A vehicle control method, device, electronic device and storage medium

Abstract

The present invention relates to the field of vehicle intelligent control, and particularly relates to a vehicle control method, device, electronic device, and storage medium. Instead of making a judgment solely based on a slight change in the door position, the present application takes obtaining 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 directly changed. Instead, it is further determined whether the first door meets a preset condition. Only when the first door meets the preset conditions such as having executed the memory function of the maximum opening angle of the door within a preset time, or its release position being within the angular subset range of the safety zone, will the first door and the second door be allowed to execute the active rotation function. This means that even if a slight position change causes a passive rotation amount, as long as the first door does not meet the preset conditions, the back door will not be randomly locked and lose its electric function, effectively avoiding abnormal door functions caused by inadvertent minor operations of the user.

Description

Technical Field

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

[0002] In modern vehicle design, especially for vehicles with special structure rear doors (such as up-and-down doors design), the safe operation of the rear doors is crucial. During the daily use of the vehicle, users will 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 the doors is continuously increasing. Due to the proximity relationship in space and the complexity of electric operation between the up-and-down doors, there is a risk of collision.

[0003] In existing vehicles, when the user slightly moves (such as gently pulls) the up-and-down doors of the vehicle, the two doors will be locked and lose the electric function, and the electric power needs to be restored through a power restoration operation to resume the electric function. This will bring a bad experience to the user during the normal process of setting the maximum opening angle of the doors. 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 the user operates the doors, the rear door is locked and loses the electric function due to a slight position change.

[0005] In a first aspect, embodiments of the present invention provide a vehicle control method. The vehicle includes a vehicle body, a first door and a second door both rotatably connected to the vehicle body. The first door and the second door can both actively and passively rotate relative to the vehicle body. The first door can cover and partially overlap the second door by rotation to close the vehicle body. The first door and the second door define a closed position, a non-safe area where they may contact each other, and a safe area where they will not contact each other. The method includes:

[0006] Obtain the passive rotation amount of the first door and / or the second door;

[0007] If the obtained 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 execute the active rotation function. Among them, the preset conditions include a first preset condition or a second preset condition. The first preset condition is that the first door has executed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angular subset range of the safe area;

[0008] If the obtained 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, the active rotation functions of both the first door and the second door are disabled;

[0009] Among them, after the active rotation functions of both the first door and the second door are disabled, if the first door is in the closed position or in the safety zone, and / or, the second door is in the safety zone or in the closed position, the active rotation functions of the first door and the second door are allowed to be restored;

[0010] After the active rotation functions of both the first door and the second door are disabled, if the first door is in the non-safety zone or in the closed position, and the second door is in the closed position or in the non-safety zone, the active rotation functions of both the first door and the second door continue to be disabled.

[0011] Further, the lower limit value of the angular subset range of the safety zone is an angle preset by the user or determined according to the user's operation habits, and the upper limit value of the angular subset range is the maximum opening degree of the first door.

[0012] Further, the lower limit value of the angular subset range is 60°, and the upper limit value of the angular subset range is 78°.

[0013] Further, 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.

[0014] 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 driving device, and a second driving device. The first driving device and the second driving device are respectively connected to the first door and the second door, and the controller is respectively communicatively connected to the first driving device and the second driving device; the controller can respectively drive the first door and the second door to rotate relative to the vehicle body by controlling the first driving device and the second driving device; the first door can cover and partially overlap the second door by rotation to close the vehicle body; the first door and the second door define a closed position, a non-safety zone where there is a chance of contact with each other, and a safety zone where they do not contact each other;

[0015] The vehicle further includes a sensor communicatively connected to the controller, and the sensor is used to obtain the passive rotation amount of the first door and / or the second door;

[0016] If the obtained 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 a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angular subset range of the safety zone;

[0017] The controller is configured to disable the active rotation functions of both the first door and the second door when the obtained 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;

[0018] Wherein, the controller is further configured to, after disabling the active rotation functions of both the first door and the second door, if the first door is in the closed position or in the safety zone, and / or, the second door is in the safety zone or in the closed position, allow the restoration of the active rotation functions of the first door and the second door;

[0019] The controller is further configured to, after disabling the active rotation functions of both the first door and the second door, if the first door is in the non-safety zone or in the closed position, and the second door is in the closed position or in the non-safety zone, continue to disable the active rotation functions of the first door and the second door.

[0020] Further, the lower limit value of the angular subset range of the safety zone is an angle preset by the user or determined according to the user's operation habit, and the upper limit value of the angular subset range is the maximum opening degree of the first door.

[0021] Further, the lower limit value of the angular subset range is 60°, and the upper limit value of the angular subset range is 78°.

[0022] Further, 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.

[0023] In a third aspect, an embodiment of the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0024] Fourthly, an embodiment of the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding embodiment thereof.

[0025] This application does not make a judgment solely based on a slight change in the door position. Instead, obtaining the passive rotation amount of the door is used as the key initial condition. When it is detected that the passive rotation amount is not zero, the door state is not directly changed. Instead, it is further determined whether the first door meets the preset conditions. Only when the first door meets the preset conditions such as having executed the memory function of the maximum opening angle of the door within the preset time or its release position being within the angular subset range of the safety zone will the first door and the second door be allowed to execute the active rotation function. This means that even if a slight position change causes a passive rotation amount, as long as the first door does not meet the preset conditions, the rear door will not be randomly locked and lose its electric function, thus effectively avoiding abnormal door functions caused by inadvertent minor operations of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0028] Figure 2 is a schematic physical structure diagram of the first door and the second door fully opened according to some embodiments of the present invention;

[0029] Figure 3 is a schematic physical structure diagram of the first door and the second door in the closed position according to some embodiments of the present invention;

[0030] Figure 4 is a schematic diagram when the first door executes the memory function of the maximum opening angle according to some embodiments of the present invention;

[0031] Figure 5 is a schematic diagram when the release position of the first door is within the angular subset range of the safety zone according to some embodiments of the present invention;

[0032] Figure 6 is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0033] Figure 7It is a schematic diagram of the hardware structure of the computer device according to an embodiment of the present invention. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] According to an embodiment of the present invention, there is provided a control method, device, electronic device, and storage medium for a vehicle rear door. 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 the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0036] An embodiment of the present application provides a vehicle, as Figure 1 shown, including a vehicle body 10, a first door 11, a second door 12, a controller 13, a first driving device 14, and a second driving device 15. The first driving device 14 and the second driving device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively communicatively connected to the first driving device 14 and the second driving device 15; the controller 13 can respectively drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first driving device 14 and the second driving 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 area where there is a chance of contact with each other, and a safe area where they will not contact each other. As Figure 2 shown, a schematic diagram of the fully opened structure of the first door and the second door. As Figure 3 shown, a schematic diagram of the first door and the second door in the closed position.

[0037] In the embodiment of the present application, the first door and the second door have two motion modes: active rotation and passive rotation. Active rotation means that the door can rotate purposefully according to the instructions of the vehicle control system or the operation of the user through its own equipped power driving device (such as a motor, etc.) to complete the door opening or closing action. Passive rotation means that the door rotates when it is affected by an external force applied by a non-vehicle control system. Such external forces may come from various situations, such as the user manually pushing the door forcefully, the door encountering an obstacle during movement, or the vehicle being impacted by the outside world resulting in the door being stressed.

[0038] It can be understood that the first vehicle door 11 and the second vehicle door 12 define a closed position as follows: During the closing process of the vehicle door, the first vehicle door rotates around its connection point with the vehicle body and finally can cover the second vehicle door with partial overlap therewith, thereby forming a complete closed structure to isolate the interior of the vehicle body from the external environment. In addition, during the relative rotation of the first vehicle door and the second vehicle door with respect to the vehicle body, different regions will be formed according to their movement trajectories and spatial position relationships. The non-safe area refers to the area where the first vehicle door and the second vehicle door may come into contact with each other during the rotation of the vehicle door, which is usually caused by reasons such as the movement trajectory and angle change of the vehicle door. The safe area refers to the area where the two vehicle doors do not come into contact with each other during the rotation of the vehicle door.

[0039] 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 obtain the passive rotation amount of the first vehicle door and / or the second vehicle door.

[0040] If the obtained passive rotation amount corresponding to the first vehicle door and / or the second vehicle door is not zero, and the first vehicle door meets the preset conditions, both the first vehicle door and the second vehicle door are allowed to execute the active rotation function; wherein, the preset conditions include a first preset condition or a second preset condition. The first preset condition is that the first vehicle door has executed the memory function of the maximum opening angle of the vehicle door within a preset time, and the second preset condition is that the release position of the first vehicle door is within the angular subset range of the safe area.

[0041] Specifically, the sensor 16 (adopting a Hall element in the motor) monitors the passive rotation amount of the first vehicle door 11 and / or the second vehicle door 12 in real time. The passive rotation amount is the rotation change amount of the vehicle door caused by an external force (such as a force manually pushed or pulled by a user, a collision by an external object, etc., which is not an active force applied by the vehicle's own drive system). When the first vehicle door 11 and / or the second vehicle door 12 generate passive rotation due to external factors, the Hall element connected to the vehicle door drive device senses the rotation change of the motor and feeds back relevant electrical signals to the controller 13.

[0042] When the passive rotation amount corresponding to the first vehicle door and / or the second vehicle door obtained by the sensor 16 is not zero, it indicates that the vehicle door has been interfered by an external force. However, the active rotation function is not immediately disabled at this time, but it is further determined whether the first vehicle door meets the preset conditions. If it meets the conditions, both the first vehicle door and the second vehicle door are allowed to execute the active rotation function.

[0043] There are two preset conditions. For example Figure 4As shown, the first preset condition is that the first vehicle door has executed the memory function of the maximum opening angle of the vehicle door within a preset time. For example, the vehicle owner previously set a maximum opening angle. Within the preset time range, when the vehicle door is rotated passively by an external force, if the conditions of this memory function are met, it indicates that this passive rotation may be within the normal operation expectation, so the active rotation of both vehicle doors is allowed to resume.

[0044] As Figure 5 shown, the second preset condition is that the release position of the first vehicle 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 the vehicle door rotation, and the angular subset is a refined range of this safety zone in the angular dimension. When the first vehicle door is rotated passively by an external force and its final stopped release position is within the angular subset range of this safety zone, it indicates that the position of the vehicle door is safe and also meets the condition for allowing both vehicle doors to execute the active rotation function.

[0045] In the embodiment of the present application, the controller is configured to disable the active rotation functions of both the first vehicle door and the second vehicle door when the obtained passive rotation amount corresponding to the first vehicle door and / or the second vehicle door is not zero and the first vehicle door does not meet the preset conditions.

[0046] It should be noted that when the obtained passive rotation amount corresponding to the first vehicle door and / or the second vehicle door by the controller is not zero, it indicates that the vehicle door has been interfered by an external force and has undergone passive rotation. 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 vehicle door to determine whether it meets the preset conditions. If, after judgment, the first vehicle door does not meet these preset conditions, such as the first vehicle door not executing the memory function of the maximum opening angle of the vehicle door within the preset time (if this content is included in the preset conditions), or the release position of the first vehicle door not being within the angular subset range of the safety zone (similarly if this requirement is included in the preset conditions), etc., as long as any one of the preset conditions is not met, then the controller will issue an instruction to disable the active rotation functions of both the first vehicle door and the second vehicle door at the same time.

[0047] This ensures that when the vehicle door is in an unstable state or may have potential safety hazards, the vehicle will not perform active rotation operations on the vehicle door, thereby avoiding problems such as vehicle door collisions and damages that may be caused by the simultaneous occurrence of active rotation and passive rotation, and ensuring the safety of the vehicle door.

[0048] Among them, the controller is further configured to allow the active rotation functions of the first vehicle door and the second vehicle door to resume after disabling the active rotation functions of both the first vehicle door and the second vehicle door, if the first vehicle door is in the closed position or in the safety zone, and / or, the second vehicle door is in the safety zone or in the closed position.

[0049] The controller is further configured to, after disabling the active rotation functions of both the first door and the second door, if the first door is in a non-safe area or in a closed position, and the second door is in a closed position or in a non-safe area, continue to disable the active rotation functions of the first door and the second door.

[0050] Specifically, the situation of "the first door is in a closed position or in a safe area, and / or the second door is in a safe area or in a closed position" indicates that at least one door is in a safe state (the closed position can be understood as being completely closed, which is a safe state; the safe area is a pre-set area where there will be no safety hazards when the door is in it). In this case, the controller believes that the state of the door has reached the condition for restoring the active rotation function, so it will issue an instruction to allow the restoration of the active rotation functions of the first door and the second door. For example, when the first door is already closed (in the closed position), even if the second door may still be in the safe area but not completely closed, at this time the controller will allow both doors to regain the ability to actively rotate again, so that the user can once again control the opening and closing of the door through the vehicle's active system and other operations.

[0051] On the other hand, when the situation of "the first door is in a non-safe area or in a closed position, and the second door is in a closed position or in a non-safe area" occurs, it indicates that at least one door is in a non-safe area (that is, not in the safe area position, and there may be risks such as collision with surrounding objects), or the combined position states of the two doors have potential risks. In this case, the controller will consider that the current state of the door is not yet suitable for restoring the active rotation function, so it will continue to maintain the disabled state of the active rotation functions of the first door and the second door. For example, if the first door is in a non-safe area, and although the second door is in a 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 door changes and meets the conditions for allowing restoration.

[0052] Through such logical judgment and control operations in the embodiments of the present application, the controller can flexibly decide whether to restore or continue to disable the active rotation function according to the actual position and state of the door, thus effectively ensuring the safety and reliability of the door system.

[0053] In the embodiments of the present application, the lower limit value of the angular subset range of the safe area is preset by the user or determined according to the user's operation habits, and the upper limit value of the angular subset range is the maximum opening degree of the first door.

[0054] Specifically, a setting interface can be provided for the user, and the user can preset the lower limit value of the safety zone angle subset range according to their own needs and habits in this interface. For example, considering the parking environment or personal usage preferences, the user sets the lower limit value to 30 degrees, that is, when the opening angle of the first door is greater than or equal to 30 degrees, it may enter the angle range of the safety zone.

[0055] In addition, the lower limit value can also be determined by learning and analyzing the user's long-term operation habits. For example, after recording the angles of the user opening and closing the first door multiple times, it is found that the user basically opens the door greater than 25 degrees each time, then 25 degrees will be used as the lower limit value determined according to the user's operation habits. For the upper limit value of the safety zone angle subset range, the maximum opening degree of the first door will be automatically obtained, and this maximum opening degree is determined by the mechanical structure and design of the vehicle. For example, if the first door can be opened up to 78 degrees at most, then 78 degrees becomes the upper limit value of the angle subset range.

[0056] As an example, each time the 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. As time goes by, the data repository accumulates a large amount of user operation data. At this time, the analysis stage 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 ascending order. Then, through statistical analysis methods, such as calculating the median, mode, etc., an angle value that can represent the user's general operation habits is determined. If the data shows a normal distribution, the median can be used as a reference for the lower limit value; if there is an obvious mode aggregation area in the data, the angle corresponding to the mode may be more appropriate. Finally, considering multiple factors such as the usage scenario of the vehicle, safety factors, and user experience, the calculated angle value is fine-tuned to determine the final lower limit value.

[0057] In the embodiment of the present application, the lower limit value of the angle subset range is 60°, and the upper limit value 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 value of the angle subset range of the safety zone is set to 60°, which means that when the opening angle of the first door reaches or exceeds 60°, it is possible to enter the angle subset range of the safety zone. And the upper limit value of the angle subset range is 78°, that is, the first door can be opened up to 78° and is within this specific safety zone angle subset.

[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 within 3 seconds after the passive rotation of the door stops. During this preset time, according to the angular position of the door and in combination with the safety zone angle subset range of 60° to 78°, it is further determined whether certain specific control conditions are met, such as whether to allow the restoration of the active rotation function, etc.

[0060] In this embodiment, a vehicle control method is provided. The vehicle includes a vehicle body, a first door and a second door both rotatably connected to the vehicle body; both the first door and the second door can rotate actively and passively relative to the vehicle body. The first door can cover and partially overlap the second door by rotation to close the vehicle body, and the first door and the second door define a closed position, a non-safe zone where they may contact each other, and a safe zone where they will not contact each other. Figure 6 It is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 6 shown, and the process includes the following steps:

[0061] Step S101, obtain the passive rotation amount of the first door and / or the second door.

[0062] In the embodiment of the present application, special sensors are installed on the vehicle, such as Hall sensors based on the Hall effect principle, which are reasonably arranged at the key parts where the first door and the second door are connected to the vehicle body. These sensors are closely connected to the vehicle controller through communication lines. When the door is passively rotated by an external force (such as manual pushing or pulling by the user, impact of an object, etc.), the sensing element inside the sensor will undergo corresponding physical changes as the relative position between the door and the surrounding components changes. For example, the Hall element will generate an electrical signal due to the magnetic field change. These changing signals are transmitted to the controller in real time, and the controller analyzes and processes the signals and converts them into specific values, so as to accurately obtain the passive rotation amount of the first door and / or the second door.

[0063] Step S102, if the obtained passive rotation amount of 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 execute the active rotation function; where the preset conditions include a first preset condition or a second preset condition. The first preset condition is that the first door has executed 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 safe zone.

[0064] 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 judge whether the first door meets the preset conditions. For the first preset condition, the system will pre-record the maximum opening angle of the door set by the user or default by the vehicle, and set a preset time (such as within the Nth second after the passive rotation amount of the door becomes 0, where N is an integer greater than 1). After the door undergoes passive rotation, the controller will monitor whether the first door has executed the memory function within the preset time, that is, whether it has reached the pre-recorded maximum opening angle. If this condition is met, it is considered that the first door meets the first preset condition. For the second preset condition, the angular subset range of the safety zone has been set in the system (for example, the lower limit is 60° and the upper limit is 78°). After the passive rotation of the first door stops, the controller will obtain the angular information of its release position and compare it with the angular 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 an instruction to allow the first door and the second door to execute the active rotation function, such as automatic door opening and closing operations.

[0065] Step S103, if the obtained passive rotation amount of the corresponding first door and / or the second door is not zero and the first door does not meet the preset conditions, the active rotation functions of both the first door and the second door are disabled.

[0066] In the embodiment of the present application, similarly, after the controller obtains that the passive rotation amount of the first door and / or the second door is not zero, it judges whether the first door meets the preset conditions. According to the above-mentioned judgment methods for the first preset condition and the second preset condition, if the first door neither executes the memory function of the maximum opening angle of the door within the preset time nor has its release position angle within the angular subset range of the safety zone, that is, when it does not meet any of the preset conditions, the controller will quickly issue a disabling instruction. This instruction is transmitted to the driving devices of the first door and the second door through the communication line. After receiving the instruction, the driving devices immediately cut off the power supply of the active rotation function, thereby realizing the disabling of the active rotation functions of the first door and the second door, so as to avoid problems such as door collisions caused by active rotation operations when the door state is unstable or there are safety hazards.

[0067] This application does not make a judgment solely based on minor changes in the door position. Instead, it takes obtaining the passive rotation amount of the door as the key initial condition. When the detected passive rotation amount is not zero, it does not directly change the door state. Instead, it further determines whether the first door meets the preset conditions. Only when the first door meets the preset conditions such as having executed the memory function of the maximum opening angle of the door within the preset time, or its release position being within the angular subset of the safety zone, will the first door and the second door be allowed to execute the active rotation function. This means that even if a slight position change causes a passive rotation amount, as long as the first door does not meet the preset conditions, the rear door will not be randomly locked and lose its electric function, thus effectively avoiding abnormal door functions caused by the user's inadvertent minor operations.

[0068] Among them, after the active rotation functions of both the first door and the second door are disabled, if the first door is in the closed position or in the safety zone, and / or, the second door is in the safety zone or in the closed position, the active rotation functions of the first door and the second door are allowed to be restored;

[0069] After the active rotation functions of both the first door and the second door are disabled, if the first door is in the non-safety zone or in the closed position, and the second door is in the closed position or in the non-safety zone, the active rotation functions of the first door and the second door are continuously disabled.

[0070] When the vehicle system disables the active rotation functions of both the first door and the second door, it will continuously monitor the door positions. If the first door is in the closed position at this time, it means the door is fully closed and in a safe and stable state; or if the first door is in the safety zone, it indicates that its position will not pose safety risks such as collisions with the surrounding environment. Similarly, if the second door is in the safety zone or in the closed position, it is also in a safe state. As long as any one of the conditions "the first door is in the closed position or in the safety zone, and / or, the second door is in the safety zone or in the closed position" is met, the vehicle's control system will determine that the current door state is suitable for restoring the active rotation function, and then issue an instruction 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 and so on through the vehicle's active control method again.

[0071] After disabling the active rotation functions of both the first door and the second door, the vehicle system constantly monitors the changes in the door positions. If the first door is in a non-safe area, that is, the position it is in may pose risks such as collisions with surrounding objects. Even if the first door is in the closed position, but at the same time the second door is also in the closed position or in a non-safe area, in this case, the vehicle control system will consider that there are still potential safety hazards in the overall state of the current doors. As long as the condition of "the first door is in a non-safe area or in the closed position, and the second door is in the closed position or in a non-safe area" is met, the control system will continuously maintain the disabled state of the active rotation functions of the first door and the second door, so as to avoid door damage or other safety accidents caused by active rotation until the door position state changes and meets the conditions allowing the restoration of the active rotation function.

[0072] In the embodiment of the present application, the lower limit value of the angular subset range of the safe area is a value preset by the user or determined according to the user's operation habits, and the upper limit value of the angular subset range is the maximum opening angle of the first door.

[0073] It should be noted that first, in the setting interface of the vehicle system, the user can manually input an angle value as the lower limit value according to their own needs and actual usage scenarios to complete the presetting. At the same time, the system will start the data collection function. When the user operates the first door each time, relevant data such as the door opening angle will be recorded and stored in the database. As time goes by, when enough data has been accumulated, the system uses data analysis algorithms, such as calculating statistical quantities such as the median, mode, or average of these opening angle data, to reflect the user's operation habits, so as to determine a lower limit value based on the operation habits. If the user has already preset the lower limit value, this value will be preferentially used; if not, the value determined according to the operation habits will be used. For the upper limit value of the angular subset range, the system will directly obtain the maximum opening angle of the first door in the vehicle design, and this maximum opening angle is determined by the mechanical structure and design parameters of the door. Finally, combining the determined lower limit value and the maximum opening angle as the upper limit value, the angular subset range of the safe area is determined.

[0074] In the embodiment of the present application, the lower limit value of the angular subset range is 60°, and the upper limit value of the angular 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.

[0075] In the embodiment of the present application, the lower limit value of the angular subset range is 60°, and the upper limit value of the angular 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.

[0076] The lower limit value of the angular subset range of the safety zone is set to 60°, which means that when the opening angle of the first vehicle door reaches or exceeds 60°, it is possible to enter the angular subset range of the safety zone. The upper limit value of the angular subset range is 78°, that is, when the opening angle of the first vehicle door is up to 78°, it is within this specific angular subset of the safety zone.

[0077] The preset time refers to the Nth second after the passive rotation amount of the first vehicle door and / or the second vehicle door becomes 0, where N is an integer greater than 1. For example, when N is 3, the preset time is within 3 seconds after the passive rotation of the vehicle door stops. During this preset time, according to the angular position of the vehicle door and in combination with the angular subset range of 60° to 78° of the safety zone, it is further determined whether certain specific control conditions are met, such as whether to allow the restoration of the active rotation function, etc.

[0078] Please refer to Figure 7 , Figure 7 is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As Figure 7 shown, the computer device includes: one or more processors, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative 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 set of blade servers, or a multi-processor system).

[0079] The processor can be a central processing unit, a network processor, or a combination thereof. Among them, the processor can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof.

[0080] Among them, the memory 20 stores instructions executable by at least one processor, so that the at least one processor executes the method shown in the above embodiments.

[0081] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of a computer device presented by a kind of mini-program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor, and these remote memories may be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0082] 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 further include a combination of the above types of memories.

[0083] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

[0084] Embodiments of the present invention also provide a computer-readable storage medium. The methods according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code originally stored in a remote storage medium or a non-temporary machine-readable storage medium and to be downloaded through a network and stored in a local storage medium, so that the methods 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 may be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium may further 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, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0085] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall 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.

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