Vehicle control method and device, vehicle and electronic equipment

Abstract

The invention provides a vehicle control method and device, a vehicle and electronic equipment, the vehicle at least comprises a seat and a vehicle-mounted refrigerator, the seat can move in the first direction, and a refrigerator door of the vehicle-mounted refrigerator can be opened towards the side close to the seat and closed towards the side away from the seat in the first direction; the method comprises the steps that when the refrigerator door is opened and / or the position of the seat is adjusted, the relative position relation between the seat and the refrigerator door is determined; according to the relative position relation, whether the refrigerator door interferes with the seat or not is determined; and under the condition that the refrigerator door and the seat interfere with each other, the opening degree of the refrigerator door and / or the position of the seat are / is controlled, so that the seat is prevented from making contact with the refrigerator door.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and relates to, but is not limited to, a vehicle control method, a control device, a vehicle, and an electronic device. Background Art

[0002] With the continuous improvement of people's demand for travel quality and vehicle use comfort, in-vehicle refrigerators are increasingly applied in vehicles, and some vehicle models are equipped with in-vehicle refrigerators with automatic door opening and closing functions.

[0003] The in-vehicle refrigerator is usually arranged below the vehicle armrest box, and the refrigerator door can be opened backward to facilitate the rear passengers to take items from the refrigerator. In some cases, the refrigerator door of the in-vehicle refrigerator may interfere with the vehicle seat when it is opened. For example, when the rear seat is adjusted to a position closer to the front seat along the length direction of the vehicle, the gap between the front and rear seats is small, and at this time the refrigerator door may interfere with the front part of the seat; another example is that when the seat is adjusted in the width direction with the refrigerator door open, the side of the front part of the seat may collide with the refrigerator door.

[0004] The interference between the seat and the refrigerator door may, on the one hand, cause damage to the door body structure of the refrigerator door. On the other hand, when interference occurs, the drive motors of both the refrigerator door and the seat position adjustment will be in a stalled state. If effective preventive measures are not taken, the motor may short-circuit or overheat due to stalling, affecting the safety of the vehicle. Summary of the Invention

[0005] This application mainly provides a vehicle control method, a control device, a vehicle, and an electronic device

[0006] The technical solution of this application is realized as follows:

[0007] In a first aspect, a vehicle control method is provided. The vehicle includes at least a seat and an in-vehicle refrigerator. The seat can move in a first direction, and the refrigerator door of the in-vehicle refrigerator can open toward the side close to the seat and close away from the seat in the first direction. The method includes: when opening the refrigerator door and / or adjusting the position of the seat, determining the relative position relationship between the seat and the refrigerator door; according to the relative position relationship, determining whether the refrigerator door and the seat will interfere; in the case where the refrigerator door and the seat will interfere, controlling the opening degree of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door.

[0008] According to the above technical means, by determining in real time the positional relationship between the automatic door of the in-vehicle refrigerator and the adjustable seat in the vehicle, the automatic opening and closing of the refrigerator door and the movement of the adjustable seat are controlled, avoiding the occurrence of interference between the refrigerator and the seat. This technical solution realizes the linkage adjustment of the in-vehicle refrigerator and the seat, providing a convenient and comfortable experience for users when using the refrigerator and the seat in the vehicle, and at the same time protecting the safety of the refrigerator and seat hardware.

[0009] In some embodiments, the relative positional relationship includes a first distance between the seat and the refrigerator door along the first direction; the determining whether the refrigerator door and the seat will interfere according to the relative positional relationship includes: obtaining the position information of the seat; calculating the first distance between the seat and the refrigerator door along the first direction according to the position information of the seat; in a state where the seat position is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door along the first direction, it is determined that the refrigerator door and the seat interfere in the first direction; or, in a state where the refrigerator door is in a first opening position and the seat moves along the first direction towards the side close to the in-vehicle refrigerator, if the first distance is less than a second preset distance, it is determined that the refrigerator door and the seat will interfere in the first direction.

[0010] In some embodiments, when it is determined that the refrigerator door and the seat interfere in the first direction, the controlling the opening degree of the refrigerator door and / or the position of the seat includes: in a state where the seat position is fixed and the refrigerator door needs to be opened, controlling the refrigerator door to open so that the distance between the refrigerator door and the seat relative to the seat side is greater than or equal to a first preset distance; or, in a state where the refrigerator door is in a first opening position and the seat moves along the first direction towards the side close to the in-vehicle refrigerator, controlling the refrigerator door to move away from the seat so that the first distance is greater than or equal to the second preset distance, or controlling the refrigerator door to move away from the seat so that the first distance is greater than or equal to a third preset distance.

[0011] According to the above technical means, in a state where the seat position is fixed and the refrigerator door needs to be opened or the refrigerator door is in a first opening position and the seat moves along the first direction towards the side close to the in-vehicle refrigerator, a safety distance is reserved between the refrigerator door and the seat, and the opening stroke of the refrigerator door is controlled according to the first distance between the refrigerator door and the seat and the reserved safety distance, which can avoid the collision between the seat and the refrigerator in this scenario.

[0012] In some embodiments, the seat is further movable in a second direction perpendicular to the first direction, and the relative position relationship further includes a second distance between the seat and the refrigerator door in the second direction; determining whether there is interference between the refrigerator door and the seat according to the relative position relationship includes: obtaining the position information of the seat; calculating the second distance between the seat and the refrigerator door in the second direction according to the position information of the seat; and when the refrigerator door is in a first open position and the seat moves toward the side close to the vehicle-mounted refrigerator in the second direction, if the second distance is less than a fourth preset distance, determining that there is interference between the refrigerator door and the seat in the second direction.

[0013] In some embodiments, when it is determined that there is interference between the refrigerator door and the seat in the second direction, controlling the opening degree of the refrigerator door and / or the position of the seat includes: calculating the influence distance of the movement of the seat on the refrigerator door in the first direction according to the displacement distance of the seat in the second direction; controlling the refrigerator door to move a third distance in the first direction away from the seat, where the third distance is greater than or equal to the sum of a first preset distance between the seat and the refrigerator door in the first direction and the influence distance; and / or, reducing the moving speed of the seat in the second direction and / or increasing the moving speed of the refrigerator door to avoid the refrigerator door colliding with the seat during the movement of the third distance.

[0014] According to the above technical means, when the seat moves toward the side close to the refrigerator, synchronously controlling the refrigerator door to move in the closing direction and controlling the distance between the seat and the refrigerator door to be greater than or equal to a second preset distance can avoid the collision between the refrigerator and the seat.

[0015] In some embodiments, controlling the opening degree of the refrigerator door and / or the position of the seat further includes: when the refrigerator door moves in the direction away from the seat to make the opening degree of the refrigerator door less than a first opening threshold, controlling the refrigerator door to close.

[0016] In some embodiments, the method further includes: determining the opening resistance of the refrigerator door during the opening process of the refrigerator door; when the opening resistance is greater than a first resistance threshold, controlling the refrigerator door to stop opening; and / or, when the refrigerator door is in a state of stopping opening, in response to the vehicle door opening instruction or in response to an external force applied to the refrigerator door in the opening direction, controlling the refrigerator door to open; and in response to an external force applied to the refrigerator door in the closing direction, controlling the refrigerator door to close.

[0017] In some embodiments, the method also includes: determining the closing resistance of the refrigerator door while controlling the refrigerator door to close in response to an external force acting on the refrigerator door that deviates from the opening direction; controlling the refrigerator door to stop closing when the closing resistance is greater than a second resistance threshold; and / or controlling the refrigerator door to close in response to a door closing command from the vehicle or in response to the refrigerator door being subjected to an external force along the closing direction when the refrigerator door is in a stopped closing state.

[0018] In a second aspect, a control device is provided, which is applied to a vehicle, wherein the vehicle includes a seat and a vehicle-mounted refrigerator, the seat can be moved along a first direction, and a refrigerator door of the vehicle-mounted refrigerator can be opened along the first direction toward a side close to the seat and closed toward a side away from the seat, the device including: a first determination unit, for determining a relative position relationship between the seat and the refrigerator door when opening the refrigerator door and / or adjusting the position of the seat; a second determination unit, for determining whether the refrigerator door and the seat will interfere with each other based on the relative position relationship; and a control unit, for controlling the opening of the refrigerator door and / or the position of the seat when the refrigerator door and the seat are likely to interfere with each other, so as to avoid contact between the seat and the refrigerator door.

[0019] According to a third aspect, a vehicle is provided, comprising: a seat capable of moving along a first direction; a vehicle-mounted refrigerator, a refrigerator door of which can be opened along the first direction toward a side close to the seat and closed toward a side away from the seat; a controller connected to the seat and the vehicle-mounted refrigerator, the controller being used to: determine a relative position relationship between the seat and the refrigerator door when opening the refrigerator door and / or adjusting the position of the seat; determine whether the refrigerator door and the seat will interfere with each other based on the relative position relationship; and in the event that the refrigerator door and the seat will interfere with each other, control the opening of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door.

[0020] According to a fourth aspect, an electronic device is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program to perform the method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic flow chart of a control method provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of a vehicle to which the control method provided by an embodiment of the present application is applied;

[0023] Figure 3Schematic diagram of the state when the refrigerator door is opened and the seat moves horizontally;

[0024] Figure 4 Schematic flowchart of the control method provided by another embodiment of the present application;

[0025] Figure 5 Schematic flowchart of the control method provided by still another embodiment of the present application;

[0026] Figure 6 Schematic structural diagram of the vehicle control device provided by the embodiment of the present application;

[0027] Figure 7 Schematic structural diagram of the vehicle provided by the embodiment of the present application;

[0028] Figure 8 Schematic structural diagram of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0030] In the following description, "some embodiments" are involved, which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0031] In the following description, the terms "first / second / third" are only used to distinguish different objects, and do not represent a specific order for the objects, and there is no limitation on the order of precedence. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0032] Unless otherwise defined, 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 this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0033] For ease of understanding, before introducing the technical solutions of the present application, the related technologies and the problems existing in the related technologies will be described in detail.

[0034] With the continuous improvement of people's demand for travel quality and vehicle use comfort, in-vehicle refrigerators are increasingly used in vehicles. The current intelligent development of in-vehicle refrigerators is still in the process of gradual improvement. The research focus of in-vehicle refrigerators is concentrated on the refrigeration or heating technology itself, such as improving the refrigeration efficiency of semiconductor refrigerators and optimizing the energy consumption of compressor refrigerators; while less attention is paid to the interaction and collaborative control between in-vehicle refrigerators and passengers as well as between in-vehicle refrigerators and other devices in the vehicle.

[0035] In order to improve the intelligence level of the vehicle, some vehicle models are equipped with in-vehicle refrigerators with automatic door opening and closing functions. A driving device is provided in such refrigerators to drive the opening and closing of the refrigerator door.

[0036] As a possible implementation method, the above driving device is a motor and a transmission mechanism. The transmission mechanism can be a lead screw-nut transmission mechanism, where the lead screw is connected to the motor, the nut is connected to the refrigerator door, the nut is sleeved between the lead screws, and a thread pair is formed between the two. When the motor drives the lead screw to rotate, the nut can move along the axis direction of the lead screw. By controlling the rotation direction of the motor, the opening and closing of the refrigerator door can be realized.

[0037] It can also be understood that in order to improve the comfort of passengers, some vehicle models are equipped with an electric adjustment function for the rear seats. For example, the rear seats can move along the front-back direction and width direction of the vehicle to adjust the seating space of the rear seats.

[0038] The above in-vehicle refrigerator is usually arranged at the lower part of the vehicle armrest box, and the refrigerator door can be opened backward to facilitate the rear passengers to take items from the refrigerator.

[0039] In some cases, the refrigerator door of the in-vehicle refrigerator may interfere with the vehicle seat when it is opened. For example, when the rear seat is adjusted to a position closer to the front seat along the length direction of the vehicle, the gap between the front and rear seats is small, and at this time the refrigerator door may interfere with the front part of the seat; another example is that when the refrigerator door is in the open state, if the position of the seat is adjusted in the width direction, it may cause the side of the front part of the seat to collide with the refrigerator door.

[0040] When the above situation of interference between the seat and the refrigerator door occurs, the following problems will exist: First, the collision between the refrigerator door and the seat may cause damage to the door body structure of the refrigerator door; second, when interference occurs, the driving motor of the refrigerator door and the driving motor for adjusting the seat position will both be in a stalled state. If effective preventive measures are not taken, the motor may short-circuit or overheat due to stalling, affecting the safety of the vehicle. The existence of the above problems will reduce the comfort of users and bring a poor user experience.

[0041] Therefore, how to handle the interference between the electric opening and closing of the refrigerator door and the position of the vehicle seat has become an urgent problem to be solved.

[0042] To solve the above technical problems, embodiments of the present application provide a vehicle control method, a control device, a vehicle, and an electronic device. The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0043] Figure 1 is a schematic flowchart of the control method provided by the embodiments of the present application. Figure 2 is a schematic structural diagram of a vehicle to which this method is applied. Before introducing this control method, first Figure 2 the vehicle shown in the figure will be described.

[0044] It should be noted that Figure 2 the vehicle shown in the figure is only an example, and Figure 2 only shows a part of the vehicle structure.

[0045] Figure 2 The vehicle 200 in includes a seat 210 and an in-vehicle refrigerator 220. Among them, the seat 210 can move along the first direction shown in the figure, and this first direction is consistent with the front-rear direction of the vehicle; the in-vehicle refrigerator has an automatic refrigerator door 221, and this refrigerator door can open towards the side close to the seat or close towards the side away from the seat along the aforementioned first direction.

[0046] The above-mentioned seat can be the rear seat of the vehicle, and the in-vehicle refrigerator is arranged in front of the rear seat. For example, in a common five-seat vehicle, the above-mentioned seat can be the rear seat of the vehicle; for another example, when the above-mentioned vehicle is a vehicle with more than two rows of seats, the above-mentioned seat can be any row of seats except the first row.

[0047] The control method provided by the embodiments of the present application can be executed by any one of the seat controller, the refrigerator controller, or the vehicle controller of the vehicle.

[0048] Next, with reference to Figure 1 the control method provided by the present application will be described. The control method provided by the embodiments of the present application can be executed by any one of the seat controller, the refrigerator controller, or the vehicle controller of the vehicle. Figure 1 The method in includes steps S110 - S130.

[0049] In step S110, when opening the refrigerator door and / or adjusting the seat position, determine the relative position relationship between the seat and the refrigerator door.

[0050] The above-mentioned situations of opening the refrigerator door and / or adjusting the seat position include the following several types: opening the refrigerator door when the seat position is fixed, adjusting the seat position when the refrigerator door is open, and adjusting the seat position while opening the refrigerator door.

[0051] In the above - mentioned multiple situations, there is a possibility of interference between the refrigerator door and the seat. For example, when the position of the seat is fixed, if the position of the seat is close to the front seat and the refrigerator door is opened at the maximum opening distance, the refrigerator door will collide with the front seat. Or, when the seat position is moved with the refrigerator door open, there is also a risk of collision between the refrigerator door and the seat. In the solutions of the related art, the stroke control of the refrigerator door and the position adjustment of the seat are decoupled from each other and will not work together. In the technical solution of the present application, different control strategies will be executed when the above - mentioned different situations occur, so as to avoid interference. The specific control strategies will be described in more detail later.

[0052] In the embodiment of the present application, the relative position relationship between the seat and the refrigerator door can be the distance between the end of the seat close to the refrigerator door and the side of the refrigerator door close to the seat.

[0053] The above - mentioned distance can be measured directly or indirectly. Among them, the direct measurement method can be, for example, to set a distance sensor on the side of the refrigerator door close to the seat and use this distance sensor to detect the distance between the seat and the refrigerator door; the indirect measurement method can be, for example, to determine the first relative distance and the second relative distance of the seat and the refrigerator door relative to one or more fixed objects in the vehicle respectively, and then calculate the distance between the seat and the refrigerator door according to the first relative distance and the second relative distance. The above - mentioned first relative distance can be, for example, the distance between the front end of the seat and the end of its supporting slide rail, and the second relative distance can be, for example, the distance between the refrigerator door and a marked position on the refrigerator body.

[0054] In step S120, according to the relative position relationship, it is determined whether there will be interference between the refrigerator door and the seat.

[0055] After determining the above - mentioned relative position relationship, it can be determined whether there will be interference between the refrigerator door and the seat according to the preset interference judgment rule.

[0056] Whether there will be interference as mentioned in the embodiment of the present application can refer to whether there will be a collision or other risks due to being too close when the refrigerator door and / or the seat continues to move at the current position or in the current moving state.

[0057] For example, in a state where the seat position is fixed and the refrigerator door is open, if the distance between the refrigerator door and the seat is large enough (e.g., greater than a preset threshold), it can be determined that there is no interference risk between the refrigerator door and the seat; conversely, in the above scenario, if the distance between the seat and the refrigerator door is small (e.g., less than a preset threshold), it is determined that there is an interference risk between the refrigerator door and the seat. For another example, in some scenarios, the refrigerator door is in an open state and the seat moves along the length or width direction of the vehicle, then it is necessary to control the refrigerator door to move in the closing direction. If the distance between the seat and the refrigerator door is small and the opening stroke of the refrigerator door is large, it may collide with the seat during the closing process of the refrigerator door. At this time, it can be considered that there is a greater interference risk.

[0058] In step S130, in the case where the refrigerator door and the seat will interfere, control the opening degree of the refrigerator door and / or the position of the seat to avoid collision between the seat and the refrigerator door.

[0059] In the technical solution of the embodiment of the present application, in the case where there is the aforementioned interference risk between the seat and the refrigerator door, the control of the opening degree of the refrigerator door and the position of the seat can avoid the occurrence of collision.

[0060] The above control of the opening degree of the refrigerator door and the position of the seat includes but is not limited to:

[0061] Adjust the opening degree of the refrigerator door so that it moves within a range where it will not collide with the seat.

[0062] Or, adjust the position or moving speed during the movement of the seat. Among them, the adjustment of the seat position includes adjusting the position along the length and width directions; the adjustment of the seat moving speed can be to reduce the moving speed of the seat when moving towards the side close to the refrigerator door, or to increase the moving speed of the seat or control the seat to stop moving when the seat moves towards the side away from the refrigerator door.

[0063] Or, simultaneously perform coordinated control on the opening degree of the refrigerator door and the position of the seat to ensure that there is no contact between the two.

[0064] According to the above technical means, by determining the positional relationship between the automatic door of the in-vehicle refrigerator and the adjustable seat in the vehicle in real time, controlling the automatic opening and closing of the refrigerator door and the movement of the adjustable seat, the occurrence of interference between the refrigerator and the seat is avoided. This technical solution realizes the linkage adjustment of the in-vehicle refrigerator and the seat, provides a convenient comfort experience for users when using the refrigerator and the seat in the vehicle, and at the same time protects the safety of the refrigerator and seat hardware.

[0065] As mentioned above, the technical solution provided by the embodiment of the present application provides an anti-collision strategy under different motion states of the seat and the refrigerator door, which will be described in detail below.

[0066] In some embodiments, the relative positional relationship between the seat and the refrigerator door is the first distance between the seat and the refrigerator door along the first direction.

[0067] The aforesaid step S120 of determining whether the refrigerator door and the seat will interfere includes:

[0068] Obtain the position information of the seat. This position information can be, for example, the distance of the seat from a certain marked point in the vehicle (such as the end point of the seat slide rail), or the position information can be the stroke of the drive motor of the seat moving mechanism.

[0069] Calculate the first distance between the seat and the refrigerator door along the first direction according to the position information of the seat.

[0070] In the case where the seat position is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door, it is determined that the refrigerator door and the seat will interfere.

[0071] For example, when the maximum opening distance of the refrigerator door is 200 mm, if the above first distance is 190 mm, it is determined that the refrigerator door will interfere with the seat during the opening process.

[0072] In the state where the refrigerator door is in the first opening position and the seat moves along the first direction towards the side close to the refrigerator, if the first distance is less than the second preset distance, it is determined that the refrigerator door and the seat will interfere. The second preset distance is a safety margin reserved for the opening of the refrigerator door.

[0073] For example, the current opening stroke of the refrigerator door is 100 mm, and the second preset distance is 20 mm. If the seat moves to a position where the distance between it and the refrigerator door is less than 20 mm, it indicates that there is a risk of collision between the refrigerator door and the seat.

[0074] In some embodiments, when it is determined that the refrigerator door and the seat will interfere in the first direction, controlling the opening degree of the refrigerator door and / or the position of the seat includes:

[0075] In the state where the seat position is fixed and the refrigerator door needs to be opened, control the refrigerator door to open so that the distance between the refrigerator door and the seat relative to the seat side is greater than or equal to the first preset distance.

[0076] The first preset distance is a safety margin reserved for the opening of the refrigerator door to avoid collision or extrusion between the refrigerator door and the seat, other items in the vehicle, or passengers in the vehicle in some special scenarios; for example, in the case where it is determined according to the first distance that no interference will occur, if the seat is deformed or there is a foreign object between the seat and the refrigerator, and at this time the refrigerator door is opened according to the maximum opening distance, it will collide with the seat or extrude the foreign object.

[0077] For example, the maximum opening distance of the refrigerator door can be 200 mm. The above-mentioned first preset distance can be set to 30 mm. In the case of the aforementioned interference, the movement of the refrigerator door can be controlled to be less than or equal to 170 mm, so that the distance between the refrigerator door and the seat is greater than or equal to 20 mm.

[0078] Alternatively, as a possible implementation, in the above case, if it is determined that interference will occur, the position of the seat can also be adjusted. Still taking the first distance as 200 mm as an example, in order to ensure that there is still the first preset distance between the refrigerator door and the seat when the refrigerator door is opened, the seat can be moved 30 mm in the direction away from the refrigerator, and the refrigerator door can be controlled to open to the maximum stroke.

[0079] When the refrigerator door is in the first opening position and the seat moves along the first direction towards the side close to the vehicle-mounted refrigerator, controlling the opening degree of the refrigerator door and / or the position of the seat includes:

[0080] When the seat moves towards the vehicle-mounted refrigerator, control the refrigerator door to move in the direction away from the seat, so that the first distance is greater than or equal to the second preset distance.

[0081] In the related art, since the movement of the seat and the opening and closing of the refrigerator door are decoupled from each other, when the seat continuously moves towards the side close to the refrigerator, the refrigerator door still remains in the open state and position. If the moving distance of the seat is large, it will collide with the refrigerator door, and there is a risk of damaging the hardware of the refrigerator and the seat.

[0082] In the technical solution of the present application, combined with the example above, when the seat moves towards the side close to the refrigerator, synchronously control the refrigerator door to move in the closing direction, and control the distance between the seat and the refrigerator door to be greater than or equal to the second preset distance of 20 mm, so as to avoid collision.

[0083] Alternatively, controlling the opening degree of the refrigerator door and / or the position of the seat can also be to control the refrigerator door to move in the direction away from the seat, so that the first distance is greater than or equal to the third preset distance. The third distance is similar to the aforementioned preset distance and the second preset distance, and is a preset safety distance.

[0084] Exemplarily, the third preset distance can be greater than the second preset distance. Taking the second preset distance in the previous text as 20 mm as an example, the third preset distance can be 30 mm. When the distance between the seat and the refrigerator is less than or equal to the second distance of 20 mm, it is determined that interference may exist. At this time, control the refrigerator door to move to a position away from the seat so that the distance between them is greater than 30 mm, thereby ensuring that no interference will occur.

[0085] As a possible implementation, when the refrigerator door is in the first opening position and the seat moves away from the refrigerator along the first direction, if the first opening position does not reach the maximum opening distance of the refrigerator door, the refrigerator door can be controlled to continue opening towards the seat on the premise that the distance between the refrigerator door and the seat is greater than the second preset distance, so as to increase the opening area of the refrigerator and facilitate the user to take items.

[0086] According to the above technical means, when the seat is fixed and the refrigerator door needs to be opened, or when the refrigerator door is in the first opening position and the seat moves towards the vehicle-mounted refrigerator along the first direction, a safety distance is reserved between the refrigerator door and the seat, and the opening stroke of the refrigerator door is controlled according to the first distance between the refrigerator door and the seat and the reserved safety distance, which can avoid the collision between the seat and the refrigerator in this scenario.

[0087] In some embodiments, when it is determined that there is no interference between the refrigerator door and the seat in the first direction, controlling the opening degree of the refrigerator door and / or the position of the seat includes:

[0088] When the first distance is greater than or equal to the maximum opening distance of the refrigerator door, control the refrigerator door to open to the maximum opening distance.

[0089] Combined with the previous example, if the first distance between the refrigerator door and the seat is 250 mm, which is greater than the maximum opening distance of the refrigerator door of 200 mm, it can be determined that even if the refrigerator door is opened to the maximum stroke, it will not collide with the seat. At this time, the refrigerator door can be controlled to open fully.

[0090] According to the above technical means, when the first distance between the seat and the refrigerator door is greater than the maximum opening distance, there is no interference risk, so the refrigerator door is controlled to open to the maximum stroke to facilitate the passenger to take items in the refrigerator.

[0091] In some embodiments, referring back to Figure 2 , in the vehicle applying the technical solution of the present application, the seat is further configured to be able to move along a second direction perpendicular to the first direction, that is, to adjust the position of the seat in the width direction of the vehicle. The relative position relationship between the seat and the refrigerator door further includes a second distance between the seat and the refrigerator door along the second direction.

[0092] For the relative position relationship, determining whether the refrigerator door and the seat will interfere includes:

[0093] Obtain the position information of the seat. This position information can be, for example, the formation of the drive motor for the lateral movement of the seat, or, alternatively, the distance between the seat and a reference point in the vehicle along the second direction. The embodiments of the present application do not limit this.

[0094] According to the position information of the seat, calculate the second distance between the seat and the refrigerator door along the second direction.

[0095] The solution of this embodiment is applied to the scenario where the refrigerator door is in the open state (at the first opening position) and the seat moves along the second direction towards the rated side of the refrigerator.

[0096] In the above scenario, determining whether the refrigerator door will interfere with the seat includes: if the second distance is less than the fourth preset distance, it is determined that the refrigerator door and the seat will interfere. If the distance between the side of the refrigerator door and the seat is too small, it is considered that there is a risk of interference. The above fourth preset distance can be, for example, 20 mm.

[0097] In some embodiments, when it is determined that the refrigerator door and the seat will interfere in the second direction, controlling the opening degree of the refrigerator door and / or the position of the seat includes:

[0098] According to the displacement distance of the seat in the second direction, calculate the influence distance of the movement of the seat on the refrigerator door in the first direction.

[0099] This influence distance is the overlapping distance between the seat and the in-vehicle refrigerator in the first direction.

[0100] Control the refrigerator door to move a third distance along the first direction towards the side away from the seat. This third distance is greater than or equal to the sum of the first preset distance and the influence distance between the seat and the refrigerator door in the first direction; and / or, reduce the moving speed of the seat along the second direction and / or increase the moving speed of the refrigerator door to avoid the refrigerator door colliding with the seat during the process of moving the third distance.

[0101] Figure 3 What is shown is a schematic diagram of the state where the refrigerator door is in the first opening position and the seat is moving along the second direction. Figure 3 The third distance D3, the influence distance L1, and the second preset distance D2 are shown.

[0102] Combined Figure 3 In the technical solution of the embodiment of the present application in the scenario shown, to avoid the seat continuing to move and colliding with the refrigerator door, it is necessary to control the refrigerator door to move in the closing direction. The dotted line shows the target position of the movement of the refrigerator door. At this position, the refrigerator door will not collide with the moving seat. At this target position, it should also be ensured that the distance between the refrigerator door and the seat is greater than the aforementioned second preset distance.

[0103] For example, the current opening degree of the refrigerator door is 100 mm, the third distance D3 between the refrigerator door and the seat along the second direction is 20 mm, the influence distance L1 between the refrigerator door and the seat along the first direction is 50 mm, and the second preset distance is 20 mm. To avoid collision, it is necessary to control the refrigerator door to move at least 70 mm in the closing direction to the target position. At the target position, along the first direction, the distance between the seat and the refrigerator door is at least the second preset distance of 20 mm, and there is no interference risk at this time.

[0104] It can also be understood that in the above scenario, while the refrigerator door is moving away from the seat along the first direction, the seat may still be in the process of moving closer to the seat along the second direction, and there is still a possibility of collision during this process.

[0105] Therefore, the technical solution of the present application further includes: reducing the moving speed of the seat along the second direction and / or increasing the moving speed of the refrigerator door to avoid collision between the refrigerator door and the seat during the movement of the above third distance.

[0106] Still taking Figure 3 as an example, after the seat moves 20 mm, if the moving distance of the refrigerator door is less than 70 mm, interference will occur. Suppose the moving speed of the seat along the second direction is 4 mm / s, and it takes 5 s for it to move 20 mm; if the moving speed of the refrigerator door is 10 mm / s, then within 5 s, the moving distance of the refrigerator door is less than 70 mm, and the refrigerator door will collide with the seat.

[0107] According to the solution of the present application, the moving speed of the seat can be reduced, for example, from 4 mm / s to 2 mm / s, so that it will take 10 s for the seat to move 20 mm; within 10 s, the refrigerator door will move 100 mm at a speed of 10 mm / s, and this distance is greater than 70 mm, and interference will not occur at this time.

[0108] According to the solution of the present application, the moving speed of the refrigerator door can also be increased, for example, increasing the speed of the refrigerator door from 10 mm / s to 20 mm / s, so that within 5 s, the refrigerator door will move 100 mm, which can also avoid interference. In the embodiment of the present application, the closing speed of the refrigerator door is also increased while reducing the moving speed of the seat, which will not be elaborated here.

[0109] It can be understood that in the technical solution of the embodiment of the present application, as Figure 2 shown, the seat may include a seat body and a leg rest connected to the seat body, and the leg rest can extend or retract relative to the seat in a rotational or translational manner.

[0110] When the leg rest is in the retracted state, the aforementioned first distance and second distance are the shortest distances between the seat body of the seat and the refrigerator door; when the leg rest is in the extended state, the first distance and second distance are the closest distances between the leg rest and the refrigerator door.

[0111] In some embodiments, the aforementioned control method further includes: when the refrigerator door moves in a direction away from the seat until the opening degree of the refrigerator door is less than the first opening degree threshold, controlling the refrigerator door to close.

[0112] The first opening degree threshold can be, for example, 40 mm. When the opening degree of the refrigerator door is less than 40 mm, the space is small, which will affect the user's access to the items inside the refrigerator.

[0113] In some embodiments, the method further includes: during the opening process of the refrigerator door, determining the opening resistance of the refrigerator door; when the opening resistance is greater than the first resistance threshold, controlling the refrigerator door to stop opening.

[0114] The detection of the opening resistance can be carried out, for example, by a pressure sensor, or, as a possible way, the magnitude of the opening resistance can be determined according to the relevant state parameters of the driving motor of the refrigerator door. Specifically, during the process of the driving motor driving the refrigerator door, if the resistance is constant, the current of the driving motor will be in a stable state; if the refrigerator door moves and is blocked, the motor will be in a stall state, and at this time, the current of the driving motor will increase, and the magnitude of the opening resistance can be determined by detecting the current.

[0115] When the opening resistance of the refrigerator door is large (for example, exceeding 50 N), if it is forcibly opened, it may cause damage to the motor or squeeze the items inside or outside the refrigerator. At this time, controlling the refrigerator door to stop moving can avoid squeezing and colliding with the items inside the refrigerator, and at the same time, it can also avoid accidental injuries to the surrounding personnel caused by the forced opening of the refrigerator door, improving the safety and reliability of the refrigerator's use.

[0116] In some embodiments, the above control method further includes: when the refrigerator door is in a state of stopping opening, in response to the vehicle's door opening instruction or in response to an external force on the refrigerator door in the opening direction, controlling the refrigerator door to open; and in response to an external force on the refrigerator door in the closing direction, controlling the refrigerator door to close.

[0117] The above door opening instruction can be, for example, through a control button in the vehicle, a voice instruction of the vehicle-mounted system, or issued by other terminals. When the control unit receives the above instruction, it can control the opening of the refrigerator.

[0118] When the refrigerator door is subjected to an external force from the outside and the direction is the same as the normal opening direction, the system will detect this external force and control the refrigerator door to open.

[0119] Similar to the control logic of external force in the opening direction, when it is detected that the refrigerator door is subjected to external force in the closing direction, for example, the user pushes the refrigerator door in the closing direction, the control unit will control the refrigerator to close.

[0120] According to the above technical means, damage to the refrigerator door and related parts caused by forced operation by the user is avoided. When the refrigerator stops opening when encountering resistance, it is controlled according to instructions or external force to prevent the user from using excessive force due to lack of understanding of the situation, and at the same time enhance the interactivity of the refrigerator.

[0121] In some embodiments, the above control method also includes: in the process of controlling the refrigerator door to close in response to an external force deviating from the opening direction of the refrigerator door, detecting the closing resistance of the refrigerator door; when the closing resistance is greater than a second resistance threshold, controlling the refrigerator door to stop closing.

[0122] It can be understood that this technical solution is similar to the automatic opening of the refrigerator door in the previous text, and the detection method of the closing resistance can be the same as the opening resistance in the previous text.

[0123] According to the above technical means, resistance detection and control are performed during the closing process of the refrigerator door, which can ensure that the equipment and items in the car are intact and improve the safety of use.

[0124] In some embodiments, the above method also includes: in response to the refrigerator door being subjected to an external force deviating from the opening direction, when controlling the refrigerator door to close, detecting the closing resistance of the refrigerator door; when the closing resistance is greater than a second resistance threshold, controlling the refrigerator door to stop closing.

[0125] In some embodiments, the above method also includes: when the refrigerator door is in a stopped closing state, responding to a door closing command of a vehicle or responding to an external force in a closing direction on the refrigerator door, controlling the refrigerator door to close.

[0126] Combine the following Figure 4 and Figure 5 , the technical solution of the present application is further described. The technical solution is dedicated to solving the interference problem between the seat and the refrigerator door, and preventing the refrigerator or seat hardware from being damaged.

[0127] Figure 4 The method shown is applied to the scenario of opening the refrigerator door after the seat is adjusted. Figure 4 The method includes steps S401-S407.

[0128] In step S401, the user clicks the door opening button to open the refrigerator door. Figure 2 The first direction shown is open towards the seat.

[0129] In step S402, it is determined whether there will be interference between the seat and the refrigerator. If so, step S403 is executed; otherwise, step S404 is executed.

[0130] Determining whether there will be interference includes: after the user gets in the vehicle and adjusts the seat to a certain position, the seat sends the current seat and leg rest position information to the refrigerator; when the refrigerator receives the position signals of the seat and the leg rest, it calculates whether there is interference between the current position state and the travel of the refrigerator door with the current opening travel of the refrigerator door. The method for determining whether there is interference can refer to the description in the previous text.

[0131] In step S403, if when the refrigerator calculates that there is no interference between the opening process of the refrigerator door and the seat or the seat leg rest, the refrigerator door is fully opened.

[0132] In step S404, when the refrigerator calculates that there is interference between the opening process of the refrigerator door and the seat or the seat leg rest, the refrigerator door should stop at a position that is a first distance (such as 30 mm away from the interference) from the interference position. This first distance can be any one of the first preset distance, the second preset distance, the third preset distance, or the fourth preset distance in the previous text.

[0133] In step 405, the opening resistance is detected during the opening process of the refrigerator door. If the resistance is greater than a resistance threshold, step S406 is executed to control the refrigerator door to stop moving.

[0134] After that, if the door opening button is clicked again or the refrigerator door is pulled outwards, the refrigerator door should continue to open; if a thrust is detected when the refrigerator door stops, the refrigerator door performs a closing action. If a certain value of resistance is detected during the closing process, the refrigerator door stops closing. If the refrigerator door is clicked again or pushed inwards, the closing action continues.

[0135] In step S407, the refrigerator door is controlled to move to the calculated target position or close.

[0136] The calculated target position is the position determined according to the foregoing method. For example, the calculated target position can be a position where the distance between the seat and the refrigerator door is greater than or equal to the first preset distance when the seat position is fixed and the refrigerator door opens in the first direction; or, the calculated target position can also be a position where the distance between the seat and the refrigerator door is greater than or equal to the second preset distance or the third preset distance when the refrigerator door is in the first opening position and is sufficient to move towards the side close to the refrigerator in the first direction.

[0137] Figure 5 The method shown is applicable to adjusting the seat position when the refrigerator door is in the open state. Figure 5 The method in it includes steps S501 - S507.

[0138] In step S501, adjust the position of the seat or the leg rest. Specifically, the user adjusts the position of the seat to move along the X-axis or the Y-axis, and the seat should transmit the position signals of the seat and the leg rest to the refrigerator controller in real time, where the X-axis direction is consistent with the first direction in the previous text, and the Y-axis is consistent with the second direction.

[0139] In step S502, determine whether there is interference between the seat or the leg rest and the refrigerator door. After receiving the position signals of the seat and the leg rest, the refrigerator should compare them with the current opening stroke of the refrigerator door and predict whether interference will occur. If there is no interference, execute step S503; otherwise, execute step S504.

[0140] The method for determining whether there is interference between the seat and the refrigerator door can be referred to the description in the previous text and will not be elaborated here.

[0141] In step S503, during the process of adjusting the seat, if the refrigerator calculates that the movement of the seat or the leg rest will not interfere with the refrigerator door, keep the refrigerator door in the current position.

[0142] In step S504, when the movement of the seat will interfere with the refrigerator door, determine the movement mode of the seat, including two interference states. If it is X-axis interference, execute step S505; if it is Y-axis interference, execute step S506.

[0143] In step S505, control the refrigerator door to move with the seat and maintain a spacing.

[0144] When the refrigerator detects that the seat position moves along the X-axis to a certain distance (such as 20 mm) from the refrigerator door, the refrigerator door should perform an operation to reduce the opening degree synchronously with the movement of the seat. When the refrigerator controller detects that the seat moves forward 1 mm, the opening degree of the refrigerator door should also decrease by 1 mm. When the opening degree of the refrigerator door is less than 40 mm, directly execute the closing action (because it may be impossible to take out items at this moment); if the user moves the seat backward, if the opening degree of the refrigerator door is less than 40 mm, the refrigerator door can continue to open to a position 20 mm away from the seat with the movement of the seat.

[0145] It should be noted that the above-mentioned certain distance can be the second preset distance in the previous text.

[0146] In step S506, in the case of Y-axis interference, the refrigerator door is retracted and adjusted to a first distance (such as 20 mm) from the interference position or fully opened.

[0147] When the refrigerator detects that the movement of the seat position along the Y-axis will interfere with the refrigerator door, when there is a 20-mm gap between the seat / leg rest and the refrigerator door along the Y-axis, the refrigerator should calculate how much the displacement distance of the seat and leg rest will affect the opening stroke of the refrigerator door along the X-axis. For example, if it will affect the opening stroke by 50 mm, then the refrigerator door will execute a recovery stroke of 50 mm + 20 mm (safety gap) along the X-axis. At this moment, the recovery stroke of the refrigerator door should be completed before the seat moves 10 mm along the Y-axis to the refrigerator door. This requires the refrigerator door to adjust the closing speed of the refrigerator door according to the distance between the seat and the refrigerator door along the Y-axis, and send a signal to the seat to slow down the moving speed of the seat to ensure that the seat will not contact the refrigerator door during the process of moving to the target position; if the user moves the seat backward, if the opening of the refrigerator door is less than 40 mm, the refrigerator door can continue to open to a position 20 mm away from the seat as the seat moves.

[0148] In step S507, during the interference adjustment process, in response to the presence of an obstacle, the seat is controlled to stop running.

[0149] During the adjustment process when there is interference between the refrigerator door and the seat, if there is an obstacle blocking the refrigerator door during the closing process, the refrigerator controller should feedback a stop signal to the seat controller to inform the seat to stop running, and voice inform the user that there is interference between the refrigerator door and the seat, and please close the refrigerator door first before moving the seat.

[0150] As described above in conjunction with Figures 1 - 5 , the method embodiments of the present application have been described in detail. Next, the device embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be understood that the description of the device embodiments corresponds to the method embodiments. Therefore, the parts not described in detail can refer to the foregoing method embodiments.

[0151] Figure 6 FIG. is a schematic structural diagram of a vehicle control device 600 provided by an embodiment of the present application. The vehicle control device is applied to a vehicle, and the vehicle includes a seat and an in-vehicle refrigerator. The seat can move along a first direction, and the refrigerator door of the in-vehicle refrigerator can open toward the side close to the seat and close toward the side away from the seat along the first direction. Figure 6 The vehicle control device 600 in

[0152] The first determination unit 610 is configured to determine the relative position relationship between the seat and the refrigerator door when the refrigerator door is opened and / or the position of the seat is adjusted.

[0153] The second determination unit 620 is configured to determine whether there will be interference between the refrigerator door and the seat according to the relative position relationship.

[0154] The control unit 630 is configured to control the opening of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door when there will be interference between the refrigerator door and the seat.

[0155] In some embodiments, the relative position relationship includes a first distance between the seat and the refrigerator door along a first direction.

[0156] The second determination unit 620 is further configured to: in a state where the seat position is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door, determine that the refrigerator door and the seat will interfere with each other.

[0157] The control unit 630 is further configured to: obtain the position information of the seat; calculate a first distance between the seat and the refrigerator door along the first direction according to the position information of the seat; in a state where the seat position is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door along the first direction, determine that the refrigerator door and the seat interfere with each other in the first direction; or, in a state where the refrigerator door is in a first opening position and the seat moves along the first direction towards the side close to the vehicle-mounted refrigerator, if the first distance is less than a second preset distance, determine that the refrigerator door and the seat will interfere with each other in the first direction.

[0158] In some embodiments, when it is determined that the refrigerator door and the seat will interfere with each other in the first direction, the control unit 630 is further configured to: in a state where the seat position is fixed and the refrigerator door needs to be opened, control the refrigerator door to open so that the distance between the refrigerator door and the seat relative to the seat side is greater than or equal to a first preset distance; or, in a state where the refrigerator door is in a first opening position and the seat moves along the first direction towards the side close to the vehicle-mounted refrigerator, control the refrigerator door to move away from the seat so that the first distance is greater than or equal to the second preset distance, or control the refrigerator door to move away from the seat so that the first distance is greater than or equal to the third preset distance.

[0159] In some embodiments, the seat can also move along a second direction perpendicular to the first direction, and the relative position relationship further includes a second distance between the seat and the refrigerator door along the second direction; the relative position relationship further includes the second distance between the seat and the refrigerator door along the second direction.

[0160] The second determination unit 620 is further configured to: obtain the position information of the seat; calculate a second distance between the seat and the refrigerator door along the second direction according to the position information of the seat; in a state where the refrigerator door is in a first opening position and the seat moves along the second direction towards the side close to the vehicle-mounted refrigerator, if the second distance is less than a fourth preset distance, determine that the refrigerator door and the seat will interfere with each other in the second direction.

[0161] In some embodiments, when it is determined that the refrigerator door and the seat will interfere in the second direction, the control unit 630 is further configured to: calculate the influence distance of the movement of the seat on the refrigerator door in the first direction according to the displacement distance of the seat in the second direction; control the refrigerator door to move a third distance in the first direction away from the seat, where the third distance is greater than or equal to the sum of a first preset distance of the seat and the refrigerator door in the first direction and the influence distance; and / or, reduce the moving speed of the seat in the second direction and / or increase the moving speed of the refrigerator door to prevent the refrigerator door from colliding with the seat during the movement of the third distance.

[0162] In some embodiments, the control unit 630 is further configured to: when the refrigerator door moves in a direction away from the seat to make the opening degree of the refrigerator door less than a first opening degree threshold, control the refrigerator door to close.

[0163] In some embodiments, the vehicle control device 600 further includes:

[0164] A third determination unit, configured to determine the opening resistance of the refrigerator door during the opening process of the refrigerator door.

[0165] The control unit 630 is further configured to: when the opening resistance is greater than a first resistance threshold, control the refrigerator door to stop opening.

[0166] In some embodiments, the control unit 630 is further configured to: when the refrigerator door is in a state of stopping opening, in response to a vehicle door opening instruction or in response to an external force on the refrigerator door in the opening direction, control the refrigerator door to open; and, in response to an external force on the refrigerator door in the closing direction, control the refrigerator door to close.

[0167] In some embodiments, the third determination unit is further configured to: determine the closing resistance of the refrigerator door during the process of controlling the refrigerator door to close in response to an external force on the refrigerator door away from the opening direction.

[0168] The control unit 630 is further configured to: when the closing resistance is greater than a second resistance threshold, control the refrigerator door to stop closing.

[0169] In some embodiments, the control unit 630 is further configured to: when the refrigerator door is in a state of stopping closing, in response to a vehicle door closing instruction or in response to an external force on the refrigerator door in the closing direction, control the refrigerator door to close.

[0170] Figure 7 FIG. 28 is a schematic structural diagram of a vehicle 700 provided by an embodiment of the present application. The vehicle 700 includes:

[0171] A seat 710, capable of moving in a first direction.

[0172] Vehicle-mounted refrigerator 720, the refrigerator door of the vehicle-mounted refrigerator 720 can be opened towards the side close to the seat 710 and closed towards the side away from the seat along the first direction.

[0173] Controller 730, connected to the seat 710 and the vehicle-mounted refrigerator 720, the controller 730 is configured to: when opening the refrigerator door and / or adjusting the position of the seat, determine the relative position relationship between the seat and the refrigerator door; according to the relative position relationship, determine whether the refrigerator door and the seat will interfere; in the case where the refrigerator door and the seat will interfere, control the opening degree of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door.

[0174] In some embodiments, the relative position relationship includes a first distance between the seat and the refrigerator door along the first direction.

[0175] The controller 730 is further configured to: obtain the position information of the seat; calculate the first distance between the seat and the refrigerator door along the first direction according to the position information of the seat; in the state where the seat position is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door along the first direction, determine that the refrigerator door and the seat interfere in the first direction; or, in the state where the refrigerator door is in the first opening position and the seat moves towards the side close to the vehicle-mounted refrigerator along the first direction, if the first distance is less than a second preset distance, determine that the refrigerator door and the seat will interfere in the first direction. In some embodiments, the controller 730 is further configured to: when the first distance is greater than or equal to the maximum opening distance of the refrigerator door, control the refrigerator door to open to the maximum opening distance.

[0176] In some embodiments, when determining that the refrigerator door and the seat will interfere in the first direction, the controller 730 is further configured to: in the state where the seat position is fixed and the refrigerator door needs to be opened, control the refrigerator door to open so that the distance between the refrigerator door and the seat relative to the seat side is greater than or equal to a first preset distance; or, in the state where the refrigerator door is in the first opening position and the seat moves towards the side close to the vehicle-mounted refrigerator along the first direction, control the refrigerator door to move away from the seat so that the first distance is greater than or equal to the second preset distance, or control the refrigerator door to move away from the seat so that the first distance is greater than or equal to a third preset distance.

[0177] In some embodiments, the seat can also move in a second direction perpendicular to the first direction, and the relative position relationship further includes a second distance between the seat and the refrigerator door in the second direction; determining whether there is interference between the refrigerator door and the seat according to the relative position relationship includes: obtaining the position information of the seat; calculating the second distance between the seat and the refrigerator door in the second direction according to the position information of the seat; when the refrigerator door is in a first open position and the seat moves toward the side close to the vehicle-mounted refrigerator in the second direction, if the second distance is less than a fourth preset distance, it is determined that there is interference between the refrigerator door and the seat in the second direction.

[0178] In some embodiments, when it is determined that there is interference between the refrigerator door and the seat in the second direction, the controller 730 is further configured to: calculate an influence distance of the movement of the seat on the refrigerator door in the first direction according to the displacement distance of the seat in the second direction; control the refrigerator door to move a third distance in the first direction away from the seat, where the third distance is greater than or equal to the sum of a first preset distance between the seat and the refrigerator door in the first direction and the influence distance; and / or, reduce the moving speed of the seat in the second direction and / or increase the moving speed of the refrigerator door to prevent the refrigerator door from colliding with the seat during the movement of the third distance.

[0179] In some embodiments, the controller 730 is further configured to: when the refrigerator door moves in a direction away from the seat to make the opening degree of the refrigerator door less than a first opening degree threshold, control the refrigerator door to close.

[0180] In some embodiments, the controller 730 is further configured to: determine the opening resistance of the refrigerator door during the opening process of the refrigerator door; when the opening resistance is greater than a first resistance threshold, control the refrigerator door to stop opening.

[0181] In some embodiments, the controller 730 is further configured to: when the refrigerator door is in a state of stopping opening, in response to an opening instruction of the vehicle or in response to an external force on the refrigerator door in the opening direction, control the refrigerator door to open; and, in response to an external force on the refrigerator door in the closing direction, control the refrigerator door to close.

[0182] In some embodiments, the controller 730 is further configured to: determine the closing resistance of the refrigerator door during the process of controlling the refrigerator door to close in response to an external force on the refrigerator door away from the opening direction; when the closing resistance is greater than a second resistance threshold, control the refrigerator door to stop closing.

[0183] In some embodiments, the controller 730 is further configured to: when the refrigerator door is in a state of stopping closing, in response to a door closing instruction of the vehicle or in response to an external force applied to the refrigerator door in the closing direction, control the refrigerator door to close.

[0184] Figure 8 The structural schematic diagram of the electronic device provided by the embodiment of the present application is shown as Figure 8 shown. The hardware entities of the electronic device 800 include: a processor 810 and a memory 820. Among them, the memory 820 stores a computer program that can run on the processor 810, and when the processor 810 executes the program, it implements the steps in the method of any of the above embodiments.

[0185] The vehicle 800 may further include a transceiver 830. The processor 810 may communicate with other devices or chips through the transceiver 830. For example, the processor 810 may perform data transceiver with other devices or chips through the transceiver 830.

[0186] In some embodiments, the processor 810 may be a seat controller, a refrigerator controller or a vehicle-mounted controller in the vehicle, or the processor 810 may also be Figure 6 the control unit 630 in Figure 7 or the controller 730 in

[0187] The memory 820 stores a computer program that can run on the processor. The memory 820 is configured to store instructions and applications executable by the processor 810, and can also cache data to be processed or already processed by the processor 810 and each module in the electronic device 800 (for example, image data, audio data, voice communication data, and video communication data), and can be implemented by flash memory (FLASH) or random access memory.

[0188] In one embodiment, the electronic device 800 may be a vehicle or a device deployed in the vehicle, such as a vehicle-mounted controller, a vehicle-mounted seat controller, or a vehicle-mounted refrigerator controller.

[0189] The embodiment of the present application provides a computer storage medium. The computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the control method of the in-vehicle massage seat in any of the above embodiments.

[0190] It should be noted here that: the descriptions of the above storage medium and device embodiments are similar to the descriptions of the above method embodiments, and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the storage medium and device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0191] The above-mentioned processor may be at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It can be understood that the electronic device implementing the functions of the above-mentioned processor may also be other devices, and the embodiments of the present application do not make specific limitations.

[0192] The above-mentioned computer storage medium / memory may be a read-only memory, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it may also be various terminals including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.

[0193] The embodiments of the present application provide a computer program, including computer-readable code. When the computer-readable code runs in an electronic device, the processor in the electronic device executes to implement some or all of the steps in the above-mentioned method.

[0194] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be specifically implemented in the form of hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium. In other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0195] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures, or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" that appears throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the order of the above steps / processes does not mean the order of execution. The order of execution of each step / process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0196] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0197] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be electrical, mechanical, or other forms.

[0198] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0199] In addition, each functional unit in the embodiments of the present application may all be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0200] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM), magnetic disks, or optical disks and other various media that can store program codes.

[0201] Alternatively, if the above-mentioned integrated units of the present application are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a vehicle-mounted terminal (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the foregoing storage medium includes: removable storage devices, ROM, magnetic disks, or optical disks and other various media that can store program codes.

[0202] The above is only the implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, The vehicle includes at least a seat and an in-vehicle refrigerator. The seat is movable in a first direction, and the refrigerator door of the in-vehicle refrigerator can be opened toward the side close to the seat and closed toward the side away from the seat in the first direction. The method includes: When opening the refrigerator door and / or adjusting the position of the seat, determining the relative position relationship between the seat and the refrigerator door; According to the relative position relationship, determining whether the refrigerator door and the seat will interfere with each other; In the case where the refrigerator door and the seat will interfere with each other, controlling the opening degree of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door.

2. The method according to claim 1, wherein The relative position relationship includes a first distance between the seat and the refrigerator door in the first direction; the determining whether the refrigerator door and the seat will interfere with each other according to the relative position relationship includes: Obtaining the position information of the seat; According to the position information of the seat, calculating the first distance between the seat and the refrigerator door in the first direction; In the state where the seat is fixed and the refrigerator door needs to be opened, if the first distance is less than the maximum opening distance of the refrigerator door in the first direction, it is determined that the refrigerator door and the seat interfere with each other in the first direction; or, in the state where the refrigerator door is in the first opening position and the seat moves toward the side close to the in-vehicle refrigerator in the first direction, if the first distance is less than a second preset distance, it is determined that the refrigerator door and the seat will interfere with each other in the first direction.

3. The method according to claim 2, characterized in that, When it is determined that the refrigerator door and the seat interfere with each other in the first direction, the controlling the opening degree of the refrigerator door and / or the position of the seat includes: In the state where the seat is fixed and the refrigerator door needs to be opened, controlling the refrigerator door to open so that the distance between the refrigerator door and the seat relative to the seat side is greater than or equal to a first preset distance; or, In the state where the refrigerator door is in the first opening position and the seat moves toward the side close to the in-vehicle refrigerator in the first direction, controlling the refrigerator door to move away from the seat so that the first distance is greater than or equal to the second preset distance, or controlling the refrigerator door to move away from the seat so that the first distance is greater than or equal to a third preset distance.

4. The method according to claim 1, characterized in that The seat is also movable in a second direction perpendicular to the first direction, and the relative position relationship further includes a second distance between the seat and the refrigerator door in the second direction; the determining whether the refrigerator door and the seat will interfere with each other according to the relative position relationship includes: Obtaining the position information of the seat; According to the position information of the seat, calculating the second distance between the seat and the refrigerator door in the second direction; In the state where the refrigerator door is in the first opening position and the seat moves toward the side close to the in-vehicle refrigerator in the second direction, if the second distance is less than a fourth preset distance, it is determined that the refrigerator door and the seat will interfere with each other in the second direction.

5. The method according to claim 4, wherein When it is determined that the refrigerator door and the seat will interfere with each other in the second direction, the controlling the opening degree of the refrigerator door and / or the position of the seat includes: Calculating the influence distance of the movement of the seat on the refrigerator door in the first direction according to the displacement distance of the seat in the second direction; Controlling the refrigerator door to move a third distance in the first direction away from the seat, where the third distance is greater than or equal to the sum of a first preset distance of the seat and the refrigerator door in the first direction and the influence distance; and / or, Reducing the moving speed of the seat in the second direction and / or increasing the moving speed of the refrigerator door to avoid the refrigerator door colliding with the seat during the movement of the third distance.

6. The method according to any one of claims 1-5, characterized in that, The controlling the opening degree of the refrigerator door and / or the position of the seat further includes: When the refrigerator door moves in the direction away from the seat to make the opening degree of the refrigerator door less than a first opening threshold value, controlling the refrigerator door to close.

7. The method according to any one of claims 6, characterized in that, The method further includes: During the opening process of the refrigerator door, determining the opening resistance of the refrigerator door; When the opening resistance is greater than a first resistance threshold value, controlling the refrigerator door to stop opening; and / or, When the refrigerator door is in a state of stopping opening, in response to the vehicle's door opening instruction or in response to an external force on the refrigerator door in the opening direction, controlling the refrigerator door to open; and, In response to an external force on the refrigerator door in the closing direction, controlling the refrigerator door to close.

8. The method according to claim 7, wherein The method further includes: During the process of controlling the refrigerator door to close in response to an external force on the refrigerator door away from the opening direction, determining the closing resistance of the refrigerator door; When the closing resistance is greater than a second resistance threshold value, controlling the refrigerator door to stop closing; and / or, When the refrigerator door is in a state of stopping closing, in response to the vehicle's door closing instruction or in response to an external force on the refrigerator door in the closing direction, controlling the refrigerator door to close.

9. A control device, characterized in that, The vehicle control device is applied to a vehicle, the vehicle includes a seat and an in-vehicle refrigerator, the seat can move in a first direction, and the refrigerator door of the in-vehicle refrigerator can open towards the side close to the seat and close towards the side away from the seat in the first direction, and the device includes: A first determination unit, configured to determine the relative position relationship between the seat and the refrigerator door when opening the refrigerator door and / or adjusting the position of the seat; A second determination unit, configured to determine whether the refrigerator door and the seat will interfere with each other according to the relative position relationship; A control unit, configured to control the opening degree of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door when the refrigerator door and the seat will interfere with each other.

10. A vehicle, characterized in that, The vehicle includes: A seat, which can move in a first direction; An in-vehicle refrigerator, the refrigerator door of the in-vehicle refrigerator can open towards the side close to the seat and close towards the side away from the seat in the first direction; A controller, connected to the seat and the in-vehicle refrigerator, and the controller is used for: When opening the refrigerator door and / or adjusting the position of the seat, determine the relative position relationship between the seat and the refrigerator door; Based on the relative position relationship, determine whether there will be interference between the refrigerator door and the seat; In the case where there will be interference between the refrigerator door and the seat, control the opening degree of the refrigerator door and / or the position of the seat to avoid contact between the seat and the refrigerator door.

11. An electronic device, characterized in that, It includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program to perform the method according to any one of claims 1-8.

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