Vehicle door opening and closing control method, vehicle, electronic equipment and program product

Abstract

The invention provides a vehicle door opening and closing control method, a vehicle, electronic equipment and a program product, and relates to the technical field of vehicles. The method comprises the steps that under the condition that an anti-collision function module of a vehicle electric door forbids opening of the electric door, starting operation of a forced vehicle door opening mode of the electric door is monitored; when the electric door is in the forced door opening mode, the electric door is controlled to be opened according to the forced door opening mode, and the door opening speed in the forced door opening mode is smaller than or equal to the target speed; wherein the target speed is determined according to the door opening speed under the condition that the anti-collision function module allows the electric door to be opened. The problem that in the prior art, an electric door of a vehicle cannot be controlled to be opened and closed in some scenes is solved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and in particular, to a method for controlling the opening and closing of vehicle doors, a vehicle, an electronic device, and a program product. Background Art

[0002] Currently, anti-collision radars are configured in the electric door systems of vehicles. During the door opening process of the vehicle, obstacles are identified by the anti-collision radars, and the door opening is automatically stopped when an obstacle is identified. This method often results in the situation where, when the obstacle does not affect the opening of the electric door (such as a curb, low bushes, etc.), it is still identified by the anti-collision radar as a factor prohibiting door opening and the door opening is prohibited, thus affecting the normal opening of the vehicle door. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure provide a method for controlling the opening and closing of vehicle doors, an electronic device, and a program product to solve the problem that the electric doors of vehicles cannot be controlled for opening and closing in certain scenarios in the prior art.

[0004] In a first aspect, the present disclosure provides a method for controlling the opening and closing of vehicle doors, including:

[0005] When the anti-collision function module of the vehicle electric door prohibits the opening of the electric door, a start operation of the forced door opening mode of the electric door is monitored;

[0006] When the electric door is in the forced door opening mode, control the electric door to open according to the forced door opening mode, where the door opening speed in the forced door opening mode is less than or equal to a target speed; where the target speed is determined according to the door opening speed when the anti-collision function module allows the electric door to open.

[0007] In a second aspect, the present disclosure provides a vehicle configured to execute the method for controlling the opening and closing of vehicle doors according to the first aspect.

[0008] In a third aspect, the present disclosure provides an electronic device, including:

[0009] At least one processor; and

[0010] A memory communicatively connected to the at least one processor; where

[0011] The memory stores at least one computer program executable by the at least one processor, and the at least one computer program is executed by the at least one processor so that the at least one processor can execute the method for controlling the opening and closing of vehicle doors according to the first aspect.

[0012] Fourthly, the present disclosure provides a computer program product, which includes a computer program that, when running on a processor, implements the door opening and closing control method described in the first aspect.

[0013] In the embodiments provided by the present disclosure, when the anti-collision function module of the vehicle's electric door prohibits the opening of the electric door, a start operation of the forced door opening mode of the electric door is monitored; when the electric door is in the forced door opening mode, the electric door is controlled to open according to the forced door opening mode, and the opening speed in the forced door opening mode is less than or equal to a target speed, which is determined according to the opening speed when the anti-collision function module allows the electric door to open. By setting a forced door opening mode for the vehicle's electric door, when the forced door opening mode is running, the electric door can be controlled to open at an opening speed less than or equal to the target speed. Thus, when the anti-collision function module identifies that the door opening is prohibited, the operation of the electric door can be controlled through the forced door opening mode, making it possible to still open the vehicle's electric door, and ensuring the opening safety through the control of the opening speed, thereby improving user convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0015] Figure 1 It shows a schematic flowchart of the door opening and closing control method in the embodiments of the present disclosure;

[0016] Figure 2 It shows a mapping relationship diagram between the door state and the forced button operation in the embodiments of the present disclosure;

[0017] Figure 3 It shows a block diagram of the door opening and closing control device in the embodiments of the present disclosure;

[0018] Figure 4 It shows a schematic structural diagram of an electronic device in the embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0020] In the case of no conflict, the embodiments of the present disclosure and the features in each embodiment may be combined with each other.

[0021] As used herein, the term "and / or" includes any and all combinations of one or more of the related listed items.

[0022] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "consisting of" are used in this specification, the specified features, wholes, steps, operations, elements, and / or components are present, but one or more other features, wholes, steps, operations, elements, components, and / or groups thereof are not excluded. "Connection" or "connected" and other similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0023] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless clearly defined herein.

[0024] Exemplary method

[0025] The door opening and closing control method provided by the embodiments of the present disclosure can be applied to the main controller of a vehicle, or can also be applied to other controllers that can control the electric doors of the vehicle, etc.

[0026] The door opening and closing control method provided by the embodiments of the present disclosure, as Figure 1 shown, mainly includes the following steps:

[0027] Step 101, when the anti-collision function module of the vehicle electric door prohibits the electric door from opening, a start operation of the forced door opening mode of the electric door is monitored.

[0028] The electric door can be any door of the vehicle, or can also be a specified one or more doors in the vehicle.

[0029] The forced door opening mode of the electric door is used to control the electric door to perform a specified opening operation in a set manner.

[0030] The activation operation of the forced door opening mode can be an operation such as a long press on a virtual button or a physical button. There can be various specific operation methods, which are not limited here.

[0031] Step 102, when the power door is in the forced door opening mode, control the power door to open the door according to the forced door opening mode, where the door opening speed in the forced door opening mode is less than or equal to the target speed; where the target speed is determined according to the door opening speed when the anti-collision function module allows the power door to open the door.

[0032] The parameters of the forced door opening mode can be pre-configured, including various power door opening control parameters such as the maximum opening allowed for door opening, door opening speed, door opening speed, etc. These parameters can be combined as needed and pre-configured into the forced door opening mode.

[0033] When the power door is in a moving state, it does not respond to the operation of the forced door opening mode.

[0034] In some embodiments, a forced button is pre-set on the power door or other positions of the vehicle. The forced button is a physical button, and the forced door opening mode is activated and run by a long press on the physical button. Specifically, the activation operation of the forced door opening mode includes a long press on the forced button; when the anti-collision function module of the vehicle power door prohibits the power door from opening, detecting a long press on the forced button of the power door, determining that the forced door opening mode is activated, and controlling the power door to open the door according to the forced door opening mode, where the door opening speed is less than or equal to the speed when the anti-collision function module allows the power door to open the door, that is, the door opening speed in the forced door opening mode is lower than the normal door opening speed of the power door.

[0035] In this method, when the anti-collision function module prohibits the power door from opening, it includes prohibiting the power door from opening when the anti-collision radar detects an obstacle. By long pressing the forced button, the forced door opening mode is run, and the power door opens the door at a speed lower than the speed allowed by the anti-collision function module for the power door to open the door, thereby reducing the possibility of colliding with the obstacle identified by the anti-collision function module and reducing the possibility of vehicle damage. At the same time, it can also open the door through the forced door opening mode when the anti-collision function module misidentifies an obstacle or misjudges that the obstacle will collide with the door.

[0036] For example, when the vehicle is parked by the roadside and the anti-collision radar prohibits the door from opening because it identifies a curb or soft grass on the roadside, at this time, the user can slowly open the power door by long pressing the forced button located on the power door to facilitate the occupants to get out of the vehicle and improve convenience while ensuring safety.

[0037] Among them, when the electric door is in a moving state (for example, opening or closing the door), the pressing operation of the forced button is not responded to.

[0038] In an exemplary embodiment, the target speed is 60% of the normal door opening speed, that is, 60% of the speed allowed by the anti-collision radar for the electric door to open. By reducing the opening speed of the electric door in the forced door opening mode, the controllability of the electric door opening is ensured. Of course, the ratio of the target speed to the normal door opening speed can be other values, which can be set as needed and are not limited here.

[0039] In an exemplary embodiment, a physical button can be provided inside and / or outside the vehicle's electric door, and this physical button is used as the forced button to control the start and stop of the forced door opening mode.

[0040] In an exemplary embodiment, the pressing duration of the long-press operation exceeds a duration threshold, which is set as needed. For example, the duration threshold is set to 2 seconds. Pressing the button for more than 2 seconds is recognized as a long-press operation, and the electric door is controlled to open in response to the long-press operation, and no response is made within 2 seconds of pressing the button.

[0041] In some embodiments, the start operation of the forced door opening mode includes a long-press operation of the forced button; the method further includes: during the process of controlling the electric door to open according to the forced door opening mode, when it is detected that the forced button is released, controlling the electric door to stop suddenly. Controlling the electric door to stop suddenly by releasing the forced button enables convenient and accurate control of the opening degree of the electric door and improves convenience.

[0042] In some embodiments, the method further includes: when the forced button is in a long-press state, shielding the motion safety module of the electric door; wherein, the motion safety function includes at least one of an anti-collision function module, a current anti-pinch module, and an opening warning system.

[0043] Of course, the motion safety module can also be other functional modules that protect the motion safety of the electric door.

[0044] The current anti-pinch module mainly realizes it by detecting the current change of the motor. Specifically, it includes: when the electric door encounters an obstacle during the opening or closing process, the rotation speed of the motor will decrease, and at the same time the current consumption will increase. Once it is detected that the rotation speed or current change of the motor reaches the set threshold, the control system will immediately start the anti-pinch program. At this time, the power supply to the motor will be reversed, causing the door to move in the opposite direction, thereby avoiding pinching passengers or damaging objects.

[0045] The Door Open Warning (DOW) system is an intelligent vehicle safety assistance system designed to prevent "door - hitting - people" accidents. When the vehicle detects an object moving rapidly from the rear side, it will close the door tightly and remind the passengers inside the vehicle through sound and light alarms.

[0046] In this method, when the forced door opening mode takes effect, the motion safety module of the electric door is blocked, so that the priority of the forced door opening mode triggered by the user is placed above the priority of the motion safety module, facilitating the user to control the door opening according to their own judgment and improving convenience. Moreover, by blocking the current anti - pinch module, it is possible to control the motor to open the door with the maximum torque through the forced door opening mode in an emergency, increasing the possibility of user escape in a crisis situation.

[0047] In some embodiments, before controlling the electric door to open according to the forced door opening mode when the electric door is in the forced door opening mode, the method further includes: determining that the vehicle is in a target state, where the target state includes the vehicle being stationary and enabling the forced door opening mode. By allowing the use of the forced door opening mode only when the vehicle is stationary and the forced door opening mode is enabled, the safety of the forced door opening mode is further ensured. When the vehicle is in an unsafe state such as the running state, the use of the forced door opening mode is prohibited, providing a guarantee for the safety of the door movement.

[0048] Among them, the conditions for enabling the forced button include that the vehicle is in the normal mode and the usage mode is that the vehicle has not been started (Usage mode = convenient).

[0049] The normal mode of the vehicle is relative to the factory mode and the transportation mode. In the normal mode, the vehicle has left the factory and has been delivered to the user for normal use.

[0050] In some embodiments, in order to further ensure the safety of the electric door operation in the forced door opening mode, the opening degree of the electric door is restricted. Specifically, controlling the electric door to open according to the forced door opening mode includes: controlling the electric door to open to a preset opening degree at an opening speed less than or equal to the target speed, where the value of the preset opening degree is less than the reference opening degree, and the reference opening degree is the maximum opening degree allowed by the anti - collision radar for the electric door to open.

[0051] The specific value of the reference opening degree can be pre - configured as needed and will not be specifically limited here.

[0052] In some embodiments, the electric door is a right - front swing door, or when the charging gun is connected, the electric door is a left - rear swing door.

[0053] Exemplarily, when the power door is a right front swing door, the preset opening degree is 14%, that is, the power door is controlled to open to an opening degree of 14% at an opening speed less than or equal to the target speed.

[0054] Exemplarily, in a state where a charging gun or a discharging gun is connected to the vehicle, the left and right swing doors only support opening to 500 mm in the forced door opening mode.

[0055] In some embodiments, for the power door at the position of the driver's seat, only the operation of closing the door in response to a long press of the forced button is responded to, and the operation of opening the door in response to a long press of the forced button is not responded to.

[0056] When closing the door by long pressing the forced button, it is not necessary to detect the angle of the driver's seat, that is, directly respond to the long press of the forced button to close the door regardless of the angle of the driver's seat.

[0057] Among them, according to the door state of the power door, referring to Figure 2 the mapping relationship between the door state and the forced button operation shown, corresponding response methods are configured for short pressing or long pressing the forced button. Among them, when the door state is unknown, the responses to short pressing and long pressing the forced button are both closed and not responded to, to ensure safety. When the door state is fully closed, slightly opened, and semi-locked, both short pressing and long pressing the forced button perform an opening response.

[0058] In some embodiments, an opening hold mode is set for scenarios where certain vehicle models need to remain open in certain situations. Specifically, after controlling the power door to open according to the forced door opening mode, the method further includes: monitoring a start operation of the opening hold mode of the power door; wherein, the opening hold mode is used to control the power door to remain in an open state; when the power door is in the opening hold mode, control the power door to block the closing instruction and only respond to the opening instruction to open the door or respond to the pause instruction to stop opening the door during the opening process. For vehicles without a B-pillar and equipped with power doors, a very comfortable resting space will be formed when the power door is opened, and it will be often used outdoors. In the related art, when the power door is opened, the door is often closed unexpectedly due to human misoperation and abnormal triggering of the door closing instruction. In response to this situation, the corresponding opening hold mode is proposed. By running the opening hold mode, the situation of unexpected door closing is avoided. When the opening hold mode is in the on state, any instruction to the power door is triggered, and the power door only executes the opening and pause instructions and does not respond to the closing instruction. If the switch is accidentally touched or the closing operation is triggered manually, the power door will not execute the closing action either, so as to keep the power door in an open state, avoid unexpected door closing, and improve user convenience.

[0059] When the door opening hold mode is turned on, the electric door anti-pinch protection strategy, stall protection strategy, etc. still respond normally.

[0060] When the door opening hold mode is turned off, the instructions of the electric door are normally responded to.

[0061] In some embodiments, the method further includes: in the door opening hold mode, the electric door adopts a mechanical hovering method in the stopped state.

[0062] Among them, the mechanical hovering method is realized based on a mechanical hovering structure. Here, the specific design of the mechanical hovering structure is not limited, as long as it can keep the door in the stopped state mechanically, and it is not necessary to use electric control to assist the door to be in the stopped state. Adopting the mechanical hovering method instead of the motor control hovering avoids the problem that the motor hovering is prone to overheating and burning out.

[0063] In the embodiments provided by the present disclosure, by setting a forced door opening mode for the electric door of the vehicle, when the forced door opening mode is running, the electric door can be controlled to open at an opening speed less than or equal to the target speed. Thus, when the anti-collision function module identifies that the door opening is prohibited, the electric door is controlled to operate through the forced door opening mode, so that there is still a possibility that the vehicle electric door can be opened, and the opening safety is ensured by controlling the opening speed, improving user convenience.

[0064] It can be understood that the above-mentioned various method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not elaborate further. Those skilled in the art can understand that in the above methods of the specific implementation manner, the specific execution order of each step should be determined according to its function and possible internal logic, and the execution order between steps is not limited to being implemented according to the step numbers.

[0065] Exemplary device

[0066] Figure 3 It is a block diagram of a door opening and closing control device provided by an embodiment of the present disclosure. The vehicle electric door control device mainly includes:

[0067] An acquisition module 301, configured to monitor the start operation of the forced door opening mode of the electric door when the anti-collision function module of the vehicle electric door prohibits the electric door from opening.

[0068] A control module 302, configured to control the electric door to open according to the forced door opening mode when the electric door is in the forced door opening mode, where the opening speed in the forced door opening mode is less than or equal to the target speed; where the target speed is determined according to the opening speed when the anti-collision function module allows the electric door to open.

[0069] Among them, for the specific implementation of the acquisition module and the control module, reference can be made to the relevant descriptions in the method embodiments, which will not be repeated here.

[0070] Exemplary vehicle

[0071] An embodiment of the present disclosure provides a vehicle configured to execute the above-described door opening and closing control method.

[0072] Specifically, it can be the controller of the vehicle or the controller of the electric door in the vehicle that executes the above-described vehicle electric door control method.

[0073] Exemplary electronic device, storage medium, and program product

[0074] Figure 4 is a block diagram of an electronic device provided by an embodiment of the present disclosure.

[0075] Referring to Figure 4 , an embodiment of the present disclosure provides an electronic device, which includes: at least one processor 401; at least one memory 402, and one or more I / O interfaces 403 connected between the processor 401 and the memory 402; wherein, the memory 402 stores one or more computer programs executable by at least one processor 401, and the one or more computer programs are executed by at least one processor 401 so that at least one processor 401 can execute the above-described door opening and closing control method.

[0076] Each module in the above electronic device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in hardware form or be independent of it, or be stored in the memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0077] An embodiment of the present disclosure also provides a computer program product, including a computer program, which implements the above-described door opening and closing control method when running on a processor.

[0078] The computer program can be stored in the readable storage medium or cloud of the computer device; the processor of the computer device reads the computer program from the readable storage medium or cloud.

[0079] Among them, the above computer program product can be specifically implemented by means of hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is specifically embodied as a computer storage medium. In another alternative embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), and so on.

[0080] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and their appropriate combinations. In the hardware implementation, the division of the functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component can have multiple functions, or a function or step can be executed by several physical components in cooperation. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable storage medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium).

[0081] As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cassette, tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium typically contains computer-readable program instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0082] The computer-readable program instructions described herein can be downloaded to various computing / processing devices from a computer-readable storage medium or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0083] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state-setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the status information of the computer-readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present disclosure.

[0084] The computer program product described herein may be implemented specifically by hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is specifically embodied as a computer storage medium. In another alternative embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0085] Aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0086] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that the instructions, when executed by the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in one or more boxes of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, a programmable data processing apparatus, and / or other devices to operate in a particular manner, so that the computer-readable medium storing the instructions comprises a manufacture, which includes instructions for implementing various aspects of the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0087] The computer-readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices, such that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other devices implement the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0088] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the boxes may occur in a different order than noted in the figures. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagrams and / or flowcharts, and combinations of boxes in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified function or act, or can be implemented by a combination of dedicated hardware and computer instructions.

[0089] The foregoing is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A door opening and closing control method, characterized in that: include: In the case where the anti-collision function module of the vehicle electric door prohibits the electric door from opening, detecting the start operation of the forced door opening mode of the electric door; When the electric door is in a forced door opening mode, the electric door is controlled to open according to the forced door opening mode, wherein the door opening speed in the forced door opening mode is less than or equal to a target speed; wherein the target speed is determined according to the door opening speed when the anti-collision function module allows the electric door to open.

2. The method according to claim 1, characterized in that After controlling the electric door to open according to the forced door opening mode, the method further includes: A start operation of the door opening and holding mode of the electric door is detected; wherein the door opening and holding mode is used to control the electric door to maintain the door opening state; When the electric door is in the door opening holding mode, the electric door is controlled to shield the door closing instruction and only respond to the door opening instruction to open the door, or respond to the pause instruction to stop opening the door during the door opening process.

3. The method according to claim 1, characterized in that The start operation of the forced door opening mode includes a long press operation of the forced button; The method further comprises: During the process of controlling the electric door to open according to the forced door opening mode, when it is detected that the forced button is released, the electric door is controlled to stop suddenly.

4. The method according to claim 3, characterized in that The method further comprises: When the forced button is in a long-pressed state, the motion safety module of the electric door is shielded; wherein the motion safety function includes at least one of an anti-collision function module, a current anti-pinch module and a door opening warning system.

5. The method according to any one of claims 1 to 4, characterized in that: When the electric door is in the forced door opening mode, before controlling the electric door to open according to the forced door opening mode, the method also includes: determining that the vehicle is in a target state, the target state includes the vehicle being stationary and enabling the forced door opening mode.

6. The method according to claim 1, characterized in that The controlling the electric door to open according to the forced door opening mode includes: controlling the electric door to open to a preset opening at an opening speed less than or equal to a target speed, wherein the value of the preset opening is less than a reference opening, wherein the reference opening is the maximum opening when the anti-collision radar allows the electric door to open.

7. The method according to claim 2, characterized in that The method further includes: in the door opening holding mode, the electric door adopts a mechanical suspension mode in a stopped state.

8. A vehicle, characterized in that: The vehicle is configured to execute the door opening and closing control method according to any one of claims 1-8.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores at least one computer program executable by the at least one processor, and the at least one computer program is executed by the at least one processor so that the at least one processor can execute the vehicle door opening and closing control method as described in any one of claims 1-7.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed in a processor, the vehicle door opening and closing control method according to any one of claims 1 to 7 is implemented.

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