A vehicle control method and a vehicle

Abstract

The present invention relates to the field of vehicle control, and particularly relates to a vehicle control method and a vehicle. When the first door and / or the second door rotates, the method provided by this application first obtains the passive rotation data of the first door and / or the second door. Secondly, the passive rotation data is matched and detected with the preset abnormal rotation data, which improves the accuracy of judgment. If the change in the door position is caused by normal environmental factors, its passive rotation data usually does not match the preset abnormal rotation data, and false judgment will not be triggered. Only when the door has a real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, so as to accurately distinguish normal situations from abnormal situations, avoid unnecessary false judgments caused by normal environmental interference, and ensure the stable operation of the door.

Description

Technical Field

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

[0002] In modern vehicle design, especially for vehicles with special-structured rear doors (such as up-and-down door designs), the safe operation of the rear doors is crucial. During the 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 constantly increasing.

[0003] Currently, the automatic closing function of the vehicle's rear door faces the following problems: When the automatic opening function is executed, vibrations generated by the intense activities of the people inside the vehicle, or the deformation of the vehicle body structure caused by loading heavy objects, which in turn lead to changes in the position states of the upper and lower doors in the vehicle's rear door. According to the currently set determination logic, these changes caused by normal environmental factors will be misjudged as abnormal operations, and the electric function of the doors will be disabled. However, although this design can ensure safety, it greatly affects the user experience because it cannot accurately distinguish between normal environmental interference and real abnormal operations. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle control method and a vehicle to solve the problem that the prior art cannot effectively distinguish between changes caused by normal environmental factors such as the activities of people inside the vehicle and loading heavy objects and abnormal operations, and thus frequently misjudges and disables the electric function of the doors.

[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 that are all rotatably connected to the vehicle body; both the first door and the second door can rotate relative to the vehicle body actively and passively. The first door can cover and partially overlap the second door by rotation to close the vehicle body. The method includes:

[0006] During the rotation of the first door and / or the second door, obtain the passive rotation data generated by the first door and / or the second door;

[0007] Detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data;

[0008] If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then disable the active rotation functions of both the first door and the second door.

[0009] Further, detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data includes:

[0010] Obtaining the real-time position when the first door and / or the second door generates the passive rotation data;

[0011] Obtaining the preset abnormal rotation data corresponding to the real-time position;

[0012] Detecting whether the passive rotation data at the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0013] Further, obtaining the preset abnormal rotation data corresponding to the real-time position includes: based on the real-time position, the maximum opening position of the first door, and / or the maximum opening position of the second door, determining the opening degree of the first door and / or the second door; comparing the opening degree with each preset opening degree range to obtain the target opening degree range where the opening degree falls; based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data, obtaining the preset abnormal rotation data corresponding to the target opening degree range; and taking the preset abnormal rotation data corresponding to the target opening degree range as the preset abnormal rotation data corresponding to the real-time position.

[0014] Further, at least two preset opening degree ranges are set for both the first door and the second door;

[0015] In different preset opening degree ranges corresponding to the first door, the preset abnormal rotation data identifies the abnormal movement of the first door through the set time range and the rotation change amount. The size of the preset opening degree range is inversely proportional to the size of the set time range corresponding to the preset opening degree range, and the size of the preset opening degree range is directly proportional to the size of the rotation change amount corresponding to the preset opening degree range;

[0016] and / or,

[0017] In different preset opening degree ranges corresponding to the second door, the preset abnormal rotation data identifies the abnormal movement of the second door through the set time range and the rotation change amount. The size of the preset opening degree range is inversely proportional to the size of the set time range corresponding to the preset opening degree range, and the rotation change amounts corresponding to each preset opening degree range are the same or different.

[0018] Further, the mapping relationship between the preset opening degree range of the first door and the preset abnormal rotation data includes:

[0019] For the preset opening degree range of 80% - 100%, the corresponding preset abnormal rotation data is: within 300 ms, the opening degree change amount of the first door exceeds 20%;

[0020] The preset opening range is 60%-80%, and the corresponding preset abnormal rotation data is: within 500 ms, the change in the opening of the first door exceeds 20%;

[0021] The preset opening range is 60%-40%, and the corresponding preset abnormal rotation data is: within 1 s, the change in the opening of the first door exceeds 10%;

[0022] The preset opening range is 40%-20%, and the corresponding preset abnormal rotation data is: within 2 s, the change in the opening of the first door exceeds 10%;

[0023] When the preset opening range is below 20%, the corresponding preset abnormal rotation data is: within 2 s, the change in the opening of the first door exceeds 5%;

[0024] The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes:

[0025] The preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: within 500 ms, the change in the opening of the second door exceeds 10%;

[0026] The preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: within 300 ms, the change in the opening of the second door exceeds 10%.

[0027] The passive rotation data includes: the door rotation speed, and / or, the rotation acceleration, and / or, the door rotation distance, and / or, the change in the door opening within a set time range, and / or, the change in the door rotation speed within a set time range, and / or, the displacement change of a fixed point on the door within a set time range;

[0028] Further, the preset abnormal rotation data includes: the preset door rotation speed, and / or, the preset rotation acceleration, and / or, the preset door rotation distance, the preset change in the door opening within a set time range, and / or, the preset change in the door rotation speed within a set time range, and / or, the preset displacement change of a fixed point on the door within a set time range.

[0029] Further, the passive rotation data includes: the change in the door opening within a set time range, and / or, the change in the door rotation speed within a set time range, and / or, the displacement change of a fixed point on the door within a set time range;

[0030] The preset abnormal rotation data includes: the preset change in the door opening within a set time range, and / or, the preset change in the door rotation speed within a set time range, and / or, the preset displacement change of a fixed point on the door within a set time range.

[0031] Further, after disabling the active rotation functions of both the first door and the second door, the method further includes:

[0032] 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, then the active rotation functions of the first door and / or the second door are allowed to be restored.

[0033] Further, the method further includes:

[0034] During the rotation of the first door and / or the second door, detect whether the positions of the first door and the second door are lost;

[0035] If the position of any one of the first door and the second door is lost, then the active rotation functions of both the first door and the second door are disabled.

[0036] Further, after disabling the active rotation functions of both the first door and the second door, the method further includes:

[0037] Control the second door to rotate to the closed position, and when the second door rotates to the closed position, allow the active rotation functions of the first door and / or the second door to be restored.

[0038] 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;

[0039] The vehicle further includes a sensor communicatively connected to the controller, and the sensor is 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;

[0040] The controller is configured to detect whether the passive rotation data of the first door and / or the second door matches preset abnormal rotation data; if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then the active rotation functions of both the first door and the second door are disabled.

[0041] Further, the controller is configured to obtain the real-time position when the first door and / or the second door generates the passive rotation data; obtain the preset abnormal rotation data corresponding to the real-time position; and detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0042] Further, the controller is configured to determine 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; compare the opening degree with each preset opening degree range to obtain the target opening degree range into which the opening degree falls; and obtain the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data.

[0043] Further, after the active rotation functions of both the first door and the second door are disabled, the controller is further configured to allow the restoration of the active rotation functions of the first door and / or 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 closed position or in the safety zone.

[0044] Further, during the rotation of the first door and / or the second door, the controller is further configured to detect whether the positions of the first door and the second door are lost; if the position of any one of the first door and the second door is lost, the active rotation functions of both the first door and the second door are disabled.

[0045] Further, the first door and the second door are applied to the rear door of the vehicle, or to the side door of the vehicle, or to the sliding door of the vehicle.

[0046] 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.

[0047] In a fourth aspect, 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 implementation manner thereof.

[0048] When the method provided by this application is used and the first door and / or the second door rotate actively, first, the passive rotation data of the first door and / or the second door is obtained. Secondly, the passive rotation data is matched and detected with the preset abnormal rotation data, which improves the accuracy of judgment. If the change in the door position is caused by normal environmental factors, its passive rotation data usually does not match the preset abnormal rotation data, and false judgment will not be triggered. Only when the door has a real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, so as to accurately distinguish normal situations from abnormal situations, avoid unnecessary false judgments caused by normal environmental interference, and ensure the stable operation of the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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 drawings in the following description 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.

[0050] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0051] Figure 2 is a schematic diagram of the door closed according to some embodiments of the present invention;

[0052] Figure 3 is a schematic diagram of different opening ranges of the door according to some embodiments of the present invention;

[0053] Figure 4 is a schematic flowchart of a vehicle control method according to some embodiments of the present invention;

[0054] Figure 5 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0055] Figure 6 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0056] Figure 7 is a schematic diagram of the rotation position of the door according to some embodiments of the present invention;

[0057] Figure 8 is a schematic diagram of the rotation position of the door according to some embodiments of the present invention;

[0058] Figure 9 is a schematic diagram of the rotation position of the door according to some embodiments of the present invention;

[0059] Figure 10 is a schematic flowchart of yet another vehicle control method according to some embodiments of the present invention;

[0060] Figure 11 is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed implementation manners

[0061] 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. Apparently, 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.

[0062] 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 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.

[0063] 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 drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 respectively 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.

[0064] 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 the rotation of the door when it is subjected to a force exerted by an external force other than the vehicle control system. This external force may come from various situations, such as the user manually pushing the door forcibly, the door encountering an obstacle during movement, or the vehicle being impacted by the outside world resulting in the door being stressed, etc.

[0065] As Figure 2As shown, it can be understood that the first door 11 and the second door 12 define a closed position as follows: during the closing process of the door, the first door rotates around its connection point with the vehicle body and finally can cover the second door with partial overlap therewith, thereby forming a complete closed structure to isolate the interior of the vehicle body from the external environment.

[0066] In the embodiment of the present application, the vehicle further includes: a sensor 16 communicatively connected to the controller, and the sensor 16 is configured to obtain the 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.

[0067] It should be noted that the sensor 16 is communicatively connected to the controller 13, and during the rotation of the first door 1111 and / or the second door 1212, the real-time position of the door is continuously obtained. While obtaining the real-time position, the sensor 16 also collects the change amount of the door opening degree, the change amount of the door rotation speed, the displacement change amount of a certain point on the door, etc. within a set time range. These data reflect the unexpected rotation conditions of the door during rotation due to external forces or other factors.

[0068] The change amount of the opening degree refers to the change range of the door angle within a set time range. The change amount of the door rotation speed refers to the change range of the door rotation speed within a set time range. The displacement change amount of a certain fixed point on the door refers to the actual change amount of a selected fixed point on the door in the spatial position within a set time range. The above three parameters can all intuitively reflect the actual rotation conditions of the door during this period. Taking the change amount of the opening degree as an example, for instance, within a set time range, the door changes from an opening of 30% to an opening of 40%, then the change amount of the opening degree is 10%.

[0069] The controller 13 is configured 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 functions of both the first door 11 and the second door 12 are disabled. Among them, the passive rotation data includes: the door rotation speed, and / or, the rotation acceleration, and / or, the door rotation distance, and / or, the change amount of the door opening degree within a set time range, and / or, the change amount of the door rotation speed within a set time range, and / or, the displacement change amount of a fixed point on the door within a set time range.

[0070] The preset abnormal rotation data includes: the preset door rotation speed, and / or the preset rotation acceleration, and / or the preset door rotation distance, the preset change amount of the door opening degree within a set time range, and / or the preset change amount of the door rotation speed within a set time range, and / or the preset displacement change amount of the fixed point on the door within a set time range.

[0071] It should be noted that the controller 13 specifically determines the opening degree 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 degree with each preset opening degree range to obtain the target opening degree range where the opening degree falls; and obtains the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data.

[0072] It should be noted that at least two preset opening degree ranges are set for both the first door and the second door;

[0073] Within different preset opening degree ranges corresponding to the first door, the preset abnormal rotation data identifies the abnormal movement of the first door through the set time range and the rotation change amount. The size of the preset opening degree range is inversely proportional to the size of the set time range corresponding to the preset opening degree range, and the size of the preset opening degree range is directly proportional to the size of the rotation change amount corresponding to the preset opening degree range;

[0074] and / or, within different preset opening degree ranges corresponding to the second door, the preset abnormal rotation data identifies the abnormal movement of the second door through the set time range and the rotation change amount. The size of the preset opening degree range is inversely proportional to the size of the set time range corresponding to the preset opening degree range, and the rotation change amounts corresponding to each preset opening degree range are the same or different.

[0075] First, determine the first angle when the first door rotates to the real-time position, and the first maximum opening angle corresponding to the first door at the maximum opening position. According to the ratio of the first angle to the first maximum opening angle, obtain the opening degree of the first door. Similarly, determine the second angle when the second door rotates to the real-time position, and the second maximum opening angle corresponding to the second door at the maximum opening position. According to the ratio of the second angle to the second maximum opening angle, obtain the opening degree of the second door.

[0076] Second, obtain multiple different preset opening degree ranges stored in advance. For example, for the first door, there are "above 80%", "60% - 80%", "60% - 40%", etc., and for the second door, there may be "above 50%", "below 50%", etc. These ranges are set in advance according to various factors such as vehicle size and safety requirements. For example, as Figure 3 shown, for the first door:

[0077] ① When the preset opening range of the door is between 80% - 100%, the corresponding preset abnormal rotation data is: within 300 ms, the change in the opening of the first door exceeds 20%.

[0078] ② When the preset opening range of the door is between 60% - 80%, the corresponding preset abnormal rotation data is: within 500 ms, the change in the opening of the first door exceeds 20%.

[0079] ③ When the preset opening range of the door is between 40% - 60%, the corresponding preset abnormal rotation data is: within 1 s, the change in the opening of the first door exceeds 10%.

[0080] ④ When the preset opening range of the door is between 40% - 20%, the corresponding preset abnormal rotation data is: within 2 s, the change in the opening of the first door exceeds 10%.

[0081] ⑤ When the preset opening range of the door is between 0% - 20%, the corresponding preset abnormal rotation data is: within 2 s, the change in the opening of the first door exceeds 5%.

[0082] For the second door:

[0083] ① When the preset opening range of the door is above 50%, the corresponding preset abnormal rotation data is: within 500 ms, the change in the opening of the second door exceeds 10%.

[0084] ② When the preset opening range of the door is below 50%, the corresponding preset abnormal rotation data is: within 300 ms, the change in the opening of the second door exceeds 10%.

[0085] Then, the controller compares the calculated door opening with these preset opening ranges one by one. For example, if the calculated opening of the first door is 70%, it will compare 70% with each preset opening range to determine that it falls into the target opening range of "60% - 80%". Obtain the preset abnormal rotation data corresponding to the target opening range.

[0086] Since a mapping relationship has been established in advance between the preset opening range and the preset abnormal rotation data. After determining the target opening range into which the door opening falls, the controller obtains the preset abnormal rotation data corresponding to this target opening range based on this mapping relationship. For example, if the target opening range is "60% - 80%", it retrieves "within 500 ms, the change in the opening exceeds 20%" from the corresponding storage location as the relevant preset abnormal rotation data. The controller sets the preset abnormal rotation data corresponding to the obtained target opening range as the preset abnormal rotation data corresponding to the current real - time position of the door.

[0087] It is understandable that the abnormal movement of the vehicle door refers to the rotation of the first vehicle door and the second vehicle door not conforming to the preset normal movement standard within a specific preset opening range. Specifically, according to the matching result between the vehicle door opening and the preset opening range, each target opening range corresponds to specific preset abnormal rotation data, such as the change amount of the vehicle door opening exceeding a certain proportion within different time periods. When the actual rotation of the vehicle door meets the conditions of these preset abnormal rotation data, it is considered that the vehicle door has an abnormal movement. For example, if the change amount of the vehicle door opening exceeds the allowable change range corresponding to the opening range within the specified time, it indicates that the vehicle door has an abnormal opening and closing condition, such as accidental shaking, being abnormally pushed or pulled by an external force, etc., deviating from the normal movement state.

[0088] 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 vehicle door 11 and / or the second vehicle door 12 matches the preset abnormal rotation data, it indicates that the vehicle door rotation has an abnormal movement. At this time, the controller 13 issues an instruction to disable the active rotation function of the first vehicle door 11 and the second vehicle door 12, stopping the active movement of the vehicle door and effectively controlling the active rotation function of the vehicle door.

[0089] In the embodiment of the present application, when the first vehicle door and / or the second vehicle door rotates actively, first, the real-time position and the passive rotation data of the first vehicle door and / or the second vehicle door are obtained. Secondly, the matching detection is performed on the passive rotation data and the preset abnormal rotation data corresponding to the real-time position, improving the accuracy of judgment. If the change in the vehicle door position is caused by normal environmental factors, its passive rotation data usually does not match the preset abnormal rotation data, and false judgment will not be triggered. Only when the vehicle door has a real abnormal movement and the passive rotation data matches the preset abnormal rotation data, the active rotation function will be disabled, thus accurately distinguishing normal situations from abnormal situations, avoiding unnecessary false judgments caused by normal environmental interference, and ensuring the stable operation of the vehicle door.

[0090] In the embodiment of the present application, the controller 13 is further configured to, after disabling the active rotation functions of both the first vehicle door 11 and the second vehicle door 12, if the first vehicle door 11 is in the closed position or in the safe area, and / or, the second vehicle door 12 is in the closed position or in the safe area, then allow the restoration of the active rotation function of the first vehicle door 11 and / or the second vehicle door 12.

[0091] Specifically, when the first vehicle door 11 is in the closed position or in the safe zone, and / or when the second vehicle door 12 is in the safe zone or in the closed position, it indicates that at least one vehicle door is in a safe state. In this case, the controller determines that the state of the vehicle door has reached the condition for restoring the active rotation function, so it issues an instruction to allow the restoration of the active rotation function of the first vehicle door 11 and / or the second vehicle door 12. For example, when the second vehicle door 12 is already closed (in the closed position), even if the first vehicle door 11 may still be in the safe zone but not fully closed, the controller will also allow both vehicle doors to regain the ability to actively rotate.

[0092] In the embodiment of the present application, the controller 13 is further configured to detect whether the positions of the first vehicle door 11 and the second vehicle door 12 are lost during the process of the first vehicle door 11 and / or the second vehicle door 12 actively rotating to the real-time position; if the position of any one of the first vehicle door 11 and the second vehicle door 12 is lost, the active rotation functions of both the first vehicle door 11 and the second vehicle door 12 are disabled.

[0093] Specifically, the present application pre-sets a criterion for determining the loss of the vehicle door position. For example, if it is found that the position change amount is 0 in multiple consecutive (assumed to be 5 times) readings of the position data, or the position change amount shows an abnormal value that does not conform to the normal movement logic of the vehicle door (such as a large backward movement of the position suddenly occurring during the normal opening process), it is determined that the position is lost.

[0094] The controller 13 judges the analyzed position change situation according to the set judgment criterion. If it is found that any one of the first vehicle door 11 and the second vehicle door 12 shows a situation that conforms to the position loss judgment criterion, for example, during the process where the first vehicle door should continue to open, the position is continuously monitored to be unchanged for 5 times, then the controller 13 determines that the first vehicle door has lost its position.

[0095] When the controller 13 determines that the position of any one of the first vehicle door 11 and the second vehicle door 12 is lost, it sends a disabling instruction to the first drive device and the second drive device respectively corresponding to controlling the active rotation of the first vehicle door and the second vehicle door. After receiving the disabling instruction, the first drive device and the second drive device stop supplying power to the vehicle door or sending control signals, so that both the first vehicle door 11 and the second vehicle door 12 stop actively rotating, realizing the disabling of the active rotation function, to avoid safety problems such as vehicle door collision and damage that may be caused by the loss of position.

[0096] In the embodiment of the present application, the controller is further configured to, after disabling the active rotation functions of both the first vehicle door and the second vehicle door, control the second vehicle door to rotate to the closed position, and when the second vehicle door rotates to the closed position, allow the restoration of the active rotation function of the first vehicle door and / or the second vehicle door.

[0097] Specifically, the controller sends a rotation instruction to the second driving device corresponding to the second vehicle door. The instruction includes parameters such as the rotation direction (e.g., counterclockwise) and speed. After receiving the instruction, the second driving device controls the second vehicle door as required, causing the second vehicle door to start rotating towards the closed position.

[0098] During the rotation of the second vehicle door, the controller continuously receives the real-time position information of the second vehicle door sent by the sensor. Then, it obtains the pre-set conditions for judging whether the second vehicle door has reached the closed position. For example, when the position sensor detects that the deviation between the position of the second vehicle door and the pre-set closed position is within the allowable error range (e.g., less than a certain angle value or distance value), it is determined that the second vehicle door has reached the closed position.

[0099] The controller judges the real-time position information of the second vehicle door obtained according to the set judgment criteria. When it is determined that the second vehicle door has rotated to the closed position, the controller sends an instruction to allow the restoration of the active rotation function to the first driving device and the second driving device corresponding to the first vehicle door and the second vehicle door respectively. Thus, the active rotation function of the first vehicle door and / or the second vehicle door is restored.

[0100] In the embodiment of the present application, during the process of the first vehicle door and / or the second vehicle door actively rotating to the real-time position, it 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 vehicle door or the second vehicle door is lost, the active rotation functions of both are disabled, which can effectively prevent the doors from colliding due to position loss and improve the safety during the use of the doors. After disabling the active rotation function, the second vehicle door is controlled to rotate to the closed position, providing an orderly transition method for restoring normal operation. When the second vehicle door reaches the closed position, the active rotation function of the first vehicle door and / or the second vehicle door is allowed to be restored again. This not only gives the doors time to recalibrate but also ensures that the doors are in a safe and effectively controllable state when resuming operation, avoiding the danger that may be caused by blindly restoring the function under abnormal conditions.

[0101] In the embodiment of the present application, the first vehicle door and the second vehicle door are applied to the rear door of the vehicle, or to the side door of the vehicle, or to the sliding door of the vehicle.

[0102] It should be noted that the first door and the second door can be flexibly applied to different parts of the vehicle. They can be used as the rear door of the vehicle to achieve up-and-down opening or opposed opening. The first door and the second door can also be applied to the side door of the vehicle, such as in the form of an opposed side door or an electric door, which is convenient for passengers to get on and off. The first door and the second door can be applied to the sliding door of the vehicle. No matter which part they are set on, they are rotated through the coordinated cooperation of the controller, the first driving device, and the second driving device. During the rotation process, the passive rotation data is obtained by the sensor, and the controller matches it with the preset abnormal rotation data for detection. Once a match is found, the active rotation function of the two doors is disabled.

[0103] In this embodiment, a vehicle control method is provided. Figure 4 It is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 4 shown. The process includes the following steps:

[0104] Step S101, during the rotation of the first door and / or the second door, obtain the passive rotation data generated by the first door and / or the second door.

[0105] In the embodiment of the present application, during the rotation of the first door and / or the second door, obtaining its real-time position can be achieved in the following ways.

[0106] ① When the angle is used as the representation form, measure the angle by which the door rotates relative to the fully closed position. For example, when the door is fully closed, the angle is 0°. If the measured angle of the door at a certain moment is 30°, then this 30° is the real-time position of the door at that moment.

[0107] ② If the coordinate is used as the representation form, first determine a specific coordinate system, which can be either two-dimensional or three-dimensional. Then select a fixed point on the door, such as a corner point on the edge of the door. Then, by measuring the coordinate values of this point in the specific coordinate system, it is 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.

[0108] 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. Among them, the passive rotation data includes the change amount of the door opening within a set time range. Specifically, taking a 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 operation logic and data storage mechanism to record this 5% change amount of the opening and transmit it to the controller.

[0109] Step S102, detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0110] In the embodiment of the present application, sensors are used to detect the positions of the fixed points on the first door and / or the second door in real time. Within a set time range, by measuring the initial and final positions of this point, the actual displacement change amount is calculated to obtain the passive rotation data. At the same time, according to the preset door movement working condition model, combined with the real-time stage where the door is currently located (such as the initial stage of opening, the middle stage, approaching full opening, etc.), the preset displacement change amount of this point on the door within the set time range corresponding to this stage is directly retrieved from the database as the preset abnormal rotation data. Finally, the actual displacement change amount in the passive rotation data is compared with the preset displacement change amount in the preset abnormal rotation data to determine whether they match.

[0111] Step S103, if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, disable the active rotation functions of both the first door and the second door.

[0112] In the embodiment of the present application, if the controller detects that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data through detection, it indicates that the movement state of the door has an abnormality. At this time, the controller sends disable instructions 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 functions of both the first door and the second door.

[0113] The method provided by the present application, when the first door and / or the second door rotates actively, first obtains the passive rotation data of the first door and / or the second door, and secondly, performs a matching detection on the passive rotation data and the preset abnormal rotation data, improving the accuracy of judgment. If the change in the door position is caused by normal environmental factors, its passive rotation data usually does not match the preset abnormal rotation data, and false judgments will not be triggered. Only when the door has a 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 situations from abnormal situations, avoiding unnecessary false judgments caused by normal environmental interference, and ensuring the stable operation of the door.

[0114] In this embodiment, a vehicle control method is provided, Figure 5 which is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 5 shown, and this process includes the following steps:

[0115] Step S201, during the rotation of the first door and / or the second door, obtain the passive rotation data generated by the first door and / or the second door.

[0116] In the embodiments of the present application, during the rotation of the first door and / or the second door, the sensor will monitor in real time the passive rotation data generated by the first door and / or the second door. The passive rotation data includes: the door rotation speed, and / or, the rotation acceleration, and / or, the door rotation distance, and / or, the change amount of the door opening degree within a set time range, and / or, the change amount of the door rotation speed within a set time range, and / or, within a set time range, the displacement change amount of the fixed point on the door; and transmit these passive rotation data to the controller.

[0117] It should be noted that the change amount of the opening degree refers to the change range of the door opening degree within a set time range. The change amount of the door rotation speed refers to the change range of the door rotation speed within a set time range. The displacement change amount of a certain point on the door refers to the actual change amount of a selected fixed point on the door in the spatial position within a set time range. The above three parameters can all intuitively reflect the actual rotation situation of the door during this period.

[0118] Step S202, obtain the real-time position when the first door and / or the second door generates passive rotation data.

[0119] In the embodiments of the present application, the sensor is in communication connection with the controller and can transmit the position information of the door to the controller in real time. For example, the sensor will detect the rotation angle of the door and send it as real-time position data to the controller.

[0120] Step S203, obtain the preset abnormal rotation data corresponding to the real-time position.

[0121] In the embodiments of the present application, obtaining the preset abnormal rotation data corresponding to the real-time position includes the following steps A1 - A4:

[0122] Step A1, based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door, determine the opening degree of the first door and / or the second door.

[0123] In the embodiments of the present application, determine the first angle when the first door rotates to the real-time position, and the first maximum opening angle corresponding to the first door at the maximum opening position. According to the ratio of the first angle to the first maximum opening angle, obtain the opening degree of the first door. Similarly, determine the second angle when the second door rotates to the real-time position, and the second maximum opening angle corresponding to the second door at the maximum opening position. According to the ratio of the second angle to the second maximum opening angle, obtain the opening degree of the second door.

[0124] Step A2: Compare the opening degree with each preset opening degree range to obtain the target opening degree range in which the opening degree falls.

[0125] In the embodiment of the present application, multiple different preset opening degree ranges are preset. For example, for the first vehicle door, there are opening degree ranges such as "above 80%", "60% - 80%", "40% - 60%", etc., and for the second vehicle door, there are two opening degree ranges of "above 50%" and "below 50%". The controller compares the obtained opening degree of the first vehicle door and / or the second vehicle door with these preset opening degree ranges one by one. For example, if the calculated opening degree of the first vehicle door is 75%, the controller will compare 75% with each preset range to determine that it falls into the target opening degree range of "60% - 80%"; the same operation process is applied to the second vehicle door, and the target opening degree range in which its opening degree falls is found through comparison.

[0126] Step A3: Based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data, obtain the preset abnormal rotation data corresponding to the target opening degree range, where the preset abnormal rotation data is used to determine whether abnormal movement occurs for the first vehicle door and the second vehicle door within the corresponding preset opening degree range.

[0127] In the embodiment of the present application, a mapping relationship between the preset opening degree range and the preset abnormal rotation data is established in advance, that is, different preset opening degree ranges correspond to different preset abnormal rotation data, and these data are used to judge the normal movement state of the vehicle door within the corresponding opening degree range.

[0128] The preset abnormal rotation data includes: the preset vehicle door rotation speed, and / or the preset rotation acceleration, and / or the preset vehicle door rotation distance, the preset change amount of the vehicle door opening degree within a set time range, and / or the preset change amount of the vehicle door rotation speed within a set time range, and / or the preset displacement change amount of the fixed point on the vehicle door within a set time range.

[0129] After determining the target opening degree range in which the opening degree of the first vehicle door and / or the second vehicle door falls, the controller obtains the preset abnormal rotation data corresponding to the target opening degree range according to this mapping relationship. For example, if the target opening degree range is "60% - 80%", and the preset abnormal rotation data corresponding to this range is "within 500 ms, the change amount of the opening degree exceeds 20%", the controller will obtain this data, and these data will be used as the basis for subsequent judgment of whether the vehicle door moves abnormally.

[0130] It should be noted that both the first door and the second door are provided with at least two preset opening ranges; within different preset opening ranges corresponding to the first door, preset abnormal rotation data is used to identify abnormal movement of the first door by setting a time range and a rotation change amount. 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 amount corresponding to the preset opening range (such as 10%, 20%, 30%).

[0131] Within different preset opening ranges corresponding to the second door, preset abnormal rotation data is used to identify abnormal movement of the second 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 rotation change amounts corresponding to each preset opening range are the same or different.

[0132] As an example, the mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes:

[0133] For the preset opening range of 80%-100%, the corresponding preset abnormal rotation data is: within 300ms, the opening change amount of the first door exceeds 20%;

[0134] For the preset opening range of 60%-80%, the corresponding preset abnormal rotation data is: within 500ms, the opening change amount of the first door exceeds 20%;

[0135] For the preset opening range of 40%-60%, the corresponding preset abnormal rotation data is: within 1s, the opening change amount of the first door exceeds 10%;

[0136] For the preset opening range of 40%-20%, the corresponding preset abnormal rotation data is: within 2s, the opening change amount of the first door exceeds 10%;

[0137] For the preset opening range of 0%-20%, the corresponding preset abnormal rotation data is: within 2s, the opening change amount of the first door exceeds 5%;

[0138] The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: for the preset opening range of 50%-100%, the corresponding preset abnormal rotation data is: within 500ms, the opening change amount of the second door exceeds 10%; for the preset opening range of 0%-50%, the corresponding preset abnormal rotation data is: within 300ms, the opening change amount of the second door exceeds 8%.

[0139] Alternatively, the mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: for the preset opening range of 50% - 100%, the corresponding preset abnormal rotation data is that the opening change amount of the second door exceeds 10% within 500 ms; for the preset opening range of 0% - 50%, the corresponding preset abnormal rotation data is that the opening change amount of the second door exceeds 10% within 300 ms.

[0140] Based on the above embodiments, it can be determined that the rotational change amounts corresponding to the respective preset opening ranges of the second door can be the same or different.

[0141] Step A4, use the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the real-time position.

[0142] In the embodiment of the present application, the controller sets the preset abnormal rotation data corresponding to the obtained target opening range 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, this set preset abnormal rotation data is used as a reference standard to judge whether the movement of the door at the current real-time position is normal, providing specific comparison data for detecting whether the door has abnormal movement.

[0143] Step S204, detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0144] 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 conduct a detailed comparative analysis of these two sets of data. For example, if the preset abnormal rotation data corresponding to the real-time position stipulates that the opening change amount cannot exceed 15% within 300 ms, and the actually obtained passive rotation data of the first door shows that its opening change amount reaches 18% within 300 ms, it indicates that the passive rotation data of the first door does not match the preset abnormal rotation data; conversely, if it is within the specified range, it is considered to be a match.

[0145] Step S205, if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, disable the active rotation functions of both the first door and the second door.

[0146] In an embodiment of the present application, if the controller detects that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, it indicates that the movement state of the door is abnormal. At this time, the controller sends disabling instructions to the first driving device and the second driving device that control the active rotation of the first door and the second door respectively. These instructions will cause the first driving device and the second driving device to stop supplying power to the door or sending control signals, thereby disabling the active rotation functions of both the first door and the second door.

[0147] In the embodiment of the present application, the real-time position of the door and the passive rotation data are first obtained. Then, based on the real-time position and the maximum opening position, the door opening degree is determined and compared with the preset opening degree range, so as to accurately lock the target opening degree range. Furthermore, the corresponding preset abnormal rotation data is obtained according to the mapping relationship, making the judgment of the door movement have a more accurate standard. In the process of detecting whether the passive rotation data matches the preset abnormal rotation data, since the targeted preset abnormal rotation data is set for different opening degree ranges respectively, the accuracy of the judgment is improved. For the change in the door position caused by normal environmental factors, its passive rotation data usually does not match the preset abnormal rotation data of the corresponding opening degree range, so misjudgment will not occur. Only when the door has a real abnormal movement, the two will match and the active rotation function will be disabled, thus distinguishing normal and abnormal situations, effectively avoiding unnecessary misjudgment caused by normal environmental interference, and reducing the troubles brought by function misjudgment.

[0148] In this embodiment, a vehicle control method is provided. Figure 6 It is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 6 shown. The process includes the following steps:

[0149] Step S301, during the rotation of the first door and / or the second door, obtain the passive rotation data generated by the first door and / or the second door.

[0150] In the embodiment of the present application, during the active rotation of the first door and / or the second door, various methods are used to detect the rotation process of the door. For example: using a sensor to measure the change in the door opening degree at a set time interval, such as every 2 seconds. If it changes from 20% to 25%, record this 5% change amount as the passive rotation data and transmit it to the vehicle controller. Or, using a speed sensor 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 this 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 amplitude of the door rotation speed during this period is obtained, which is the passive rotation data.

[0151] Step S302, detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0152] In the embodiment of the present application, according to the real-time position where the door is currently located, the preset abnormal rotation data corresponding to this position is retrieved from the pre-established database. In the database, for different real-time positions of the door, there is a corresponding preset change range of the door rotation speed within the same set time range. This preset change range is a reasonable range comprehensively set based on various factors such as the design parameters of the door, the normal operating state, and safety standards.

[0153] Finally, compare the obtained passive rotation data (actual speed change range) with the preset abnormal rotation data (preset speed change range). If the actual speed change range is within the preset change range, it is determined that the two do not match, indicating that the door rotation state is normal; if the actual speed change range exceeds the preset range, it is determined that the two match, meaning that the door rotation may have an abnormal rotation.

[0154] Step S303, if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, disable the active rotation functions of both the first door and the second door.

[0155] In the embodiment of the present application, if the controller detects that the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data through detection, it indicates that the movement state of the door has an abnormality. At this time, the controller sends disable instructions 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 functions of both the first door and the second door.

[0156] Step S304, if the first door is in the closed position or in the safety area, and / or, the second door is in the closed position or in the safety area, allow the active rotation function of the first door and / or the second door to be restored.

[0157] In the embodiment of the present application, the positions of the first door and the second door are judged in real time. If it is detected that the first door is in the closed position, that is, the door is completely closed, or in the safety area; at the same time, or the second door is also in the closed position or the safety area, where the safety area includes the maximum opening position. At this time, it is considered that the door has returned to a safe state. The controller will send restoration signals 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 signals, 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.

[0158] 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.

[0159] 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.

[0160] 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. Figure 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.

[0161] 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.

[0162] In this embodiment, a vehicle control method is provided. Figure 10 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 10 As shown, the process includes the following steps:

[0163] 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.

[0164] In an 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 there is an abnormal jump or interruption in the angle data, it may indicate a loss of position.

[0165] If a coordinate positioning device is used, the coordinates of the fixed point on the door in this coordinate system are measured in real time. If the measured coordinate value suddenly changes abnormally, such as exceeding the door movement range, or the coordinate data cannot be obtained normally, it is determined that the position is lost.

[0166] The controller will simultaneously perform the above monitoring on the first door and the second door to determine whether a position loss occurs.

[0167] Step S402, if a position loss occurs in any one of the first door and the second door, the active rotation functions of both the first door and the second door are disabled.

[0168] In an embodiment of the present application, when it is detected that a position loss occurs in any one of the first door and the second door, this means that the movement state of the door has lost accurate monitoring and control, which may cause potential safety hazards. At this time, the controller sends disable commands 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 commands 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 functions of both the first door and the second door.

[0169] In an embodiment of the present application, after disabling the active rotation functions of both the first door and the second door, the method further includes: controlling the second door to rotate to the closed position, and when the second door rotates to the closed position, allowing the active rotation functions of the first door and / or the second door to be restored.

[0170] Specifically, the main controller sends a command to the second drive device that controls the rotation of the second door, and the second drive device drives the second door to rotate towards the closed position according to the command. 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, this indicates that the second door is in a safe and controllable state. At this time, the controller sends restoration signals 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 restoration signals will cause the first drive device and the second drive device to supply power to the door or send control signals, thereby restoring the active rotation functions of the first door and / or the second door.

[0171] In the embodiment of the present application, during the process of the first door and / or the second door actively rotating to the real-time position, the position of the door is continuously detected, which can ensure accurate control of the movement state of the door. 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 during the use of the door. After the active rotation function is disabled, the second door is controlled to rotate to the closed position, providing an orderly transition method for restoring 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 it resumes operation, avoiding the danger that may be caused by blindly restoring the function under abnormal conditions.

[0172] In the embodiment of the present application, the first door and the second door are applied to the rear door of the vehicle, or to the side door of the vehicle, or to the sliding door of the vehicle.

[0173] It should be noted that the first door and the second door can be flexibly applied to different parts of the vehicle. They can be used as the rear door of the vehicle to achieve up-and-down opening or opposite-opening. The first door and the second door can also be applied to the side door of the vehicle, such as in the form of an opposite-opening side door electric door, etc., which is convenient for passengers to get on and off. The first door and the second door are applied to the sliding door of the vehicle. No matter which part they are set in, they are rotated through the coordinated cooperation of a controller, a first driving device, and a second driving device. During the rotation process, passive rotation data is obtained by a sensor, and the controller matches it with preset abnormal rotation data for detection. Once a match is found, the active rotation function of the two doors is disabled.

[0174] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As Figure 11 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. 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 (such as an array of servers, a set of blade servers, or a multi-processor system).

[0175] The processor 10 may be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device may be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0176] Among them, 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 embodiments.

[0177] 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 landing page of a small program, 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 arranged relative to the processor 10, 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.

[0178] The memory 20 may include a volatile memory, for example, a random access memory; the memory may also include a non-volatile memory, for example, a flash memory, a hard disk, or a solid-state drive; the memory 20 may also include a combination of the above-mentioned types of memories.

[0179] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0180] 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 by downloading over a network from an original storage in a remote storage medium or a non-transitory machine-readable storage medium and will be stored in a local storage medium, so that the methods described herein can be stored as 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 memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of 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.

[0181] Although 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, 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, passive rotation data generated by the first door and / or the second door are obtained, wherein the passive rotation data include: 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; 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 function of the first door and the second door are disabled; 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.

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 comprises a sensor communicatively connected to the controller, wherein the sensor is 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, wherein the passive rotation data comprises: 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 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, and 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.

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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