Vehicle door opening mode switching system and method and vehicle

Abstract

The invention discloses a vehicle door opening mode switching system and method and a vehicle, and relates to the technical field of vehicle door control. The system comprises a scene identification module used for identifying a scene around a vehicle; the mode selection module generates a vehicle door control instruction in combination with the prediction result of the scene recognition module; the state detection module is used for detecting the current vehicle state when the switching instruction is received, transmitting a detection result to the switching control module and carrying out fault processing on abnormal conditions in the vehicle door opening process; the switching control module is used for performing vehicle door opening control according to the detection result of the state detection module and the vehicle door control instruction of the mode selection module; and the fault processing module is used for discovering abnormal conditions in the vehicle door opening process. The vehicle door opening mode is selected according to user selection and actual needs, fault detection is carried out on the mode switching process based on the interlocking structure, and the safety performance of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle door control, and in particular to a vehicle door opening mode switching system, method and vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of car door design, traditional car door designs are mainly divided into two types: swing doors and scissor doors. Swing doors are widely used because of their convenience in opening and closing and in line with the usage habits of most people. Scissor doors, on the other hand, have become the iconic design of high-end sports cars and special customized models due to their unique opening method and cool appearance. The opening method of scissor doors is cool and requires less space for lateral opening; the opening method of swing doors is relatively ordinary and requires less space in the vertical direction.

[0004] At present, the existing technology can realize the integration of swing doors and scissor doors on the same car, and different door opening methods can be selected according to different needs. For example, in a narrow parking space, an opening method that can save side space is needed. In a low garage or an environment with obstacles, an opening method that can avoid collision with obstacles is needed. However, due to the large difference in the opening methods of scissor doors and swing doors, the existing vehicle doors are more complicated and unsafe during the mode switching process, and the opening mode cannot be flexibly switched according to the actual use scenario, and it is easy to fail during the switching process. In addition, when a vehicle has an accident, the door mode switching or opening failure may cause the door to fail to open normally, thereby affecting the escape of the people in the car. At present, the existing technology cannot detect the accurate fault type for the switching process of scissor doors and swing doors. Mechanical failure, foreign body failure and control failure may all occur, so how to achieve accurate switching of fault types and provide corresponding coping strategies has become a technical problem that needs to be solved in the existing technology. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a door opening mode switching system, method and vehicle. For vehicles with integrated scissor doors and swing doors, the door opening mode is selected according to user selection and actual needs, and fault detection is performed on the mode switching process based on the interlocking structure to formulate different fault response strategies.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0007] A first aspect of the present invention provides a vehicle door opening mode switching system, comprising:

[0008] A scene recognition module for recognizing the vehicle's surrounding scene and predicting the door opening mode and parameters using a door opening prediction model;

[0009] A mode selection module for generating a door control command based on user selection and the current door mode, combined with the prediction results of the scene recognition module. Here, the door mode includes a swing door mode and a scissor door mode;

[0010] A status detection module for detecting the current vehicle status when receiving a switching instruction and transmitting the detection result to the switching control module. It is also used for fault handling of abnormal conditions during the door opening process. Among them, the type of abnormal condition is detected, and mechanical faults, foreign object faults, and control faults are respectively detected and troubleshot to identify the fault type. Among them, mechanical faults are determined by detecting the status of the limit switch, and dual detection of the current and stroke of the motor, and foreign object faults and control faults are assisted in determination;

[0011] A switching control module for controlling the door opening according to the detection result of the status detection module and the door control command of the mode selection module;

[0012] A fault handling module for discovering abnormal conditions during the door opening process and generating corresponding fault response strategies according to the detection result of the status detection module.

[0013] Furthermore, in the scene recognition module, the door opening prediction model is composed of a graph neural network and a gated recurrent unit, used for predicting the dynamic changes of the surrounding environment, and designing the door opening mode and parameters according to the prediction results.

[0014] Furthermore, in the mode selection module, the mode selection is based on the highest priority of user selection. When the user does not specify an opening mode, the current door mode is given priority. When the mode selected by the user does not conform to the door opening mode and parameters designed by the scene recognition module, an alarm and prompt are issued first. If the user insists on opening, it is executed according to the user's selection.

[0015] Furthermore, in the status detection module, mechanical faults are detected first. If it is determined that there is no mechanical fault, foreign object detection and cleaning work are carried out. If the door opening process returns to normal after the foreign object detection and cleaning work, it is confirmed as a foreign object fault, otherwise it is judged as a control fault.

[0016] Furthermore, in the switching control module, the switching process of the door opening mode is completed through the cooperation of an interlock mechanism and a rotor door assembly. The rotor door assembly includes a scissor door structure and a swing door structure. The application switching between the scissor door structure and the swing door structure is completed through the switching and monitoring of the locking state of the interlock mechanism.

[0017] Further, the interlock mechanism includes a sensor, an electromagnetic lock, and a mechanical lock. The electromagnetic lock is controlled to open and close by the door ECU, the mechanical lock is driven to open and close by an electric drive unit, the sensor is used for data monitoring during the switching process, and the mechanical lock includes a limit switch and a lock rod, and whether there is a mechanical failure is judged by detecting the position of the lock rod.

[0018] The second aspect of the present invention provides a vehicle, including the door opening mode switching system described in the second aspect of the present invention.

[0019] The third aspect of the present invention provides a method for switching a door opening mode, including the following steps:

[0020] Identify the surrounding scene of the vehicle, and use the door opening prediction model to predict the door opening mode and parameters;

[0021] Generate a door control instruction according to the user selection and the current door mode, in combination with the prediction result of the scene recognition module, wherein the door mode includes a swing door mode and a scissor door mode;

[0022] Detect the current vehicle state when receiving the switching instruction, and transmit the detection result to the switching control module;

[0023] Perform door opening control according to the detection result of the state detection module and the door control instruction of the mode selection module, and perform fault handling on abnormal conditions during the door opening process;

[0024] Detect abnormal conditions during the door opening process, detect the type of abnormal conditions that occur, and respectively detect and troubleshoot mechanical damage, foreign object jamming, and control anomalies, and identify the fault type. Among them, the mechanical fault is determined by detecting the state of the limit switch, and the current and stroke of the motor are detected twice, and the foreign object fault and the control fault are determined as auxiliary;

[0025] Generate corresponding fault response strategies according to the detection result of the state detection module.

[0026] The fourth aspect of the present invention provides a medium, on which a program is stored, and when the program is executed by a processor, the steps in the method for switching a door opening mode described in the third aspect of the present invention are implemented.

[0027] The fifth aspect of the present invention provides a device, including a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, the steps in the method for switching a door opening mode described in the third aspect of the present invention are implemented.

[0028] The above one or more technical solutions have the following beneficial effects:

[0029] The present invention discloses a door opening mode switching system, method and vehicle. Through precise fault detection, flexible mode switching, rapid fault handling, intelligent scenario recognition and data-driven optimization, the safety, reliability and efficiency of door opening mode switching are significantly improved, the user experience is enhanced, and the intelligent level and emergency response ability of the vehicle are strengthened. The present invention monitors the abnormal conditions during the door opening mode switching process in real time, and can accurately identify mechanical faults, foreign object faults and control faults. By detecting the state of the travel switch, and double-detecting the current and travel of the motor to determine mechanical faults, and assisting in determining foreign object faults and control faults, the accuracy of fault detection is greatly improved, enabling the system to quickly take corresponding countermeasures when a fault occurs, avoiding the inability to normally open or close the door due to faults, and thus significantly improving the safety and reliability of door switching. Using the door opening prediction model to predict the dynamic changes in the vehicle's surrounding environment, and designing the door opening mode and parameters according to the prediction results, avoiding switching failures or faults caused by environmental factors, and thus optimizing the overall efficiency of door switching.

[0030] The mode selection module of the present invention takes the user's selection as the highest priority. The user can choose the swing door or scissor door mode according to their own needs. When the user does not specify an opening mode, the system will automatically select the optimal door opening mode according to the prediction results of the scenario recognition module, which can meet the user's needs in different scenarios. For example, in a narrow parking space, the scissor door mode is selected to save side space, and in a low garage, the swing door mode is selected to avoid collision with obstacles.

[0031] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0032] The specification drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0033] Figure 1 It is the schematic diagram of the door opening mode switching system in the first embodiment of the present invention. Detailed Embodiments

[0034] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof;

[0036] Currently, prior art can integrate swing doors and scissor doors on the same vehicle. For example, in a Chinese invention patent with the publication number CN117988650A, the publication date of May 7, 2024, and the invention title of Door Opening and Closing Device, Vehicle, and Vehicle Control Method, the door opening and closing device includes: a body member; a first door member rotatably connected to the body member; a second door member connected to the first door member; a scissor door drive member respectively connected to the body and the first door member; a swing door drive member respectively connected to the first door member and the second door member; a switching member for controlling the switching between a rigid connection and a rotational connection of the first door member and the second door member, so that the door opening and closing device can switch between a scissor door mode and a swing door mode; in the scissor door mode, the first door member and the second door member are rigidly connected, and the scissor door drive member drives the first door member and the second door member to open and close in a scissor motion; in the swing door mode, the swing door drive member drives the second door member to rotate relative to the first door member to achieve translational opening and closing. By setting the switching member and using the switching member to control the connection state between the first door member and the second door member, and then driven by the scissor door drive member or the swing door drive member, the vehicle can achieve scissor-type door opening and closing or translational door opening and closing, meeting various usage requirements of users, enriching the door opening and closing methods of the vehicle, and enhancing the practicality of the vehicle and the user experience; in the scissor door mode, the scissor door drive member drives the first door member and the second door member to move as a whole to achieve scissor-type door opening and closing; in the swing door mode, the swing door drive member drives the second door member to rotate relative to the first door member to achieve translational door opening and closing.

[0037] Embodiment 1:

[0038] Embodiment 1 of the present invention provides a door opening mode switching system, as Figure 1 shown, including:

[0039] A scene recognition module for recognizing the scene around the vehicle and predicting the door opening mode and parameters using a door opening prediction model.

[0040] In the scene recognition module, there is a data acquisition module and a prediction model module.

[0041] The data acquisition module is used to collect surrounding environment information by using ultrasonic sensors and millimeter-wave radar sensors. Multiple millimeter-wave radar sensors are installed around the vehicle to monitor the external environment in real time. The distance and angle of low obstacles are calculated through ultrasonic sensors, and high obstacles within the door opening range are calculated through millimeter waves. The data acquisition module can detect the spatial dimensions around the vehicle, including longitudinal and lateral spaces, and can also detect the positions and speeds of surrounding obstacles, so as to judge whether the parking environment where the vehicle is located is suitable for the opening of scissor doors or swing doors.

[0042] The prediction model module is used to construct and train a door opening prediction model, and analyze and process the data collected by the data acquisition module by using the door opening prediction model to obtain an implementable door opening mode and parameters.

[0043] In a specific implementation manner, the door opening prediction model is a spatio-temporal graph attention network (STGAMT), which is composed of a graph neural network and a gated recurrent unit, and is used to predict the dynamic changes of the surrounding environment, and design the door opening mode and parameters according to the prediction results.

[0044] Specifically: taking the different parameters of the door opening mode and the surrounding environment information as inputs, the door opening mode and the door opening angle are output. The door opening mode includes the swing door mode and the scissor door mode, and the parameters include the door movement range of different door opening modes. The surrounding environment information includes the positions, sizes, speeds and accelerations of other stationary or moving obstacles.

[0045] The graph neural network (GNN) regards the door and surrounding obstacles as nodes of a graph, and the edges between the nodes represent the spatial relationship between them. The GNN assigns weights to each node through the graph attention mechanism to capture the dynamic interaction relationship between the door and surrounding obstacles. The gated recurrent unit (GRU) processes time series data to capture the historical trajectory information of the door and surrounding obstacles and predict the future state.

[0046] Through the prediction of the door opening prediction model, the selection of the door opening mode and angle is obtained, and multiple feasible door opening strategies are generated. Ensure that the door will not collide with surrounding obstacles when opening, improving the safety and convenience of the vehicle.

[0047] The mode selection module is used to generate a door control command according to the user selection and the current door mode, combined with the prediction result of the scene recognition module, where the door mode includes the swing door mode and the scissor door mode.

[0048] In the mode selection module, to ensure the user experience, although multiple feasible door opening strategy suggestions are provided, in this embodiment, user selection is given the highest priority for mode selection. When the user does not specify an opening mode, to save time and improve convenience, the current door mode is given priority, that is, if the current door mode is the side - hinged door mode, when there are relevant parameter suggestions for the side - hinged door mode in the door opening strategy, it is preferentially selected. When the mode selected by the user does not conform to the door opening mode and parameters designed by the scenario recognition module, an alarm and prompt are first issued. If the user persists in opening, that is, if the mode switching instruction is not cancelled or the mode switching instruction is not further confirmed within the preset time, it will be executed according to the user's selection. This is to follow the user's choice to ensure the user's life safety in an emergency situation, rather than to prevent the door from being damaged and unable to open.

[0049] The status detection module is used to detect the current vehicle status when receiving a switching instruction and transmit the detection result to the switching control module. In the status detection module, the detection content includes the current door opening mode, the status of the interlock mechanism, and the current driving status of the vehicle.

[0050] In a specific implementation manner, the detection result of the current door opening mode is used as a reference for the mode selection module and for generating instructions in the switching control module. The detection result of the status of the interlock mechanism is used for generating the switching logic in the switching control module. The detection result of the current driving status of the vehicle is used to ensure the safety of the door opening environment. For example, if the vehicle is in motion, an alarm is issued through the warning module, and the user is further required to confirm whether to open the door.

[0051] The status detection module is also used to handle faults for abnormal conditions during the door mode switching and opening process. Among them, the types of abnormal conditions that occur are detected, and mechanical faults, foreign object faults, and control faults are respectively detected and investigated to identify the fault types.

[0052] In a specific implementation manner, when the fault handling module discovers an abnormal condition during the door opening process, the abnormal condition is sent to the status detection module for door status detection. First, mechanical faults are detected. If it is determined that there are no mechanical faults, foreign object detection and cleaning work are carried out. If the door opening process returns to normal after the foreign object detection and cleaning work is completed, it is confirmed as a foreign object fault; otherwise, it is judged as a control fault.

[0053] The fault types include mechanical faults, foreign object faults, and control faults. Among them, mechanical faults are mainly caused by the interlock mechanism, foreign object faults include foreign object jams and dust accumulation, and control faults are caused by the control circuit. Since the troubleshooting of the control circuit cannot be completed in a short time, the elimination method is adopted. When mechanical faults and foreign object faults are excluded, it is considered a control fault. In this embodiment, mechanical faults are determined by detecting the status of the limit switch, and the current and stroke of the motor are detected to assist in determining foreign object faults and control faults.

[0054] First, diagnose mechanical faults. Detect the position of the locking lever and the status of the limit switch through the sensor in the interlock mechanism to determine whether there are mechanical faults. If the position of the locking lever is abnormal or the limit switch cannot be triggered normally, it is confirmed as a mechanical fault.

[0055] More specifically, the system uses the same drive source. Controlling the up and down movement of the locking lever of the interlock mechanism can realize the opening and switching of two modes: scissor doors and swing doors. Therefore, in this embodiment, the position of the locking lever is detected by detecting the stroke, current, and limit switch of the motor. First, judge the status of the limit switch. If it is detected that the limit switch is in the process of switching or in an abnormal state, then jointly detect the stroke and current of the motor to achieve the function of double detection during the mode switching process.

[0056] Starting from the initialization process, monitor the limit switch, motor current, motor stroke, and the position of the locking lever. The specific detection process and detection principle are as follows:

[0057] 1. Limit switch: The limit switch is a position detection device used to detect whether the locking lever reaches the preset upper and lower limit positions. The limit switch is installed on the movement path of the locking lever. When the locking lever touches the limit switch, the limit switch will trigger a signal, indicating that the locking lever has reached the specified position. The status detection of the limit switch is the primary detection method during the mode switching process because it can quickly judge whether the locking lever reaches the target position normally. The status detection of the limit switch is the primary detection method during the mode switching process. The limit switch can quickly judge whether the locking lever reaches the target position, so it has the highest priority during the detection process.

[0058] When the door mode switching starts, the system first detects the initial status of the limit switch to confirm whether the limit switch is in a normal working state.

[0059] If the initial status of the limit switch is abnormal (such as short circuit or open circuit), the system will immediately issue an alarm and pause the mode switching process, prompting the user to check the limit switch.

[0060] During the movement of the locking lever, the system monitors the triggering status of the limit switch in real time.

[0061] When the limit switch is triggered, it indicates that the locking lever has reached one of the preset upper and lower limit positions.

[0062] If the travel switch is not triggered within the expected time, the system will further detect the travel and current of the motor to determine if there is a fault.

[0063] 2. Coordinated detection of travel and current. When the status of the travel switch is abnormal or it is not triggered within the expected time, the system will further detect the travel and current of the motor. The motor travel detection is used to determine the actual movement distance of the locking lever, and the motor current detection is used to determine if there is abnormal resistance during the movement of the locking lever.

[0064] Motor travel: The motor travel detection determines the actual movement distance of the locking lever by measuring the rotation angle or the number of pulses of the motor. The travel of the motor is directly related to the movement position of the locking lever. By accurately measuring the motor travel, it can be determined whether the locking lever has reached the expected position. The motor travel detection is usually achieved through an encoder, which can convert the rotation angle of the motor into an electrical signal output.

[0065] Before the start of mode switching, the system initializes the motor travel and records the initial position of the motor.

[0066] After the initialization is completed, the system starts to monitor the change of the motor travel in real time.

[0067] During the movement of the locking lever, the system monitors the motor travel data in real time through the encoder.

[0068] When the travel switch is not triggered or the trigger status is abnormal, the system determines whether the locking lever has reached the expected position based on the motor travel data.

[0069] If the motor travel does not reach the expected value, the system will further detect the motor current to determine if there is a mechanical fault or foreign object jamming.

[0070] Motor current: The motor current detection determines if there is any abnormality during the movement of the locking lever by monitoring the change of the motor current during operation. When the movement of the locking lever is blocked (such as mechanical fault or foreign object jamming), the motor current will increase significantly. By detecting the change of the motor current, it can be determined whether the locking lever encounters abnormal resistance, thereby further confirming the type of fault.

[0071] Before the start of mode switching, the system initializes the motor current and records the initial current value of the motor.

[0072] After the initialization is completed, the system starts to monitor the change of the motor current in real time.

[0073] During the movement of the locking lever, the system monitors the motor current in real time through the current sensor.

[0074] When the travel switch is not triggered or the trigger status is abnormal, and the motor travel does not reach the expected value, the system will further detect the motor current.

[0075] If the motor current increases significantly, indicating that the movement of the locking lever is blocked, the system will judge it as a mechanical failure or foreign object jamming.

[0076] If the motor current is normal, but the travel switch and the motor travel still do not reach the expected state, the system will judge it as a control failure.

[0077] If the travel switch is triggered normally within the expected time, it indicates that the locking lever has reached the target position and the mode switch is successfully completed. The system records the trigger time of the travel switch and the final position of the locking lever to complete the mode switch process. If the travel switch is not triggered within the expected time, the system immediately detects the motor travel. If the motor travel does not reach the expected value, the system further detects the motor current. If the motor current increases significantly, the system judges it as foreign object jamming and executes the corresponding fault handling strategy (such as trying to move in the reverse direction to remove the foreign object or prompting the user to clear it manually). If the motor current is normal, but the travel switch and the motor travel still do not reach the expected state, the system judges it as a control failure and tries to re-initialize the control system or switch to the standby control unit.

[0078] Through the coordinated work of the above travel switch detection, motor travel detection and motor current detection, the door opening mode switch system of the present invention realizes the dual detection function of the mode switch process. This dual detection mechanism not only improves the reliability of the mode switch, but also can quickly and accurately identify the type of failure, providing an accurate decision-making basis for the fault handling module, so as to ensure that the door can be opened or closed safely and reliably under any circumstances.

[0079] If the mechanical failure is excluded, diagnose the foreign object failure in combination with the abnormal current condition. Detect the movement state of the door through the door position sensor and the interlock mechanism state sensor. If the door suddenly stops or there is abnormal resistance during the opening or closing process, it is judged that there may be foreign object jamming. If the door opening process returns to normal after the foreign object detection and cleaning work are completed, it is confirmed as a foreign object failure, otherwise it is judged as a control failure.

[0080] The switching control module is used to control the door opening according to the detection results of the status detection module and the door control instruction of the mode selection module.

[0081] Among them, the switching process of the door opening mode is completed through the cooperation of the interlock mechanism and the rotor door assembly. The rotor door assembly includes a scissor door structure and a flat push door structure. The application switch between the scissor door structure and the flat push door structure is completed through the switching and monitoring of the locking state of the interlock mechanism. The switching control module includes an interlock mechanism, a rotor door assembly, an electric drive module, a door ECU and a user interface module.

[0082] In a specific embodiment, the door frame is made of high-strength aluminum alloy material to ensure the structural strength and stability of the door in different opening modes. The rotary door assembly includes a scissor door structure and a flat push door structure. The scissor door structure uses electric struts and gas struts to ensure stability and durability in the scissor opening mode. The flat push door structure uses an electric actuator to achieve smooth opening of the flat push door.

[0083] The interlock mechanism is arranged at the connection between the door and the vehicle body and is used for switching and locking between the two opening modes. The interlock mechanism includes a mechanical lock and a sensor to ensure the stability and safety of the door during the switching process. The interlock mechanism includes a sensor, an electromagnetic lock, and a mechanical lock. The electromagnetic lock is used for quick locking and unlocking, and the mechanical lock provides additional safety protection. The electromagnetic lock is controlled by the door ECU (Electronic Control Unit) to open and close, the mechanical lock is driven by an electric drive unit to open and close, and the sensor is used for data monitoring during the switching process. The interlock mechanism plays a key role during the switching process to ensure safe and reliable switching of the door between the two opening modes. After the door is switched to the target opening mode, the door ECU controls the electromagnetic lock to lock, and at the same time, the mechanical lock completes the locking action with the assistance of the electric drive module. After the locking is completed, the door ECU confirms the state of the interlock mechanism and feeds back the information that the switching is completed to the user. The mechanical lock includes a travel switch and a lock rod, and judges whether there is a mechanical failure by detecting the position of the lock rod.

[0084] Regarding the drive of the interlock mechanism and the rotary door assembly, the system uses the same drive source. Controlling the up and down movement of the lock rod of the interlock mechanism can achieve the opening and switching between the scissor door and the flat push door modes. The position of the lock rod can be detected through the stroke, current of the motor and the travel switch. The state of the travel switch is preferentially judged. When the travel switch is in the switching process or in an abnormal state, the stroke and current of the motor are jointly detected. To achieve the function of double detection of mode switching.

[0085] The electric drive module uses a high-torque, low-noise DC motor to drive the opening and closing of the door through a gear transmission system. The motor is connected to the door ECU, receives control signals and performs corresponding actions.

[0086] The sensors include position sensors, angle sensors, and torque sensors, which are used to monitor the opening state of the door and the force condition during the switching process in real time. The sensor data is transmitted to the door ECU through the CAN bus to provide a basis for the control logic.

[0087] As the control core of the door system, the door ECU is responsible for receiving user instructions, sensor data, and radar detection results, and switching the door opening mode and controlling the interlock mechanism according to the preset control logic. The door ECU uses a high-performance microcontroller, featuring fast response and high reliability.

[0088] The user interface module sets a touch screen or physical buttons inside the vehicle for the user to select the door opening mode (scissor door or swing door). At the same time, through the integration of the door ECU with other vehicle systems, remote control functions are realized, such as switching the door opening mode via a mobile phone APP or a car key.

[0089] Switching control logic: When the door ECU receives a switching instruction (from the user interface or the result of scene understanding), first, the status detection module checks the status of the interlock mechanism. If the interlock mechanism is in the locked state, the door ECU will send an unlocking signal to unlock the interlock mechanism.

[0090] After unlocking, the door ECU controls the electric drive module to drive the door to perform corresponding actions according to the target opening mode. For example, when switching from the scissor door mode to the swing door mode, the electric drive module will drive the door to gradually adjust from the scissor opening state to the swing opening state.

[0091] During the switching process, the door ECU monitors the sensor data in real time to ensure the smooth and accurate switching action of the door. If the sensor detects an abnormal situation (such as excessive force, position deviation, etc.), the door ECU will immediately suspend the switching action and enter the fault handling process.

[0092] The fault handling module is used to detect abnormal conditions during the door opening process and generate corresponding fault response strategies according to the detection results of the status detection module.

[0093] In a specific implementation manner, the fault handling strategies during mode switching or door opening are as follows Figure 1As shown, after the status detection module detects a fault, the fault handling module will execute corresponding coping strategies according to the fault type. For mechanical faults, the system will attempt to readjust the position of the locking lever or unlock the mechanical lock through the vehicle's electric drive unit. If the electric drive unit cannot solve the problem, the user will be prompted to manually operate the door, and the fault information will be sent to the vehicle owner or the maintenance center through the vehicle's emergency communication system. For foreign object faults, the system will automatically start a reverse movement to try to expel the foreign object. If the reverse movement cannot solve the problem, the vehicle owner will be reminded to manually remove the foreign object through the vehicle's voice prompt system. The position and time of the foreign object jamming will be recorded for subsequent maintenance and analysis. For control faults, the system will attempt to reinitialize the control system or switch to the standby control unit. Reinitialize the door control system, including reloading the control program and calibrating the sensors. If reinitialization still cannot solve the problem, switch to the standby control unit for operation. If the standby control unit also cannot work properly, the fault information will be sent to the vehicle owner or the maintenance center through the vehicle's emergency communication system. These measures ensure that the door can be opened or closed safely and reliably under any circumstances, guaranteeing the safety of the people inside the vehicle.

[0094] For all currently unsolved faults, the alarm system of the vehicle's emergency lighting and warning module is activated to remind the surrounding people to pay attention to safety.

[0095] This embodiment also sets up a fault handling and fallback mechanism. According to the fault type and severity, the door ECU takes corresponding fault handling measures. For minor faults (such as sensor data deviation), the door ECU will attempt to readjust the door position or relock the interlock mechanism. If the fault cannot be solved immediately, the door ECU will activate the fallback mechanism to restore the door switching mechanism to its initial state, ensuring the safety and stability of the door. For example, if the switch from the scissor door mode to the flat push door mode fails, the door ECU will control the door to return to the scissor door mode and lock the interlock mechanism. During the fault handling process, the door ECU feeds back the fault information and the handling results to the user through the user interface (such as the in-vehicle touch screen or the instrument panel). For example, prompt messages such as "Door switching failed, please check the surrounding environment" or "Interlock mechanism fault, please contact the maintenance personnel" are displayed.

[0096] Meanwhile, the door ECU records the fault information in the vehicle's fault diagnosis system for subsequent inspection and repair by maintenance personnel. The fault record includes detailed information such as the fault occurrence time, fault type, and sensor data, facilitating quick problem location and solution. By combining the dual detection function of the status detection module in this embodiment with the door ECU, the status of mode switching is determined. When the vehicle is powered on for the first time, if it is not in the correct mode, it will automatically switch to the side-opening mode and be recorded as the first historical mode. If the switching fails due to abnormal reasons, it will revert to the previous historical state, and an alarm indicating the switching fault will be displayed on the large screen. If both mode switches fail, the switching operation will stop, and an alarm indicating a serious fault will be displayed on the large screen.

[0097] An early warning module for warning and prompting abnormal conditions during the door opening process.

[0098] Embodiment Two:

[0099] Embodiment Two of the present invention provides a vehicle, including the door opening mode switching system described in Embodiment One of the present invention.

[0100] Embodiment Three:

[0101] Embodiment Three of the present invention provides a method for switching the door opening mode, including the following steps:

[0102] Identify the surrounding scene of the vehicle and use the door opening prediction model to predict the door opening mode and parameters;

[0103] Generate a door control instruction based on the user selection and the current door mode, in combination with the prediction result of the scene recognition module, where the door mode includes the flat door mode and the scissor door mode;

[0104] Detect the current vehicle state when receiving the switching instruction and transmit the detection result to the switching control module;

[0105] Control the door opening according to the detection result of the status detection module and the door control instruction of the mode selection module, and handle faults for abnormal conditions during the door opening process;

[0106] Detect abnormal conditions during the door opening process, detect the type of abnormal conditions that occur, and detect and troubleshoot mechanical damage, foreign object jamming, and control abnormalities respectively to identify the fault type. Among them, mechanical faults are determined by detecting the status of the travel switch, and the current and travel of the motor are double-detected to assist in determining foreign object faults and control faults;

[0107] Generate corresponding fault response strategies according to the detection result of the status detection module.

[0108] Embodiment Four:

[0109] Embodiment 4 of the present invention provides a medium, on which a program is stored, and when the program is executed by a processor, the steps in a method for switching a door opening mode as described in Embodiment 3 of the present invention are implemented.

[0110] Embodiment 5:

[0111] Embodiment 5 of the present invention provides a device, including a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, the steps in a method for switching a door opening mode as described in Embodiment 3 of the present invention are implemented.

[0112] The steps involved in the above Embodiments 2, 3, 4, and 5 correspond to those in Embodiment 1, and for the specific implementation manners, reference may be made to the relevant description part of Embodiment 1.

[0113] Those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computer device. Optionally, they can be implemented by program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0114] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that, based on the technical solutions of the present invention, various modifications or deformations that can be made without creative efforts by those skilled in the art are still within the protection scope of the present invention.

Claims

1. A door opening mode switching system, characterized in that: include: A scene recognition module is used to recognize the scene around the vehicle and predict the door opening mode and parameters using the door opening prediction model; A mode selection module, used to generate a door control instruction according to the user selection and the current door mode in combination with the prediction result of the scene recognition module, wherein the door mode includes a swing door mode and a scissor door mode; A state detection module is used to detect the current vehicle state upon receiving a switching instruction, and transmit the detection result to the switching control module, and is also used to handle the abnormal conditions during the door opening process, wherein the type of abnormal condition is detected, and mechanical faults, foreign body faults and control faults are detected and checked respectively, and the fault type is identified, wherein the mechanical fault is determined by detecting the state of the travel switch and the current and travel of the motor, and the foreign body fault and control fault are auxiliary determined; A switching control module, used for controlling the door opening according to the detection result of the state detection module and the door control instruction of the mode selection module; The fault handling module is used to detect abnormal conditions during the door opening process and generate corresponding fault response strategies based on the detection results of the status detection module.

2. The door opening mode switching system according to claim 1, characterized in that: In the scene recognition module, the door opening prediction model is composed of a graph neural network and a gated recurrent unit, which is used to predict the dynamic changes of the surrounding environment and design the door opening mode and parameters based on the prediction results.

3. The door opening mode switching system according to claim 2, characterized in that: In the mode selection module, the user selection is the highest priority for mode selection. When the user does not specify the opening mode, the current door mode is given priority. When the mode selected by the user does not meet the door opening mode and parameters designed by the scene recognition module, an alarm and prompt will be issued first. If the user insists on opening it, it will be executed according to the user's selection.

4. The door opening mode switching system according to claim 3, characterized in that: In the status detection module, the mechanical fault is first detected. If it is determined that it is not a mechanical fault, foreign object detection and cleaning are performed. If the door opening process returns to normal after the foreign object detection and cleaning work is completed, it is confirmed to be a foreign object fault, otherwise it is judged to be a control fault.

5. The door opening mode switching system according to claim 4, characterized in that: In the switching control module, the switching process of the door opening mode is completed through the cooperation of the interlocking mechanism and the swing door assembly. The swing door assembly includes a scissor door structure and a sliding door structure. The application switching of the scissor door structure and the sliding door structure is completed through the locking state switching and monitoring of the interlocking mechanism.

6. The door opening mode switching system according to claim 1, characterized in that: The interlocking mechanism includes sensors, electromagnetic locks and mechanical locks. The electromagnetic locks are opened and closed by the door ECU, and the mechanical locks are opened and closed by the electric drive unit. The sensors are used to monitor data during the switching process. The mechanical locks include travel switches and locking rods. Whether there is a mechanical failure is determined by detecting the position of the locking rod.

7. A vehicle, characterized in that: The invention comprises a vehicle door opening mode switching system as described in any one of claims 1 to 6.

8. A method for switching a vehicle door opening mode, characterized in that: The following steps are involved: Identify the scene around the vehicle and use the door opening prediction model to predict the door opening mode and parameters; Generate a door control instruction based on the user selection and the current door mode combined with the prediction result of the scene recognition module, wherein the door mode includes a swing door mode and a scissor door mode; Upon receiving the switching command, the current vehicle state is detected and the detection result is transmitted to the switching control module; Carry out door opening control according to the detection result of the state detection module and the door control instruction of the mode selection module, and handle the abnormal conditions during the door opening process; Detect abnormal conditions during the door opening process, detect the type of abnormal condition, detect and troubleshoot mechanical damage, foreign object jamming and control abnormality, and identify the fault type. Among them, mechanical faults are determined by detecting the state of the travel switch and the current and travel of the motor, and foreign object faults and control faults are determined as auxiliary. Generate corresponding fault response strategies based on the detection results of the status detection module.

9. A computer-readable storage medium, characterized in that: A plurality of instructions are stored therein, and the instructions are suitable for being loaded by a processor of a terminal device and executing the vehicle door opening mode switching method as claimed in claim 8.

10. A terminal device, characterized in that: It includes a processor and a computer-readable storage medium, the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executing the door opening mode switching method described in claim 8.

Images