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, judgment is not made only according to tiny changes of the position of the vehicle door, but the passive rotation amount of the vehicle door is obtained as a key initial condition. And when it is detected that the passive rotation amount is not zero, the state of the vehicle door is not directly changed, and whether the first vehicle door meets the preset condition or not is further judged. Only when the first vehicle door meets the preset conditions that the memory function of the maximum opening angle of the vehicle door is executed within the preset time or the release position of the first vehicle door is located within the angle subset range of the safety area, the first vehicle door and the second vehicle door are allowed to execute the active rotation function. Therefore, even if the passive rotation amount is caused by slight position change, as long as the first vehicle door does not meet the preset condition, the back door is still not locked at will and loses the electric function, so that the situation that the vehicle door function is abnormal due to unintentional fine operation of a user is effectively 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] In existing vehicles, when the user slightly moves (such as gently pulling) the upper and lower doors of the vehicle, the two doors will be locked and lose their electric function, and they need to be powered on again. This will cause a bad experience when the user normally sets the maximum opening of the door. 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 when a user operates a vehicle door, a slight position change causes the back door to be locked and lose its electric function.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method, wherein the vehicle includes a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, the first door can cover and partially overlap the second door by rotating to close the vehicle body, the first door and the second door define a closed position, a non-safe zone that may contact each other, and a safe zone that does not contact each other; the method includes: Obtaining the passive rotation amount of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, the first door and the second door are both allowed to perform an active rotation function; wherein the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the first door performs a memory function of a maximum door opening angle within a preset time, and the second preset condition is that a release position of the first door is within an angle subset range of the safety zone; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset condition, the active rotation function of the first door and the second door are both disabled; wherein, after the active rotation functions of the first door and the second door are both disabled, if the first door is located in a closed position or 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; After disabling the active rotation functions of the first door and the second door, if the first door is located in an unsafe zone or in a closed position, and the second door is located in the closed position or the unsafe zone, continue to disable the active rotation functions of the first door and the second door.

[0006] Furthermore, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0007] Furthermore, the lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

[0008] Furthermore, the preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0009] 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 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 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 further includes a sensor communicatively connected to the controller, the sensor being used to obtain an amount of passive rotation of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, the first door and the second door are both allowed to perform an active rotation function; wherein the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the first door performs a memory function of a maximum door opening angle within a preset time, and the second preset condition is that a release position of the first door is within an angle subset range of the safety zone; The controller is configured to disable the active rotation functions of the first door and the second door when the acquired passive rotation amount corresponding to the first door and / or the second door is not zero and the first door does not meet a preset condition; The controller is further configured to allow restoration of the active rotation functions of the first door and the second door after both the active rotation functions of the first door and the second door are disabled, if the first door is located in a closed position or in the safety zone, and / or the second door is located in the safety zone or in a closed position; The controller is also used to continue disabling the active rotation functions of the first door and the second door after disabling the active rotation functions of the first door and the second door if the first door is located in an unsafe area or in a closed position, and the second door is located in the closed position or the unsafe area.

[0010] Furthermore, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0011] Furthermore, the lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

[0012] Furthermore, the preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0013] 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.

[0014] 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.

[0015] The present application does not make judgments based solely on slight changes in the door position, but rather takes the passive rotation amount of the door as a key initial condition. When it is detected that the passive rotation amount is not zero, the door state is not changed directly, but a further judgment is made as to whether the first door meets the preset conditions. Only when the first door meets the preset conditions that the memory function of the maximum opening angle of the door is executed within the preset time, or its release position is within the angle subset range of the safety zone, will the first door and the second door be allowed to perform the active rotation function. This means that even if there is a slight position change that triggers the passive rotation amount, as long as the first door does not meet the preset conditions, the back door will not be locked at will and lose the electric function, thereby effectively avoiding abnormal door functions caused by subtle unintentional operations by the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] 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 door performing a maximum opening angle memory function according to some embodiments of the present invention; Figure 5 is a schematic diagram of a release position of a first door being within an angular subset of a safety zone according to some embodiments of the present invention; Figure 6 is a flow chart of a vehicle control method according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] 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.

[0019] According to an embodiment of the present invention, a vehicle tailgate 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] In the present embodiment, the vehicle further includes a sensor 16 communicatively connected to the controller 13, and the sensor 16 is used to obtain the passive rotation amount of the first door and / or the second door.

[0024] If the passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets the preset conditions, both the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include the first preset conditions or the second preset conditions, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within the preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0025] 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.

[0026] When the passive rotation amount corresponding to the first door and / or the second door obtained by the sensor 16 is not zero, it indicates that the door is disturbed by external force. However, the active rotation function is not immediately disabled at this time, but it is further determined whether the first door meets the preset conditions. If so, the first door and the second door are allowed to perform the active rotation function.

[0027] There are two types of preset conditions. Figure 4As shown, the first preset condition is that the first door performs the memory function of the maximum door opening angle within the preset time. For example, the owner has previously set a maximum opening angle. Within the preset time range, when the door is passively rotated by external force, if the condition of this memory function is met, it means that this passive rotation may be within the normal operation expectation, so the two doors are allowed to resume active rotation.

[0028] like Figure 5 As shown, the second preset condition is that the release position of the first door is within the angular subset range of the safety zone. The safety zone is a pre-set area range to ensure the safety of door rotation, and the angular subset is the detailed range of this safety zone in the angular dimension. When the first door is passively rotated by an external force, and its final release position is within the angular subset range of this safety zone, it means that the door is in a safe position and meets the conditions for allowing the two doors to perform active rotation functions.

[0029] In an embodiment of the present application, the controller is used to disable the active rotation function of the first door and the second door when the acquired passive rotation amount corresponding to the first door and / or the second door is not zero and the first door does not meet the preset conditions.

[0030] It should be noted that when the passive rotation amount corresponding to the first door and / or the second door obtained by the controller is not zero, it indicates that the door has been disturbed by external force and has passively rotated. At this time, the controller will not immediately make a decision to disable the active rotation function, but will further evaluate the state of the first door to determine whether it meets the preset conditions. If it is determined that the first door does not meet these preset conditions, such as the first door does not perform the memory function of the maximum opening angle of the door within the preset time (if the preset conditions include this content), or the release position of the first door is not within the angle subset range of the safety zone (also if the preset conditions include this requirement), etc., as long as any of the preset conditions is not met, the controller will issue an instruction to disable the active rotation function of the first door and the second door at the same time.

[0031] This ensures that when the door is in an unstable state or there may be safety hazards, the vehicle will not actively rotate the door, thereby avoiding problems such as door collision and damage caused by active and passive rotation at the same time, thereby ensuring the safety of the door.

[0032] The controller is also used to allow the active rotation functions of the first door and the second door to be restored after the active rotation functions of the first door and the second door are disabled, if the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position.

[0033] The controller is also used to continue disabling the active rotation functions of the first door and the second door after both doors have their active rotation functions disabled, if the first door is located in an unsafe zone or in a closed position, and the second door is located in a closed position or in an unsafe zone.

[0034] Specifically, the situation where "the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position" means that at least one door is in a safe state (the closed position can be understood as completely closed, which is a safe state; the safe zone is a pre-set area in which no safety hazard will occur when the door is in it). In this case, the controller believes that the state of the door has reached the conditions for restoring the active rotation function, so it will issue a command to allow the active rotation function of the first door and the second door to be restored. For example, when the first door is closed (in a closed position), even if the second door may still be in the safe zone but not completely closed, the controller will allow the two doors to regain the ability to actively rotate, so that the user can once again control the opening and closing of the door through the vehicle's active system.

[0035] On the other hand, when the situation occurs that "the first door is in the unsafe zone or in the closed position, and the second door is in the closed position or in the unsafe zone", it means that at least one of the doors is in the unsafe zone (that is, it is not in the safe zone and there may be risks such as collision with surrounding objects), or there is a potential risk in the combination of the position states of the two doors. In this case, the controller will consider that the current state of the door is not suitable for restoring the active rotation function, and will continue to disable the active rotation function of the first door and the second door. For example, the first door is in the unsafe zone, and although the second door is in the closed position, due to the unsafe state of the first door, in order to avoid possible dangers, the controller will not allow the two doors to restore the active rotation function until the position state of the doors changes and the conditions for allowing restoration are met.

[0036] Through such logical judgment and control operations, the controller in the embodiment of the present application can flexibly decide whether to restore or continue to disable the active rotation function according to the actual position and status of the door, thereby effectively ensuring the safety and reliability of the door system.

[0037] In an embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0038] Specifically, a setting interface may be provided for the user, in which the user may pre-set the lower limit of the safety zone angle subset range according to their own needs and habits. For example, the user may set the lower limit to 30 degrees in consideration of the parking environment or personal usage preference, that is, the angle range of the safety zone may be entered only when the opening angle of the first door is greater than or equal to 30 degrees.

[0039] In addition, the lower limit value can also be determined by learning and analyzing the user's long-term operating habits. For example, after repeatedly recording the angles at which the user opens and closes the first door, it is found that the angle at which the user opens the door is generally greater than 25 degrees each time, so 25 degrees will be used as the lower limit value determined based on the user's operating habits. For the upper limit value of the safety zone angle subset range, the maximum opening of the first door will be automatically obtained. This maximum opening is determined by the mechanical structure and design of the vehicle. For example, the first door can be opened to a maximum of 78 degrees, so 78 degrees becomes the upper limit value of the angle subset range.

[0040] As an example, every time a user operates the first door, a series of key information is recorded, including the start time and end time of the door opening, the real-time angle change during the opening process, and the final angle when the operation is completed. These data are stored in a dedicated data repository in real time. Over time, the data repository accumulates a large amount of user operation data. At this point, the analysis phase of the algorithm begins, and the data mining algorithm processes the massive data in the repository. First, the user operation data is sorted in chronological order, then the minimum value of the door opening angle in each operation is calculated, and then these minimum values ​​are arranged in order from small to large. Then, through statistical analysis methods, such as calculating the median and mode, an angle value that can represent the general operation habits of users is determined. If the data presents a normal distribution, the median can be used as a reference for the lower limit value; if there is an obvious mode clustering area in the data, the angle corresponding to the mode may be more appropriate. Finally, considering the vehicle's usage scenario, safety factors, user experience and other factors, the calculated angle value is fine-tuned to determine the final lower limit value.

[0041] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0042] The lower limit of the angle subset range of the safety zone is set to 60°, which means that when the first door opening angle reaches or exceeds 60°, it is possible to enter the angle subset range of the safety zone. The upper limit of the angle subset range is 78°, that is, the first door opening angle up to 78° is within this specific angle subset of the safety zone.

[0043] The preset time refers to the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1. For example, when N is 3, the preset time is 3 seconds after the passive rotation of the door stops. During this preset time, the angle position of the door is combined with the safety zone angle subset range of 60° to 78° to further determine whether certain specific control conditions are met, such as whether to allow the active rotation function to be restored.

[0044] In this embodiment, a vehicle control method is provided, 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 actively and passively rotatable relative to the body, and the first door can cover and partially overlap the second door by rotating to close the body, and the first door and the second door define a closed position, an unsafe zone that may contact each other, and a safe zone that will not contact each other. Figure 6 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 6 As shown, the process includes the following steps: Step S101, obtaining the passive rotation amount of the first door and / or the second door.

[0045] In the embodiment of the present application, a special sensor is installed on the vehicle, such as a Hall sensor based on the Hall effect principle, which is reasonably arranged at the key position where the first door and the second door are connected to the vehicle body. These sensors are closely connected to the vehicle controller through a communication line. When the door is passively rotated by external forces (such as manual push and pull by the user, impact of an object, etc.), the sensing element inside the sensor will undergo corresponding physical changes as the relative position of the door and the surrounding components changes. For example, the Hall element will generate an electrical signal due to the change of the magnetic field. These changing signals are transmitted to the controller in real time, and the controller converts them into specific values ​​by analyzing and processing the signals, thereby accurately obtaining the passive rotation amount of the first door and / or the second door.

[0046] Step S102, if the passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets the preset conditions, the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include the first preset conditions or the second preset conditions, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within the preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0047] In the embodiment of the present application, after the controller obtains that the passive rotation amount of the first door and / or the second door is not zero, it will immediately determine whether the first door meets the preset condition. For the first preset condition, the system will pre-record the maximum door opening angle set by the user or the vehicle by default, and set a preset time (such as within the Nth second after the passive rotation amount of the door becomes 0, N is an integer greater than 1). After the door is passively rotated, the controller will monitor whether the first door performs the memory function within the preset time, that is, whether the pre-recorded maximum opening angle is reached. If this condition is met, it is considered that the first door meets the first preset condition. For the second preset condition, the system has set the angle subset range of the safety zone (such as the lower limit value is 60° and the upper limit value is 78°). When the passive rotation of the first door stops, the controller will obtain the angle information of its release position and compare it with the angle subset range of the safety zone. If the release position angle of the first door is within this range, it is considered that the first door meets the second preset condition. As long as the first door meets any one of the first preset condition or the second preset condition, the controller will issue a command to allow the first door and the second door to perform active rotation functions, such as automatic door opening and closing.

[0048] Step S103: if the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset condition, the active rotation function of the first door and the second door is disabled.

[0049] In the embodiment of the present application, after the controller obtains that the passive rotation amount of the first door and / or the second door is not zero, it determines whether the first door meets the preset conditions. According to the above-mentioned judgment method of the first preset condition and the second preset condition, if the first door does not perform the memory function of the maximum opening angle of the door within the preset time, and its release position angle is not within the angle subset range of the safety zone, that is, if any of the preset conditions is not met, the controller will quickly issue a disabling instruction. The instruction is transmitted to the driving device of the first door and the second door through the communication line. After receiving the instruction, the driving device immediately cuts off the power supply of the active rotation function, thereby realizing the disabling of the active rotation function of the first door and the second door, so as to avoid the door collision and other problems caused by the active rotation operation when the door state is unstable or there is a safety hazard.

[0050] The present application does not make judgments based solely on slight changes in the door position, but rather takes the passive rotation amount of the door as a key initial condition. When it is detected that the passive rotation amount is not zero, the door state is not changed directly, but a further judgment is made as to whether the first door meets the preset conditions. Only when the first door meets the preset conditions that the memory function of the maximum opening angle of the door is executed within the preset time, or its release position is within the angle subset range of the safety zone, will the first door and the second door be allowed to perform the active rotation function. This means that even if there is a slight position change that triggers the passive rotation amount, as long as the first door does not meet the preset conditions, the back door will not be locked at will and lose the electric function, thereby effectively avoiding abnormal door functions caused by subtle unintentional operations by the user.

[0051] wherein, after the active rotation functions of the first door and the second door are both disabled, if the first door is located in a closed position or in a safety zone, and / or the second door is located in a safety zone or in a closed position, the active rotation functions of the first door and the second door are allowed to be restored; After the active rotation functions of the first door and the second door are both disabled, if the first door is located in an unsafe zone or in a closed position, and the second door is located in a closed position or in an unsafe zone, the active rotation functions of the first door and the second door continue to be disabled.

[0052] When the vehicle system disables the active rotation function of the first door and the second door, the door position will continue to be monitored. If the first door is in the closed position at this time, it means that the door is completely closed and is in a safe and stable state; or the first door is in a safe zone, indicating that its position will not cause safety risks such as collision with the surrounding environment. Similarly, if the second door is in a safe zone or closed position, it is also a safe state. As long as any of the above conditions of "the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position" are met, the vehicle's control system will determine that the current door state is suitable for restoring the active rotation function, and then issue a command to allow the first door and the second door to have the ability to actively rotate again, and the user can operate the door switch again through the vehicle's active control method.

[0053] After disabling the active rotation function of both the first and second doors, the vehicle system always monitors changes in the door positions. If the first door is in an unsafe zone, that is, its position may cause dangerous situations such as collision with surrounding objects, even if the first door is in a closed position, but the second door is also in a closed position or an unsafe zone, in this case, the vehicle control system will believe that the overall state of the current doors still has safety hazards. As long as the condition of "the first door is in an unsafe zone or in a closed position, and the second door is in a closed position or an unsafe zone" is met, the control system will continue to maintain the disabled state of the active rotation function of the first and second doors, so as to avoid door damage or other safety accidents caused by active rotation, until the door position state changes and the conditions for allowing the active rotation function to be restored are met.

[0054] In an embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0055] It should be noted that, first, in the setting interface of the vehicle system, the user can manually enter an angle value as the lower limit value according to their own needs and actual usage scenarios to complete the pre-setting. At the same time, the system will start the data collection function, and record the relevant data such as the door opening angle and store it in the database every time the user operates the first door. As time goes by, when enough data is accumulated, the system uses data analysis algorithms, such as calculating the median, mode or average of these opening angle data, to reflect the user's operating habits, so as to determine a lower limit value based on operating habits. If the user has pre-set the lower limit value, it will be used first; if not, the value determined according to the operating habits will be used. For the upper limit value of the angle subset range, the system will directly obtain the maximum opening of the first door in the vehicle design, which is determined by the mechanical structure and design parameters of the door. Finally, the angle subset range of the safety zone is clarified by combining the determined lower limit value and the maximum opening as the upper limit value.

[0056] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0057] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0058] The lower limit of the angle subset range of the safety zone is set to 60°, which means that when the first door opening angle reaches or exceeds 60°, it is possible to enter the angle subset range of the safety zone. The upper limit of the angle subset range is 78°, that is, the first door opening angle up to 78° is within this specific angle subset of the safety zone.

[0059] The preset time refers to the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1. For example, when N is 3, the preset time is 3 seconds after the passive rotation of the door stops. During this preset time, the angle position of the door is combined with the safety zone angle subset range of 60° to 78° to further determine whether certain specific control conditions are met, such as whether to allow the active rotation function to be restored.

[0060] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 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).

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0066] 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.

[0067] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, the first door can cover and partially overlap the second door by rotating to close the vehicle body, the first door and the second door define a closed position, a non-safety zone that may contact each other, and a safety zone that does not contact each other; the method comprises: Obtaining the passive rotation amount of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, the first door and the second door are both allowed to perform an active rotation function; wherein the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the first door performs a memory function of a maximum door opening angle within a preset time, and the second preset condition is that a release position of the first door is within an angle subset range of the safety zone; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset condition, the active rotation function of the first door and the second door are both disabled; wherein, after the active rotation functions of the first door and the second door are both disabled, if the first door is located in a closed position or 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; After disabling the active rotation functions of the first door and the second door, if the first door is located in an unsafe zone or in a closed position, and the second door is located in the closed position or the unsafe zone, continue to disable the active rotation functions of the first door and the second door.

2. The method according to claim 1, characterized in that The lower limit value of the angle subset range of the safety zone is an angle preset by a user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

3. The method according to claim 2, characterized in that The lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

4. The method according to claim 1, characterized in that: The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

5. 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 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 used to obtain an amount of passive rotation of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, the first door and the second door are both allowed to perform an active rotation function; wherein the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the first door performs a memory function of a maximum door opening angle within a preset time, and the second preset condition is that a release position of the first door is within an angle subset range of the safety zone; The controller is configured to disable the active rotation functions of the first door and the second door when the acquired passive rotation amount corresponding to the first door and / or the second door is not zero and the first door does not meet a preset condition; The controller is further configured to allow restoration of the active rotation functions of the first door and the second door after both the active rotation functions of the first door and the second door are disabled, if the first door is located in a closed position or in the safety zone, and / or the second door is located in the safety zone or in a closed position; The controller is also used to continue disabling the active rotation functions of the first door and the second door after disabling the active rotation functions of the first door and the second door if the first door is located in an unsafe area or in a closed position, and the second door is located in the closed position or the unsafe area.

6. The vehicle according to claim 5, characterized in that The lower limit value of the angle subset range of the safety zone is an angle preset by a user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

7. The vehicle according to claim 6, characterized in that The lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

8. The vehicle according to claim 5, characterized in that The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

9. 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 4 by executing the computer instructions.

10. 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 4.

Images