A vehicle control method and a vehicle

Abstract

The present invention relates to the field of vehicle control, and particularly to a vehicle control method and a vehicle. This application automatically receives a door calibration instruction, obtains the reason for disabling the active rotation function after responding to the instruction, and accordingly detects the position of the corresponding door, and finally performs a calibration operation according to a preset calibration strategy. Compared with traditional manual calibration, it does not require manual pulling of the electric door, avoiding complex and error-prone operation processes. It can quickly and accurately judge the position of the door, automatically adapt the calibration strategy according to different disabling reasons and position conditions, improving the calibration efficiency, enabling the door to quickly resume normal automatic operation function, and effectively solving the technical problems of complex manual calibration and slow recovery of existing electric doors.

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] With the development of automotive intelligence, various electric door configurations such as electric side-opening double doors, electric sliding double doors, electric side-opening and sliding hybrid double doors, and electric rear liftgate doors are becoming increasingly popular on vehicles. The prerequisite for these electric doors to achieve automatic operation is that their position information is accurate and the automatic operation function is not inhibited.

[0003] However, at the current stage, when the electric door has a position loss or the automatic operation function is inhibited, only manual pulling of the electric door can be relied on for learning and calibration operations. This manual calibration learning process is not only complex in operation but also prone to calibration errors, resulting in the electric door being unable to quickly resume its normal automatic operation function. 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 after the current electric door has a position loss or the automatic operation function is inhibited, it can only be calibrated and learned through complex and error-prone manual operations, and it is difficult to quickly resume its normal automatic operation function.

[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 actively and passively relative to the vehicle body, and the first door can cover and partially overlap the second door by rotation to close the vehicle body. The method includes:

[0006] When the active rotation functions of the first door and the second door are disabled, receive a door calibration instruction;

[0007] In response to the door calibration instruction, obtain the disabling reasons for the active rotation functions of the first door and the second door being disabled;

[0008] Detect the door position conditions of the corresponding doors in the first door and the second door according to the disabling reasons;

[0009] Execute a door calibration operation according to the door calibration strategy corresponding to the door position conditions.

[0010] Further, the receiving of the door calibration instruction includes:

[0011] Detect a trigger operation on a control button, and generate the door calibration instruction based on the trigger operation, where the control button is installed on the vehicle or on the key corresponding to the vehicle; or,

[0012] Receive a door calibration request sent by a client associated with the vehicle, and generate the door calibration instruction based on the door calibration request.

[0013] Further, detecting the door position conditions of the corresponding doors in the first door and the second door according to the disabling reason includes:

[0014] If the disabling reason is that the first door and / or the second door has abnormal movement, detect the first position where the first door is located and the second position where the second door is located, and analyze the first position and the second position to determine the door position conditions, where the abnormal movement is determined by passive rotation data generated during the rotation of the first door and / or the second door; or,

[0015] If the disabling reason is that the first door and / or the second door has lost its position, detect the door position conditions of the second door.

[0016] Further, performing a door calibration operation according to the door calibration strategy corresponding to the door position conditions includes:

[0017] 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 less than the distance between the second position and the closed position, then sequentially control the second door and the first door to rotate to the corresponding preset maximum opening positions;

[0018] When both the second door and the first door are located at the corresponding preset maximum opening positions, sequentially control the second door and the first door to rotate to the closed position.

[0019] Further, performing a door calibration operation according to the door calibration strategy corresponding to the door position conditions includes:

[0020] 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 first position is any position other than the closed position and the second position is the closed position, control the first door to rotate to the closed position.

[0021] Further, performing a door calibration operation according to the door calibration strategy corresponding to the door position conditions includes:

[0022] If the reason for disabling is that the first door and / or the second door has abnormal movement, and the door position situation 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 sequentially control the first door and the second door to rotate to the corresponding preset maximum opening positions;

[0023] When the first door and the second door are both at the corresponding preset maximum opening positions, sequentially control the second door and the first door to rotate to the closed position.

[0024] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position situation includes:

[0025] If the reason for disabling is that the first door and / or the second door has lost its position, and the door position situation is that the second door is in the closed position, then control the first door to rotate to the closed position.

[0026] Further, the performing of the door calibration operation according to the door calibration strategy corresponding to the door position situation includes:

[0027] If the reason for disabling is that the first door and / or the second door has lost its position, and the door position situation is that the second door is in any position other than the closed position, simultaneously control both the first door and the second door to rotate to the corresponding maximum stall positions at a preset rotation speed;

[0028] When the first door and the second door are both at the corresponding maximum stall positions, sequentially control the second door and the first door to rotate to the closed position.

[0029] Further, after performing the door calibration operation according to the door calibration strategy corresponding to the door position situation, the method further includes:

[0030] Restore the active rotation function of the first door and / or the second door.

[0031] 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.

[0032] 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 communicatively connected to the first driving device and the second driving device respectively. The controller can 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 respectively. The first door can cover and partially overlap the second door by rotation to close the vehicle body.

[0033] The controller is configured 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, obtain the reasons for the disablement of the active rotation functions of the first door and the second door, detect the door position conditions of the corresponding doors in the first door and the second door according to the reasons for the disablement, and perform a door calibration operation according to the door calibration strategy corresponding to the door position conditions.

[0034] Further, the first door and the second door are applied to the rear door of the vehicle, or applied to the side door of the vehicle, or applied to the sliding door of the vehicle.

[0035] 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 embodiment thereof.

[0036] 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 embodiment thereof.

[0037] This application automatically receives a door calibration instruction, obtains the reasons for the disablement of the active rotation function after responding to the instruction, and detects the corresponding door position conditions accordingly. Finally, it performs a calibration operation according to a preset calibration strategy. Compared with traditional manual calibration, it does not require manual pulling of the electric door, avoiding complex and error-prone operation processes. It can quickly and accurately judge the door position conditions, automatically adapt the calibration strategy according to different reasons for disablement and position conditions, improve the calibration efficiency, enable the door to quickly resume the normal automatic operation function, and effectively solve the technical problems of complex manual calibration and slow recovery of existing electric doors. Description of the Drawings

[0038] 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 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.

[0039] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0040] Figure 2 is a schematic diagram of a vehicle door closed according to some embodiments of the present invention;

[0041] Figure 3 is a schematic diagram of a vehicle door in the maximum open position according to some embodiments of the present invention;

[0042] Figure 4 is a schematic flowchart of a vehicle control method according to some embodiments of the present invention;

[0043] Figure 5 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0044] Figure 6 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention. Specific Embodiments

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0046] 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.

[0047] An embodiment of the present application provides a vehicle, such as Figure 1As shown in the figure, it includes 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 communicatively connected to the first driving device 14 and the second driving device 15 respectively; 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 driving device 14 and the second driving device 15 respectively; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe area where there is a chance of contact with each other, and a safe area where they will not contact each other.

[0048] In the embodiment of the present application, the first door and the second door have two motion modes: active rotation and passive rotation. Active rotation means that the door can rotate purposefully according to the instructions of the vehicle control system or the operation of the user through its own equipped power driving device (such as a motor, etc.) to complete the door opening or closing action. Passive rotation means that the door rotates when it is affected by an external force applied by a non-vehicle control system. This external force may come from various situations, such as the user manually pushing the door forcefully, the door encountering an obstacle during movement, or the vehicle being impacted externally resulting in the door being stressed.

[0049] As Figure 2 shown, the closed position defined by the first door 11 and the second door 12 can be understood as follows: During the door closing process, the first door rotates around its connection point with the vehicle body and finally can cover the second door and partially overlap with the second door to form a complete closed structure, isolating the interior of the vehicle body from the external environment. In addition, during the relative rotation of the first door and the second door with respect to the vehicle body, different regions will be formed according to their movement trajectories and spatial position relationships. As Figure 3 shown, the positional relationship when the first door and the second door are respectively rotated to the maximum open position.

[0050] In the embodiment of the present application, the controller 13 is used to receive 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, obtain the disabling reasons for the active rotation functions of the first door and the second door being disabled; detect the door position conditions of the corresponding door in the first door and the second door according to the disabling reasons; perform a door calibration operation according to the door calibration strategy corresponding to the door position conditions.

[0051] In an embodiment of the present application, the controller 13 is specifically configured to detect a triggering operation acting on a control button, and generate a door calibration instruction based on the triggering operation, where the control button is installed on the vehicle or on the 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.

[0052] In an embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the first door and / or the second door undergoes abnormal movement, detect a first position where the first door is located and a second position where the second door is located, and analyze the first position and the second position to determine the door position condition, where the abnormal movement is determined based on passive rotation data generated during the rotation of the first door and / or the second door; or, if the disabling reason is that the first door and / or the second door loses its position, detect the door position condition of the second door.

[0053] In an embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the first door and / or the second door undergoes abnormal movement, and the door position condition is that the distance between the first position and the closed position is less than the distance between the second position and the closed position, sequentially control the second door and the first door to rotate to corresponding preset maximum opening positions; when both the second door and the first door are located at the corresponding preset maximum opening positions, sequentially control the second door and the first door to rotate to the closed position.

[0054] In an embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the first door and / or the second door undergoes abnormal movement, 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, control the first door to rotate to the closed position.

[0055] In an embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the first door and / or the second door undergoes 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, sequentially control the first door and the second door to rotate to corresponding preset maximum opening positions; when both the first door and the second door are located at the corresponding preset maximum opening positions, sequentially control the second door and the first door to rotate to the closed position.

[0056] In an embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the first door and / or the second door loses its position, and the door position condition is that the second door is in the closed position, control the first door to rotate to the closed position.

[0057] In the embodiment of the present application, the controller 13 is specifically configured to, if the disabling reason is that the position of the first door and / or the second door is lost, and the door position situation is that the second door is at any position other than the closed position, simultaneously control both the first door and the second door to rotate to the corresponding maximum stall position at a preset rotation speed; when both the first door and the second door are at the corresponding maximum stall positions, sequentially control the second door and the first door to rotate to the closed position.

[0058] 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.

[0059] 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 what the application form is, when the active rotation function of the first door and the second door is disabled, the door calibration instruction can be received, the disabling reason can be obtained in response to the instruction, the position situation 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 situation, so as to ensure the safety of the subsequent operation of the door.

[0060] In the embodiment of the present application, the controller 13 is further configured to restore the active rotation function of the first door and the second door.

[0061] 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, and this process includes the following steps:

[0062] Step S101, when the active rotation function of the first door and the second door is disabled, receive the door calibration instruction.

[0063] 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 at this time, the automatic operation function of the door cannot be used normally. In this case, the vehicle enters a state of waiting to receive the door calibration instruction for subsequent calibration operations on the door.

[0064] In the embodiment of the present application, receiving the door calibration instruction includes the following steps A1 - A2:

[0065] Step A1, detect the trigger operation on the control button.

[0066] Specifically, the control button can be installed at specific parts of the vehicle, such as the center console of the vehicle, the door interior trim panel, or the vehicle tailgate, etc., at positions convenient for the driver or passengers to operate. In this way, when the above problems occur with the door, the people inside the vehicle can easily find and operate this button. Additionally, the control button can also be installed on the corresponding vehicle key. Even when the person is outside the vehicle, they can trigger the door calibration process by operating the button on the key.

[0067] For the control button installed on the vehicle, it is usually connected to the vehicle's controller. When the button is pressed, an electrical signal change will occur, and this signal will be detected by the controller. The controller uses internal algorithms to identify this signal and determine whether it is a valid trigger operation for the door calibration instruction.

[0068] 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 (such as using wireless communication technologies like Bluetooth, RFID, etc.) and send it out. After the corresponding wireless receiving device (such as an antenna and a receiver) equipped on the vehicle receives this signal, it transmits it to the vehicle's controller for processing. The controller will also use relevant algorithms to determine whether this signal is a valid trigger operation for the door calibration instruction.

[0069] Step A2, generate a door calibration instruction based on the trigger operation, where the control button is installed on the vehicle or on the corresponding vehicle key.

[0070] Specifically, when a valid trigger operation from the control button (whether on the vehicle or on the key) is detected, the controller generates a door calibration instruction.

[0071] Step S102, in response to the door calibration instruction, obtain the disabling reasons for the active rotation functions of the first door and the second door being disabled.

[0072] In the embodiments of the present application, after receiving the door calibration instruction, query the current disabling reasons for the active rotation functions of the first door and the second door being disabled. The disabling reasons include: the first door and / or the second door has abnormal movement, or the first door and / or the second door has lost its position, or there is a mechanical failure with the door, etc.

[0073] In the embodiments 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, use sensors to continuously obtain the passive rotation data generated by them in real time. These data cover the door rotation speed, and / or, the rotation acceleration, and / or, the rotation distance, and / or, the change amount of the door opening within a set time range, and / or, the change amount of the rotation speed, and / or, the displacement change amount of the fixed point on the door, etc.

[0074] Next, according to the mapping relationship between the preset opening range and the preset abnormal rotation data set in advance, obtain the real-time position where the first door and / or the second door currently generates passive rotation data, and determine the corresponding preset abnormal rotation data according to the preset opening range in which the real-time position falls.

[0075] It should be noted that this mapping relationship is used to represent that different preset opening ranges correspond to different preset abnormal rotation data, and these data are used to judge the normal movement state of the door within the corresponding opening range. The preset abnormal rotation data includes: the preset door rotation speed, and / or, the preset rotation acceleration, and / or, the preset rotation distance, and / or, the preset change amount of the door opening within the set time range, and / or, the preset change amount of the door rotation speed within the set time range, and / or, the preset displacement change amount of the fixed point on the door within the set time range. After determining the target opening range in which the opening of the first door and / or the second door falls, the controller obtains the preset abnormal rotation data corresponding to the target opening range according to this mapping relationship. For example, if the target opening range is "60%-80%", and the preset abnormal rotation data corresponding to this range is "within 500ms, the opening change amount exceeds 20%", the controller will obtain this data, and these data will be used as the basis for subsequent judgment of whether the door moves abnormally.

[0076] It should be noted that at least two preset opening ranges are set for both the first door and the second door; within the different preset opening 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 range (such as 40%-60%, 60%-80%, 80%-100%) is inversely proportional to the size of the set time range corresponding to the preset degree 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 degree 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 through the set 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 degree range, and the rotation change amounts corresponding to each preset opening range are the same or different.

[0077] Then, the obtained passive rotation data is carefully compared with the preset abnormal rotation data to determine whether they 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 indicates that the motion state of the door is abnormal. At this time, the controller will send a disabling instruction to the driving devices that control the active rotation of the first door and the second door respectively, so that the driving devices stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first door and the second door.

[0078] In the embodiment of the present application, the determination process for the loss of position of the first door and / or the second door is as follows:

[0079] During the process of the first door and / or the second door actively rotating to the real-time position, the determination of position loss is achieved through multiple sensors. When using an angle sensor, continuously monitor the rotation angle of the door relative to the fully closed position, and compare the real-time angle data with the historical record data. If there is an abnormal jump or interruption in the angle data, it is determined that there may be a loss of position; when using a coordinate positioning device, measure the coordinate values of the fixed points on the door in a specific coordinate system in real time. Once the coordinate values show abnormal mutations (such as exceeding the motion range of the door) or the data cannot be obtained normally, it is considered a loss of position.

[0080] When it is detected that any one of the first door and the second door has a loss of position, it means that the motion state of the door has lost accurate monitoring and control, which may cause potential safety hazards. At this time, the controller sends a disabling instruction 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 doors or sending control signals, thereby disabling the active rotation function of both the first door and the second door.

[0081] Step S103, detect the door position of the corresponding door in the first door and the second door according to the disabling reason.

[0082] In the embodiment of the present application, detecting the door position of the corresponding door in 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, detect the first position where the first door is located and the second position where the second door is located, and analyze the first position and the second position to determine the door position situation, where the abnormal movement is determined by the passive rotation data generated during the rotation of the first door and / or the second door.

[0083] Specifically, the first position where the first door is located is obtained in real time through a position sensor (such as a Hall sensor) installed on the first door, and at the same time, the second position where the second door is located is obtained through a position sensor installed on the second door. After obtaining these two position information, the first position and the second position are analyzed, for example, to determine what states the first door and the second door are in, such as open, closed, partially open, etc., and their relative position relationship. By comprehensively analyzing these position information, the position situation of the door is determined.

[0084] Step S104, perform a door calibration operation according to the door calibration strategy corresponding to the door position situation.

[0085] In the embodiment of the present application, performing a door calibration operation according to the door calibration strategy corresponding to the door position situation includes the following steps B1 - B2:

[0086] Step B1, if the disabling reason is that the first door and / or the second door has an abnormal movement, and the door position situation is that the distance between the first position and the closed position is less than the distance between the second position and the closed position, then sequentially control the second door and the first door to rotate to the corresponding preset maximum opening position.

[0087] Specifically, the first position can be the current position of a fixed point on the first door (for example, a point set at the edge of the door), and the distance between the first position and the closed position is the distance from this fixed point to 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 from this fixed point to the position where it is located when the second door is closed.

[0088] 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 an abnormal movement (the abnormal movement is determined based on the passive rotation data generated when the door rotates), and at the same time, after measurement and comparison, the distance between the first position and the closed position is less 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 and move 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 and move in the opening direction until it reaches the preset maximum opening position corresponding to the first door and stops.

[0089] Step B2, when the second door and the first door are both at the corresponding preset maximum opening positions, sequentially control the second door and the first door to rotate to the closed position.

[0090] Specifically, when the second door and the first door are both in their respective preset maximum opening positions, the doors are controlled to close in chronological order: First, the controller sends a control command to the second driving device of the second door, and the second driving device controls the second door to start rotating and move in the closing direction. During the process, its position is continuously monitored until it reaches the closed position, that is, the fixed point on the second door moves to the position where it should be when the door is fully closed and then stops. Then, after the second door is closed, the controller sends a control command to the first driving device of the first door, and the first driving device controls the first door to start rotating and move in the closing direction. Similarly, its position is continuously monitored during the movement until the fixed point on the first door moves to the position where it should be when the first door is fully closed, and at this time, the first door is also closed.

[0091] 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 set by the user according to their own usage requirements and preferences. For example, when the user believes that in certain special scenarios, it is most appropriate for the door to open to a specific angle, the position of the door corresponding to this angle can be set as the maximum opening position. On the other hand, it may also be a safe opening position set by the automobile manufacturer after comprehensive consideration from multiple aspects such as safety, vehicle design, and function realization. For example, at this position, the door can not only meet the needs of passengers getting on and off or taking and placing items, but also can maximize the avoidance of the risk of collision caused by the excessive opening angle of the door.

[0092] 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, according to the distance relationship between the fixed points on the first door and the second door and the closed position, the doors are specifically controlled to rotate to the preset maximum opening position in sequence, and then are controlled to return to the closed position in an orderly manner. This process can effectively solve the problem of the disordered door positions caused by abnormal movement, enable the two doors to rotate to the preset maximum opening position in sequence, which is convenient for recalibrating the position information. At the same time, according to the structural characteristics of the body enclosed by the overlapping doors, the operation sequence of opening the second door first and then the first door can avoid collisions between the doors due to position conflicts.

[0093] In the embodiment of the present application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position situation, including: If the reason for disabling is that the first door and / or the second door has abnormal movement, and the door position situation is that the first position is any position other than the closed position and the second position is the closed position, then control the first door to rotate to the closed position.

[0094] Specifically, when the active rotation function of the first door and / or the second door is disabled and the reason for the disablement is abnormal movement, it is found that the fixed point on the first door is in any position other than the position where the point is located when the door is fully closed, while the fixed point on the second door is at the position where it should be when the door is fully closed. In this case, an operation will be performed on the first door: 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 and move in the closing direction. During the rotation process, the position information of the fixed point on the first door is continuously monitored, and the rotation state is adjusted 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 the fully closed state, and the operation is completed.

[0095] In the embodiment of the present application, for the situation where the function is disabled due to abnormal movement and the first door is not closed while the second door is already closed, only the unclosed first door is operated, avoiding interference with the normally closed second door and reducing unnecessary mechanical wear. By continuously monitoring the position of the fixed point on the first door and dynamically adjusting it, it can be quickly calibrated to the closed state.

[0096] In the embodiment of the present application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position situation, including the following steps C1 - C2:

[0097] Step C1, if the reason for the disablement is abnormal movement of the first door and / or the second door, and 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 sequentially controlled to rotate to the corresponding preset maximum opening position.

[0098] Specifically, when the active rotation function of the first door and / or the second door is disabled and the reason for the disablement is abnormal movement, and 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 and move along the established path until it reaches the preset maximum opening position; after the first door stops stably at this position, the controller then 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 and move it to the corresponding preset maximum opening position.

[0099] Step C2, when both the first door and the second door are at the corresponding preset maximum opening positions, the second door and the first door are sequentially controlled to rotate to the closed position.

[0100] Specifically, after the first door and the second door have respectively reached their corresponding preset maximum opening positions, the doors are controlled to close in sequence: First, the controller sends a control command to the second driving device of the second door, and the second driving device controls the second door to rotate in the closing direction, causing it to move along a predetermined trajectory. During the movement, the position information is monitored in real time, and the rotation state is adjusted according to the feedback until the fixed point on the second door reaches the position where it 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 command to the first driving device of the first door, and the first driving device controls the first door to rotate in the closing direction, and similarly adjusts according to the real-time position feedback until the fixed point on the first door also moves to the position where it is located when the door is fully closed.

[0101] In the embodiment of the present application, a differential calibration strategy is formulated 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 opening sequence of the doors is accurately controlled, and the door farther from the closed position or with abnormal position is preferentially opened to avoid interference between the doors and ensure the safety and order of the opening process. The door is rotated to the preset maximum opening position to facilitate re-acquiring accurate position information. Subsequently, the doors are controlled to close in sequence to ensure the accuracy and stability of the calibration operation. Compared with the traditional manual calibration, this solution does not require manual intervention, automatically identifies and processes door abnormalities, improves the calibration efficiency, quickly restores the normal automatic operation function of the door, reduces the operation complexity and error probability, and optimizes the user experience.

[0102] In this embodiment, a vehicle control method is provided. Figure 5 is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 5 shown, and the process includes the following steps:

[0103] Step S201, when the active rotation functions of the first door and the second door are disabled, receive a door calibration command.

[0104] In the embodiment of the present application, receiving a door calibration command includes the following steps D1 - D2:

[0105] Step D1, receive a door calibration request sent by a client associated with the vehicle.

[0106] Specifically, the vehicle establishes a connection with the client through a wireless network, and the client (such as a mobile phone APP) sets up a dedicated entrance for the door calibration request. After the user operates on the client to trigger the door calibration request, the client encodes the request information, encapsulates it into a data packet in a specific format through a network protocol, and then sends the data packet into the network. The communication module of the vehicle continuously monitors the network signal. Once it receives a data packet containing the door calibration request, it parses and validates it to confirm the legality and integrity of the request, thus completing the reception of the door calibration request.

[0107] Step D2: Generate a door calibration instruction based on the door calibration request.

[0108] Specifically, after receiving the door calibration request, analyze the request information, extract the key instruction parameters, and convert the parameters into door calibration instructions that can be recognized and executed inside the vehicle.

[0109] Step S202: Respond to the door calibration instruction and obtain the disabling reasons for the active rotation functions of the first door and the second door being disabled.

[0110] In the embodiment of the present application, after receiving the door calibration instruction, query the disabling reasons for the active rotation functions of the first door and the second door being currently disabled. The disabling reasons include: the first door and / or the second door has abnormal movement, or the first door and / or the second door has lost its position, or there is a mechanical failure of the door, etc.

[0111] It should be noted that during the rotation of the first door and / or the second door, passively generated rotation data (i.e., rotation-related data not generated by the active drive of the door) is obtained in real time. When detecting this data, if it is found that the passively generated rotation data of the first door and / or the second door matches the corresponding abnormal rotation data, it indicates that the first door and / or the second door has abnormal movement. At this time, the active rotation functions of both the first door and the second door will be disabled simultaneously.

[0112] Position loss means that during the normal operation of the door, the real-time position information of the door is obtained through the position sensor installed on the door, and compared and analyzed 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 detections or specific judgment logics confirm that the actual position information of the door cannot be accurately obtained, that is, the information fed back by the position sensor does not match the real state of the door, it is determined that the first door and / or the second door has lost its position.

[0113] Step S203: Detect the door position conditions of the corresponding doors among the first door and the second door according to the disabling reasons.

[0114] In an embodiment of the present application, detecting the door position of the corresponding door among the first door and the second door according to the disabling reason includes: if the disabling reason is that the first door and / or the second door has lost its position, detecting the door position of the second door.

[0115] Specifically, when it is determined that the disabling reason for 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, and relevant data such as the position information of a specific fixed point on the second door and the relationship between this position and the door closed position will be obtained, so as to clarify the position of the second door.

[0116] Step S204, performing a door calibration operation according to the door calibration strategy corresponding to the door position.

[0117] In an embodiment of the present application, performing a door calibration operation according to the door calibration strategy corresponding to the door position includes: if the disabling reason is that the first door and / or the second door has lost its position, and the door position is that the second door is in the closed position, controlling the first door to rotate to the closed position.

[0118] Specifically, when it is confirmed that the disabling of the active rotation function of the first door and / or the second door is due to position loss, and it is detected by the door position sensor that the second door is in the closed position (that is, the fixed point on the second door has reached the corresponding position when the door is fully closed), the system immediately sends an instruction to the driving motor of the first door. After receiving the order, the motor runs, driving the first door to rotate in the closing direction. During this period, the position sensor continuously collects the position data of the fixed point of the first door and feeds it back to the system. The system dynamically adjusts the operating parameters of the motor based on the feedback to ensure that the first door moves precisely until its fixed point reaches the closed position.

[0119] In an embodiment of the present application, performing a door calibration operation according to the door calibration strategy corresponding to the door position includes the following steps E1 - E2:

[0120] Step E1, if the disabling reason is that the first door and / or the second door has lost its position, and the door position is any position other than the closed position of the second door, simultaneously controlling both the first door and the second door to rotate to the corresponding maximum stall position at a preset rotation speed.

[0121] Specifically, when it is determined that the reason for disabling the active rotation function of the first door and / or the second door is position loss, and it is detected by the position sensor (such as a Hall sensor) installed on the door that the door position is any position other than the closed position of the second door, the calibration operation starts.

[0122] The controller first sends a control instruction to the first driving device of the first vehicle door. According to a predetermined logic, the driving device controls the first vehicle door to rotate towards its maximum stall position at a preset rotation speed. During the rotation, by continuously monitoring the position of the first vehicle door, it is ensured that the first vehicle 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 driving device of the second vehicle door. The second driving device also drives the second vehicle door to rotate towards its maximum stall position at a preset rotation speed according to the predetermined logic. During this period, the position of the second vehicle door is continuously monitored, so that the second vehicle door also accurately reaches the maximum stall position.

[0123] As an example, the controller simultaneously sends control instructions to the first driving device of the first vehicle door and the second driving device of the second vehicle door. The first driving device controls the first vehicle door to rotate towards its maximum stall position at a preset rotation speed of 15° per second according to a predetermined logic. During the rotation, it continuously receives the position information fed back by the Hall sensor and adjusts the operating state of the motor in real time to ensure that the first vehicle door accurately and stably reaches the maximum stall position and stops. At the same time, the second driving device also drives the second vehicle door in the half-open state to rotate towards 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, it accurately regulates the motor so that the second vehicle door also smoothly reaches the maximum stall position, thus completing the calibration of the two vehicle doors.

[0124] It should be noted that the maximum stall position refers to the position where, during the vehicle door calibration operation, when the driving device of the vehicle door continuously rotates to drive the vehicle door to rotate until the vehicle 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 foregoing embodiments. At the same time, anti-collision members, such as rubber strips, are provided at the edges of both the first vehicle door and the second vehicle door. Therefore, when the positions are lost and the two vehicle doors are rotated simultaneously, even if the two vehicle doors come into accidental contact, the anti-collision members can absorb the impact force generated by the collision by virtue of their elastic deformation, play a buffering role, avoid direct collision of the metal parts of the vehicle door, and effectively prevent scratches, dents and other damages to the vehicle door.

[0125] In the embodiment of the present application, the synchronous operation can avoid the time difference caused by the sequential adjustment of the two vehicle doors, and reduce the possibility of safety risks caused by position loss. In addition, unified regulation at a preset speed can ensure the stable movement state of the two vehicle doors, enable the vehicle doors to accurately reach the maximum stall position, and quickly calibrate the vehicle doors in case of position loss.

[0126] Step E2, when both the first vehicle door and the second vehicle door are in their respective maximum stall positions, sequentially control the second vehicle door and the first vehicle door to rotate to the closed position.

[0127] Specifically, when the first door and the second door are both in their respective maximum stall positions, the door closing operation is started. First, the controller sends a control command to the second drive device of the second door. The second drive device controls the second door to rotate in the closing direction, making it move along a predetermined trajectory. During the movement, the position information is monitored in real time, and the rotation state is adjusted according to the feedback until the fixed point on the second door reaches the position where it 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 command to the first drive device of the first door. 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.

[0128] In the embodiment of the present application, precise calibration strategies are formulated for different situations where the active rotation function of the electric door is disabled due to the loss of the 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 their respective maximum stall positions in sequence to re-obtain accurate position information, providing a reliable basis for calibration, and then the doors are controlled to close in an orderly manner to ensure precise calibration. Compared with traditional manual calibration, this solution does not require manual pulling, automatically identifies the door state and performs calibration, avoids complex operations and error-prone problems, greatly improves the calibration efficiency, can quickly restore the normal automatic operation function of the electric door, effectively guarantees the stability and convenience of door use, and improves the user experience.

[0129] In the embodiment of the present application, after performing the door calibration operation according to the door calibration strategy corresponding to the door position situation, the method further includes: restoring the active rotation function of the first door and / or the second door.

[0130] In the embodiment of the present application, after performing the door calibration operation according to the door calibration strategy corresponding to the door position situation, the controller sends a restoration signal to the first drive device and the second drive device respectively corresponding to the active rotation of the first door and the second door. After receiving the signal, the first drive device and the second drive device will re-enable the power supply and control signal transmission, thereby restoring the active rotation function of the first door and the second door.

[0131] 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.

[0132] 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 open and close up and down or in a split-opening manner. The first door and the second door can also be applied to the side doors of the vehicle, such as split-opening side doors, power sliding doors, etc., which facilitate passengers getting 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, they can receive a door calibration instruction, respond to the instruction to obtain the reason for the disablement, detect the position of the corresponding door according to the reason, and perform a calibration operation according to the calibration strategy corresponding to the door position, so as to ensure the safety of the subsequent operation of the door.

[0133] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a computer device provided by an optional embodiment of the present invention. As Figure 6 shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard 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 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 (such as an array of servers, a set of blade servers, or a multi-processor system).

[0134] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0135] 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.

[0136] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of a computer device for the display of a kind of mini-program landing page, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0137] The memory 20 may include volatile memory, for example, random access memory; the memory may also include non-volatile memory, for example, flash memory, hard disk or solid-state drive; the memory 20 may further include a combination of the above types of memory.

[0138] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

[0139] 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 through a network the original computer code stored in a remote storage medium or a non-transitory machine-readable storage medium and to be stored in a local storage medium, so that the methods described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium may further include a combination of the above types of memory. 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.

[0140] Although the embodiments of the present invention are 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: 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 sent by a client associated with the vehicle is received, 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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