Vehicle side sliding door control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a side sliding door control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that under the condition that the vehicle is detected to be in a drowning state, control parameters are determined based on driving input parameters, and the control parameters comprise a transverse extension parameter and a longitudinal swing parameter; controlling a telescopic supporting part to push a vehicle door body to transversely swing based on the transverse extension parameters; and controlling a swing arm part to push the vehicle door body to longitudinally swing based on the longitudinal swing parameters so as to push the vehicle to move in water. After the vehicle falls into water, the vehicle door is reused as a driving part, the vehicle is pushed to move in water by controlling the transverse and longitudinal movement of the vehicle door, the self-rescue function after the vehicle falls into water is added, other structures do not need to be additionally installed, implementation is more convenient, and the practicability of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle side sliding door control method, a vehicle side sliding door control device, a vehicle and a storage medium. Background Art

[0002] At present, vehicles lack the function of driving in water. After the vehicle falls into the water, it is often difficult to save itself. For amphibious vehicles, marine equipment is installed on the vehicle, such as worm gears, paddles and other equipment. The use of these devices on the ship is applied to the vehicle, so that the vehicle can drive in water. However, these require additional installation of equipment, and the structure on the vehicle is compact, making it difficult to install and use on the vehicle, resulting in low practicality of the vehicle. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle side sliding door control method, a vehicle side sliding door control device, an electronic device and a storage medium that overcome the above problems or at least partially solve the above problems.

[0004] In order to solve the above problems, in a first aspect of the present invention, an embodiment of the present invention discloses a vehicle side sliding door control method, wherein the side sliding door comprises a door body, at least one telescopic support portion and at least one swing arm portion, wherein the telescopic support portion and the swing arm portion are connected to the door body, and the method comprises:

[0005] In the case where it is detected that the vehicle is in a water-falling state, determining control parameters based on driving input parameters, the control parameters including a lateral extension parameter and a longitudinal swing parameter;

[0006] Controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0007] Based on the longitudinal swing parameter, the swing arm portion is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water.

[0008] Optionally, the lateral extension parameter includes a door opening, the longitudinal swing parameter includes a door sliding speed, and the step of determining the control parameter based on the driving input parameter includes:

[0009] Determine steering angle and vehicle speed based on driving input parameters;

[0010] Converting the steering angle into the door opening;

[0011] The vehicle speed is converted into the door sliding speed.

[0012] Optionally, the step of controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter comprises:

[0013] Determining a telescopic length based on the door opening;

[0014] The travel of the telescopic support portion is controlled to be the telescopic length to push the door body to swing laterally.

[0015] Optionally, the step of controlling the swing arm portion to push the door body to swing longitudinally based on the longitudinal swing parameter comprises:

[0016] determining a swing frequency based on the door sliding speed;

[0017] The swing arm portion is controlled to swing to reach the swing frequency to drive the door body to swing longitudinally.

[0018] Optionally, the side sliding door further includes a pressure sensor, a detection channel communicating with the outside is provided on the door body, the pressure sensor is located in the detection channel, and the method further includes:

[0019] Acquiring pressure data of the pressure sensor;

[0020] When the pressure data is greater than a preset pressure threshold, it is determined that the vehicle is in a water-falling state.

[0021] Optionally, a suspension portion is provided at the bottom of the vehicle; and the method further comprises:

[0022] When it is detected that the vehicle is in a state of falling into water, the suspension part is controlled to be inflated.

[0023] Optionally, the method further comprises:

[0024] When the vehicle is not in a water-falling state, in response to the door opening and closing operation, the telescopic support portion and the swing arm portion are controlled to open and close the door body.

[0025] In a second aspect of the present invention, the present invention discloses a side sliding door control device for a vehicle, wherein the side sliding door comprises a door body, at least one telescopic support portion and at least one swing arm portion, wherein the telescopic support portion and the swing arm portion are connected to the door body, and the device comprises:

[0026] A parameter determination module, for determining control parameters based on driving input parameters when it is detected that the vehicle is in a water-falling state, wherein the control parameters include a lateral extension parameter and a longitudinal swing parameter;

[0027] A first control module, configured to control the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0028] The second control module is used to control the swing arm part to push the door body to swing longitudinally based on the longitudinal swing parameter, so as to push the vehicle to move in the water.

[0029] In a third aspect of the present invention, an embodiment of the present invention discloses a vehicle, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle side sliding door control method as described above.

[0030] In a fourth aspect of the present invention, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle side sliding door control method as described above is implemented.

[0031] The embodiments of the present invention include the following advantages:

[0032] The embodiment of the present invention determines control parameters based on driving input parameters when detecting that the vehicle is in a state of falling into water, and the control parameters include lateral extension parameters and longitudinal swing parameters; based on the lateral extension parameters, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameters, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water. After the vehicle falls into water, the reused door is used as the driving part, and the lateral contact area of ​​the door body in the water is increased by controlling the lateral movement of the door body; in addition, the longitudinal movement of the door body is controlled to control the door to move forward and backward in the water. Since the door is expanded horizontally and then moved forward and backward, the water resistance can be increased and reduced, thereby using the interaction of forces to push the vehicle that has fallen into water forward, realize the movement of the vehicle in the water, and increase the self-rescue function of the vehicle after falling into water. In addition, the reused doors on the vehicle do not need to install other structures, which is more convenient to implement and improves the practicality of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of steps of an embodiment of a vehicle side sliding door control method of the present invention;

[0034] Figure 2 is a flowchart of another embodiment of a vehicle sliding door control method of the present invention;

[0035] Figure 3 is a schematic diagram of a side sliding door of another embodiment of a side sliding door control method for a vehicle of the present invention;

[0036] Figure 4 is a schematic diagram of the position of a pressure sensor in another embodiment of a vehicle side sliding door control method of the present invention;

[0037] Figure 5 is a structural block diagram of an embodiment of a side sliding door control device for a vehicle of the present invention;

[0038] Figure 6 is a structural block diagram of a vehicle provided by an embodiment of the present invention;

[0039] Figure 7 It is a structural block diagram of a storage medium provided by an embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 100-telescopic support part, 200-swing arm part, 300-door body, 310-detection channel, 400-pressure sensor. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Reference Figure 1 , shows a flow chart of steps of an embodiment of a side sliding door control method of a vehicle of the present invention, the side sliding door comprises a door body, at least one telescopic support part and at least one swing arm part, one end of the telescopic support part is connected to the door body, and the other end is connected to the sleeve, the telescopic support part can slide inside to achieve telescopic. The telescopic support part supports the door body, and drives the door body to rotate through its own telescopic movement, so that the door body can be deflected by a certain angle relative to the vehicle body to achieve the lateral expansion of the door. One end of the swing arm part is connected to the door body, and the other end is connected to the vehicle body. The swing arm part pushes the door body to swing in an arc on the basis of the telescopic support part supporting the door body. In addition, an auxiliary swing arm can be set on a plane parallel to the telescopic support part, and the auxiliary swing arm and the telescopic support part are used to jointly support the door body, so that the door body can move more smoothly.

[0044] The vehicle side sliding door control method may specifically include the following steps:

[0045] Step 101, when it is detected that the vehicle is in a state of falling into water, determining control parameters based on driving input parameters, wherein the control parameters include a lateral extension parameter and a longitudinal swing parameter;

[0046] When it is detected that the vehicle is in the water, it is necessary to control the vehicle to operate in the water, control the vehicle to stay away from deep water areas or close to the shore to ensure the safety of the vehicle and passengers.

[0047] After determining that the vehicle falls into the water, the control parameters can be determined based on the driving input parameters. The driving input parameters can be determined by the driver's driving operation and are used to characterize the control target of the vehicle. The control parameters may include a lateral extension parameter and a longitudinal swing parameter. The lateral extension parameter characterizes the lateral expansion degree of the door, and the lateral extension parameter is correlated with the lateral expansion degree of the door. For example, the lateral extension parameter is positively correlated with the lateral expansion degree of the door; the larger the lateral extension parameter, the larger the lateral expansion degree of the door, and vice versa. The longitudinal swing parameter characterizes the longitudinal swing amplitude of the door. The longitudinal swing parameter is correlated with the longitudinal swing amplitude of the door.

[0048] Step 102, controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0049] The telescopic support part can be controlled by using the lateral extension parameter to control the telescopic support part to extend and retract, so that the door body is in different lateral positions to promote the lateral swing of the door body. The lateral direction can be the lateral direction in the vehicle coordinate system, and the corresponding longitudinal direction is the longitudinal direction in the vehicle coordinate system. For example, the left and right direction in the vehicle coordinate system is the lateral direction; the front and back direction in the vehicle coordinate system is the longitudinal direction. To put it another way, the lateral direction and the longitudinal direction in the embodiment of the present invention are not completely perpendicular, and the angle between the lateral direction and the longitudinal direction at the intersection is greater than the preset angle.

[0050] Step 103: Based on the longitudinal swing parameter, the swing arm portion is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water.

[0051] The longitudinal swing parameters can be used to control the swing arm part to control the swing arm part to swing back and forth or unidirectionally in the longitudinal direction, thereby pushing the door body to swing longitudinally. At this time, the door body moves in a coordinated manner laterally and longitudinally. The door body is similar to a paddle paddling in the water, thereby generating resistance to the water. Based on the interaction of forces, the water generates thrust on the door body, thereby pushing the vehicle to move in the water.

[0052] The embodiment of the present invention determines control parameters based on driving input parameters when detecting that the vehicle is in a state of falling into water, and the control parameters include lateral extension parameters and longitudinal swing parameters; based on the lateral extension parameters, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameters, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water. After the vehicle falls into water, the reused door is used as the driving part, and the lateral contact area of ​​the door body in the water is increased by controlling the lateral movement of the door body; in addition, the longitudinal movement of the door body is controlled to control the door to move forward and backward in the water. Since the door is expanded horizontally and then moved forward and backward, the water resistance can be increased and reduced, thereby using the interaction of forces to push the vehicle that has fallen into water forward, realize the movement of the vehicle in the water, and increase the self-rescue function of the vehicle after falling into water. In addition, the reused doors on the vehicle do not need to install other structures, which is more convenient to implement and improves the practicality of the vehicle.

[0053] Reference Figure 2 , showing a step flow chart of another embodiment of a side sliding door control method of a vehicle of the present invention, the side sliding door includes a door body, a pressure sensor, at least one telescopic support part and at least one swing arm part, the telescopic support part and the swing arm part are connected to the door body, a detection channel connected to the outside is provided on the door body, and the pressure sensor is located in the detection channel. The telescopic support part supports the door body, and drives the door body to move in the lateral direction of the vehicle through its own telescopic movement. The swing arm part pushes the door body to swing in the lateral direction of the vehicle on the basis of the telescopic support part supporting the door body. The number of telescopic support parts and swing arm parts can be determined according to needs. Please refer to Figure 3 The upper and lower parts of the door body 300 are both provided with telescopic support parts 100. One end of the two telescopic support parts 100 is connected to the door body 300, and the other end can be fixedly connected with the vehicle body. That is, the telescopic support part 100 uses the end connected to the vehicle body as a fixed fulcrum, and the end connected to the door body 300 as a movable fulcrum. When the telescopic support part 100 is extended and retracted along its own axis, the end connected to the door body 300 is driven to move closer to or away from the end connected to the vehicle body, so that a certain deflection occurs between the door body 300 and the vehicle body to form an angle. The larger the angle, that is, the larger the door body 300 and the vehicle body, the larger the lateral extension area of ​​the door body 300. The swing arm part 200 is also connected to the door body 300 at both ends, and the other end can be fixedly connected with the vehicle body, with the end connected to the vehicle body as the center of swing. While the telescopic support part 100 moves, the swing arm part 200 swings around the center, and the end connected to the door body 300 slides with the swing of the swing arm part 200. Thus, the swing arm portion 200 and the telescopic support portion 100 can work together to drive the door body 300 to unfold and slide. Figure 4The door body 300 is provided with a detection channel 310 communicating with the outside, and the pressure sensor 400 is arranged in the detection channel 310. When the vehicle falls into water, water can enter the detection channel 310 from the outside of the door body 300, and the pressure sensor 400 can detect the pressure change in the channel 310.

[0054] The vehicle side sliding door control method may specifically include the following steps:

[0055] Step 201, obtaining pressure data of the pressure sensor;

[0056] The pressure data of the pressure sensor can be obtained in real time, and whether the vehicle is in a state of falling into water can be detected through changes in the pressure data.

[0057] Step 202, when the pressure data is greater than a preset pressure threshold, determining that the vehicle is in a water-falling state;

[0058] The acquired pressure data can be compared with the preset pressure threshold. When the pressure data is greater than the preset pressure threshold, it means that water has entered the detection channel and a large amount of water has flowed into the detection channel; it can be determined that the vehicle is in a water-falling state. The preset pressure threshold can be determined according to the corresponding value of different channels to be detected, and the embodiment of the present invention does not specifically limit this.

[0059] Step 203, when it is detected that the vehicle is in a state of falling into water, determining control parameters based on driving input parameters, wherein the control parameters include a lateral extension parameter and a longitudinal swing parameter;

[0060] When it is detected that the vehicle is in a state of falling into water, the control parameters are determined according to the driving input parameters input by the driver. For example, the driver can control the forward or backward direction of the vehicle by operating the steering wheel angle, and for another example, the driver can control the forward or backward speed of the vehicle by operating the depth of the accelerator pedal. The steering wheel angle, the depth of the accelerator pedal, etc. can be driving input parameters. The control parameters can include lateral extension parameters and longitudinal swing parameters.

[0061] Among them, the lateral extension parameter includes the door opening, the longitudinal swing parameter includes the door sliding speed, and the step of determining the control parameter based on the driving input parameter includes: determining the steering angle and vehicle speed based on the driving input parameter; converting the steering angle into the door opening; converting the vehicle speed into the door sliding speed.

[0062] The door opening is the opening of the door body, which can be represented by the angle between the center axis of the door and the center axis of the vehicle body. The door sliding speed is the speed at which the door body slides forward and backward. When the driver inputs the driving input parameters, the target steering angle can be determined according to the data such as the steering wheel angle in the driving input parameters, and the vehicle speed required to be reached can be determined according to the data such as the accelerator pedal in the driving input parameters.

[0063] First, the steering angle is converted based on the steering system of the vehicle to determine the required deflection angle of the vehicle, and then the required deflection angle of the steering is converted into the door opening according to the relationship between the door opening and the vehicle driving angle. The relationship between the door opening and the vehicle driving angle can be related to the structure of the door body. For example, when the door opening is opened by 10 degrees, the vehicle driving angle deflects by 2 degrees. The door opening and the vehicle driving angle are 5:1. After the required vehicle driving angle deflection angle is determined based on the steering angle, the door opening is determined based on the relationship between the door opening and the vehicle driving angle of 5:1.

[0064] The vehicle speed can also be converted into the door sliding speed according to the relationship between the vehicle speed and the door sliding speed. The relationship between the vehicle speed and the door sliding speed can be determined in advance according to experiments. The vehicle speed and the door sliding speed are positively correlated, that is, the greater the vehicle speed, the higher the door sliding speed.

[0065] Step 204, controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0066] The telescopic support portion can be controlled to telescope along the fulcrum based on the lateral extension parameter to push the door body to swing lateraly.

[0067] Specifically, the step of controlling the telescopic support part to push the door body to swing laterally based on the lateral extension parameter includes: determining a telescopic length based on the door opening; and controlling the travel of the telescopic support part to be the telescopic length to push the door body to swing laterally.

[0068] According to the structural design parameters of the door, the door opening can be converted into the corresponding telescopic length of the telescopic support part, and the telescopic support part can be controlled to run to the telescopic length, so that the door body can swing laterally during the process of the telescopic support part extending to the telescopic length, thereby controlling the lateral extension area of ​​the door body in the water. Furthermore, the telescopic length can be controlled by a motor in the telescopic support part, that is, the telescopic length can be presented in the form of a square wave signal, that is, the corresponding telescopic length can be achieved by controlling the input signal of the motor.

[0069] Step 205, based on the longitudinal swing parameter, controlling the swing arm to push the door body to swing longitudinally, so as to push the vehicle to move in the water;

[0070] The longitudinal swing parameter can be used to control the swing arm to swing back and forth or unidirectionally in the longitudinal direction, so as to push the door body to swing in the longitudinal direction, and the door body paddles in the water, thereby pushing the vehicle to move in the water.

[0071] Specifically, the step of controlling the swing arm part to push the door body to swing longitudinally based on the longitudinal swing parameter includes: determining the swing frequency based on the door sliding speed; controlling the swing arm part to swing to reach the swing frequency to push the door body to swing longitudinally.

[0072] Firstly, the required swing frequency of the door is determined based on the sliding speed of the door, and the swing arm is controlled to reach the swing frequency to push the door body to swing at a corresponding frequency, so as to push the door body to swing longitudinally.

[0073] Furthermore, the swing frequency in the swing arm part can be controlled by a motor, that is, the swing frequency can be presented in the form of a square wave signal, that is, the corresponding swing frequency can be achieved by controlling the input signal of the motor.

[0074] For example, the control process of a car door after falling into water can be as follows: first, the car door body needs to be opened and slid backwards. At this time, the free end of the telescopic support rod extends along its own axis, opens and pushes the car door to rotate so that the car door can be expanded horizontally. At the same time, the swing arm can swing backwards to push the car door to slide backwards, thereby generating a force on the water. The water generates a reaction force on the car door to push the vehicle forward in the water. When the car door slides to the limit, the free end of the telescopic support rod can be shortened along its own axis so that the car door can shrink laterally, that is, the lateral area of ​​the car door when sliding forward is smaller than the lateral area of ​​the car door when sliding backward; at the same time, the swing arm can swing forward to push the car door to slide forward. The above control process is repeated to push the vehicle to move until the vehicle leaves the wading environment.

[0075] Step 206 , when the vehicle is not in a water-falling state, in response to the door opening and closing operation, controlling the telescopic support portion and the swing arm portion to open and close the door body.

[0076] When the vehicle is not in the water, that is, it can be considered that the vehicle is in a normal land driving state, the side sliding door functions as a normal door. It can respond to the door opening and closing operation, and control the telescopic support part and the swing arm part to open and close the door body. The user can issue the door opening and closing operation by operating the controls on the vehicle, the buttons on the vehicle key, or the vehicle element controls on the communication device.

[0077] In addition, a suspension part may be provided at the bottom of the vehicle, and the suspension part may be inflated to allow the vehicle to float in the water. The method further includes: controlling the suspension part to inflate when detecting that the vehicle is in a state of falling into water. When the vehicle falls into water, the suspension part may be controlled to inflate to keep the vehicle suspended on the water surface, thereby controlling the vehicle to run in the water.

[0078] The embodiment of the present invention obtains the pressure data of the pressure sensor; when the pressure data is greater than the preset pressure threshold, it is determined that the vehicle is in a state of falling into water; when the vehicle is detected to be in a state of falling into water, based on the driving input parameters, the control parameters are determined, and the control parameters include a lateral extension parameter and a longitudinal swing parameter; based on the lateral extension parameter, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameter, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water; when the vehicle is not in a state of falling into water, in response to the door opening and closing operation, the telescopic support part and the swing arm part are controlled to open and close the door body. By detecting the environment in which the vehicle is located and then selecting the working mode, when the vehicle falls into water, the telescopic support rod part can be controlled to control the opening of the door, so that the lateral extension area of ​​the door in the water is expanded. In addition, the swing arm part is controlled to drive the door body to swing, move forward and backward in the water, and the control of the telescopic support rod part and the swing arm part can increase and reduce the resistance of the water, thereby using the mutual force to push the vehicle that falls into water forward, so that the vehicle is away from the deep water area or close to the shore. The vehicle can be moved in water, and the self-rescue function after the vehicle falls into water is increased. The doors on the vehicle are reused, and no additional structures need to be installed, which is more convenient to implement and improves the practicality of the vehicle. When driving normally, the vehicle selects the normal working mode, and the telescopic support rod and the swing arm maintain the door posture to control the door closing, further improving the practicality of the vehicle.

[0079] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0080] Reference Figure 5 , shows a structural block diagram of an embodiment of a side sliding door control device for a vehicle of the present invention, the side sliding door comprises a door body, at least one telescopic support portion and at least one swing arm portion, the telescopic support portion and the swing arm portion are connected to the door body, the side sliding door control device for the vehicle may specifically include the following modules:

[0081] A parameter determination module 501 is used to determine control parameters based on driving input parameters when it is detected that the vehicle is in a water-falling state, wherein the control parameters include a lateral extension parameter and a longitudinal swing parameter;

[0082] A first control module 502, configured to control the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0083] The second control module 503 is used to control the swing arm part to push the door body to swing longitudinally based on the longitudinal swing parameter, so as to push the vehicle to move in the water.

[0084] In an optional embodiment of the present invention, the lateral extension parameter includes the door opening, the longitudinal swing parameter includes the door sliding speed, and the parameter determination module 501 includes:

[0085] A first parameter determination submodule, for determining a steering angle and a vehicle speed based on a driving input parameter;

[0086] A second parameter determination submodule, used for converting the steering angle into the door opening;

[0087] The third parameter determination submodule is used to convert the vehicle speed into the door sliding speed.

[0088] In an optional embodiment of the present invention, the first control module 502 includes:

[0089] A first control submodule, configured to determine a telescopic length based on the door opening;

[0090] The second control submodule is used to control the travel of the telescopic support portion to be the telescopic length, so as to push the door body to swing laterally.

[0091] In an optional embodiment of the present invention, the second control module 503 includes:

[0092] A third control submodule, configured to determine a swing frequency based on the door sliding speed;

[0093] The fourth control submodule is used to control the swing arm portion to swing to reach the swing frequency, so as to drive the door body to swing longitudinally.

[0094] In an optional embodiment of the present invention, the side sliding door further includes a pressure sensor, a detection channel communicating with the outside is provided on the door body, the pressure sensor is located in the detection channel, and the device further includes:

[0095] An acquisition module, used for acquiring pressure data of the pressure sensor;

[0096] The detection module is used to determine that the vehicle is in a water-falling state when the pressure data is greater than a preset pressure threshold.

[0097] In an optional embodiment of the present invention, a suspension part is provided at the bottom of the vehicle; and the device further comprises:

[0098] The third control module is used to control the inflation of the suspension part when it is detected that the vehicle is in a state of falling into water.

[0099] In an optional embodiment of the present invention, the device further comprises:

[0100] The fourth control module is used to control the telescopic support part and the swing arm part to open and close the door body in response to the door opening and closing operation when the vehicle is not in the water-falling state.

[0101] The embodiment of the present invention determines control parameters based on driving input parameters when detecting that the vehicle is in a state of falling into water, and the control parameters include lateral extension parameters and longitudinal swing parameters; based on the lateral extension parameters, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameters, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water. After the vehicle falls into water, the reused door is used as the driving part, and the lateral contact area of ​​the door body in the water is increased by controlling the lateral movement of the door body; in addition, the longitudinal movement of the door body is controlled to control the door to move forward and backward in the water. Since the door is expanded horizontally and then moved forward and backward, the water resistance can be increased and reduced, thereby using the interaction of forces to push the vehicle that has fallen into water forward, realize the movement of the vehicle in the water, and increase the self-rescue function of the vehicle after falling into water. In addition, the reused doors on the vehicle do not need to install other structures, which is more convenient to implement and improves the practicality of the vehicle.

[0102] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0103] Reference Figure 6 , an embodiment of the present invention further provides a vehicle, comprising:

[0104] A processor 601 and a storage medium 602, wherein the storage medium 602 stores a computer program executable by the processor 601. When the vehicle is running, the processor 601 executes the computer program to implement the vehicle side sliding door control method as described in any one of the embodiments of the present invention. The side sliding door includes a door body, at least one telescopic support portion and at least one swing arm portion, wherein the telescopic support portion and the swing arm portion are connected to the door body. The vehicle side sliding door control method includes:

[0105] In the case where it is detected that the vehicle is in a water-falling state, determining control parameters based on driving input parameters, the control parameters including a lateral extension parameter and a longitudinal swing parameter;

[0106] Controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0107] Based on the longitudinal swing parameter, the swing arm portion is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water.

[0108] Optionally, the lateral extension parameter includes a door opening, the longitudinal swing parameter includes a door sliding speed, and the step of determining the control parameter based on the driving input parameter includes:

[0109] Determine steering angle and vehicle speed based on driving input parameters;

[0110] Converting the steering angle into the door opening;

[0111] The vehicle speed is converted into the door sliding speed.

[0112] Optionally, the step of controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter comprises:

[0113] Determining a telescopic length based on the door opening;

[0114] The travel of the telescopic support portion is controlled to be the telescopic length to push the door body to swing laterally.

[0115] Optionally, the step of controlling the swing arm portion to push the door body to swing longitudinally based on the longitudinal swing parameter comprises:

[0116] determining a swing frequency based on the door sliding speed;

[0117] The swing arm portion is controlled to swing to reach the swing frequency to drive the door body to swing longitudinally.

[0118] Optionally, the side sliding door further includes a pressure sensor, a detection channel communicating with the outside is provided on the door body, the pressure sensor is located in the detection channel, and the method further includes:

[0119] Acquiring pressure data of the pressure sensor;

[0120] When the pressure data is greater than a preset pressure threshold, it is determined that the vehicle is in a water-falling state.

[0121] Optionally, a suspension portion is provided at the bottom of the vehicle; and the method further comprises:

[0122] When it is detected that the vehicle is in a state of falling into water, the suspension part is controlled to be inflated.

[0123] Optionally, the method further comprises:

[0124] When the vehicle is not in a water-falling state, in response to the door opening and closing operation, the telescopic support portion and the swing arm portion are controlled to open and close the door body.

[0125] The embodiment of the present invention determines control parameters based on driving input parameters when detecting that the vehicle is in a state of falling into water, and the control parameters include lateral extension parameters and longitudinal swing parameters; based on the lateral extension parameters, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameters, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water. After the vehicle falls into water, the reused door is used as the driving part, and the lateral contact area of ​​the door body in the water is increased by controlling the lateral movement of the door body; in addition, the longitudinal movement of the door body is controlled to control the door to move forward and backward in the water. Since the door is expanded horizontally and then moved forward and backward, the water resistance can be increased and reduced, thereby using the interaction of forces to push the vehicle that has fallen into water forward, realize the movement of the vehicle in the water, and increase the self-rescue function of the vehicle after falling into water. In addition, the reused doors on the vehicle do not need to install other structures, which is more convenient to implement and improves the practicality of the vehicle.

[0126] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0127] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0128] Reference Figure 7The embodiment of the present invention further provides a computer-readable storage medium 701, on which a computer program is stored. When the computer program is executed by a processor, the vehicle side sliding door control method as described in any one of the embodiments of the present invention is executed. The side sliding door includes a vehicle door body, at least one telescopic support part and at least one swing arm part, wherein the telescopic support part and the swing arm part are connected to the vehicle door body. The vehicle side sliding door control method includes:

[0129] In the case where it is detected that the vehicle is in a water-falling state, determining control parameters based on driving input parameters, the control parameters including a lateral extension parameter and a longitudinal swing parameter;

[0130] Controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter;

[0131] Based on the longitudinal swing parameter, the swing arm portion is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water.

[0132] Optionally, the lateral extension parameter includes a door opening, the longitudinal swing parameter includes a door sliding speed, and the step of determining the control parameter based on the driving input parameter includes:

[0133] Determine steering angle and vehicle speed based on driving input parameters;

[0134] Converting the steering angle into the door opening;

[0135] The vehicle speed is converted into the door sliding speed.

[0136] Optionally, the step of controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter comprises:

[0137] Determining a telescopic length based on the door opening;

[0138] The travel of the telescopic support portion is controlled to be the telescopic length to push the door body to swing laterally.

[0139] Optionally, the step of controlling the swing arm portion to push the door body to swing longitudinally based on the longitudinal swing parameter comprises:

[0140] determining a swing frequency based on the door sliding speed;

[0141] The swing arm portion is controlled to swing to reach the swing frequency to drive the door body to swing longitudinally.

[0142] Optionally, the side sliding door further includes a pressure sensor, a detection channel communicating with the outside is provided on the door body, the pressure sensor is located in the detection channel, and the method further includes:

[0143] Acquiring pressure data of the pressure sensor;

[0144] When the pressure data is greater than a preset pressure threshold, it is determined that the vehicle is in a water-falling state.

[0145] Optionally, a suspension portion is provided at the bottom of the vehicle; and the method further comprises:

[0146] When it is detected that the vehicle is in a state of falling into water, the suspension part is controlled to be inflated.

[0147] Optionally, the method further comprises:

[0148] When the vehicle is not in a water-falling state, in response to the door opening and closing operation, the telescopic support portion and the swing arm portion are controlled to open and close the door body.

[0149] The embodiment of the present invention determines control parameters based on driving input parameters when detecting that the vehicle is in a state of falling into water, and the control parameters include lateral extension parameters and longitudinal swing parameters; based on the lateral extension parameters, the telescopic support part is controlled to push the door body to swing lateral; based on the longitudinal swing parameters, the swing arm part is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water. After the vehicle falls into water, the reused door is used as the driving part, and the lateral contact area of ​​the door body in the water is increased by controlling the lateral movement of the door body; in addition, the longitudinal movement of the door body is controlled to control the door to move forward and backward in the water. Since the door is expanded horizontally and then moved forward and backward, the water resistance can be increased and reduced, thereby using the interaction of forces to push the vehicle that has fallen into water forward, realize the movement of the vehicle in the water, and increase the self-rescue function of the vehicle after falling into water. In addition, the reused doors on the vehicle do not need to install other structures, which is more convenient to implement and improves the practicality of the vehicle.

[0150] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0151] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0152] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0153] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0155] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0156] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0157] The above is a detailed introduction to a vehicle side sliding door control method, a vehicle side sliding door control device, a vehicle and a storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling a side sliding door of a vehicle, characterized in that: The side sliding door comprises a door body, at least one telescopic support portion and at least one swing arm portion, wherein the telescopic support portion and the swing arm portion are connected to the door body, and the method comprises: In the case where it is detected that the vehicle is in a water-falling state, determining control parameters based on driving input parameters, the control parameters including a lateral extension parameter and a longitudinal swing parameter; Controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter; Based on the longitudinal swing parameter, the swing arm portion is controlled to push the door body to swing longitudinally, so as to push the vehicle to move in the water.

2. The method according to claim 1, characterized in that The lateral extension parameter includes the door opening, the longitudinal swing parameter includes the door sliding speed, and the step of determining the control parameter based on the driving input parameter includes: Determine steering angle and vehicle speed based on driving input parameters; Converting the steering angle into the door opening; The vehicle speed is converted into the door sliding speed.

3. The method according to claim 2, characterized in that The step of controlling the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter comprises: Determining a telescopic length based on the door opening; The travel of the telescopic support portion is controlled to be the telescopic length to push the door body to swing laterally.

4. The method according to claim 2 or 3, characterized in that: The step of controlling the swing arm portion to push the door body to swing longitudinally based on the longitudinal swing parameter comprises: determining a swing frequency based on the door sliding speed; The swing arm portion is controlled to swing to reach the swing frequency to drive the door body to swing longitudinally.

5. The method according to claim 1, characterized in that The side sliding door further includes a pressure sensor, a detection channel communicating with the outside is provided on the door body, and the pressure sensor is located in the detection channel. The method further includes: Acquiring pressure data of the pressure sensor; When the pressure data is greater than a preset pressure threshold, it is determined that the vehicle is in a water-falling state.

6. The method according to claim 1, characterized in that The bottom of the vehicle is provided with a suspension part; the method further comprises: When it is detected that the vehicle is in a state of falling into water, the suspension part is controlled to be inflated.

7. The method according to claim 1, characterized in that The method further comprises: When the vehicle is not in a water-falling state, in response to the door opening and closing operation, the telescopic support portion and the swing arm portion are controlled to open and close the door body.

8. A side sliding door control device for a vehicle, characterized in that: The side sliding door comprises a door body, at least one telescopic support portion and at least one swing arm portion, wherein the telescopic support portion and the swing arm portion are connected to the door body, and the device comprises: A parameter determination module, for determining control parameters based on driving input parameters when it is detected that the vehicle is in a water-falling state, wherein the control parameters include a lateral extension parameter and a longitudinal swing parameter; A first control module, configured to control the telescopic support portion to push the door body to swing laterally based on the lateral extension parameter; The second control module is used to control the swing arm part to push the door body to swing longitudinally based on the longitudinal swing parameter, so as to push the vehicle to move in the water.

9. A vehicle, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the vehicle side sliding door control method as claimed in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle side sliding door control method according to any one of claims 1 to 7 are implemented.

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