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, the vehicle door calibration instruction is automatically received, the active rotation function forbidding reason is obtained after the instruction is responded, the corresponding vehicle door position condition is detected accordingly, and finally calibration operation is executed according to the preset calibration strategy. Compared with traditional manual calibration, manual pulling of the electrically operated gate is not needed, and complex and error-prone operation procedures are avoided. The position condition of the vehicle door can be quickly and accurately judged, the calibration strategy is automatically adapted according to different forbidding reasons and position conditions, the calibration efficiency is improved, the vehicle door can quickly recover the normal automatic operation function, and the technical problems that an existing electric door is complex in manual calibration and slow in recovery are effectively solved.

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] With the development of automobile intelligence, various types of electric doors such as electric side-opening doors, electric sliding doors, electric side-opening and sliding mixed doors, and electric tail doors are becoming increasingly popular on vehicles. The premise for these electric doors to operate automatically is that their position information is accurate and the automatic operation function is not suppressed.

[0003] However, at present, when the electric door loses its position or the automatic operation function is suppressed, it can only rely on manual pulling of the electric door to perform learning and calibration operations. This manual calibration learning process is not only complicated to operate, but also prone to calibration errors, resulting in the electric door being unable to quickly resume normal automatic operation functions. 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 after the electric door loses its position or the automatic operation function is suppressed, it can only be calibrated and learned through complex and error-prone manual operations, and it is difficult to quickly restore the normal automatic operation function.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method, wherein the vehicle includes a vehicle body and a first door and a second door both rotatably connected to the vehicle body; the first door and the second door 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: receiving a door calibration instruction when the active rotation functions of the first door and the second door are disabled; In response to the door calibration instruction, obtaining a disabling reason why the active rotation functions of the first door and the second door are disabled; detecting a door position of a corresponding door of the first door and the second door according to the disabling reason; The door calibration operation is performed according to the door calibration strategy corresponding to the door position condition.

[0006] Further, the receiving of the door calibration instruction includes: detecting a trigger operation on a control button, and generating the door calibration instruction based on the trigger operation, wherein the control button is installed on the vehicle or installed on a key corresponding to the vehicle; or A door calibration request is received from a client associated with the vehicle, and the door calibration instruction is generated based on the door calibration request.

[0007] Further, the detecting the door position of the corresponding door of the first door and the second door according to the disabling reason includes: If the disabling reason is abnormal movement of the first door and / or the second door, a first position of the first door and a second position of the second door are detected, and the first position and the second position are analyzed to determine the door position, wherein the abnormal movement is determined by passive rotation data generated by the first door and / or the second door during the rotation process; or, If the disabling reason is that the first door and / or the second door loses position, the door position of the second door is detected.

[0008] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door has abnormal movement, and the door position condition is that the distance between the first position and the closed position is smaller than the distance between the second position and the closed position, then the second door and the first door are sequentially controlled to rotate to corresponding preset maximum opening positions; When the second door and the first door are both located at corresponding preset maximum opening positions, the second door and the first door are controlled to rotate to a closed position in sequence.

[0009] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is abnormal movement of the first door and / or the second door, and the door position is that the first position is any position other than the closed position, and the second position is the closed position, then the first door is controlled to rotate to the closed position.

[0010] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door has abnormal movement, and the door position condition is that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are controlled to rotate to corresponding preset maximum opening positions in sequence; When the first door and the second door are both located at corresponding preset maximum opening positions, the second door and the first door are controlled to rotate to a closed position in sequence.

[0011] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door loses position, and the door position condition is that the second door is in a closed position, the first door is controlled to rotate to the closed position.

[0012] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door loses position, and the door position condition is that the second door is in any position other than the closed position, the first door and the second door are simultaneously controlled to rotate to the corresponding maximum blocking position at a preset rotation speed; When the first door and the second door are both located at corresponding maximum blocking positions, the second door and the first door are controlled to rotate to a closed position in sequence.

[0013] Furthermore, after performing the door calibration operation according to the door calibration strategy corresponding to the door position condition, the method further includes: The active rotation function of the first door and / or the second door is restored.

[0014] 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.

[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 first door can cover and partially overlap the second door by rotating to close the vehicle body; The controller is used to receive a door calibration instruction when the active rotation functions of the first door and the second door are disabled; respond to the door calibration instruction to obtain the disabling reason for disabling the active rotation functions of the first door and the second door; detect the door position of the corresponding door of the first door and the second door according to the disabling reason; and perform a door calibration operation according to a door calibration strategy corresponding to the door position.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] This application automatically receives the door calibration instruction, obtains the reason for disabling the active rotation function after responding to the instruction, and detects the corresponding door position accordingly, and finally performs the calibration operation according to the preset calibration strategy. Compared with traditional manual calibration, it does not require manual pulling of the electric door, avoiding complex and error-prone operation procedures. It can quickly and accurately determine the door position, automatically adapt the calibration strategy according to different disabling reasons and position conditions, improve the calibration efficiency, and enable the door to quickly restore normal automatic operation functions, effectively solving the technical problems of the existing electric door relying on complex manual calibration and slow recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] 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 a vehicle door in a maximum open position 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 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] The present application embodiment provides a vehicle, such as Figure 1 As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15, the first drive device 14 and the second drive device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively connected to the first drive device 14 and the second drive device 15 for communication; the controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive device 14 and the second drive device 15; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe zone where there is a probability of contact between each other, and a safe zone where there is no contact between each other.

[0025] 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.

[0026] like Figure 2As shown, the first door 11 and the second door 12 define a closed position, which can be understood as follows: during the door closing process, the first door rotates around the connection point between the first door and the vehicle body, and finally covers the second door, and partially overlaps with the second door, thereby forming a complete closed structure to isolate the interior of the vehicle body from the external environment. In addition, during the rotation of the first door and the second door relative to the vehicle body, different areas will be formed according to their movement trajectories and spatial position relationship. Figure 3 As shown, the positional relationship between the first door and the second door when they are respectively rotated to the maximum opening position.

[0027] In the embodiment of the present application, the controller 13 is used to receive a door calibration instruction when the active rotation function of the first door and the second door is disabled; respond to the door calibration instruction to obtain the disabling reason for disabling the active rotation function of the first door and the second door; detect the door position of the corresponding door of the first door and the second door according to the disabling reason; and perform the door calibration operation according to the door calibration strategy corresponding to the door position.

[0028] In an embodiment of the present application, the controller 13 is specifically used to detect a trigger operation acting on a control button, and generate a door calibration instruction based on the trigger operation, wherein the control button is installed on the vehicle or installed on a key corresponding to the vehicle; or, receive a door calibration request sent by a client associated with the vehicle, and generate a door calibration instruction based on the door calibration request.

[0029] In the embodiment of the present application, the controller 13 is specifically used to detect the first position of the first door and the second position of the second door if the disabling reason is abnormal movement of the first door and / or the second door, and analyze the first position and the second position to determine the door position status, wherein the abnormal movement is determined by the passive rotation data generated by the first door and / or the second door during the rotation process; or, if the disabling reason is the loss of position of the first door and / or the second door, then detect the door position status of the second door.

[0030] In the embodiment of the present application, the controller 13 is specifically used to control the second door and the first door to rotate to the corresponding preset maximum open position in sequence if the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is smaller than the distance between the second position and the closed position; and when the second door and the first door are both in the corresponding preset maximum open positions, control the second door and the first door to rotate to the closed position in sequence.

[0031] In the embodiment of the present application, the controller 13 is specifically used to control the first door to rotate to the closed position if the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is that the first position is any position other than the closed position, and the second position is the closed position.

[0032] In the embodiment of the present application, the controller 13 is specifically used to control the first door and the second door to rotate to the corresponding preset maximum open position in sequence if the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is greater than the distance between the second position and the closed position; and when the first door and the second door are both in the corresponding preset maximum open positions, control the second door and the first door to rotate to the closed position in sequence.

[0033] In the embodiment of the present application, the controller 13 is specifically used to control the first door to rotate to the closed position if the disabling reason is that the first door and / or the second door loses position, and the door position condition is that the second door is in the closed position.

[0034] In the embodiment of the present application, the controller 13 is specifically used to control the first door and the second door to rotate to the corresponding maximum blocking position at a preset rotation speed at the same time if the reason for disabling is that the first door and / or the second door loses position, and the door position is that the second door is in any position other than the closed position; when the first door and the second door are both in the corresponding maximum blocking position, the second door and the first door are controlled to rotate to the closed position in sequence.

[0035] 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.

[0036] 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 and closing the 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 the application form, when the active rotation function of the first door and the second door is disabled, the door calibration instruction can be received, the reason for the disablement can be obtained in response to the instruction, the position of the corresponding door can be detected according to the reason, and the calibration operation can be performed according to the calibration strategy corresponding to the door position, so as to ensure the safety of the subsequent operation of the door.

[0037] In the embodiment of the present application, the controller 13 is also used to restore the active rotation function of the first door and the second door.

[0038] In this embodiment, a vehicle control method is provided. Figure 4is 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 : receiving a door calibration instruction when the active rotation functions of the first door and the second door are disabled.

[0039] In the embodiment of the present application, due to various reasons (such as abnormal movement of the door, loss of door position, mechanical failure, etc.), the active rotation function of the first door and the second door may be disabled, and the door automatic operation function cannot be used normally. In this case, the vehicle enters a state of waiting to receive a door calibration instruction so as to perform a subsequent door calibration operation.

[0040] In the embodiment of the present application, receiving a door calibration instruction includes the following steps A1-A2: Step A1, detecting a trigger operation acting on a control button.

[0041] Specifically, the control button can be installed in a specific part of the vehicle, such as the center console, door interior panel or tailgate of the vehicle, which is convenient for the driver or passenger to operate. In this way, when the door has the above problems, the person in the car can easily find and operate the button. In addition, the control button can also be installed on the key corresponding to the vehicle. Even if the person is outside the vehicle, the door calibration process can be triggered by operating the button on the key.

[0042] The control buttons installed on the vehicle are usually connected to the vehicle's controller. When the button is pressed, an electrical signal change is generated, which is detected by the controller. The controller uses an internal algorithm to identify the signal and determine whether it is a valid door calibration instruction to trigger the operation.

[0043] For the control button installed on the key, when the button is pressed, the circuit inside the key will convert this operation into a specific radio signal (for example, using wireless communication technologies such as Bluetooth and RFID) and send it out. After the corresponding wireless receiving device (such as antenna and receiver) equipped on the vehicle receives this signal, it transmits it to the vehicle controller for processing. The controller will also use relevant algorithms to determine whether this signal is a valid door calibration instruction trigger operation.

[0044] Step A2, generating a door calibration instruction based on a trigger operation, wherein the control button is installed on the vehicle or installed on a key corresponding to the vehicle.

[0045] Specifically, when a valid trigger operation from a control button (either on the vehicle or on the key) is detected, the controller generates a door calibration instruction.

[0046] Step S102, in response to the door calibration instruction, obtaining the disabling reason for disabling the active rotation functions of the first door and the second door.

[0047] In the embodiment of the present application, after receiving the door calibration instruction, the disabling reason that currently causes the active rotation function of the first door and the second door to be disabled is queried. The disabling reason includes: abnormal movement of the first door and / or the second door, or position loss of the first door and / or the second door, or mechanical failure of the door, etc.

[0048] In an embodiment of the present application, the judgment process when the first door and / or the second door has abnormal movement is as follows: during the rotation of the first door and / or the second door, sensors are used to obtain in real time the passive rotation data generated by them. These data cover the door rotation speed, and / or the rotation acceleration, and / or the rotation distance, and / or the change in the door opening within a set time range, and / or the change in the rotation speed, and / or the change in the displacement of a fixed point on the door, etc.

[0049] Next, based on the mapping relationship between the preset opening range and the preset abnormal rotation data, the real-time position of the first door and / or the second door currently generating passive rotation data is obtained, and the corresponding preset abnormal rotation data is determined based on the preset opening range within which the real-time position falls.

[0050] It should be noted that the mapping relationship is used to indicate that 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. The preset abnormal rotation data includes: a preset door rotation speed, and / or a preset rotation acceleration, and / or a preset rotation distance, and / or 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. After determining the target opening range within which the first door and / or the second door opening falls, the controller obtains the preset abnormal rotation data corresponding to the target opening range based on the mapping relationship. For example, if the target opening range is "60%-80%", and the preset abnormal rotation data corresponding to the range is "within 500ms, the opening change exceeds 20%", the controller will obtain this data, which will serve as the basis for subsequent judgment of whether the door moves abnormally.

[0051] It should be noted that the first door and the second door are both 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 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 range (such as 1s, 500ms, 300ms), and the size of the preset opening range (such as 40%-60%, 60%-80%, 80%-100%) is in direct proportion to the size of the rotation change amount corresponding to the preset range (such as 10%, 20%, 30%). Within the different preset opening ranges corresponding to the second door, the preset abnormal rotation data identifies the abnormal movement of the second door by setting the time range and the 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 range, and the rotation change amounts corresponding to each preset opening range are the same or different.

[0052] Then the acquired passive rotation data is carefully compared with the preset abnormal rotation data to determine whether the two match. When it is found 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 will send a disable instruction to the driving device that controls the active rotation of the first door and the second door respectively, so that the driving device stops supplying power to the door or sending a control signal, thereby disabling the active rotation function of the first door and the second door.

[0053] In the embodiment of the present application, the process of determining whether the position of the first door and / or the second door is lost is as follows: During the process of the first door and / or the second door actively rotating to the real-time position, position loss determination is achieved through a variety of sensors. When an angle sensor is used, the rotation angle of the door relative to the fully closed position is continuously monitored, and the real-time angle data is compared with the historical record data. If the angle data jumps or interrupts abnormally, it is determined that there may be position loss; when a coordinate positioning device is used, the coordinate value of the fixed point on the door in a specific coordinate system is measured in real time. Once the coordinate value has an abnormal mutation (such as exceeding the door movement range) or the data cannot be obtained normally, it is determined that the position is lost.

[0054] 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.

[0055] Step S103: detecting the door position of a corresponding door of the first door and the second door according to the disabling reason.

[0056] In an embodiment of the present application, the door position of the corresponding door of the first door and the second door is detected according to the disabling reason, including: if the disabling reason is abnormal movement of the first door and / or the second door, a first position of the first door and a second position of the second door are detected, and the first position and the second position are analyzed to determine the door position, wherein the abnormal movement is determined by passive rotation data generated by the first door and / or the second door during the rotation process.

[0057] Specifically, the first position of the first door is obtained in real time through a position sensor (such as a Hall sensor) installed on the first door, and the second position of the second door is obtained through a position sensor installed on the second door. After obtaining these two positions, the first position and the second position are analyzed, for example, to determine whether the first door and the second door are in the open, closed, partially open state, etc., and the relative position relationship between them. By comprehensively analyzing these position information, the position of the door is determined.

[0058] Step S104 , performing a door calibration operation according to a door calibration strategy corresponding to the door position condition.

[0059] In the embodiment of the present application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position condition, including the following steps B1-B2: Step B1, if the disabling reason is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is smaller than the distance between the second position and the closed position, then the second door and the first door are controlled to rotate to the corresponding preset maximum opening positions in sequence.

[0060] Specifically, the first position may be the current position of a fixed point on the first door (e.g., a point set at the edge of the door), and the distance between the first position and the closed position is the distance between the fixed point and the position where the point should be when the door is fully closed. Similarly, the second position is the current position of a fixed point on the second door, and the distance between the second position and the closed position is the distance between the fixed point and the position where the second door is when closed.

[0061] When it is found that the active rotation function of the first door and / or the second door is disabled and the reason is that they have abnormal movement (the abnormal movement is determined based on the passive rotation data generated when the door rotates), and after measurement and comparison, the distance between the first position and the closed position is smaller than the distance between the second position and the closed position, the following operations will be performed in chronological order: First, the controller sends a control instruction to the second drive device of the second door, and the second drive device controls the second door to start rotating, so that it moves in the opening direction until it reaches the preset maximum opening position and stops. Then, after the second door stops at the preset maximum opening position, the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the first door to start rotating, so that it also moves in the opening direction, until it reaches the preset maximum opening position corresponding to the first door and stops.

[0062] Step B2, when the second door and the first door are both located at corresponding preset maximum opening positions, sequentially controlling the second door and the first door to rotate to the closed position.

[0063] Specifically, when the second door and the first door are both at their respective corresponding preset maximum opening positions, the doors will be controlled to close in chronological order: first, the controller sends a control instruction to the second drive device of the second door, and the second drive device controls the second door to start rotating, so that it moves in the closing direction, and continuously monitors its position during the process until it reaches the closed position, that is, the fixed point on the second door moves to the position where the point should be when the door is fully closed, and then stops. Then, after the second door is closed, the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the first door to start rotating, so that it moves in the closing direction, and continuously monitors its position during the movement process, until the fixed point on the first door moves to the position where the point should be when the first door is fully closed, at which time the first door is also closed.

[0064] It should be noted that the preset maximum opening position can be set by the user or by the vehicle manufacturer. Specifically, it can be the position of the maximum opening degree that the door can reach, which is set by the user according to his or her own usage needs and preferences. For example, if the user feels that in some special scenarios, it is most appropriate for the door to open to a specific angle, the door position corresponding to this angle can be set to the maximum opening position. On the other hand, it may also be a safe opening position set by the automobile manufacturer after comprehensive consideration of safety, vehicle design, and functional realization. For example, in this position, the door can not only meet the needs of passengers getting on and off the vehicle or taking and placing items, but also avoid the risk of collision caused by excessive door opening angles to the greatest extent.

[0065] In the embodiment of the present application, when the active rotation function of the first door and / or the second door is disabled due to abnormal movement, the doors are controlled to rotate to the preset maximum open position in sequence according to the distance relationship between the fixed point on the first door and the second door and the closed position, and then controlled to return to the closed position in an orderly manner. This process can effectively solve the problem of door position disorder caused by abnormal movement, so that the two doors can rotate to the preset maximum open position in sequence, which is convenient for recalibrating the position information. At the same time, according to the structural characteristics of the stacked doors and the closed body, the operation sequence of opening the second door first and then the first door can avoid collisions caused by position conflicts between the doors.

[0066] In an embodiment of the present application, a door calibration operation is performed according to a door calibration strategy corresponding to the door position condition, including: if the disabling reason is abnormal movement of the first door and / or the second door, and the door position condition is that the first position is any position other than the closed position, and the second position is the closed position, then the first door is controlled to rotate to the closed position.

[0067] Specifically, when the active rotation function of the first door and / or the second door is disabled, and the reason for the disablement is that they have undergone abnormal movement, it is found that the fixed point on the first door is in any position except the position where the point is when the door is fully closed, and the fixed point on the second door is at the position where it should be when the door is fully closed. In this case, the first door will be operated: the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the second door to start rotating, so that it moves in the closing direction, and continuously monitors the position information of the fixed point on the first door during the rotation process, and adjusts the rotation state in real time according to the position feedback until the fixed point on the first door moves to the position where the point should be when the door is fully closed, that is, the first door is finally in a fully closed state, and the operation is completed.

[0068] In the case where the function is disabled due to abnormal movement and the first door is not closed but the second door is closed, the embodiment of the present application only operates the first door that is not closed, thereby avoiding interference with the normally closed second door and reducing unnecessary mechanical loss. By real-time monitoring and dynamic adjustment of the position of the fixed point of the first door, it can be quickly calibrated to the closed state.

[0069] In the embodiment of the present application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position condition, including the following steps C1-C2: Step C1, if the disabling reason is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are controlled to rotate to the corresponding preset maximum opening positions in sequence.

[0070] Specifically, when the active rotation function of the first door and / or the second door is disabled and the reason for the disabling is that they have undergone abnormal movement, when it is found that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, the operation starts in chronological order: the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the first door to start rotating, so that it moves along a predetermined path until it reaches a preset maximum opening position; after the first door stops steadily at this position, the controller sends a control instruction to the second drive device of the second door, and the second drive device controls the second door to start rotating, so that it also moves to the corresponding preset maximum opening position.

[0071] Step C2, when the first door and the second door are both located at corresponding preset maximum open positions, sequentially controlling the second door and the first door to rotate to the closed position.

[0072] Specifically, when the first door and the second door are respectively in their corresponding preset maximum open positions, the doors are controlled to close in sequence: first, the controller sends a control instruction to the second drive device of the second door, and the second drive device controls the second door to rotate in the closing direction, so that it moves along a predetermined trajectory, and monitors the position information in real time during the movement, and adjusts the rotation state according to the feedback until the fixed point on the second door reaches the position where the point should be when the door is fully closed, that is, the second door is fully closed; after the second door is successfully closed, the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the first door to rotate in the closing direction, and also adjusts according to the real-time position feedback until the fixed point on the first door also moves to the position where the point is when the door is fully closed.

[0073] The embodiment of the present application formulates differentiated calibration strategies for different position situations where the active rotation function of the door is disabled due to abnormal movement. According to the distance relationship between the two doors and the closed position, the order of door opening is accurately controlled, and the doors that are farther from the closed position or in abnormal positions are opened first to avoid interference between the doors and ensure a safe and orderly opening process. The door is rotated to the preset maximum opening position to facilitate the re-acquisition of accurate position information. The door closing is subsequently controlled in sequence to ensure the accuracy and stability of the calibration operation. Compared with traditional manual calibration, this solution does not require manual intervention, automatically identifies and handles door anomalies, improves calibration efficiency, quickly restores the normal automatic operation function of the door, reduces operation complexity and error probability, and optimizes user experience.

[0074] 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 : receiving a door calibration instruction when the active rotation functions of the first door and the second door are disabled.

[0075] In the embodiment of the present application, receiving a door calibration instruction includes the following steps D1-D2: Step D1, receiving a door calibration request sent by a client associated with the vehicle.

[0076] Specifically, the vehicle and the client establish a connection through a wireless network, and the client (such as a mobile phone APP) sets a special door calibration request entry. After the user triggers the door calibration request on the client, the client encodes the request information, encapsulates it into a data packet in a specific format through the network protocol, and then sends the data packet to the network. The vehicle's communication module continuously monitors the network signal. Once it receives a data packet containing a door calibration request, it parses and verifies it to confirm the legitimacy and integrity of the request, thereby completing the reception of the door calibration request.

[0077] Step D2: generating a door calibration instruction based on the door calibration request.

[0078] Specifically, after receiving the door calibration request, the request information is analyzed, key instruction parameters are extracted, and the parameters are converted into door calibration instructions that can be recognized and executed inside the vehicle.

[0079] Step S202, in response to the door calibration instruction, obtaining the disabling reason for disabling the active rotation functions of the first door and the second door.

[0080] In the embodiment of the present application, after receiving the door calibration instruction, the disabling reason that currently causes the active rotation function of the first door and the second door to be disabled is queried. The disabling reason includes: abnormal movement of the first door and / or the second door, or position loss of the first door and / or the second door, or mechanical failure of the door, etc.

[0081] It should be noted that during the rotation of the first door and / or the second door, the passive rotation data (i.e., rotation-related data that is not actively driven by the door) generated by them are obtained in real time. When these data are detected, if it is found that the passive rotation data of the first door and / or the second door matches the corresponding abnormal rotation data, it means that the first door and / or the second door has undergone abnormal movement. At this time, the active rotation function of the first door and the second door will be disabled at the same time.

[0082] Position loss refers to the process of obtaining the real-time position information of the door through the position sensor installed on the door during normal operation, and comparing and analyzing it with the historical position data and the expected position. When the system finds that the current position of the door does not match the expected position, and after multiple tests or specific judgment logic confirmation, it is unable to accurately obtain the actual position information of the door, that is, when the information fed back by the position sensor does not match the actual state of the door, it is determined that the first door and / or the second door has lost its position.

[0083] Step S203: detecting the door position of a corresponding door of the first door and the second door according to the disabling reason.

[0084] In an embodiment of the present application, the door position of the corresponding door of the first door and the second door is detected according to the disabling reason, including: if the disabling reason is that the first door and / or the second door has lost its position, then the door position of the second door is detected.

[0085] Specifically, when it is determined that the reason for disabling the active rotation function is that the first door and / or the second door has lost its position, the door position of the second door will be detected to obtain position information of a specific fixed point on the second door, as well as relevant data such as the relationship between the position and the door closing position, so as to clarify the position of the second door.

[0086] Step S204 , performing a door calibration operation according to a door calibration strategy corresponding to the door position condition.

[0087] In an embodiment of the present application, a door calibration operation is performed according to a door calibration strategy corresponding to the door position condition, including: if the disabling reason is that the first door and / or the second door has lost its position, and the door position condition is that the second door is in a closed position, then the first door is controlled to rotate to the closed position.

[0088] Specifically, when it is confirmed that the active rotation function of the first door and / or the second door is disabled due to position loss, and the door position sensor detects that the second door is in a closed position (i.e., the fixed point on the second door has reached the corresponding position when the door is fully closed), the system immediately sends a command to the first door drive motor. After receiving the command, the motor runs and drives the first door to rotate in the closing direction. During this period, the position sensor collects the position data of the fixed point of the first door in real time and feeds it back to the system. Based on the feedback, the system dynamically adjusts the motor operation parameters to ensure that the first door moves accurately until its fixed point reaches the closed position.

[0089] In the embodiment of the present application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position condition, including the following steps E1-E2: Step E1, if the disabling reason is that the first door and / or the second door loses position, and the door position is that the second door is in any position other than the closed position, the first door and the second door are controlled to rotate to the corresponding maximum blocking position at a preset rotation speed.

[0090] Specifically, when it is determined that the reason why the active rotation function of the first door and / or the second door is disabled is that position loss has occurred, and the door position is detected by a position sensor (such as a Hall sensor) installed on the door that the second door is in any position other than the closed position, the calibration operation is started.

[0091] The controller first sends a control instruction to the first drive device of the first door. The drive device controls the first door to rotate toward its maximum stall position at a preset rotation speed according to a predetermined logic. During the rotation process, the position of the first door is continuously monitored to ensure that the first door accurately reaches the maximum stall position at a stable preset speed and stops. At the same time, the controller sends a control instruction to the second drive device of the second door. The second drive device also drives the second door to rotate toward its maximum stall position at a preset rotation speed according to the predetermined logic. During this period, the position of the second door is continuously monitored to ensure that the second door also accurately reaches the maximum stall position.

[0092] As an example, the controller sends control instructions to the first drive device of the first door and the second drive device of the second door at the same time. The first drive device controls the first door to rotate toward its maximum stall position at a preset rotation speed of 15° per second according to a predetermined logic. During the rotation process, it continuously receives the position information fed back by the Hall sensor and adjusts the motor operation state in real time to ensure that the first door accurately and stably reaches the maximum stall position and stops; at the same time, the second drive device also drives the second door in a half-open state to rotate toward its maximum stall position at a preset rotation speed of 15° per second according to the predetermined logic. By continuously monitoring the door position data fed back by the Hall sensor, the motor is precisely controlled so that the second door can also smoothly reach the maximum stall position, thereby completing the calibration of the two doors.

[0093] It should be noted that the maximum stall position refers to the position at which the door is located when the door drive device continues to operate and drives the door to rotate during the door calibration operation until the door cannot continue to rotate due to mechanical limit or resistance. The maximum stall position is greater than or equal to the preset maximum opening position in the aforementioned embodiment. At the same time, the edges of the first door and the second door are both provided with anti-collision parts, such as rubber strips, so that in the case of position loss, when the two doors are rotated at the same time, even if the two doors accidentally come into contact, the anti-collision parts can absorb the impact force generated by the collision by virtue of their own elastic deformation, play a buffering role, avoid direct collision of the metal parts of the door, and effectively prevent scratches, dents and other damages on the door.

[0094] In the embodiment of the present application, synchronous operation can avoid the time difference caused by the successive adjustments of the two doors, thereby reducing the possibility of safety risks caused by position loss; in addition, unified regulation with a preset speed can ensure the stability of the movement state of the two doors, enable the doors to accurately reach the maximum stall position, and quickly calibrate the doors in the event of position loss.

[0095] Step E2, when the first door and the second door are both located at the corresponding maximum locking positions, the second door and the first door are controlled to rotate to the closed position in sequence.

[0096] Specifically, when the first door and the second door are both in their respective corresponding maximum stall positions, the door closing operation begins. First, the controller sends a control instruction to the second drive device of the second door, and the second drive device controls the second door to rotate in the closing direction, so that it moves along a predetermined trajectory, monitors the position information in real time during the movement, and adjusts the rotation state according to the feedback until the fixed point on the second door reaches the position where the point should be when the door is fully closed, that is, the second door is fully closed; after the second door is successfully closed, the controller sends a control instruction to the first drive device of the first door, and the first drive device controls the first door to rotate in the closing direction, and also adjusts according to the real-time position feedback until the first door rotates to the closed position.

[0097] The embodiments of the present application formulate precise calibration strategies for different situations in which the active rotation function is disabled due to the loss of the electric door position. When the second door is in the closed position, only the first door is controlled to close to avoid unnecessary operations on the normal door; when the second door is in the non-closed position, the two doors are first rotated to the maximum blocking position in sequence to re-acquire accurate position information, provide a reliable basis for calibration, and then control the door closing in an orderly manner to ensure accurate calibration. Compared with traditional manual calibration, this solution does not require manual pulling, automatically identifies the door status and performs calibration, avoids complex and error-prone operations, greatly improves calibration efficiency, can quickly restore the electric door to normal automatic operation functions, effectively ensures the stability and convenience of door use, and improves user experience.

[0098] In the embodiment of the present application, after performing a door calibration operation according to a door calibration strategy corresponding to the door position condition, the method further includes: restoring the active rotation function of the first door and / or the second door.

[0099] In an embodiment of the present application, after executing the door calibration operation according to the door calibration strategy corresponding to the door position condition, the controller will send a recovery signal to the first drive device and the second drive device respectively corresponding to controlling 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 the second door.

[0100] 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.

[0101] 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 and closing the 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 the application form, when the active rotation function of the first door and the second door is disabled, the door calibration instruction can be received, the reason for the disablement can be obtained in response to the instruction, the position of the corresponding door can be detected according to the reason, and the calibration operation can be performed according to the calibration strategy corresponding to the door position, so as to ensure the safety of the subsequent operation of the door.

[0102] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 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).

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0108] 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.

[0109] 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: receiving a door calibration instruction when the active rotation functions of the first door and the second door are disabled; In response to the door calibration instruction, obtaining a disabling reason why the active rotation functions of the first door and the second door are disabled; detecting a door position of a corresponding door of the first door and the second door according to the disabling reason; The door calibration operation is performed according to the door calibration strategy corresponding to the door position condition.

2. The method according to claim 1, characterized in that: The receiving of the door calibration instruction comprises: detecting a trigger operation on a control button, and generating the door calibration instruction based on the trigger operation, wherein the control button is installed on the vehicle or installed on a key corresponding to the vehicle; or A door calibration request is received from a client associated with the vehicle, and the door calibration instruction is generated based on the door calibration request.

3. The method according to claim 1, characterized in that The detecting the door position of the corresponding door of the first door and the second door according to the disabling reason includes: If the disabling reason is abnormal movement of the first door and / or the second door, a first position of the first door and a second position of the second door are detected, and the first position and the second position are analyzed to determine the door position, wherein the abnormal movement is determined by passive rotation data generated by the first door and / or the second door during the rotation process; or, If the disabling reason is that the first door and / or the second door loses position, the door position of the second door is detected.

4. The method according to claim 3, characterized in that: The performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door has abnormal movement, and the door position condition is that the distance between the first position and the closed position is smaller than the distance between the second position and the closed position, then the second door and the first door are sequentially controlled to rotate to corresponding preset maximum opening positions; When the second door and the first door are both located at corresponding preset maximum opening positions, the second door and the first door are controlled to rotate to a closed position in sequence.

5. The method according to claim 3, characterized in that: The performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is abnormal movement of the first door and / or the second door, and the door position is that the first position is any position other than the closed position, and the second position is the closed position, then the first door is controlled to rotate to the closed position.

6. The method according to claim 3, characterized in that The performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door has abnormal movement, and the door position condition is that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are controlled to rotate to corresponding preset maximum opening positions in sequence; When the first door and the second door are both located at corresponding preset maximum opening positions, the second door and the first door are controlled to rotate to a closed position in sequence.

7. The method according to claim 3, characterized in that The performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door loses position, and the door position condition is that the second door is in a closed position, the first door is controlled to rotate to the closed position.

8. The method according to claim 3, characterized in that The performing of the door calibration operation according to the door calibration strategy corresponding to the door position condition includes: If the disabling reason is that the first door and / or the second door loses position, and the door position condition is that the second door is in any position other than the closed position, the first door and the second door are simultaneously controlled to rotate to the corresponding maximum blocking position at a preset rotation speed; When the first door and the second door are both located at corresponding maximum blocking positions, the second door and the first door are controlled to rotate to a closed position in sequence.

9. The method according to claim 1, characterized in that: After performing the door calibration operation according to the door calibration strategy corresponding to the door position condition, the method further includes: The active rotation function of the first door and / or the second door is 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 controller is used to receive a door calibration instruction when the active rotation functions of the first door and the second door are disabled; respond to the door calibration instruction to obtain the disabling reason for disabling the active rotation functions of the first door and the second door; detect the door position of the corresponding door of the first door and the second door according to the disabling reason; and perform a door calibration operation according to a door calibration strategy corresponding to the door position.

12. The vehicle according to claim 11, 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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