Vehicle door device, vehicle door control method and related products

Abstract

A vehicle door device, a vehicle door control method and related products are applied to the technical field of vehicles. The vehicle door device comprises a first vehicle door, a second vehicle door and a controller which are arranged in a split mode, and the first vehicle door and the second vehicle door can independently rotate so as to move between the corresponding closing position and opening position. In the closed state, at least part of the first vehicle door and at least part of the second vehicle door overlap. The controller is used for controlling the first vehicle door to move from the first closed position to the first open position and controlling the second vehicle door to move from the second closed position to the second open position, and when the first vehicle door moves to the first position, the second vehicle door moves between the second closed position and the first position. The first position is a collision critical position of the first vehicle door and the second vehicle door. Opening and closing of the electric control split type vehicle door can be supported, the door opening efficiency can be improved while vehicle door collision can be effectively avoided, and the requirements of a user for the safety and convenience of a vehicle can be met.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a door device, a door control method, and related products. Background Art

[0002] With the continuous development of the automotive industry, the functional and convenient design of vehicles has been increasingly emphasized. As a unique door structure, the split door can meet diverse loading requirements and is applied to some vehicle models. The split door includes two doors that are separately arranged. To meet the airtightness requirements of the vehicle, the two doors are usually designed to have a partial overlap, which results in a risk of interference in their movement trajectories during the opening and closing processes.

[0003] Due to the development of vehicle electrification and the user's demand for the door opening and closing efficiency, some split doors are designed to support electric opening and closing. However, the two electrically controlled doors are prone to collision. The collision will not only damage the structure of the doors and affect their service life, but may also pose a safety hazard and affect the user's personal and property safety.

[0004] Therefore, developing a split door that supports electric control, has a high door opening efficiency, and can effectively avoid door collisions has become an urgent problem to be solved in the current automotive engineering field. Summary of the Invention

[0005] This application provides a door device, a door control method, and related products, which can support the opening and closing of the split door by electric control, effectively avoid door collisions while improving the door opening efficiency, meet the user's requirements for vehicle safety and convenience, and enhance the user's experience of using intelligent vehicles.

[0006] In a first aspect, this application provides a door device. The door device includes a first door, a second door, and a controller. The first door can rotate around a first rotation axis so that the first door moves between a first open position and a first closed position. The second door can rotate around a second rotation axis so that the second door moves between a second open position and a second closed position. The first door includes a first area, and the second door includes a second area. When the first door is in the first closed position and the second door is in the second closed position, the first area and the second area overlap, and the first area is closer to the outside of the door device than the second area.

[0007] The controller is used to control the door device to achieve the following opening movement: the first door moves from the first closed position to the first open position, and the second door moves from the second closed position to the second open position. When the first door moves to the first position, the second door moves between the second closed position and the first position. The first position is the intersection point of the trajectories, and the intersection point of the trajectories is the intersection point of the movement trajectory of the edge of the first door and the movement trajectory of the edge of the second door.

[0008] Exemplarily, the edge of the first door is the edge on the side of the first door away from the first rotation axis, or the edge on the side opposite to the first rotation axis. Similarly, the second door has a similar design.

[0009] Since there is an overlapping part between the first door and the second door, when opening the door, the movement trajectories of the two doors interfere with each other. If there is a trajectory conflict, it may lead to a risk of door collision. In some solutions, in order to ensure no collision during the opening process, the door device can first open the first door, and then open the second door after the first door is fully opened. Although the sequential opening ensures the safety of the opening process, it greatly reduces the door opening efficiency. Especially when the user urgently needs to quickly load and unload items or continue to take items from the trunk, the long waiting time for opening the door is extremely inconvenient.

[0010] In the solution provided in this application, the opening movements of the first door and the second door are not completely segmented. Instead, before the first door moves to the farthest collision point (i.e., the first position) of the two, the second door has already started to move. Moreover, when the first door moves to the first position, the second door has already moved between the second closed position and the first position. On the one hand, the movement progress of the two doors is relatively small, and the two doors can pass through the first position one after another and then unfold. The lag of the second door is small, shortening the opening time of the entire door device and improving the convenience of the door device. On the other hand, when the first door passes through the first position, the second door has left the second closed position but has not reached the first position, so that there is a gap between the door positions of the two doors, ensuring no collision during their opening process and improving safety.

[0011] In addition, when the first door reaches the first position, the first door has opened to form a certain gap, and the user can almost see the edge of the second door. If the second door is still in the closed state at this time, the user may think that the second door is stuck. In the above solution, before the first door reaches the first position, the second door has already left the closed position. When the first door reaches the first position, the second door has moved a certain distance. From the user's perspective, it can be observed that the two doors open smoothly one after another, without obvious door jamming, which can enhance the user's intelligent experience of the automatic door.

[0012] Exemplarily, the first door and the second door are the rear tailgate of the vehicle. The door device is a split tailgate device. Again exemplarily, the first door and the second door are the side doors of the vehicle.

[0013] In some cases, the first door and the second door are arranged in a direction perpendicular to the ground. The first door is the upper tailgate or the sky gate, that is, the tailgate away from the ground, and the second door is the lower tailgate or the ground gate, that is, the tailgate close to the ground. In this way, setting at least part of the first door (such as the first area) to cover at least part of the second door (such as the second area) can meet the airtight requirement of the door device, which is beneficial to preventing rain and preventing falling sundries from entering the vehicle.

[0014] In some other cases, the first door and the second door are arranged in a direction parallel to the ground.

[0015] In a possible implementation manner of the first aspect, the controller is further configured to control the door device to perform the following closing movement: the first door and the second door move alternately to form at least two closing movement segments. Moreover, after the second door passes through the first position, the first door passes through the first position. That is, the moment when the second door passes through the first position is before the moment when the first door passes through the first position.

[0016] The above implementation manner introduces a door closing process. In the door closing process, the two doors move alternately and intermittently. When one door is in the moving process, the other door is in the stopped state. And among the two doors, the second door passes through the first position first and the second door passes through the first position later.

[0017] On the one hand, since the user has finished using the door device during the closing stage, the safety of the door device during closing can be ensured preferentially at this time. Therefore, setting the two doors to move in a segmented and intermittent manner and ensuring that the second door passes through the first position first can make the movements of the two doors independent and improve the safety during the closing stage. On the other hand, the closing process is alternating, intermittent and orderly, bringing the user a more controllable operation feeling. For example, after placing the items, close one of the doors first. The user can use the short time when the other door is not closed to visually check the items in the carriage to confirm whether there are any missing items, etc., which can improve the overall satisfaction of the user with the vehicle use.

[0018] In another possible implementation manner of the first aspect, during the closing movement of the first door and the second door, at any moment after the second door passes through the first position and before the second door reaches the second closing position, the first distance is greater than the second distance. Wherein, the first distance is the distance between the current position of the first door and the closing position of the first door, and the second distance is the distance between the current position of the second door and the closing position of the second door.

[0019] In the above-described embodiment, within the range where there is a risk of movement interference between the first door and the second door (referred to as the interference range), the position of the first door is always further away from its closed position, so that the first door cannot catch up with the second door, further reducing the collision risk and enhancing the safety during the closing phase.

[0020] In yet another possible embodiment of the first aspect, after each closing movement segment ends, the first distance is greater than the second distance. In the above-described embodiment, outside the interference range, the position of the second door is also further away from its closed position, so that the closing progress of the second door always lags behind that of the first door, further reducing the collision risk and enhancing the safety during the closing phase.

[0021] In yet another possible embodiment of the first aspect, at least two closing movement segments include a first closing movement segment and a second closing movement segment. The first closing movement segment is the first closing movement segment formed after the second door starts moving from the second open position, and the second closing movement segment is the second closing movement segment formed after the first door starts moving from the first open position. The second closing movement segment is later than the first closing movement segment and the first closing movement segment and the second closing movement segment do not overlap on the time axis.

[0022] In the above-described embodiment, during the door closing process, the second door first performs the closing movement, and then the first door performs the closing movement. In this way, the first door located inside can move to a state closer to the closed position as soon as possible, and even reach the closed position, reducing the door closing process and enhancing the door closing efficiency.

[0023] In yet another possible embodiment of the first aspect, the controller is further configured to control the door device to perform the following closing movement: the first door moves from the first open position to the first closed position, and the second door moves from the second open position to the second closed position. When the first door moves to the first position, the second door moves between the second closed position and the first position.

[0024] The above-described embodiment introduces another door closing process. In the above door closing process, the first door and the second door can successively reach the interference range, and when the first door moves to the first position, the second door is already closer to the closed position, enabling the doors to close smoothly. Moreover, the above method makes the running distance difference between the first door and the second door smaller, can reduce the impact force of the outer door on the inner door, enhance the service life of the door device, and reduce the door closing noise.

[0025] In yet another possible embodiment of the first aspect, the closing movement process of the first door and the closing movement process of the second door overlap on the time axis. That is, the second door and the second door can move simultaneously without alternating movements, so as to enhance the door closing efficiency and reduce the waiting time of the user.

[0026] In yet another possible implementation of the first aspect, the movement of the first vehicle door from the first closed position to the first open position includes: the first vehicle door moves from the first closed position to the first open position at a first moment. The movement of the second vehicle door from the second closed position to the second open position includes: the second vehicle door moves from the second closed position to the second open position at a second moment, and the second moment is later than the first moment.

[0027] In the above implementation, the first vehicle door and the second vehicle door move successively, which can avoid the second vehicle door hitting the first vehicle door in front during the initial stage of movement, resulting in scratches on the vehicle doors, improving the service life of the vehicle door device and reducing the noise during door opening.

[0028] In yet another possible implementation of the first aspect, there is an overlap in the time axis between the opening movement process of the first vehicle door and the opening movement process of the second vehicle door. That is, the second vehicle door and the second vehicle door can move simultaneously without alternating movement, which can improve the door closing efficiency and reduce the waiting time of the user.

[0029] In yet another possible implementation of the first aspect, the opening movement further includes: when the first vehicle door moves from the first closed position to the first intermediate position, the second vehicle door starts to move, and the first intermediate position is located between the first closed position and the first position. During the period from when the first vehicle door starts to move until it moves to the first position (or referred to as the movement segment SO1), the movement speed of the second vehicle door is less than the movement speed of the first vehicle door.

[0030] The above implementation introduces an opening door process. When the first vehicle door first opens a small angle (i.e., the first vehicle door is between the second position and the first position), the second vehicle door starts to open slowly, and the movement speed of the second vehicle door is always less than the movement speed of the first vehicle door, thereby avoiding the second vehicle door catching up with the first vehicle door in front and improving the safety during the opening process of the vehicle door device.

[0031] In yet another possible implementation of the first aspect, the first vehicle door moves from the first closed position to the first open position, and this movement continues from the first closed position to the first open position, referred to as the movement segment SO2. The duration of the movement segment SO2 covers at least part of the period of the movement segment SO1. In other words, the first vehicle door continues to move after leaving the first closed position, and the movement of the first vehicle door does not stop after the second vehicle door starts to move. Further, during at least part of the duration of the movement segment SO1, both the first vehicle door and the second vehicle door are in a moving state. When the first vehicle door passes through the first position, the movement position of the second vehicle door is between the second closed position and the first position.

[0032] In some cases, after the first vehicle door passes through the first position, the second vehicle door performs the next opening movement (or the movement segment SO3), and the maximum speed of the second vehicle door within the movement segment SO3 is greater than the maximum speed of the second vehicle door within the movement segment SO1. In other words, after the first vehicle door is opened to the first position, the second vehicle door is normally opened, and its opening speed can be greater than the speed in the aforementioned slow opening stage.

[0033] In another possible implementation manner of the first aspect, the opening movement further includes: when the first vehicle door moves from the first closed position to the first intermediate position, the second vehicle door starts to move, and the first intermediate position is located between the first closed position and the first position. The second vehicle door stops moving after moving to the second intermediate position, and the second intermediate position is located between the second closed position and the first intermediate position. After the first vehicle door passes through the first position, the second vehicle door continues to move from the second intermediate position.

[0034] The above implementation manner introduces an opening process. When a small angle is first opened (i.e., the first vehicle door is between the second position and the first position), the second vehicle door starts to open to a smaller angle (i.e., the second vehicle door is between the closed state and the opening position of the first vehicle door). After that, the second vehicle door hovers in the open state. After the first vehicle door is opened to the collision point, the second vehicle door is normally opened.

[0035] Further, when the second vehicle door starts to move, the first vehicle door can stop moving. After the second vehicle door moves from the first closed position to the second intermediate position, the first vehicle door continues to move. Of course, when the second vehicle door starts to move, the first vehicle door continues to move without hovering.

[0036] In another possible implementation manner of the first aspect, the opening movement further includes: the first vehicle door and the second vehicle door alternately move to form at least three movement segments, and after the first vehicle door passes through the first position, the second vehicle door passes through the first position. The at least three movement segments include the movement segment SO4 and the movement segment SO5. The movement segment SO4 is the first movement segment formed after the first vehicle door starts to move from the first closed position, and the movement segment SO5 is the second movement segment formed after the second vehicle door starts to move from the second closed position. The movement segment SO5 is later than the movement segment SO4 and the movement segment SO5 and the movement segment SO4 do not overlap on the time axis.

[0037] In the above implementation manner, the first vehicle door and the second vehicle door alternately open to form multiple movement segments, which can avoid collisions and the control logic is simpler and more accurate.

[0038] In yet another possible implementation of the first aspect, the movement of the first door from the first open position to the first closed position includes: the first door moving from the first open position to the first closed position at the third moment. The movement of the second door from the second open position to the second closed position includes: the second door moving from the second open position to the second closed position at the third moment. Further, the maximum value of the movement speed of the second door is greater than the maximum value of the closing speed of the first door.

[0039] In the above implementation, the first door and the second door can be closed simultaneously, which can avoid the problem that the user may think the door is stuck when observed from the user's perspective after the door closing process is triggered, and improve the user experience. On this basis, by designing the second door to move faster, the second door can reach the first position and close faster, avoiding the collision risk of the split door.

[0040] In yet another possible implementation of the first aspect, when the second door moves from the second open position to the third intermediate position, the first door starts to move from the first open position, and the third intermediate position is located between the first open position and the first position. Before the second door passes through the first position, the movement speed of the first door is less than the movement speed of the second door.

[0041] The above implementation introduces another door closing process. When the second door is closed to a large angle (i.e., the second door is between the second open position and the first position), the first door starts to move slowly but remains between the first open position and the first position. After the second door is closed to the first position, the first door closes normally. At this time, the first door has passed through the first position before the second door reaches the closed state. By designing the closing speed of the door and passing through the first position successively backward, the door closing efficiency is improved while avoiding the collision risk.

[0042] In yet another possible implementation of the first aspect, the first door moves from the first open position to the first closed position at the third moment, and the second door moves from the second open position to the second closed position at the third moment. When the second door moves to the fourth intermediate position, the second door stops moving, and the fourth intermediate position is located between the second closed position and the first position. When the first door moves to the first position, the second door continues to move to the second closed position.

[0043] The above-described embodiment introduces another door closing process. The first door and the second door are closed simultaneously. When the second door is closed to a small angle remaining (i.e., the second door is between the second closed position and the first position), the second door hovers. After the first door is closed to the first position, the second door continues to move to the second closed position. At this time, before the second door is closed, the first door has passed through the anti-collision point. By designing the door closing time and successively passing through the first position backward, the door closing efficiency is improved while avoiding the collision risk.

[0044] In another possible embodiment of the first aspect, the surface of the first region close to the inner side of the door device includes a first locking structure, and the surface of the second region close to the outer side of the door includes a second locking structure. The first locking structure is used to be coupled with the second locking mechanism to achieve locking between the first door and the second door.

[0045] In the above-described embodiment, the locking of the first door depends on cooperation with the second locking structure on the second door. When opening the door, the first door needs to be unlocked and opened first, so as to avoid the locking structure getting stuck and causing the door opening process to be unsmooth.

[0046] In a second aspect, the present application provides a door control method for controlling a door device. The door device includes a first door and a second door. The first door can rotate around a first rotation axis so that the first door moves between a first open position and a first closed position. The second door can rotate around a second rotation axis so that the second door moves between a second open position and a second closed position. The first door includes a first region, and the second door includes a second region. When the first door is in the first closed position and the second door is in the second closed position, the first region and the second region overlap, and the first region is closer to the outer side of the door device than the second region.

[0047] The door control method can be executed by a door control device, which is capable of controlling the movement of the door in the door device. For example, the door control device can directly generate control instructions for the door. Additionally, the door control device can generate control information for the door, such as the duration of the opening movement, the opening angle, the opening speed, the duration of the closing movement, the closing angle, or the closing speed, etc., one or more of which indicate the target amount of the control operation and can be provided to the execution device to achieve the control of the door. Exemplarily, the door control device is a controller in the vehicle, such as a domain controller (DC), an electronic control unit (ECU), etc. Among them, the DC can be a motion domain controller (MDC), a vehicle domain controller (VDC), etc. Alternatively, the door control device is a software and / or hardware module in the above-mentioned controller.

[0048] The door control method includes: the door control device controls the first door to move from the first closed position to the first open position and controls the second door to move from the second closed position to the second open position. Among them, when the first door moves to the first position, the second door moves between the second closed position and the first position. The first position is the intersection point of the trajectories, and the intersection point of the trajectories is the intersection point of the movement trajectory of the edge of the first door and the movement trajectory of the edge of the second door.

[0049] In a possible implementation manner of the second aspect, the door control method further includes: the door control device controls the first door and the second door to alternately perform closing movements to form at least two closing movement segments, and the moment when the second door passes through the first position is before the moment when the first door passes through the first position.

[0050] In another possible implementation manner of the second aspect, during the closing movement of the first door and the second door, at any moment after the second door passes through the first position and before the second door reaches the second closed position, the first distance is greater than the second distance. Among them, the first distance is the distance between the current position of the first door and the closed position of the first door, and the second distance is the distance between the current position of the second door and the closed position of the second door.

[0051] In yet another possible implementation of the second aspect, at least two closing motion segments include a first closing motion segment and a second closing motion segment. The first closing motion segment is the first closing motion segment formed after the second vehicle door starts to move from the second opening position, and the second closing motion segment is the second closing motion segment formed after the first vehicle door starts to move from the first opening position. The second closing motion segment is later than the first closing motion segment, and the first closing motion segment and the second closing motion segment do not overlap on the time axis.

[0052] In yet another possible implementation of the second aspect, the control method further includes: the vehicle door control device controls the first vehicle door to move from the first opening position to the first closing position, and controls the second vehicle door to move from the second opening position to the second closing position. When the first vehicle door moves to the first position, the second vehicle door moves between the second closing position and the first position.

[0053] In yet another possible implementation of the second aspect, the vehicle door control device controls the first vehicle door to move from the first closing position to the first opening position at the first moment. The vehicle door control device controls the second vehicle door to move from the second closing position to the second opening position, including: the second vehicle door moves from the second closing position to the second opening position at the second moment, and the second moment is later than the first moment.

[0054] In yet another possible implementation of the second aspect, during the opening motion process, the opening motion process of the first vehicle door and the opening motion process of the second vehicle door overlap on the time axis.

[0055] In yet another possible implementation of the second aspect, in the opening process, the vehicle door control device controls the second vehicle door to start moving when the first vehicle door moves from the first closing position to the first intermediate position, and the first intermediate position is located between the first closing position and the first position. During the period from when the first vehicle door starts to move to when the first vehicle door moves to the first position (or called the motion segment SO1), the moving speed of the second vehicle door is less than that of the first vehicle door.

[0056] In yet another possible implementation of the second aspect, in the opening process, the vehicle door control device controls the second vehicle door to start moving when the first vehicle door moves from the first closing position to the first intermediate position, and the first intermediate position is located between the first closing position and the first position. The vehicle door control device controls the second vehicle door to stop moving after moving to the second intermediate position, and the second intermediate position is located between the second closing position and the first intermediate position. The vehicle door control device controls the second vehicle door to continue moving from the second intermediate position after the first vehicle door passes the first position.

[0057] In yet another possible implementation of the second aspect, during the movement of the first door from the first closed position to the first open position and the second door from the second closed position to the second open position, the first door and the second door move alternately to form at least three opening movement segments, and the moment when the first door passes through the first position is before the moment when the second door passes through the first position. The at least three movement segments include movement segment SO4 and movement segment SO5. Movement segment SO4 is the first movement segment formed after the first door starts to move from the first closed position, and movement segment SO5 is the second movement segment formed after the second door starts to move from the second closed position. Movement segment SO5 is later than movement segment SO4 and movement segment SO5 and movement segment SO4 do not overlap on the time axis.

[0058] In yet another possible implementation of the second aspect, during the closing process, the door control device controls the first door to move from the first open position to the first closed position at the third moment, and controls the second door to move from the second open position to the second closed position at the third moment. The maximum value of the movement speed of the second door is greater than the maximum value of the closing speed of the first door.

[0059] In yet another possible implementation of the second aspect, during the closing process, the door control device controls the first door to start moving from the first open position when the second door moves from the second open position to the third intermediate position, and the third intermediate position is between the first open position and the first position. Before the second door passes through the first position, the movement speed of the first door is less than the movement speed of the second door.

[0060] In yet another possible implementation of the second aspect, during the closing process, the door control device controls the first door to move from the first open position to the first closed position at the third moment. The door control device controls the second door to move from the second open position to the second closed position at the third moment, and controls the second door to stop moving when the second door moves to the fourth intermediate position, and the fourth intermediate position is between the second closed position and the first position. Moreover, the door control device controls the second door to continue to move to the second closed position when the first door moves to the first position.

[0061] In a third aspect, the present application provides a door control device, which includes a first control unit and a second control unit. The first control unit is used to control the first door, and the second control unit is used to control the second door. The door control device is used to execute the method described in the second aspect or any possible implementation of the second aspect.

[0062] Fourth aspect, the present application provides a controller, including at least one processor and a memory. The memory is used to store computer programs, and the at least one processor is used to call the computer programs so that the method described in the second aspect or any possible implementation manner of the second aspect is implemented.

[0063] Fifth aspect, the present application provides a chip, including at least one processor and a communication interface. The communication interface is used to input and / or output data, and the at least one processor is used to call computer instructions so that the method described in the second aspect or any possible implementation manner of the second aspect is implemented.

[0064] Sixth aspect, the present application provides a vehicle, which includes the door device described in the first aspect or any possible implementation manner of the first aspect, or includes the door control device of the third aspect, or includes the controller of the fourth aspect, or includes the chip of the fifth aspect.

[0065] Seventh aspect, the present application provides a vehicle, which includes the door device described in the first aspect or any possible implementation manner of the first aspect, or includes the door control device of the third aspect, or includes the controller of the fourth aspect, or includes the chip of the fifth aspect.

[0066] Eighth aspect, the present application provides a computer-readable storage medium, including computer program instructions. When the computer program instructions are executed by at least one processor, the method described in the second aspect or any possible implementation manner of the second aspect is implemented.

[0067] Ninth aspect, the present application provides a computer program product containing instructions. When the instructions are executed by at least one processor, the method described in the second aspect or any possible implementation manner of the second aspect is implemented.

[0068] For the beneficial effects of the technical solutions of the second to ninth aspects of the present application, reference can be made to the beneficial effects of the technical solution of the first aspect. Description of the Drawings

[0069] Figure 1 is a schematic structural diagram of a door device provided by an embodiment of the application;

[0070] Figure 2 is a schematic structural diagram of another door device provided by an embodiment of the application;

[0071] Figure 3 is a schematic trajectory diagram of the opening movement of a door device provided by an embodiment of the application;

[0072] Figure 4 is a schematic diagram of the opening movement of a door device provided by an embodiment of the application;

[0073] Figure 5 is a time-sharing schematic diagram of an opening motion process provided by an embodiment of the present application;

[0074] Figure 6 is another time-sharing schematic diagram of an opening motion process provided by an embodiment of the present application;

[0075] Figure 7 is another time-sharing schematic diagram of an opening motion process provided by an embodiment of the present application;

[0076] Figure 8 is a time-sharing schematic diagram of a closing motion process provided by an embodiment of the present application;

[0077] Figure 9 is a schematic diagram of a closing motion provided by an embodiment of the present application;

[0078] Figure 10 is another time-sharing schematic diagram of a closing motion process provided by an embodiment of the present application;

[0079] Figure 11 is another time-sharing schematic diagram of a closing motion process provided by an embodiment of the present application;

[0080] Figure 12 is a schematic flowchart of a door control method provided by an embodiment of the present application;

[0081] Figures 13 - 19 is a schematic diagram of some control timings provided by an embodiment of the present application;

[0082] Figure 20 is a schematic structural diagram of a door control device provided by an embodiment of the present application;

[0083] Figure 21 is a schematic structural diagram of a controller provided by an embodiment of the present application.

[0084] Reference numerals:

[0085] 100 - door device, 10 - first door, 101 - first area, 20 - second door, 201 - second area, 30 - controller, 301 - processor, 302 - memory, 303 - communication interface, 304 - connection line, 40 - first door drive mechanism, 50 - second door drive mechanism, 130 - door control device, 1301 - first control unit, 1302 - second control unit. Detailed implementation manners

[0086] First, the door device provided by the embodiment of the present application will be introduced below.

[0087] Please refer to Figure 1 , Figure 2And Figure 3 , the door device 100 includes a first door 10 and a second door 20. The first door 10 can rotate around a first rotation axis so that the first door 10 moves between a first open position and a first closed position. The second door 20 can rotate around a second rotation axis so that the second door 20 moves between a second open position and a second closed position. Among them, the first open position is the position when the first door 10 is opened to the maximum angle, or the first open position is the position where the first door 10 stops opening during the opening process. In the latter case, the first door 10 is not opened to the maximum achievable angle. For example, the user can set the first door 10 to only open 50%, or only open the door to a medium angle, etc. The second open position also has a similar possible design.

[0088] In some cases, in combination with Figure 1 , the first door 10 and the second door 20 are the rear tailgate of the vehicle. The door device 100 is a split tailgate device. Exemplarily again, the first door 10 and the second door 20 are the side doors of the vehicle. Further, the first door 10 and the second door 20 are arranged in a direction perpendicular to the ground. The first door 10 can be called the upper tailgate, that is, the tailgate away from the ground direction, and the second door 20 can be called the lower tailgate, that is, the tailgate close to the ground direction. Of course Figure 1 The situation shown is only an example. The solutions of the embodiments of the present application are also applicable to the doors at other positions of the first door 10 and the second door 20, and are also applicable to the situation where the first door 10 and the second door 20 are arranged in a direction parallel to the ground.

[0089] The first door 10 includes a first area 101, and the second door 20 includes a second area 201. When the first door 10 is in the first closed position and the second door 20 is in the second closed position, the first area 101 overlaps with the second area 201 and the first area 101 is closer to the outside of the door device than the second area 201. As Figure 2 shown, the first area 101 is part of the first door 10, the second area 201 is part of the second door 20, and the first area 101 and the second area 201 are stacked when the door is closed, so that the door device is airtight.

[0090] In combination with Figure 3 it can be seen that there is a risk of interference in the movement trajectories of the first door 10 and the second door 20 during the opening and closing processes. As Figure 3 shown, there is a range of mutual movement interference between the opening trajectory of the edge of the first door 10 and the opening trajectory of the edge of the second door 20 (as Figure 3as shown in the shaded area). The intersection point of the trajectories of the edges of the first door 10 and the second door 20 is the first position, which is also the farthest point from the stop positions of the first door 10 and the second door 20 within the interference range, and can be referred to as, for example, an anti-collision point, a collision edge point, or a collision critical point, etc. Exemplarily, when the first door 10 is opened to the first position, the opening angle of the first door 10 is θ.

[0091] Optionally, the edge is the edge of the side of the first door 10 away from the first rotation axis, or the edge of the side opposite to the first rotation axis. Further, the first door 10 has a thickness, and two surfaces are oppositely arranged along the thickness direction. One surface is close to the outside of the door device (referred to as the outer surface), and the other surface is close to the inside of the door device (referred to as the inner surface). When the first door 10 and the second door 20 are both in the closed position, the inner surface of the first door 10 is closer to the second door 20. Correspondingly, the second door 20 also has an inner surface and an outer surface. When the first door 10 and the second door 20 are both in the closed position, the outer surface of the second door 20 is closer to the first door 10. In this case, the edge of the first door 10 is the edge of the side of the inner surface of the first door 10 away from the first rotation axis, or the edge of the side of the inner surface of the first door 10 opposite to the first rotation axis. Similarly, the edge of the second door 20 is the edge of the side of the outer surface of the second door 20 away from the second rotation axis, or the edge of the side of the outer surface of the second door 20 opposite to the first rotation axis.

[0092] In some embodiments of the present application, the opening position and the end position of the first door 10 are described by taking the position of the inner surface of the first door 10 as an example, and the opening and end positions of the second door 20 are described by taking the position of the outer surface of the second door 20 as an example. However, the solution of the present application is also applicable to the case where the movement of the door is represented by other reference points or reference planes.

[0093] The door device 100 further includes a controller 30, or the door device 100 is connected to the controller 30. The controller 30 can control the movement of the doors of the door device, thereby realizing the electric opening and / or closing of the first door 10 and the second door 20. Specifically, the controller 30 is a device with logical operation ability and information output ability, and can realize the control logic of the doors. In some cases, the controller 30 may include one or more processors, and the processors can be used to run programs or instructions corresponding to the programs to realize corresponding functions. In one implementation, the processor may include a circuit with instruction reading and running ability, such as an arithmetic unit, a processor core, a central processing unit (CPU), a microprocessor, a microcontroller unit (MCU), a graphics processing unit (GPU), or a digital signal processor (DSP), etc. In another implementation, the processor can realize certain functions through the logic of a hardware circuit, and the logic of the hardware circuit is fixed or can be reconstructed. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to realize the configuration of the hardware circuit can be understood as the process of the processor loading instructions to realize corresponding functions. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In some implementations, the controller 30 includes at least one processor integrated in the form of a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor. When the SOC includes multiple processors, the types of the multiple processors can be different, such as including a CPU, an MCU, and an NPU, etc.

[0094] In some possible embodiments, the door device 100 further includes a first door driving mechanism 40 and a second door driving mechanism 50. The controller 30 is connected to the first door driving mechanism 40 and controls the movement of the first door driving mechanism 40 through a control signal to drive the first door 10 to move. Similarly, the controller 30 is connected to the second door driving mechanism 50 and controls the movement of the second door driving mechanism 50 through a control signal to drive the second door 20 to move. Exemplarily, the first door driving mechanism 40 may adopt one or more driving methods such as motor driving, hinge structure driving, hydraulic driving, or pneumatic driving. Two possible examples are introduced below. Taking motor driving as an example, the first door driving mechanism 40 may include an electric strut composed of two core shaft driving rods. The driving rod is connected to the inner tube and the outer tube through a main shaft driver. The motor and gear in the inner tube drive the threaded main shaft, and the threaded main shaft moves on a threaded nut fixed to the inner side of the outer tube, converting the rotation of the motor into a linear motion, thereby driving the opening and closing of the door. Taking hinge structure driving as an example, the first door driving mechanism 40 includes a hinge integrating a motor and a transmission device. The motor and the transmission device transmit power to the hinge, causing the door to rotate around the axis of the hinge to achieve the opening and closing of the door.

[0095] As mentioned above, the controller 30 can control the movement of the doors of the door device, thereby realizing the electric opening and / or closing of the first door 10 and the second door 20.

[0096] The door opening control implemented by the controller will be introduced below. Combining Figure 4 , the controller 30 can control the door device 10 to achieve the following opening movement: the first door 10 moves from the first closed position to the first open position, and the second door 20 moves from the second closed position to the second open position. Moreover, when the first door 10 moves to the first position, the second door 20 moves between the second closed position and the first position. The control design of the foregoing opening movement enables the two doors to be unfolded successively after passing through the first position when the door device is electrically opened, and the door opening efficiency is relatively high.

[0097] Considering a possible situation, if the second door 20 is controlled to open after the first door moves through the first position, the user can obviously perceive that the second door pauses at this time, the door opening efficiency is relatively low, and the user experience is poor. The foregoing solution can prevent the second door 20 from experiencing obvious jams, the door opening process is coordinated and smooth, and the user experience is good.

[0098] Optionally, the first door 10 and the second door 20 may have a stage of simultaneous movement during the movement process, or the first door 10 and the second door 20 may move alternately and intermittently. The following introduces these two situations separately:

[0099] In Case 1, during the opening process, the first door 10 and the second door 20 may have a stage of simultaneous movement. In other words, there is an overlap in the time axis between the opening movement process of the first door 10 and the opening movement process of the second door 20. For the sake of easy understanding, the following combines Figure 5 and Figure 6 to introduce two possible implementation examples.

[0100] As a possible example, the controller 30 controls the first door and the second door to perform the following opening movement: when the first door moves from the first closed position to the first intermediate position, the second door starts to move, and the first intermediate position is located between the first closed position and the first position. During the period when the first door starts to move until the first door moves to the first position (or called the movement segment SO1), the movement speed of the second door is less than the movement speed of the first door.

[0101] Please refer to Figure 5 , Figure 5 which is a time-sharing schematic diagram of an opening movement process provided by an embodiment of the present application. As shown in part (a) of Figure 5 , at time t0, both the first door 10 and the second door 20 are in the closed position, and the controller 30 controls the first door 10 to start moving at time t0. As shown in part (b) of Figure 5 , at time t1 (later than time t0), the first door 10 moves to a position between the first closed position and the first position (for example, called the first intermediate position), and the position of the first door 10 forms an angle α1 with the closed position of the first door. At time t1, the controller 30 controls the second door 20 to start moving and leave the second closed position. After time t1, both the first door 10 and the second door 20 continue to move, that is, within a period of time after time t1, both the first door 10 and the second door 20 are in a moving state. As shown in part (c) of Figure 5 , at time t2 (later than time t1), the first door 10 moves to the first position, and the second door 20 moves to a position between the second closed position and the first position. In other words, between time t1 and time t2, the second door 20 remains in a closed state (i.e., in the second closed position) and the first position. Optionally, at time t2, both the first door 10 and the second door 20 are also in a moving state. After time t2, the first door 10 leaves the first position, and there is no longer a risk of movement interference between the first door 10 and the second door 20, and both continue to move towards their respective opening positions, as shown in part (d) of Figure 5 .

[0102] As a possible design, between time t1 and time t2 (i.e., within the duration of the motion segment SO1), the moving speed of the second door 20 is less than that of the first door 10. That is to say, when the first door 10 first opens a small angle (such as α1), the second door 20 starts to open slowly, and the moving speed of the second door 20 is less than that of the first door 10, thereby preventing the second door 20 from catching up with the first door 10 in front and enhancing the safety during the opening process of the door device.

[0103] Furthermore, after the first door 10 moves to the first position, the speed of the second door 20 can be increased. After time t2, that is, after the first door 10 passes the first position, the second door 20 enters the next motion stage (conveniently called the motion segment SO3). The maximum speed of the second door within the motion segment SO3 is greater than the maximum speed of the second door within the motion segment SO1. In other words, after the first door 10 opens to the first position, the second door 20 opens normally, and its opening speed can be greater than the speed in the aforementioned slow opening stage (i.e., the fourth opening motion segment).

[0104] In the aforementioned example, the second door 20 can continue to move after the opening motion. Here is an example where the second door 20 has a hovering stage after opening.

[0105] As a possible example, when the first door moves from the first closed position to the first intermediate position, the second door starts to move. The first intermediate position is between the first closed position and the first position. After the second door moves to the second intermediate position, it stops moving. The second intermediate position is between the second closed position and the first intermediate position. After the first door passes the first position, the second door continues to move from the second intermediate position.

[0106] As shown in Figure 6 part (a), at time t1 (later than time t0), when the first door 10 moves to a position between the first closed position and the first position (for example, called the first intermediate position), the second door 20 leaves the second closed position and starts to move. At this time, the position of the first door 10 forms an angle α1 with the closed position of the first door. As shown in Figure 6 part (b), at time t4 (between time t1 and time t2), the second door 20 moves from the second closed position to the second intermediate position and starts to hover. At this time, the position of the second door is between the second closed position and the first position. For example, the position of the second door 20 forms an angle β1 with the second closed position. Optionally, β1 < α1, and / or, at time t2, the distance between the edge of the first door and the first closed position is greater than the distance between the second door 20 and the second closed position. As shown in Figure 6In part (c), at time t2 (later than time t4), the first door 10 moves to the first position. At this time, the second door 20 starts (or after time t2) to continue moving. After time t2, the first door 10 leaves the first position, and the first door 10 and the second door 20 continue to move towards their respective opening positions, as Figure 6 shown in the movement position example at time t3 in part (d).

[0107] In Figure 6 the embodiment shown, between time t0 and time t1, the first door 10 moves while the second door 20 is in a stopped state. Between time t1 and time t4, the first door 10 and the second door 20 are in a moving state. Between time t4 and time t2, the first door 10 moves while the second door 20 is in a stopped state again. After time t3, both the first door 10 and the second door 20 are in a moving state.

[0108] It should be understood that the aforementioned Figure 5 and Figure 6 movement control can be achieved through time control or through angle control. For example, the controller controls the first door 10 to start moving at time t0 and controls the second door 20 to start moving at time t1, etc. Another example is that the controller controls the second door 20 to start moving when the first door 10 forms an angle α1 with the first closed position. Another example is that in Figure 5 the embodiment shown, when the second door 20 needs to be opened by a certain angle, the controller can control the movement duration Δt of the second door 20 such that the second door 20 forms an angle β1 with the second closed position, or the controller controls the second door 20 to move to form an angle β1 with the second closed position. In some cases, the controller can also control the movement speed of the door.

[0109] Case 2: The first door 10 and the second door 20 operate alternately and intermittently during the movement process, and there is no stage of simultaneous movement.

[0110] As a possible example, the first door and the second door move alternately to form at least three movement segments, and after the first door passes through the first position, the second door passes through the first position. The at least three movement segments include movement segment SO4 and movement segment SO5. Movement segment SO4 is the first movement segment formed after the first door starts moving from the first closed position, and movement segment SO5 is the second movement segment formed after the second door starts moving from the second closed position. Movement segment SO5 is later than movement segment SO4 and movement segment SO5 and movement segment SO4 do not overlap on the time axis.

[0111] As Figure 7 shown in part (a), at time t5, both the first door 10 and the second door 20 are in the closed position, and the first door 10 starts moving at time t5. AsFigure 7 As shown in part (b), at time t6 (later than time t5), when the first vehicle door 10 moves between the first closed position and the first position (for example, a first intermediate position), the first vehicle door 10 hovers, and the second vehicle door 20 can start to move (or start to move after a certain delay) and leave the second closed position. At this time, the position of the first vehicle door 10 forms an angle α1 with the first closed position. As Figure 7 As shown in part (c), at time t7, the second vehicle door 20 moves to the second intermediate position. At this time, the second vehicle door 20 hovers while the first vehicle door 10 continues to move. At this time, the position of the second vehicle door 20 forms an angle β1 with the second closed position. As Figure 7 As shown in part (d), at time t8, the first vehicle door 10 moves to the first open position, and at this time the second vehicle door 20 continues to move. As Figure 7 As shown in part (e), at time t9, the second vehicle door 20 moves to the second open position.

[0112] In Figure 5 In the embodiment shown, the period between time t5 and time t6 is the movement segment SO4, during which the first vehicle door 10 moves while the second vehicle door 20 is in a stopped state. The period between time t6 and time t7 is the movement segment SO5, during which the second vehicle door 20 moves while the first vehicle door 10 is in a stopped state. Between time t7 and time t8, the first vehicle door 10 moves while the second vehicle door 20 is in a stopped state. Between time t8 and time t9, the second vehicle door 20 moves while the first vehicle door 10 is in a stopped state. By means of alternating movements, it is possible to preferentially ensure that there is no collision when the vehicle doors are opened, achieving a strong vehicle door control effect.

[0113] The above introduces two control processes during the door opening process. In some possible implementation manners, during the door opening process, the moment when the first vehicle door 10 leaves the first closed position is earlier than the moment when the second vehicle door 20 leaves the second closed position. That is, the controller controls the first vehicle door 10 to move from the first closed position to the first open position at a first moment, and controls the second vehicle door 20 to move from the second closed position to the second open position at a second moment, where the second moment is later than the first moment, and the second moment is later than the first moment. Since the first vehicle door 10 covers the second vehicle door 20, moving the first vehicle door 10 and the second vehicle door 20 successively can prevent the second vehicle door 20 from hitting the first vehicle door 10 in front during the initial stage of movement, resulting in scratching of the vehicle doors, improving the service life of the vehicle door device and reducing the noise during vehicle door opening.

[0114] In some solutions, the surface of the first region close to the inner side of the door device includes a first locking structure, and the surface of the second region close to the outer side of the door includes a second locking structure. The first locking structure is used to be coupled with the second locking mechanism to achieve locking between the first door 10 and the second door 20. In the above solution, the locking of the first door 10 depends on cooperation with the second locking structure on the second door 20. When opening the door, the first door 10 needs to be unlocked and opened first, so as to avoid the locking structure getting stuck and causing the opening process to be unsmooth.

[0115] The above has introduced the door opening process. Next, two door closing processes provided by this application will be introduced separately.

[0116] In one embodiment, the controller controls the door device to perform the following closing movement: the first door 10 and the second door 20 move alternately to form at least two closing movement segments. In other words, when one door is in the process of moving, the other door is in a stopped state. Moreover, after the second door 20 passes through the first position, the first door 10 passes through the first position. That is, the moment when the second door 20 passes through the first position is before the moment when the first door 10 passes through the first position.

[0117] Taking the formation of two closing movement segments as an example, please refer to Figure 8 , at time t10, both the first door 10 and the second door 20 are in the open position, and the second door 20 starts to move. At time t11 (later than time t10), the second door 20 moves to the second closed position, and the first door 10 can start to move (or start to move after a delay). Between time t10 and time t11, the second door 20 passes through the first position. At time t12, the first door 10 moves to the first closed position.

[0118] In Figure 8 In the example shown, between time t10 and time t11, the second door 20 moves while the first door 10 is in a stopped state. Between time t11 and time t12, the first door 10 moves while the second door 20 is in a stopped state. Through the alternating movement, it can preferentially ensure that there is no collision during the door closing process and achieve a strong door control effect.

[0119] Of course, during the closing movement process, the first door 10 and the second door 20 can move intermittently to form more movement segments. For example, the first door 10 first moves to a position between the first open position and the first position and hovers. After the second door 20 moves to the second closed position, the first door 10 continues to move to the first closed position. The situation of setting more movement segments will not be introduced one by one here.

[0120] Optionally, in an embodiment of segmented movement, after the end of each closing movement segment, the first distance is greater than the second distance. Here, the first distance is the distance between the current position of the first vehicle door 10 and the first closing position, and the second distance is the distance between the current position of the second vehicle door 20 and the closing position of the second vehicle door 20. The distance here may include one or more of a lateral distance, a longitudinal distance, a radial distance, an angular distance, etc. The core concept is to ensure that the position of the first vehicle door 10 can never catch up with the position of the second vehicle door 20, so that the position of the first vehicle door 10 is always farther from its closing position during the closing process, reducing the collision risk and enhancing the safety during the closing stage.

[0121] In some possible embodiments, in combination with Figure 9 , the first vehicle door 10 moves from the first open position to the first closing position, and the second vehicle door 20 moves from the second open position to the second closing position. When the first vehicle door 10 moves to the first position, the second vehicle door 20 moves between the second closing position and the first position. When the second vehicle door 20 reaches the second closing position, the first vehicle door 10 passes through the first position, and the position of the first vehicle door 10 is between the first closing position and the first position.

[0122] In still some other possible embodiments, there is a stage of common movement in the closing process of the first vehicle door 10 and the second vehicle door 20. Three possible examples are introduced below:

[0123] Example 1, the controller is configured to control the second vehicle door 20 to move from the second open position to the second closing position, and control the first vehicle door 10 to start moving from the first open position when the second vehicle door 20 moves from the second open position to the third intermediate position, where the third intermediate position is between the first open position and the first position. Further, before the second vehicle door 20 passes through the first position, the moving speed of the first vehicle door 10 is less than the moving speed of the second vehicle door 20.

[0124] As Figure 10 shown in part (a) of Figure 10 , at time t13, both the first vehicle door 10 and the second vehicle door 20 are in the open position, and the second vehicle door 20 starts moving at time t13. AsFigure 10 As shown in part (c), at time t15 (later than time t14), the first door 10 moves to the first position. At this time, the second door 20 moves between the first position and the second closed position, and at this moment, both the first door and the second door 20 are also in a moving state. After time t15, the second door 20 and the second door 20 reach the closed position, as shown in Figure 10 part (d). Optionally, between time t14 and time t15, the moving speed of the first door 10 is less than the moving speed of the second door 20.

[0125] In Figure 15 the embodiment shown, when the second door 20 is closed to a large angle (i.e., the second door 20 is between the second open position and the first position), the first door 10 starts to move slowly, but remains between the first open position and the first position. After the second door 20 is closed to the first position, the first door 10 closes normally. At this time, the first door 10 has passed the first position before the second door 20 reaches the closed state. By designing the closing speed of the door and successively passing the first position backward, the closing efficiency is improved while avoiding the risk of collision.

[0126] In Figure 15 the closing process shown, during at least part of the time period between time t14 and time t16, the first door 10 and the second door 20 move together. Of course, the present application is also applicable to the case where at least one door hovers between time t14 and time t16.

[0127] Example 2, the first door 10 moves from the first open position to the first closed position at the third moment, and the second door 20 moves from the second open position to the second closed position at the third moment. That is, the first door 10 and the second door 20 move simultaneously, but the moving speed of the first door 10 is less than the moving speed of the second door 20, and after the second door 20 passes the first position, the first door 10 passes the first position. When the second door is in the closed position, the first door has passed the first position.

[0128] Example 3, the first door 10 moves from the first open position to the first closed position at the third moment, and the second door 20 moves from the second open position to the second closed position at the third moment. When the second door 20 moves to the fourth intermediate position, the second door 20 stops moving, and the fourth intermediate position is between the second closed position and the first position. When the first door 10 moves to the first position, the second door 20 continues to move to the second closed position.

[0129] Please refer to Figure 11In part (a), at time t17, the first door 10 moves from the first open position to the first closed position, and the second door 20 moves from the second open position to the second closed position. As Figure 11 shown in part (b), at time t18, when the second door 20 moves to the fourth intermediate position (i.e., the second door 20 forms an angle β3 with the first closed position), the second door 20 stops moving. The fourth intermediate position is between the second closed position and the first position. At this time, the first door 10 continues to move. As Figure 11 shown in part (c), at time t19, the first door 10 moves to the first position, and the second door 20 continues to move to the second closed position. Subsequently, the first door 10 continues to move. As Figure 11 shown in part (d), at time t20, the first door 10 moves to the first closed position.

[0130] In Figure 11 the illustrated embodiment, the first door 10 and the second door 20 are closed simultaneously. When the second door 20 is closed to a small remaining angle (i.e., the second door 20 is between the second closed position and the first position), the second door 20 hovers. After the first door 10 is closed to the first position, the second door 20 continues to move to the second closed position. Before the second door 20 is closed, the first door 10 has passed the anti-collision point. By designing the closing time of the door and successively passing through the first position backward, the closing efficiency is improved while avoiding the collision risk.

[0131] In some possible implementation manners, during the closing movement of the first door 10 and the second door 20, at any moment between the second door 20 passing through the first position and the second door 20 being in the second closed position, the first distance is greater than the second distance. Wherein, the first distance is the distance between the current position of the first door 10 and the closed position of the first door 10, and the second angle is the distance between the current position of the second door 20 and the closed position of the second door 20. The distance here may include one or more of the lateral distance, longitudinal distance, radial distance, angular distance, etc. The core concept is to make the position of the first door 10 always unable to catch up with the position of the second door 20, so that the position of the first door 10 is always farther from its closed position during the closing process, reducing the collision risk and improving the safety during the closing stage.

[0132] The various implementation manners introduced above can be combined. Two combination examples are introduced below.

[0133] Combination example 1, there is simultaneous movement during the opening process, and the first door 10 and the second door 20 move alternately and intermittently during the closing process. For example, the opening process adopts Figure 5 or Figure 6 the opening process in the illustrated embodiment, and the closing process adoptsFigure 8 The door closing process shown

[0134] Combination Example 2. There can be simultaneous movement during the door opening and closing processes. During the door opening process, the controller controls the movement of the first door 10 and the second door 20, and ensures that the second door 20 has been opened before the first door 10 is opened to the first position. During the door closing process, the controller controls the movement of the first door 10 and the second door 20, and ensures that the second door 20 first passes through the first position, and the first door 10 has passed through the first position when the second door 20 is closed. For example, the door opening process adopts Figure 5 or Figure 6 the door opening process in the embodiment shown, and the door closing process adopts Figure 10 or Figure 11 the door closing process shown. Door process

[0135] Combination Example 3. Alternating and intermittent movements are adopted during the door opening and closing processes. During the door opening process, the controller controls the first door 10 to move first. At any moment when the first door 10 is still within the interference range, the distance between the first door 10 and the first closed position is greater than the distance between the second door 20 and the second closed position. In addition, it is also necessary to ensure that the first movement of the first door does not exceed the first position. During the door closing process, the controller controls the first door 10 and the second door 20 to move alternately. At any moment when the second door 20 enters the interference range, the distance between the first door 10 and the first closed position is greater than the distance between the second door 20 and the second closed position. For example, the door opening process adopts Figure 7 the door opening process in the embodiment shown. The door closing process adopts Figure 8 the door closing process shown

[0136] The above introduces the door device of the embodiments of the present application and some door opening and closing processes. Next, a door control method provided by the embodiments of the present application will be introduced

[0137] Please refer to Figure 12 , Figure 12 which is a schematic flowchart of a door control method provided by the embodiments of the present application. This door control method includes at least one or more of steps S1 to S4. Optionally, this method can be executed by the aforementioned controller 30, or by a module in the controller 30. It should be understood that for the convenience of description, the description is carried out in the order of S1 to S4 here, and it is not intended to limit that it must be executed in the above order. The embodiments of the present application do not limit the execution order, execution time, execution times, etc. of the above one or more steps. In the door control method, steps S1 to S2 are specifically as follows

[0138] S1. The door control device controls the first door to move from the first closed position to the first open position

[0139] In S2, the door control device controls the second door to move from the second closed position to the second open position.

[0140] Among them, the door control device is a device with computing power, and here it is exemplarily used as the execution subject of this method. Exemplarily, the door control device can be the aforementioned controller 30, for example, it can be a computing device such as a DC, MDC, or ECU. Optionally, the door control device is included in the door device, or the door control device is arranged outside the door device, or the door control device can include multiple modules. For example, some modules are arranged in the door device 100, and some modules are arranged in the door device 100, and each module can be used to cooperate to complete the functions completed by the door control device.

[0141] In some cases, the opening movement process of the first door and the opening movement process of the second door overlap on the time axis, as described above Figure 5 、 Figure 6 and below Figure 13 、 Figure 14 in the embodiments shown. In some other cases, the opening movement process of the first door and the opening movement process of the second door are executed alternately, as described above Figure 7 and below Figure 15 in the embodiments shown.

[0142] In some possible designs, the door control device can control one or more of the movement speed, angle, movement time, etc. of the first door and the second door. In some possible implementation manners, the door control device further includes a sensor, and the detection data of the sensor includes the movement angle or movement position of the first door and / or the first door, and this detection data can be provided to the door control device to facilitate the control of the first door and / or the second door.

[0143] As a possible implementation manner, by controlling the movement of the first door and the second door, the door control device can achieve the following movement process: when the first door moves to the first position, the second door moves between the second closed position and the first position. The first position is the intersection point of the trajectories, and the intersection point of the trajectories is the intersection point of the movement trajectory of the edge of the first door and the movement trajectory of the edge of the second door.

[0144] As a possible control example, the door control device realizes the aforementioned movement process through time control. Combining Figure 5 and Figure 13, the door control device controls the first door 10 to start moving at time t0, and the above control operation can be executed by the door control device in response to an opening instruction. Optionally, the first door 10 can move to a specified opening position without intermediate pauses. After a first time period, the door control device controls the second door 20 to start moving at time t1, and the first time period is the time interval between time t1 and time t2. Further, the door control device can control the moving speed of the second door 20 to be lower than the moving speed of the first door 10. After a second time period has elapsed at time t1 (for example, when reaching time t2), the door control device controls the second door to increase its speed. Thereafter, the first door 10 and the second door 20 continue to move until they reach the specified opening position. In Figure 13 Under the control timing shown, at time t1, the first door 10 is between the first closed position and the first position, for example, at the first intermediate position. At time t2, the first door reaches the first position.

[0145] It should be understood that in some embodiments of the present application, signal levels are used to exemplarily represent the speed (or maximum speed) during the movement process, and it is not intended to limit the actual level of the signal or the control method of the speed. There may be other designs for the level change and moving speed in the specific implementation process.

[0146] In some cases, the door device further includes a sensor for detecting the position of the first door and / or the second door. Alternatively, the door control device determines that the first door reaches the first intermediate position at time t1 based on the data of the sensor, and at this time, the door control device controls the second door 20 to open at a first speed. Similarly, the door control device determines that the first door reaches the first position at time t2 based on the data of the sensor, and at this time, the door control device controls the second door 20 to open at a second speed, and the second speed is greater than the first speed. In other words, the aforementioned first time period and second time period do not necessarily have to be used. For example, alternatively, the data from the sensor can be used to determine the time when the second door starts to move and the time to increase its speed.

[0147] As another possible control example, the door control device implements the aforementioned movement process through time control. Combining Figure 6 and Figure 14, the door control device controls the first door 10 to start moving at time t0, and the above control operation can be executed by the door control device in response to an opening instruction. Optionally, the first door 10 can move to a specified opening position without intermediate pauses. After a first period of time (e.g., at time t2), the door control device controls the second door 20 to start moving at time t1. Further, the door control device can control the moving speed of the second door 20 to be lower than that of the first door 10. After a third period of time has elapsed at time t1 (e.g., when reaching time t4), the door control device controls the second door to hover, and at time t4, the second door can be between the first closed position and the first position (or the first intermediate position). After a fourth period of time has elapsed at time t4 (e.g., when reaching time t2), the door control device controls the second door to continue moving. At time t4, the first door can reach the first position.

[0148] In some cases, the door device further includes a sensor for detecting the position of the first door and / or the second door. The door control device determines, based on the data of the sensor, that the first door reaches the first intermediate position at time t1, and at this time, the door control device controls the second door 20 to open at a first speed. Similarly, the door control device determines, based on the data of the sensor, that the first door reaches the first position at time t2, and at this time, the door control device controls the second door 20 to open at a second speed, and the second speed is greater than the first speed.

[0149] In yet some other cases, the door control device can control the second door 20 to open at an angle β1 at time t2 (or at the moment when the first door reaches the first intermediate position). At this time, it is not necessary to control the movement duration, movement speed, etc. of the second door, but to achieve the Figure 5 opening process shown.

[0150] As another possible control example, the door control device realizes the alternating movement of the first door and the second door through time control. Combining Figure 7 and Figure 15, the door control device controls the first door 10 to start moving at time t5, and the above control operation can be executed by the door control device in response to an opening instruction. After a fifth period of time (for example, at time t6), the door control device controls the first door to stop moving, that is, the first door hovers, and the door control device also controls the second door 20 to start moving. Optionally, the moment when the second door starts moving can be later or earlier than the moment when the first door stops moving. Further, the door control device can control the moving speed of the second door 20 to be lower than the moving speed of the first door 10. After a sixth period of time has passed at time t6 (for example, when reaching time t7), the door control device controls the second door to hover. At time t4, the second door can be between the first closed position and the first position (or the first intermediate position). After a seventh period of time has passed at time t6 (for example, when reaching time t8), the door control device controls the first door to hover and controls the second door to continue moving.

[0151] Optionally, time t6 is the moment when the second door reaches the first intermediate position, time t7 is the moment when the second door reaches the second intermediate position, and time t8 is the moment when the first door reaches the first open position.

[0152] In some possible implementation manners, the door control device can control the closing processes of the first door and the second door. The door control method includes steps S3 and S4, which are specifically as follows:

[0153] S3, the door control device controls the second door to move from the second open position to the second closed position.

[0154] S4, the door control device controls the first door to move from the first open position to the first closed position.

[0155] Exemplarily, a control strategy for a closing process is that the door control device controls the first door and the second door to alternately perform closing movements to form at least two closing movement segments, wherein the moment when the second door passes through the first position is before the moment when the first door passes through the first position.

[0156] As a possible control example, in combination with Figure 8 and Figure 16, the door control device controls the second door 20 to start moving at time t10, and the above control operation can be performed by the door control device in response to a closing instruction. After an eighth time period (e.g., at time t11), the door control device controls the second door to stop moving and controls the second door 20 to start moving. Optionally, the starting time of the first door's movement is later or earlier than the stopping time of the second door. After a ninth time period has elapsed at time t11 (e.g., when reaching time t12), the door control device controls the second door to stop moving. Alternatively, time t11 is the time when the second door reaches the second closed position. Time t12 is the time when the first door reaches the first closed position.

[0157] Exemplarily again, another control strategy for the door closing process is: the door control device controls the first door 10 to move from the first open position to the first closed position, controls the second door 20 to move from the second open position to the second closed position, and controls the second door 20 to move between the second closed position and the first position when the first door 10 moves to the first position.

[0158] As another possible control example, in combination with Figure 10 and Figure 17 , the door control device controls the second door 20 to start moving at time t13, and the above control operation can be performed by the door control device in response to a closing instruction. After a tenth time period (e.g., at time t14), the door control device controls the first door 10 to start moving. After an eleventh time period has elapsed at time t14, the door control device controls the second door 20 to stop moving. At time t16, the door control device controls the first door 10 to stop moving. Alternatively, time t14 is the time when the second door reaches the third intermediate position.

[0159] As another possible control example, in combination with Figure 18 , the door control device controls the first door 10 and the second door 20 to move at the same time, but controls the movement speeds of the first door and the second door through speed, so that the first door 10 is always farther from the closed position than the second door 20, and controls the second door 20 to move between the second closed position and the first position when the first door 10 moves to the first position. For example, the door control device controls the speed of the first door 10 to be lower than the speed of the second door 20.

[0160] As another possible control example, in combination with Figure 11 and Figure 19, the door control device controls the second door 20 to start moving at time t17. After the twelfth time period, at time t14, the door control device controls the second door to stop moving and controls the first door to start moving. Optionally, the time when the first door starts moving is later or earlier than the time when the second door stops moving. After the thirteenth time period, at time t19, the door control device controls the second door to start moving. Subsequently, the door control device successively controls the second door and the first door to stop moving. Alternatively, time t18 is the time when the second door reaches the fourth intermediate position. Time t19 is the time when the first door reaches the first position.

[0161] It should be understood that multiple embodiments and implementation manners provided in the present application can be combined without mutual exclusion.

[0162] In Figure 12 the illustrated embodiment, the door control device can electrically control the opening and closing of the split door, and can improve the door opening efficiency while effectively avoiding door collisions, and can meet the user's requirements for vehicle safety and convenience, and enhance the user's experience of using an intelligent vehicle.

[0163] The above has described the scenarios to which the embodiments of the present application are applied and the methods provided by the present application. Next, the devices of the embodiments of the present application are provided. It can be understood that multiple devices provided in the embodiments of the present application, such as vehicle control devices, controllers, chips, etc., in order to implement the functions in the above method embodiments, include corresponding hardware structures, software units, or combinations of hardware structures and software structures for executing each function. Those skilled in the art should easily realize that the various functions, devices, and modules in the devices described in combination with the embodiments disclosed herein can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the manner of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different device implementation methods in different usage scenarios to implement the foregoing method embodiments, and different implementation methods of the devices should not be considered to exceed the scope of the embodiments of the present application.

[0164] The following lists several possible devices.

[0165] Please refer to Figure 20 , Figure 20 which is a schematic structural diagram of a door control device provided by an embodiment of the present application. The door control device 130 includes a first control unit 1301 and a second control unit 1302. The door control device 130 can be an independent device, or the door control device 130 can also be a software module and / or a hardware module in an independent device, such as a chip or a computer program.

[0166] The door control device 130 is used to implement the foregoing door control method, for example, to implement Figure 12 the method executed by the door control device in the illustrated embodiment and its possible implementation manners. Among them, the first control unit 1301 is used to control the movement of the first door, and the second control unit 1302 is used to control the movement of the second door. For specific operations, reference can be made to the description in the foregoing embodiment, for example, reference Figure 12 to the description in the illustrated method embodiment.

[0167] Figure 21 The figure shows a schematic structural diagram of a controller provided by an embodiment of the present application. The controller 30 is a device with computing capabilities, and the device here can be a physical device, such as a controller. Optionally, the controller 30 can be included in a vehicle, for example, connected to the door device 100 or disposed in the door device 100.

[0168] As Figure 21 shown, the controller 30 includes: a processor 301 and a memory 302. Optionally, the controller 30 further includes one or more of a connection line 304, a communication interface 303, etc. Exemplarily, the processor 301 and the memory 302 communicate through the connection line 304. It should be understood that the present application does not limit the number of processors and memories in the controller 30.

[0169] The memory 302 is used to provide a storage space, and computer programs or data, etc. can be stored in the storage space. The memory 302 can include a volatile memory, such as a random access memory (RAM). The memory 302 can also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD), etc.

[0170] The processor 301 is a module for performing operations and may include any one or more of a controller, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a coprocessor (assisting the central processor to complete corresponding processing and applications), an application specific integrated circuit (ASIC), a microcontroller unit (MCU), a virtual machine, a container, etc.

[0171] The communication interface 303 is used to provide information input or output for at least one processor, such as a read-in line interface, a read-out line interface, etc. And / or, the communication interface 303 can be used to receive data sent externally and / or send data to the outside. The communication interface 303 can be a wired link interface including, for example, an Ethernet cable, or a wireless link (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies, etc.) interface. Optionally, the communication interface 303 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0172] The connection line 304 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 21 only one line is shown here, but it does not mean that there is only one bus or one type of bus. The connection line 304 can include a path for transmitting information between various components of the controller 30 (for example, the memory 302, the processor 301, the communication interface 303).

[0173] In a possible implementation, the memory 302 stores executable instructions, and the processor 301 executes the executable instructions to implement the foregoing door control method, for example, to implement Figure 12 the method executed by the door control device in the illustrated embodiment and its possible implementation manners.

[0174] An embodiment of the present application further provides a chip, including a processor and a communication interface. The communication interface is used to output and / or input data (including instructions), and / or, the communication interface is used to receive and / or send data. When the processor executes the program instructions in the memory, the foregoing door control method is executed, for example, to implement Figure 12 the method in the embodiment shown.

[0175] An embodiment of the present application further provides a door control system, including a door device and a controller 30. The door device includes a first door and a second door, and further includes a driving structure corresponding to the door. The controller 30 is connected to the driving mechanism corresponding to the door, and the foregoing door control method is implemented by controlling the driving mechanism corresponding to the door, for example, to implement Figure 12 the method in the embodiment shown.

[0176] An embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When the instructions are run by at least one processor, the foregoing door control method is implemented, for example, to implement Figure 12 the method in the embodiment shown. The computer-readable storage medium may be any available medium that can be stored by a computing device, or a data storage device such as a data center that includes one or more available media. The computer-readable storage medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state drive), etc.

[0177] The present application provides a computer program product, which includes computer instructions. When the instructions are run on at least one processor, the foregoing door control method is implemented, for example, to implement Figure 12 the method in the embodiment shown. Optionally, the computer program product may be a software installation package or an image package. In the case where the foregoing method needs to be used, the computer program product can be downloaded and executed on a computing device.

[0178] The present application provides a vehicle, which includes the foregoing controller 30, or, the vehicle includes the foregoing vehicle control system, or, the vehicle includes the foregoing chip, or, the vehicle includes the foregoing computer storage medium, or, the vehicle deploys the foregoing computer program product.

[0179] In addition, several additional explanations for the present application are required:

[0180] First, unless otherwise specified, the meaning of "a plurality" is two or more.

[0181] II. Without special instructions or logical conflicts, the terms and / or descriptions among different embodiments of this application are consistent and can be cross-referenced. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0182] III. The various digital numbers involved in this application are only for the convenience of description and do not limit the protection scope of this application. The magnitude of the serial numbers involved in this application does not imply the order of execution. The execution order of each process should be determined by its function and inherent logic. For example, terms such as "first", "second", "third", "fourth" and other various term labels in the specification, claims and drawings of this application (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. Among them, such data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than that illustrated or described here.

[0183] At the same time, any embodiment or design solution described in this application as "exemplarily" or "for example" should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific way for easy understanding.

[0184] IV. The terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0185] V. The orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to this application.

[0186] VI. In this application, "predefined" may include pre-configuration. For example, when a certain piece of information is predefined, it means that it is pre-calculated or received before the action of using the certain piece of information. Among them, "predefined" can be implemented by pre-saving corresponding codes, tables or other means that can be used to indicate relevant information in a device (such as a controller or a vehicle), and this application does not limit its specific implementation manner.

[0187] VII. The "storage" or "saving" involved in this application may refer to saving in one or more memories. One or more memories may be separately provided or integrated in an encoder, a decoder, a processor, or a communication device. One or more memories may also have a part separately provided and a part integrated in a decoder, a processor, or a communication device. The type of the memory may be any form of storage medium, which is not limited herein.

[0188] VIII. The arrows or boxes shown by dashed lines in some of the schematic diagrams in the attached drawings of the specification of this application represent optional steps or optional modules.

[0189] IX. Unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship. For example, A / B may represent A or B. The "and / or" in this application is merely a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. Herein, A and B may be singular or plural.

[0190] X. The names of the devices, equipment, modules, information, and parameters in this application are only examples. In the specific implementation process, the names of the above-mentioned things may have other designs. For example, the door control device may also be replaced with a control device, a control equipment, etc.

Claims

1. A vehicle door device, characterized in that: The door device includes a first door, a second door, and a controller, wherein the first door can rotate about a first rotation axis so that the first door moves between a first open position and a first closed position, and the second door can rotate about a second rotation axis so that the second door moves between a second open position and a second closed position. The first door includes a first area, and the second door includes a second area, when the first door is in a first closed position and the second door is in the second closed position, the first area overlaps with the second area and the first area is closer to the outside of the door device than the second area; The controller is used to control the door device to realize the following opening movement: The first door moves from the first closed position to the first open position, and the second door moves from the second closed position to the second open position. When the first door moves to the first position, the second door moves to a position between the second closed position and the first position. The first position is a trajectory intersection point, and the trajectory intersection point is an intersection point of a motion trajectory of an edge of the first vehicle door and a motion trajectory of an edge of the second vehicle door.

2. The vehicle door device according to claim 1, characterized in that: The controller is also used to control the door device to achieve the following closing movement: The first door and the second door move alternately to form at least two closing movement sections, and the first door passes through the first position after the second door passes through the first position.

3. The vehicle door device according to claim 2, characterized in that: During the closing movement of the first door and the second door, at any time after the second door passes through the first position and when the second door is in the second closed position, the first distance is greater than the second distance; Wherein, the first distance is the distance between the current position of the first door and the closed position of the first door; The second angle is a distance between a current position of the second door and a closed position of the second door.

4. The vehicle door device according to claim 2 or 3, characterized in that: The at least two closing motion segments include a first closing motion segment and a second closing motion segment, The first closing movement section is the first closing movement section formed after the second door starts to move from the second open position. The second closing movement section is a second closing movement section formed after the first door starts to move from the first open position. The second closing motion segment is later than the first closing motion segment, and the first closing motion segment and the second closing motion segment do not overlap on the time axis.

5. The vehicle door device according to claim 1, characterized in that: The controller is also used to control the door device to achieve the following closing movement: The first door moves from the first open position to the first closed position, and the second door moves from the second open position to the second closed position. When the first door moves to the first position, the second door moves to between the second closed position and the first position.

6. The vehicle door device according to any one of claims 1 to 5, characterized in that: The first door moves from the first closed position to the first open position, comprising: the first door moves from the first closed position to the first open position at a first moment; The second door moves from the second closed position to the second open position, comprising: the second door moves from the second closed position to the second open position at a second moment, the second moment being later than the first moment.

7. The vehicle door device according to any one of claims 1 to 6, characterized in that: The opening movement also includes: The opening movement process of the first door overlaps with the opening movement process of the second door on the time axis.

8. The vehicle door device according to claim 7, characterized in that: The opening movement also includes: When the first door moves from the first closed position to a first intermediate position, the second door starts to move, the first intermediate position being between the first closed position and the first position; During a period from when the first door starts to move to when the first door moves to the first position, a movement speed of the second door is lower than a movement speed of the first door.

9. The vehicle door device according to claim 7, characterized in that: The opening movement also includes: When the first door moves from a first closed position to a first intermediate position, the second door starts to move, the first intermediate position being between the first closed position and the first position; The second door stops moving after moving to a second intermediate position, the second intermediate position being between the second closed position and the first intermediate position; After the first door passes the first position, the second door continues to move from the second intermediate position.

10. The vehicle door device according to claim 5, characterized in that: The first door moves from the first open position to the first closed position, comprising: the first door moves from the first open position to the first closed position at a third moment; The second door moves from the second open position to the second closed position, comprising: the second door moves from the second open position to the second closed position at the third moment; The maximum value of the movement speed of the second door is greater than the maximum value of the closing speed of the first door.

11. The vehicle door device according to claim 5, characterized in that: The closing movement also includes: When the second door moves from the second open position to a third intermediate position, the first door starts to move from the first open position, and the third intermediate position is located between the first open position and the first position; Before the second door passes the first position, the movement speed of the first door is less than the movement speed of the second door.

12. The vehicle door device according to claim 5 or 10, characterized in that: The closing movement also includes: The first door moves from the first open position to the first closed position at a third moment, and the second door moves from the second open position to the second closed position at the third moment. When the second door moves to a fourth intermediate position, the second door stops moving, and the fourth intermediate position is between the second closed position and the first position; When the first door moves to the first position, the second door continues to move to the second closed position.

13. The vehicle door device according to any one of claims 1 to 12, characterized in that: The surface of the first area close to the inner side of the door device includes a first locking structure. The surface of the second area close to the outer side of the vehicle door includes a second locking structure, The first locking structure is used to couple with the second locking mechanism to achieve locking between the first door and the second door.

14. A vehicle door control method, characterized in that: for controlling a door device, the door device comprising a first door and a second door, the first door being rotatable about a first rotation axis so that the first door moves between a first open position and a first closed position, and the second door being rotatable about a second rotation axis so that the second door moves between a second open position and a second closed position, The first door includes a first area, and the second door includes a second area, when the first door is in a first closed position and the second door is in the second closed position, the first area overlaps with the second area and the first area is closer to the outside of the door device than the second area; The door control method comprises: Controlling the first door to move from the first closed position to the first open position; controlling the second door to move from the second closed position to the second open position; Wherein, when the first door moves to the first position, the second door moves to a position between the second closed position and the first position; The first position is a trajectory intersection point, and the trajectory intersection point is the intersection point of the motion trajectory of the edge of the first vehicle door and the motion trajectory of the edge of the second vehicle door.

15. The method according to claim 14, characterized in that The door control method further includes: The first door and the second door are controlled to perform closing movements alternately to form at least two closing movement sections, wherein the time when the second door passes through the first position is before the time when the first door passes through the first position.

16. The method according to claim 15, characterized in that During the closing movement of the first door and the second door, at any time after the second door passes through the first position and when the second door is in the second closed position, the first distance is greater than the second distance; Wherein, the first distance is the distance between the current position of the first door and the closed position of the first door; The second angle is a distance between a current position of the second door and a closed position of the second door.

17. The method according to claim 15 or 16, characterized in that The at least two closing motion segments include a first closing motion segment and a second closing motion segment, The first closing movement section is the first closing movement section formed after the second door starts to move from the second open position. The second closing movement section is a second closing movement section formed after the first door starts to move from the first open position. The second closing motion segment is later than the first closing motion segment, and the first closing motion segment and the second closing motion segment do not overlap on the time axis.

18. The method according to claim 17, characterized in that The control method further comprises: controlling the first door to move from the first open position to the first closed position, controlling the second door to move from the second open position to the second closed position, When the first door moves to the first position, the second door moves to between the second closed position and the first position.

19. The method according to any one of claims 14 to 18, characterized in that: The controlling the first door to move from the first closed position to the first open position includes: controlling the first door to move from the first closed position to the first open position at a first moment; Controlling the second door to move from the second closed position to the second open position includes: the second door moves from the second closed position to the second open position at a second moment, and the second moment is later than the first moment.

20. The method according to any one of claims 14 to 19, characterized in that: During the opening movement process, the opening movement process of the first door overlaps with the opening movement process of the second door on a time axis.

21. The method according to claim 20, characterized in that The controlling the second door to move from the second closed position to the second open position includes: Controlling the second door to start moving when the first door moves from the first closed position to a first intermediate position, wherein the first intermediate position is between the first closed position and the first position; During a period from when the first door starts to move to when the first door moves to the first position, a movement speed of the second door is lower than a movement speed of the first door.

22. The method according to claim 20, characterized in that The controlling the second door to move from the second closed position to the second open position includes: Controlling the second door to start moving when the first door moves from a first closed position to a first intermediate position, wherein the first intermediate position is between the first closed position and the first position; controlling the second door to move to a second intermediate position and then stop moving, wherein the second intermediate position is between the second closed position and the first intermediate position, The second door is controlled to continue moving from the second intermediate position after the first door passes through the first position.

23. The method according to claim 18, characterized in that The controlling the first door to move from the first open position to the first closed position comprises: controlling the first door to move from the first open position to the first closed position at a third moment; The controlling the second door to move from the second open position to the second closed position includes: controlling the second door to move from the second open position to the second closed position at the third moment, The maximum value of the movement speed of the second door is greater than the maximum value of the closing speed of the first door.

24. The method according to claim 18, characterized in that The controlling the first door to move from the first open position to the first closed position includes: controlling the first door to move from the first open position when the second door moves from the second open position to a third intermediate position, wherein the third intermediate position is between the first open position and the first position; Before the second door passes the first position, the movement speed of the first door is less than the movement speed of the second door.

25. The method according to claim 18 or 23, characterized in that The controlling the first door to move from the first open position to the first closed position includes: controlling the first door to move from the first open position to the first closed position at a third moment, The controlling the first door to move from the first open position to the first closed position includes: controlling the second door to move from the second open position to the second closed position at the third moment, controlling the second door to stop moving when the second door moves to a fourth intermediate position, wherein the fourth intermediate position is between the second closed position and the first position; The second door is controlled to continue to move to the second closed position when the first door moves to the first position.

26. A vehicle door control device, characterized in that: Comprising units for performing the method according to any one of claims 14-25.

27. A controller, characterized in that: The controller includes a memory and at least one processor, the memory is used to store computer instructions, and the at least one processor is used to call the computer instructions stored in the memory to implement the method described in any one of claims 14-25.

28. A chip, characterized in that: The chip comprises a processor and a communication interface, wherein the communication interface is used to input and / or output data, and the chip is used to execute the method as described in any one of claims 14-25.

29. A vehicle, characterized in that: The vehicle includes the door device described in any one of claims 1 to 13, or includes the door control device described in claim 26, or includes the controller described in claim 27, or includes the chip described in claim 28.

30. A computer-readable storage medium, characterized in that: The method comprises computer program instructions, and when the computer program instructions are executed by at least one processor, the method according to any one of claims 14 to 25 is implemented.

31. A computer program product comprising instructions, characterized in that When the instructions are executed by at least one processor, the method according to any one of claims 14 to 25 is implemented.

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