072] In the embodiment of the present application, if the controller determines that the first door is in the unsafe zone or is in the closed position, and the second door is also in the unsafe zone, the controller immediately issues a continuous disabling instruction. The instruction is transmitted to the drive devices corresponding to the first door and the second door at the same time. After receiving the instruction, the drive devices continue to maintain the disabling state of the active rotation function of the first door and the second door, ensuring that the vehicle's own drive system will not drive the door to rotate, avoiding safety issues such as collisions that may be caused by the active rotation of the door.

[0073] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.11 As shown, the process includes the following steps: Step S401, obtaining the passive rotation amount of the first door and / or the second door.

[0074] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., the motor will be driven to rotate, and the Hall element will be able to sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0075] Step S402, if the passive rotation amount of the corresponding first door and / or second door is not zero, then the starting time of the passive rotation of the first door and / or the second door is obtained; At the start, the active rotation functions of the first door and the second door are disabled.

[0076] Specifically, when it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, timing is performed to obtain the starting time when the first door and / or second door starts to passively rotate. At the same time, the controller issues a disabling instruction. The disabling instruction is simultaneously transmitted to the drive devices corresponding to the first door and the second door. After receiving the instruction, the drive device immediately responds and executes, quickly cuts off the power transmission path of the active rotation function, and maintains the disabled state of the active rotation function of the first door and the second door. This measure ensures that the vehicle's own drive system stops driving the door to rotate at the starting moment when the door is passively rotated by external force, effectively avoiding the simultaneous occurrence of active rotation and passive rotation.

[0077] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.12 As shown, the process includes the following steps: Step S501, obtaining the passive rotation amount of the first door and / or the second door.

[0078] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., the motor will be driven to rotate, and the Hall element will be able to sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0079] Step S502, if the passive rotation amount of the corresponding first door and / or second door is not zero, then obtain the stop time of the first door and / or second door stopping the passive rotation; disable the active rotation function of the first door and the second door at the stop time.

[0080] In an embodiment of the present application, when the passive rotation amount of the first door and / or the second door is 0, it is determined that the first door and / or the second door stops passively rotating, and the stop time of the first door and / or the second door stopping passively rotating is obtained. At the same time as the stop time is obtained, the controller quickly generates a disable instruction, and immediately transmits it to the respective drive devices of the first door and the second door. After receiving the instruction, the drive device quickly executes the operation and immediately disables the active rotation function of the first door and the second door. This process ensures that at the moment the door stops passively rotating, the vehicle's own drive system stops actively driving the door, effectively avoiding damage to the door and safety hazards caused by improper driving, and maintaining the door in a safe and stable state.

[0081] See also Fig.13 , Fig.13 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.13 As shown, 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. 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 the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the 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).

[0082] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0083] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0084] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] 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.

[0086] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0087] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0088] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, the vehicle comprising a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, and the first door can cover and partially overlap the second door by rotating to close the vehicle body; characterized in that: The method comprises: Obtaining the passive rotation amount of the first door and / or the second door; If the passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door are disabled.

2. The method according to claim 1, characterized in that The first door and the second door define a closed position, a non-safe zone where there is a probability of contact between them, and a safe zone where they will not contact each other; After disabling the active rotation functions of both the first door and the second door, the method further includes: Acquire the position of the first vehicle door and / or the second vehicle door; If the first door is located in the safety zone, and / or the second door is located in the safety zone or in a closed position, the active rotation functions of the first door and the second door are allowed to be restored.

3. The method according to claim 2, characterized in that The method further comprises: If the first door is located in the unsafe zone or in the closed position, and the second door is located in the unsafe zone, the active rotation functions of the first door and the second door continue to be disabled.

4. The method according to claim 1, characterized in that The step of disabling the active rotation functions of the first door and the second door comprises: Obtaining a starting time when the first door and / or the second door passively rotates; At the starting moment, the active rotation functions of the first door and the second door are disabled.

5. The method according to claim 1, characterized in that The step of disabling the active rotation functions of the first door and the second door comprises: Acquire the stop moment when the first door and / or the second door stops passively rotating; Active rotation functions of the first door and the second door are disabled at the stopping moment.

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

7. The vehicle according to claim 6, characterized in that The sensor is further used to detect the position of the first door and / or the second door; The controller is used for allowing the active rotation function of the first door and the second door to be restored when the sensor detects that the first door is located in the safety zone and / or the second door is located in the safety zone or in a closed position.

8. The vehicle according to claim 7, characterized in that When the sensor detects that the first door is located in an unsafe zone or in a closed position and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

9. The vehicle according to claim 6, characterized in that The controller is used to obtain the starting time of the passive rotation of the first door and / or the second door; at the starting time, the active rotation function of the first door and the second door is disabled.

10. The vehicle according to claim 6, characterized in that The controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

11. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 5 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

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