Vehicle control method and vehicle

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle control method and a vehicle. According to the method provided by the invention, when the first vehicle door and / or the second vehicle door rotate, the passive rotation data of the first vehicle door and / or the second vehicle door are firstly obtained, and then the passive rotation data and the preset abnormal rotation data are subjected to matching detection, so that the judgment accuracy is improved. And if the position of the vehicle door is changed due to normal environmental factors, the passive rotation data of the vehicle door is not consistent with the preset abnormal rotation data, so that misjudgment cannot be triggered. According to the method, the active rotation function can be forbidden only when the real abnormal movement of the vehicle door occurs and the passive rotation data is matched with the preset abnormal rotation data, so that the normal condition and the abnormal condition are accurately distinguished, unnecessary misjudgment caused by normal environment interference is avoided, and stable operation of the vehicle door is guaranteed.

Description

Technical Field

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

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

[0003] Currently, the automatic closing function of the vehicle's tailgate faces the following problem: when the automatic opening function is executed, the vibration caused by the intense activities of the occupants, or the deformation of the vehicle body structure caused by the loading of heavy objects, which in turn causes the position state of the upper and lower doors in the vehicle's tailgate to change, according to the currently set judgment logic, these changes caused by normal environmental factors will be misjudged as abnormal operations, and the electric function of the door will be disabled. However, although this design can ensure safety, it cannot accurately distinguish between normal environmental interference and real abnormal operations, which greatly affects the user experience. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a vehicle control method and a vehicle to solve the problem that the prior art cannot effectively identify changes and abnormal operations caused by normal environmental factors such as occupant activities and loading of heavy objects in the vehicle, and thus frequently misjudges and disables the electric function of the vehicle doors.

[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 can both actively and passively rotate relative to the vehicle body, and the first door can cover and partially overlap the second door by rotating to close the vehicle body, and the method includes: During the rotation of the first door and / or the second door, acquiring passive rotation data generated by the first door and / or the second door; Detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation functions of the first door and the second door are both disabled.

[0006] Further, the detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data includes: Acquire the real-time position of the first door and / or the second door when the passive rotation data is generated; Acquire preset abnormal rotation data corresponding to the real-time position; Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0007] Furthermore, the obtaining of preset abnormal rotation data corresponding to the real-time position includes: determining the opening of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; comparing the opening with each preset opening range to obtain a target opening range within which the opening falls; obtaining the preset abnormal rotation data corresponding to the target opening range based on a mapping relationship between the preset opening range and the preset abnormal rotation data; and using the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the real-time position.

[0008] Further, the first door and the second door are each provided with at least two preset opening ranges; In different preset opening ranges corresponding to the first door, the preset abnormal rotation data identifies abnormal movement of the first door by setting a time range and a rotation change amount, the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range; and / or, Within different preset opening ranges corresponding to the second door, the preset abnormal rotation data identifies abnormal movement of the second door by setting a time range and a rotation change. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation changes corresponding to each preset opening range are the same or different.

[0009] Furthermore, the mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes: The preset opening range is 80%-100%, and the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first door exceeds 20%; The preset opening range is 60%-80%, and the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first door exceeds 20%; The preset opening range is 60%-40%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 1 second; The preset opening range is 40%-20%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 2 seconds; When the preset opening range is below 20%, the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 5% within 2 seconds; The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: The preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms; The preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 300ms.

[0010] The passive rotation data includes: door rotation speed, and / or rotation acceleration, and / or door rotation distance, and / or change in door opening within a set time range, and / or change in door rotation speed within a set time range, and / or change in displacement of a fixed point on the door within a set time range; Furthermore, the preset abnormal rotation data includes: a preset door rotation speed, and / or a preset rotation acceleration, and / or a preset door rotation distance, a preset change in door opening within a set time range, and / or a preset change in door rotation speed within a set time range, and / or a preset displacement change of a fixed point on the door within a set time range.

[0011] Further, the passive rotation data includes: a change in the door opening within a set time range, and / or a change in the door rotation speed within a set time range, and / or a change in the displacement of a fixed point on the door within a set time range; The preset abnormal rotation data includes: a preset change in the door opening within a set time range, and / or a preset change in the door rotation speed within a set time range, and / or a preset displacement change of a fixed point on the door within a set time range.

[0012] Furthermore, after the active rotation functions of the first door and the second door are both disabled, the method further includes: If the first door is in the closed position or in the safety zone, and / or the second door is in the closed position or in the safety zone, the active rotation function of the first door and / or the second door is allowed to be restored.

[0013] Furthermore, the method further comprises: During the rotation of the first door and / or the second door, detecting whether the positions of the first door and the second door are lost; If any one of the first door and the second door loses position, active rotation functions of both the first door and the second door are disabled.

[0014] Furthermore, after the active rotation functions of the first door and the second door are both disabled, the method further includes: The second door is controlled to rotate to a closed position, and when the second door is rotated to the closed position, the active rotation function of the first door and / or the second door is allowed to be restored.

[0015] 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 control the first drive device and the second drive device to drive the first door and the second door to rotate relative to the vehicle body; The vehicle further includes a sensor communicatively connected to the controller, the sensor being used to obtain passive rotation data generated by the first door and / or the second door during the rotation of the first door and / or the second door; The controller is used to detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation function of the first door and the second door are disabled.

[0016] Furthermore, the controller is used to obtain the real-time position of the first door and / or the second door when the passive rotation data is generated; obtain the preset abnormal rotation data corresponding to the real-time position; and detect whether the passive rotation data at the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0017] Furthermore, the controller is used to determine the opening of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; compare the opening with each preset opening range to obtain the target opening range within which the opening falls; and obtain the preset abnormal rotation data corresponding to the target opening range based on the mapping relationship between the preset opening range and the preset abnormal rotation data.

[0018] Furthermore, the controller is also used to allow restoration of the active rotation function of the first door and / or the second door after the active rotation function of the first door and the second door are disabled, if the first door is in a closed position or in the safety zone, and / or the second door is in a closed position or in the safety zone.

[0019] Furthermore, the controller is also used to detect whether the position of the first door and the second door is lost during the rotation of the first door and / or the second door; if the position of either the first door or the second door is lost, the active rotation function of the first door and the second door is disabled.

[0020] Furthermore, the first vehicle door and the second vehicle door are applied to a tailgate of the vehicle, or to a side door of the vehicle, or to a sliding door of the vehicle.

[0021] 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.

[0022] 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.

[0023] The method provided by the present application first obtains the passive rotation data of the first door and / or the second door when the first door and / or the second door actively rotates, and secondly, matches the passive rotation data with the preset abnormal rotation data to improve the accuracy of the judgment. If the door position changes due to normal environmental factors, its passive rotation data and the preset abnormal rotation data are usually inconsistent, and no misjudgment will be triggered. Only when the door has real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, thereby accurately distinguishing normal and abnormal situations, avoiding unnecessary misjudgments caused by interference from the normal environment, and ensuring the stable operation of the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] 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 vehicle door closing according to some embodiments of the present invention; Figure 3 is a schematic diagram of different opening ranges of a vehicle door according to some embodiments of the present invention; Figure 4 is a flow chart of a vehicle control method according to some embodiments of the present invention; Figure 5 is a flow chart of another vehicle control method according to some embodiments of the present invention; Figure 6 is a flow chart of another vehicle control method according to some embodiments of the present invention; Figure 7 is a schematic diagram of the rotation position of a door according to some embodiments of the present invention; Figure 8 is a schematic diagram of the rotation position of a door according to some embodiments of the present invention; Fig. 9 is a schematic diagram of the rotation position of a door according to some embodiments of the present invention; Fig.10 is a flow chart of another vehicle control method according to some embodiments of the present invention; Fig.11 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] According to an embodiment of the present invention, a vehicle control method and a vehicle are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] The present application embodiment provides a vehicle, such as Figure 1As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15, the first drive device 14 and the second drive device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively communicatively connected to the first drive device 14 and the second drive device 15; 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.

[0029] 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.

[0030] like Figure 2 As shown, the first door 11 and the second door 12 define a closed position which can be understood as follows: during the door closing process, the first door rotates around the connection point with the vehicle body, and eventually covers the second door, and partially overlaps with the second door, thereby forming a complete closed structure that isolates the interior of the vehicle body from the external environment.

[0031] In the embodiment of the present application, the vehicle further includes: a sensor 16 communicatively connected to the controller, the sensor 16 being used to obtain passive rotation data generated by the first door 11 and / or the second door 12 during the rotation of the first door 11 and / or the second door 12; It should be noted that the sensor 16 is in communication with the controller 13, and continuously obtains the real-time position of the door during the rotation of the first door 1111 and / or the second door 1212. While obtaining the real-time position, the sensor 16 also collects the change in the door opening, the change in the door rotation speed, the change in the displacement of a certain point on the door, etc. within a set time range. These data reflect the unexpected rotation of the door due to external force or other factors when the door rotates.

[0032] The change in opening refers to the change in the door angle within the set time range. The change in door rotation speed refers to the change in the door rotation speed within the set time range. The change in displacement of a fixed point on the door refers to the actual change in the spatial position of a fixed point selected on the door within the set time range. The above three parameters can intuitively reflect the actual rotation of the door during this period. Take the change in opening as an example. For example, within the set time range, if the door changes from 30% open to 40% open, then the change in opening is 10%.

[0033] The controller 13 is used to detect whether the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data; if the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data, the active rotation function of the first door 11 and the second door 12 is disabled. The passive rotation data includes: door rotation speed, and / or rotation acceleration, and / or door rotation distance, and / or door opening change within a set time range, and / or door rotation speed change within a set time range, and / or door displacement change within a set time range. The preset abnormal rotation data includes: a preset door rotation speed, and / or a preset rotation acceleration, and / or a preset door rotation distance, a preset change in door opening within a set time range, and / or a preset change in door rotation speed within a set time range, and / or a preset displacement change of a fixed point on the door within a set time range.

[0034] It should be noted that the controller 13 determines the opening of the first door 11 and / or the second door 12 based on the real-time position, the maximum opening position of the first door 11 and / or the maximum opening position of the second door 12; compares the opening with each preset opening range to obtain the target opening range within which the opening falls; and obtains the preset abnormal rotation data corresponding to the target opening range based on the mapping relationship between the preset opening range and the preset abnormal rotation data.

[0035] It should be noted that the first door and the second door are both provided with at least two preset opening ranges; In different preset opening ranges corresponding to the first door, the preset abnormal rotation data identifies abnormal movement of the first door by setting a time range and a rotation change amount, the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range; And / or, within different preset opening ranges corresponding to the second door, the preset abnormal rotation data identifies abnormal movement of the second door by setting a time range and a rotation change, the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation changes corresponding to each preset opening range are the same or different.

[0036] First, determine a first angle when the first door is rotated to the real-time position and a first maximum opening angle corresponding to the first door at the maximum opening position, and obtain the opening of the first door according to the ratio of the first angle to the first maximum opening angle. Similarly, determine a second angle when the second door is rotated to the real-time position and a second maximum opening angle corresponding to the second door at the maximum opening position, and obtain the opening of the second door according to the ratio of the second angle to the second maximum opening angle.

[0037] Secondly, obtain a plurality of different preset opening ranges stored in advance, such as "more than 80%", "60%-80%", "60%-40%" for the first door, and "more than 50%", "less than 50%" for the second door. These ranges are set in advance based on factors such as vehicle size and safety requirements. For example, Figure 3 As shown, for the first door: ① When the preset opening range of the door opening is 80%-100%, the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first door exceeds 20%.

[0038] ② When the preset opening range of the door opening is between 60% and 80%, the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first door exceeds 20%.

[0039] ③ When the preset opening range of the door opening is 40%-60%, the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 1s.

[0040] ④ When the preset opening range of the door opening is 40%-20%, the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 2 seconds.

[0041] ⑤ When the preset opening range of the door opening is between 0% and 20%, the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 5% within 2 seconds.

[0042] For the second door: ① When the preset opening range of the door opening is above 50%, the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms.

[0043] ② When the preset opening range of the door opening is below 50%, the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 300ms.

[0044] Then, the controller compares the calculated door opening with these preset opening ranges one by one. For example, if the first door opening is calculated to be 70%, 70% will be compared with each preset opening range to determine whether it falls within the target opening range of "60%-80%". The preset abnormal rotation data corresponding to the target opening range is obtained.

[0045] Since a mapping relationship between the preset opening range and the preset abnormal rotation data is established in advance. After determining the target opening range within which the door opening falls, the controller obtains the preset abnormal rotation data corresponding to the target opening range based on this mapping relationship. For example, if the target opening range is "60%-80%", "within 500ms, the opening change exceeds 20%" is taken out from the corresponding storage location as the relevant preset abnormal rotation data. The controller sets the preset abnormal rotation data corresponding to the acquired target opening range as the preset abnormal rotation data corresponding to the current real-time position of the door.

[0046] It can be understood that the abnormal movement of the door means that the rotation of the first door and the second door does not meet the pre-set normal movement standard within a specific preset opening range. Specifically, according to the matching result of the door opening and the preset opening range, each target opening range corresponds to specific preset abnormal rotation data, such as the door opening change exceeding a certain proportion at different times. When the actual rotation of the door meets the conditions of these preset abnormal rotation data, it is considered that the door has abnormal movement. For example, the door opening change exceeds the allowed change range of the corresponding opening range within the specified time, which means that the door has abnormal opening and closing, such as unexpected shaking, abnormal pushing or pulling by external force, etc., deviating from the normal movement state.

[0047] Finally, the controller 13 receives the passive rotation data transmitted by the sensor 16 and compares it with the preset abnormal rotation data corresponding to the real-time position. If the controller 13 detects that the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data, it indicates that the door rotation has abnormal movement. At this time, the controller 13 will issue an instruction to disable the active rotation function of the first door 11 and the second door 12, so that the door stops active movement, thereby achieving effective control of the active rotation function of the door.

[0048] In the embodiment of the present application, when the first door and / or the second door actively rotates, the real-time position and passive rotation data of the first door and / or the second door are first obtained, and then the passive rotation data is matched with the preset abnormal rotation data corresponding to the real-time position to improve the accuracy of the judgment. If the door position is changed due to normal environmental factors, its passive rotation data and the preset abnormal rotation data are usually inconsistent, and no misjudgment will be triggered. Only when the door has real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, thereby accurately distinguishing normal and abnormal situations, avoiding unnecessary misjudgments caused by interference from the normal environment, and ensuring the stable operation of the door.

[0049] In an embodiment of the present application, the controller 13 is also used to allow the active rotation function of the first door 11 and / or the second door 12 to be restored after the active rotation function of the first door 11 and the second door 12 are disabled, if the first door 11 is in a closed position or in a safety zone, and / or the second door 12 is in a closed position or in a safety zone.

[0050] Specifically, the first door 11 is in the closed position or in the safety zone, and / or the second door 12 is in the safety zone or in the closed position, indicating that at least one of the doors is in a safe state. 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 active rotation function of the first door 11 and / or the second door 12 to be restored. For example, when the second door 12 is closed (in the closed position), even if the first door 11 may still be in the safety zone but not completely closed, the controller will allow the two doors to regain the ability to actively rotate.

[0051] In the embodiment of the present application, the controller 13 is also used to detect whether the position of the first door 11 and the second door 12 is lost during the process of the first door 11 and / or the second door 12 actively rotating to the real-time position; if the position of any one of the first door 11 and the second door 12 is lost, the active rotation function of the first door 11 and the second door 12 is disabled.

[0052] Specifically, the present application predetermines the criteria for determining door position loss. For example, if the position change is 0 when reading the position data for multiple consecutive times (assuming 5 times), or the position change has an abnormal value that does not conform to the normal movement logic of the door (for example, the position suddenly moves back significantly during the normal opening process), then it is determined that the position is lost.

[0053] The controller 13 judges the position change obtained by the analysis according to the set judgment standard. If it is found that any one of the first door 11 and the second door 12 meets the position loss judgment standard, for example, the first door is continuously opened and the position is not changed for 5 consecutive times, then the controller 13 determines that the first door has lost its position.

[0054] When the controller 13 determines that any one of the first door 11 and the second door 12 has lost its position, it will send a disabling instruction to the first drive device and the second drive device corresponding to the active rotation of the first door and the second door respectively. After receiving the disabling instruction, the first drive device and the second drive device will stop supplying power to the door or sending a control signal, so that the first door 11 and the second door 12 both stop actively rotating, realizing the disabling of the active rotation function, so as to avoid safety problems such as door collision and damage that may be caused by position loss.

[0055] In an embodiment of the present application, the controller is also used to control the second door to rotate to a closed position after the active rotation functions of the first door and the second door are disabled, and to allow the active rotation function of the first door and / or the second door to be restored when the second door is rotated to the closed position.

[0056] Specifically, the controller sends a rotation instruction to the second drive device corresponding to the second door. The instruction includes parameters such as the rotation direction (such as counterclockwise) and speed. After receiving the instruction, the second drive device controls the second door as required to start rotating the second door toward the closed position.

[0057] During the rotation of the second door, the controller will continuously receive the real-time position information of the second door sent by the sensor, and then obtain the pre-set conditions for judging whether the second door has reached the closed position. For example, when the position sensor detects that the deviation between the position of the second door and the preset closed position is within the allowable error range (such as less than a certain angle value or distance value), it is judged that the second door has reached the closed position.

[0058] The controller judges the acquired real-time position information of the second door according to the set judgment standard. When it is determined that the second door has rotated to the closed position, the controller sends a command allowing the active rotation function to be restored to the first drive device and the second drive device corresponding to the first door and the second door respectively. Thus, the active rotation function of the first door and / or the second door is restored.

[0059] In the process of the first door and / or the second door actively rotating to the real-time position, the embodiment of the present application continuously detects whether the door position is lost, which can ensure accurate control of the door movement state. When the position of either the first door or the second door is lost, the active rotation function of both is disabled, which can effectively prevent the door from colliding due to position loss and improve the safety of the door during use. After disabling the active rotation function, the second door is controlled to rotate to the closed position, providing an orderly transition method for resuming normal operation. When the second door reaches the closed position, the active rotation function of the first door and / or the second door is allowed to be restored, which not only gives the door time to recalibrate, but also ensures that the door is in a safe and effectively controllable state when resuming operation, avoiding the danger that may be caused by blindly restoring the function under abnormal circumstances.

[0060] In an embodiment of the present application, the first door and the second door are applied to a rear door of the vehicle, or to a side door of the vehicle, or to a sliding door of the vehicle.

[0061] It should be noted that the first door and the second door can be flexibly applied to different parts of the vehicle, and can be used as the back door of the vehicle to open and close up and down or open and close opposite to each other. The first door and the second door can also be applied to the side doors of the vehicle, such as: electric doors for opening side doors, etc., to facilitate passengers to get on and off the vehicle. The first door and the second door are applied to the sliding doors of the vehicle. Regardless of where they are set, the rotation is achieved through the coordinated cooperation of the controller, the first drive device, and the second drive device, and during the rotation process, the sensor obtains passive rotation data, which is matched and detected by the controller with the preset abnormal rotation data. Once matched, the active rotation function of the two doors is disabled.

[0062] In this embodiment, a vehicle control method is provided. Figure 4 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps: Step S101, during the rotation of the first door and / or the second door, passive rotation data generated by the first door and / or the second door is obtained.

[0063] In the embodiment of the present application, during the rotation of the first door and / or the second door, obtaining their real-time positions can be achieved in the following manner.

[0064] ① When the angle is expressed as an angle, the angle of rotation of the door relative to the fully closed position is measured. For example, when the door is fully closed, the angle is 0°. If the angle of the door is measured to be 30° at a certain moment, then this 30° is the real-time position of the door at that moment.

[0065] ② If coordinates are used as a form of expression, a specific coordinate system must be determined first. This coordinate system can be either two-dimensional or three-dimensional. Then a fixed point is selected on the door, such as a corner point on the edge of the door, and then the coordinate value of the point in the specific coordinate system is measured, and presented as (x, y) in the two-dimensional coordinate system and (x, y, z) in the three-dimensional coordinate system. These coordinate values ​​accurately determine the real-time position of the door in space.

[0066] At the same time, the sensor is also responsible for obtaining the passive rotation data generated by the first door and / or the second door at the real-time position. The passive rotation data includes the change in the door opening within a set time range. Specifically, taking the set time range with a time accuracy of 1 second as an example, if the door opening changes from the initial 30% to 35%, the sensor uses its internal calculation logic and data storage mechanism to record the 5% opening change and transmit it to the controller.

[0067] Step S102, detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0068] In the embodiment of the present application, a sensor is used to detect the position of a fixed point on the first door and / or the second door in real time. Within a set time range, the actual displacement change is calculated by measuring the initial and final positions of the point, thereby obtaining passive rotation data. At the same time, based on a preset door motion condition model and in combination with the current real-time stage of the door (such as the initial opening, the middle opening, or nearly fully opened), the preset displacement change of the point on the door within the set time range corresponding to the stage is directly retrieved from the database as the preset abnormal rotation data. Finally, the actual displacement change in the passive rotation data is compared with the preset displacement change in the preset abnormal rotation data to determine whether the two match.

[0069] Step S103: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation function of the first door and the second door is disabled.

[0070] In the embodiment of the present application, if the controller finds through detection that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, it means that the movement state of the door is abnormal. At this time, the controller sends a disabling instruction to the first drive device and the second drive device that control the active rotation of the first door and the second door respectively. These instructions will cause the first drive device and the second drive device to stop supplying power to the door or sending control signals, thereby disabling the active rotation function of the first door and the second door.

[0071] The method provided by the present application first obtains the passive rotation data of the first door and / or the second door when the first door and / or the second door actively rotates, and secondly, matches the passive rotation data with the preset abnormal rotation data to improve the accuracy of the judgment. If the door position changes due to normal environmental factors, its passive rotation data and the preset abnormal rotation data are usually inconsistent, and no misjudgment will be triggered. Only when the door has real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, thereby accurately distinguishing normal and abnormal situations, avoiding unnecessary misjudgments caused by interference from the normal environment, and ensuring the stable operation of the door.

[0072] In this embodiment, a vehicle control method is provided. Figure 5 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps: Step S201, during the rotation of the first door and / or the second door, passive rotation data generated by the first door and / or the second door is obtained.

[0073] In an embodiment of the present application, during the rotation of the first door and / or the second door, the sensor will monitor the passive rotation data generated by the first door and / or the second door in real time, the passive rotation data including: door rotation speed, and / or rotation acceleration, and / or door rotation distance, and / or change in door opening within a set time range, and / or change in door rotation speed within a set time range, and / or change in displacement of a fixed point on the door within a set time range; and transmit these passive rotation data to the controller.

[0074] It should be noted that the change in the degree of opening refers to the change in the degree of door opening within a set time range. The change in door rotation speed refers to the change in the speed of door rotation within a set time range. The change in displacement of a point on the door refers to the actual change in the spatial position of a fixed point selected on the door within a set time range. The above three parameters can intuitively reflect the actual rotation of the door during this period.

[0075] Step S202, obtaining the real-time position of the first door and / or the second door when generating passive rotation data.

[0076] In the embodiment of the present application, the sensor maintains a communication connection with the controller and can transmit the position information of the door to the controller in real time. For example, the sensor detects the angle of rotation of the door and sends it to the controller as real-time position data.

[0077] Step S203, obtaining preset abnormal rotation data corresponding to the real-time position.

[0078] In the embodiment of the present application, obtaining preset abnormal rotation data corresponding to the real-time position includes the following steps A1-A4: Step A1, determining the opening degree of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door.

[0079] In the embodiment of the present application, the first angle when the first door is rotated to the real-time position and the first maximum opening angle corresponding to the first door at the maximum opening position are determined, and the opening of the first door is obtained according to the ratio of the first angle to the first maximum opening angle. Similarly, the second angle when the second door is rotated to the real-time position and the second maximum opening angle corresponding to the second door at the maximum opening position are determined, and the opening of the second door is obtained according to the ratio of the second angle to the second maximum opening angle.

[0080] Step A2, comparing the opening with each preset opening range to obtain the target opening range that the opening falls into.

[0081] In the embodiment of the present application, a plurality of different preset opening ranges are pre-set, such as the opening ranges of "above 80%", "60%-80%", "40%-60%" and the like for the first door, and the opening ranges of "above 50%" and "below 50%" for the second door. The controller compares the obtained opening of the first door and / or the second door with these preset opening ranges one by one. For example, if the calculated opening of the first door is 75%, the controller will compare 75% with each preset range to determine that it falls within the target opening range of "60%-80%"; the same operation process is used for the second door, and the target opening range into which its opening falls is found through comparison.

[0082] Step A3, based on the mapping relationship between the preset opening range and the preset abnormal rotation data, obtain the preset abnormal rotation data corresponding to the target opening range, wherein the preset abnormal rotation data is used to determine whether the first door and the second door have abnormal movement within the corresponding preset opening range.

[0083] In an embodiment of the present application, a mapping relationship between a preset opening range and preset abnormal rotation data is pre-established, that is, different preset opening ranges correspond to different preset abnormal rotation data, which are used to determine the normal movement state of the door within the corresponding opening range.

[0084] The preset abnormal rotation data includes: a preset door rotation speed, and / or a preset rotation acceleration, and / or a preset door rotation distance, a preset change in door opening within a set time range, and / or a preset change in door rotation speed within a set time range, and / or a preset displacement change of a fixed point on the door within a set time range.

[0085] After determining the target opening range within which the opening of the first door and / or the second door falls, the controller obtains the preset abnormal rotation data corresponding to the target opening range according to the mapping relationship. For example, if the target opening range is "60%-80%", and the preset abnormal rotation data corresponding to the range is "the opening change exceeds 20% within 500ms", the controller will obtain this data, which will be used as the basis for subsequent judgment of whether the door is moving abnormally.

[0086] It should be noted that the first door and the second door are each provided with at least two preset opening ranges; within the different preset opening ranges corresponding to the first door, the preset abnormal rotation data identifies the abnormal movement of the first door by setting the time range and the rotation change, and the size of the preset opening range (such as 40%-60%, 60%-80%, 80%-100%) is inversely proportional to the size of the set time range corresponding to the preset opening range (such as 1s, 500ms, 300ms), and the size of the preset opening range (such as 40%-60%, 60%-80%, 80%-100%) is directly proportional to the size of the rotation change corresponding to the preset opening range (such as 10%, 20%, 30%).

[0087] Within different preset opening ranges corresponding to the second door, the preset abnormal rotation data identifies abnormal movement of the second door by setting a time range and a rotation change. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation changes corresponding to each preset opening range are the same or different.

[0088] As an example, the mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes: The preset opening range is 80%-100%, and the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first door exceeds 20%; The preset opening range is 60%-80%, and the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first door exceeds 20%; The preset opening range is 40%-60%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 1 second; The preset opening range is 40%-20%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 2 seconds; The preset opening range is 0%-20%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 5% within 2 seconds; The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: the preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms; the preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 8% within 300ms.

[0089] Alternatively, the mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: the preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms; the preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 300ms.

[0090] Based on the above embodiments, it can be determined that the rotation changes corresponding to the respective preset opening ranges corresponding to the second door may be the same or different.

[0091] Step A4: taking the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the real-time position.

[0092] In the embodiment of the present application, the controller sets the preset abnormal rotation data corresponding to the target opening range obtained as the preset abnormal rotation data corresponding to the real-time position of the first door and / or the second door. In this way, in the subsequent judgment process, the preset abnormal rotation data is used as a reference standard to judge whether the movement of the door is normal at the current real-time position, providing specific comparison data for detecting whether the door has abnormal movement.

[0093] Step S204 , detecting whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0094] In the embodiment of the present application, after the controller obtains the passive rotation data of the first door and / or the second door and the preset abnormal rotation data corresponding to the real-time position, it will perform a detailed comparative analysis on the two sets of data. For example, if the preset abnormal rotation data corresponding to the real-time position stipulates that the opening change within 300ms cannot exceed 15%, and the passive rotation data of the first door actually obtained shows that the opening change within 300ms reaches 18%, then it means that the passive rotation data of the first door does not match the preset abnormal rotation data; on the contrary, if it is within the specified range, it is considered to be matched.

[0095] Step S205: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation function of the first door and the second door is disabled.

[0096] In the embodiment of the present application, if the controller finds through detection that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, it means that the movement state of the door is abnormal. At this time, the controller sends a disabling instruction to the first drive device and the second drive device that control the active rotation of the first door and the second door respectively. These instructions will cause the first drive device and the second drive device to stop supplying power to the door or sending control signals, thereby disabling the active rotation function of the first door and the second door.

[0097] The embodiment of the present application first obtains the real-time position and passive rotation data of the door, then determines the door opening based on the real-time position and the maximum opening position, and compares it with the preset opening range, which can accurately lock the target opening range, and then obtain the corresponding preset abnormal rotation data based on the mapping relationship, so that the judgment of the door movement has a more accurate standard. In the process of detecting whether the passive rotation data matches the preset abnormal rotation data, since targeted preset abnormal rotation data are set for different opening ranges, the accuracy of the judgment is improved. The passive rotation data of the door position change caused by normal environmental factors often does not match the preset abnormal rotation data of the corresponding opening range, so that no misjudgment will occur. Only when the door has real abnormal movement, the two will match and disable the active rotation function, thereby distinguishing between normal and abnormal situations, effectively avoiding unnecessary misjudgments caused by normal environmental interference, and reducing the troubles caused by functional misjudgment.

[0098] In this embodiment, a vehicle control method is provided. 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 S301, during the rotation of the first door and / or the second door, passive rotation data generated by the first door and / or the second door is obtained.

[0099] In an embodiment of the present application, during the active rotation of the first door and / or the second door, a variety of methods are used to detect the rotation process of the door. For example: a sensor is used to measure the change in the door opening within a set time interval, such as every 2 seconds. If it changes from 20% to 25%, this 5% change is recorded as passive rotation data and transmitted to the vehicle controller. Alternatively, a speed sensor is used to monitor the rotation speed of the door in real time. Within a set time range, such as from the 1st second to the 5th second, the sensor will record the initial rotation speed of the door at the beginning of the time period and the final rotation speed at the end. By calculating the difference between the final speed and the initial speed, the actual change range of the door rotation speed during this period is obtained, which is the passive rotation data.

[0100] Step S302, detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0101] In the embodiment of the present application, according to the current real-time position of the door, the preset abnormal rotation data corresponding to the position is retrieved from the pre-established database. In the database, for different real-time positions of the door, there are corresponding preset variation ranges of the door rotation speed within the same set time range. This preset variation range is a reasonable range set comprehensively based on multiple factors such as the design parameters of the door, normal operating status, and safety standards.

[0102] Finally, the acquired passive rotation data (actual speed variation) is compared with the preset abnormal rotation data (preset speed variation). If the actual speed variation is within the preset variation range, the two are judged to be mismatched, indicating that the door rotation is normal; if the actual speed variation exceeds the preset range, the two are judged to be matched, which means that the door rotation may be abnormal.

[0103] Step S303: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation function of the first door and the second door is disabled.

[0104] In the embodiment of the present application, if the controller finds through detection that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, it means that the movement state of the door is abnormal. At this time, the controller sends a disabling instruction to the first drive device and the second drive device that control the active rotation of the first door and the second door respectively. These instructions will cause the first drive device and the second drive device to stop supplying power to the door or sending control signals, thereby disabling the active rotation function of the first door and the second door.

[0105] Step S304: if the first door is in the closed position or in the safety zone, and / or the second door is in the closed position or in the safety zone, the active rotation function of the first door and / or the second door is allowed to be restored.

[0106] In an embodiment of the present application, the positions of the first door and the second door are determined in real time. If it is detected that the first door is in a closed position, that is, the door is completely closed, or is in a safe zone; at the same time, or the second door is also in a closed position or a safe zone, wherein the safe zone includes the maximum open position. At this time, it is considered that the door has been restored to a safe state. The controller will send a recovery signal to the first drive device and the second drive device respectively corresponding to the active rotation of the first door and the second door. After receiving the signal, the first drive device and the second drive device will restart the power supply and control signal transmission, thereby restoring the active rotation function of the first door and / or the second door.

[0107] It should be noted that different areas will be formed according to the movement trajectory and spatial position relationship of the first door and the second door during the relative rotation of the vehicle body. The unsafe area refers to the area where the first door and the second door may contact each other during the rotation of the doors. In this area, in the safe area, the rotation paths of the doors are staggered and there is no intersection. No matter how the two doors rotate, they will not contact each other. The safe area includes the maximum opening position of the first door and the second door.

[0108] The safety zone refers to the area where the two doors will not touch each other when the doors rotate. Since the movement trajectory and angle of the doors will change continuously during the rotation process, when the movement trajectories of the two doors overlap or approach each other at a certain stage, an unsafe zone will be formed. In this area, there is a chance that the first door and the second door will touch each other.

[0109] As an example, the first door and the second door both reach the closed position, and the doors are in a safe state. Alternatively, the first door and the second door are both in a safe zone, and the doors are considered to be in a safe state. The first door and the second door are both in a safe zone, which may include the following situations: Figure 7 As shown, the first door and the second door are both in the maximum open position; Figure 8 As shown, the first door may be located at the maximum opening position, and the second door may be located at any position in the safety zone except the maximum opening position. Fig. 9 As shown, the second door is located at the closed position, and the first door is located at any position in the safety zone. In the above case, the controller sends a recovery signal to the first drive device and the second drive device corresponding to the first door and the second door.

[0110] In the embodiment of the present application, after the active rotation functions of the first door and the second door are disabled, the positions of the first door and the second door are detected. If the first door is in a closed position or a safe area, and / or the second door also meets the same conditions, the active rotation function is allowed to be restored. This not only provides convenience for the reuse of the doors in a safe state, but also can flexibly restore the normal functions of the doors under the premise of ensuring safety.

[0111] In this embodiment, a vehicle control method is provided. Fig.10 is a flow chart of a vehicle control method according to an embodiment of the present invention. Fig.10 As shown, the process includes the following steps: Step S401, during the rotation of the first door and / or the second door, detecting whether the positions of the first door and the second door are lost.

[0112] In the embodiment of the present application, during the rotation of the first door and / or the second door, a variety of sensors are used to detect the door position. In the case of using an angle sensor, the angle sensor monitors the rotation angle of the door relative to the fully closed position, and compares the real-time angle data with the previously recorded angle data. If the angle data jumps or is interrupted abnormally, it may indicate that the position is lost.

[0113] If a coordinate positioning device is used, the coordinates of the fixed points on the door in the coordinate system are measured in real time. If the measured coordinate values ​​suddenly change abnormally, such as exceeding the door movement range, or the coordinate data cannot be obtained normally, it is determined that the position is lost.

[0114] The controller will perform the above monitoring on the first door and the second door at the same time to determine whether position loss occurs.

[0115] Step S402: If any one of the first door and the second door loses position, the active rotation function of both the first door and the second door is disabled.

[0116] In the embodiment of the present application, when it is detected that any one of the first door and the second door has lost its position, it means that the movement state of the door has lost accurate monitoring and control, which may cause safety hazards. At this time, the controller sends a disabling instruction to the first drive device and the second drive device that control the active rotation of the first door and the second door respectively. These instructions will cause the first drive device and the second drive device to stop supplying power to the door or sending control signals, thereby disabling the active rotation function of the first door and the second door.

[0117] In an embodiment of the present application, after disabling the active rotation function of the first door and the second door, the method also includes: controlling the second door to rotate to a closed position, and when the second door rotates to the closed position, allowing the active rotation function of the first door and / or the second door to be restored.

[0118] Specifically, the main controller sends an instruction to the second drive device that controls the rotation of the second door, and the second drive device drives the second door to rotate toward the closed position according to the instruction. During the rotation process, the position of the second door is continuously monitored. When it is detected that the second door reaches the closed position, it indicates that the second door is in a safe and normally controllable state. At this time, the controller sends a recovery signal to the first drive device and the second drive device that control the active rotation of the first door and the second door, respectively. The recovery signal causes the first drive device and the second drive device to supply power to the door or send a control signal, thereby realizing the recovery of the active rotation function of the first door and / or the second door.

[0119] In the process of the first door and / or the second door actively rotating to the real-time position, the embodiment of the present application continuously detects whether the door position is lost, which can ensure accurate control of the door movement state. When the position of either the first door or the second door is lost, the active rotation function of both is disabled, which can effectively prevent the door from colliding due to position loss and improve the safety of the door during use. After disabling the active rotation function, the second door is controlled to rotate to the closed position, providing an orderly transition method for resuming normal operation. When the second door reaches the closed position, the active rotation function of the first door and / or the second door is allowed to be restored, which not only gives the door time to recalibrate, but also ensures that the door is in a safe and effectively controllable state when resuming operation, avoiding the danger that may be caused by blindly restoring the function under abnormal circumstances.

[0120] In an embodiment of the present application, the first door and the second door are applied to a rear door of the vehicle, or to a side door of the vehicle, or to a sliding door of the vehicle.

[0121] It should be noted that the first door and the second door can be flexibly applied to different parts of the vehicle, and can be used as the back door of the vehicle to open and close up and down or open and close opposite to each other. The first door and the second door can also be applied to the side doors of the vehicle, such as: electric doors for opening side doors, etc., to facilitate passengers to get on and off the vehicle. The first door and the second door are applied to the sliding doors of the vehicle. Regardless of where they are set, the rotation is achieved through the coordinated cooperation of the controller, the first drive device, and the second drive device, and during the rotation process, the sensor obtains passive rotation data, which is matched and detected by the controller with the preset abnormal rotation data. Once matched, the active rotation function of the two doors is disabled.

[0122] See also Fig.11 , Fig.11 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.11 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).

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0128] 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.

[0129] 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, and the first door can cover and partially overlap the second door by rotating to close the vehicle body, and the method comprises: During the rotation of the first door and / or the second door, acquiring passive rotation data generated by the first door and / or the second door; Detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation functions of the first door and the second door are both disabled.

2. The method according to claim 1, characterized in that The detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data includes: Acquire the real-time position of the first door and / or the second door when the passive rotation data is generated; Acquire preset abnormal rotation data corresponding to the real-time position; Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

3. The method according to claim 2, characterized in that The obtaining of preset abnormal rotation data corresponding to the real-time position includes: Determining the opening of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; Comparing the opening with various preset opening ranges to obtain a target opening range within which the opening falls; Based on a mapping relationship between a preset opening range and preset abnormal rotation data, obtaining preset abnormal rotation data corresponding to the target opening range; The preset abnormal rotation data corresponding to the target opening range is used as the preset abnormal rotation data corresponding to the real-time position.

4. The method according to claim 3, characterized in that The first door and the second door are each provided with at least two preset opening ranges; In different preset opening ranges corresponding to the first door, the preset abnormal rotation data identifies abnormal movement of the first door by setting a time range and a rotation change amount, the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range; and / or, Within different preset opening ranges corresponding to the second door, the preset abnormal rotation data identifies abnormal movement of the second door by setting a time range and a rotation change. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation changes corresponding to each preset opening range are the same or different.

5. The method according to claim 3, characterized in that: The mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes: The preset opening range is 80%-100%, and the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first door exceeds 20%; The preset opening range is 60%-80%, and the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first door exceeds 20%; The preset opening range is 40%-60%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 1 second; The preset opening range is 20%-40%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 2 seconds; The preset opening range is 0%-20%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 5% within 2 seconds; and / or, The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: The preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms; The preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 300ms.

6. The method according to claim 1, characterized in that The passive rotation data includes: door rotation speed, and / or rotation acceleration, and / or door rotation distance, and / or change in door opening within a set time range, and / or change in door rotation speed within a set time range, and / or change in displacement of a fixed point on the door within a set time range; The preset abnormal rotation data includes: a preset door rotation speed, and / or a preset rotation acceleration, and / or a preset door rotation distance, a preset change in door opening within a set time range, and / or a preset change in door rotation speed within a set time range, and / or a preset displacement change of a fixed point on the door within a set time range.

7. The method according to claim 1, characterized in that After disabling the active rotation functions of both the first door and the second door, the method further includes: If the first door is in the closed position or in the safety zone, and / or the second door is in the closed position or in the safety zone, the active rotation function of the first door and / or the second door is allowed to be restored.

8. The method according to claim 1, characterized in that The method further comprises: During the rotation of the first door and / or the second door, detecting whether the positions of the first door and the second door are lost; If any one of the first door and the second door loses position, active rotation functions of both the first door and the second door are disabled.

9. The method according to claim 8, characterized in that After disabling the active rotation functions of both the first door and the second door, the method further includes: The second door is controlled to rotate to a closed position, and when the second door is rotated to the closed position, the active rotation function of the first door and / or the second door is allowed to be restored.

10. The method according to any one of claims 1 to 9, characterized in that: The first vehicle door and the second vehicle door are applied to a rear door of the vehicle, or to a side door of the vehicle, or to a sliding door of the vehicle.

11. 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; characterized in that The vehicle further includes a sensor communicatively connected to the controller, the sensor being used to obtain passive rotation data generated by the first door and / or the second door during the rotation of the first door and / or the second door; The controller is used to detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, the active rotation function of the first door and the second door are disabled.

12. The vehicle according to claim 11, characterized in that The controller is used to obtain the real-time position of the first door and / or the second door when the passive rotation data is generated; and obtain the preset abnormal rotation data corresponding to the real-time position; Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

13. The vehicle according to claim 12, characterized in that The controller is used to determine the opening of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; compare the opening with each preset opening range to obtain the target opening range within which the opening falls; and obtain the preset abnormal rotation data corresponding to the target opening range based on the mapping relationship between the preset opening range and the preset abnormal rotation data.

14. The vehicle according to claim 11, characterized in that The controller is also used to allow restoration of the active rotation function of the first door and / or the second door after the active rotation function of the first door and the second door are disabled, if the first door is in a closed position or in a safety zone, and / or the second door is in a closed position or in the safety zone.

15. The vehicle according to claim 11, characterized in that The controller is also used to detect whether the position of the first door and the second door is lost during the rotation of the first door and / or the second door; if the position of any one of the first door and the second door is lost, the active rotation function of the first door and the second door is disabled.

16. The vehicle according to any one of claims 11 to 15, characterized in that: The first vehicle door and the second vehicle door are applied to a rear door of the vehicle, or to a side door of the vehicle, or to a sliding door of the vehicle.

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