Vehicle control method, vehicle body domain controller, vehicle control system and vehicle

Abstract

The invention relates to a vehicle control method, a vehicle body domain controller, a vehicle control system and a vehicle, and the vehicle control method comprises the steps that when a target vehicle is in a static state, the wheel steering angle and the vehicle door opening and closing angle of the target vehicle are obtained; when the wheel steering angle is larger than the wheel avoiding threshold value and the vehicle door opening request is detected, steering returning is carried out on a target wheel, or the upper limit value of the opening and closing angle of the vehicle door of the target vehicle is set to be the preset vehicle door avoiding threshold value; and when the vehicle door opening and closing angle is larger than the vehicle door avoiding threshold value and the wheel steering operation is detected, vehicle door returning is conducted on the target vehicle door, or the upper limit value of the steering angle of the target vehicle wheel is set as the wheel avoiding threshold value. Interference avoidance can be performed based on door opening triggering or steering triggering, structural interference between a vehicle door and wheels is avoided, and the collision risk is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and particularly to a vehicle control method, a body domain controller, a vehicle control system, and a vehicle. Background Art

[0002] To meet user requirements, there is currently a vehicle swing door system that sets the opening angle of the vehicle door to 0 degrees to 127 degrees. When the wheels at the corresponding position of the door turn to the leftmost or rightmost, if the door is opened to the maximum angle, physical structure interference will occur with the wheels. For example, in daily vehicle use scenarios, users often turn the wheels to the leftmost or rightmost when opening the left front door to the maximum angle; or, for another example, when turning to the leftmost or rightmost, opening the door. In the above vehicle use scenarios, there is a high probability that the wheels and the door will have structural interference, thus increasing the risk of collision between the wheels and the door.

[0003] Regarding the problem in the related art that the risk of collision between the wheels and the door is increased due to structural interference between the wheels and the door, no effective solution has been proposed yet. Summary of the Invention

[0004] In this embodiment, a vehicle control method, a body domain controller, a vehicle control system, and a vehicle are provided to solve the problem in the related art that the risk of collision between the wheels and the door is increased due to structural interference between the wheels and the door.

[0005] In a first aspect, in this embodiment, a vehicle control method is provided for controlling a target vehicle equipped with an electric door, and the method includes:

[0006] When the target vehicle is in a stationary state, obtain the wheel steering angle and the door opening and closing angle of the target vehicle;

[0007] When there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, perform steering return on the target wheels with a wheel steering angle greater than the wheel avoidance threshold so that the steering angle of the target wheels is less than or equal to the wheel avoidance threshold, or set the upper limit value of the opening and closing angle of the target vehicle door to a preset door avoidance threshold;

[0008] When there is a door opening and closing angle greater than the door avoidance threshold and a wheel steering operation is detected, perform door return on the target doors with a door opening and closing angle greater than the door avoidance threshold so that the opening and closing angle of the target doors is less than or equal to the door avoidance threshold, or set the upper limit value of the wheel steering angle of the target vehicle to the wheel avoidance threshold.

[0009] In some of these embodiments, when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, the target wheel with a wheel steering angle greater than the wheel avoidance threshold is steered back to make the steering angle of the target wheel less than or equal to the wheel avoidance threshold, or the upper limit value of the opening and closing angle of the target vehicle door is set to a preset door avoidance threshold, including:

[0010] When there is a wheel steering angle greater than a preset wheel avoidance threshold, it is determined whether there is a door opening request; when a door opening request is detected, the target wheel with a wheel steering angle greater than the wheel avoidance threshold is controlled to steer back, and the real-time angle during the steering-back process of the target wheel is detected in real time;

[0011] When it is determined that the target wheel has completed steering back, the upper limit value of the opening and closing angle of the target vehicle door is set to a preset maximum opening and closing angle.

[0012] In some of these embodiments, when there is a door opening and closing angle greater than the door avoidance threshold and a wheel steering operation is detected, the target door with a door opening and closing angle greater than the door avoidance threshold is returned to its original position to make the opening and closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the steering angle of the target vehicle wheel is set to the wheel avoidance threshold, including:

[0013] When there is a door opening and closing angle greater than the door avoidance threshold, it is determined whether there is a wheel steering operation; when a wheel steering operation is detected, the target door with a door opening and closing angle greater than the door avoidance threshold is controlled to return to its original position, and the real-time angle during the door-return process of the target door is detected in real time;

[0014] When it is determined that the target door has completed returning to its original position, the upper limit value of the steering angle of the target vehicle wheel is set to a preset maximum steering angle.

[0015] In some of these embodiments, when there is a door opening and closing angle greater than the door avoidance threshold and a wheel steering operation is detected, the target door with a door opening and closing angle greater than the door avoidance threshold is returned to its original position to make the opening and closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the steering angle of the target vehicle wheel is set to the wheel avoidance threshold, including:

[0016] The steering of the steering wheel of the target vehicle is restricted so that the upper limit value of the steering angle of the target vehicle wheel is the wheel avoidance threshold.

[0017] In some of these embodiments, the method further includes:

[0018] When all the steering angles of the wheels are less than or equal to the wheel avoidance threshold and a door opening request is detected, set the upper limit of the opening and closing angle of the door of the target vehicle to the preset maximum opening and closing angle;

[0019] When all the opening and closing angles of the doors are less than or equal to the door avoidance threshold and a wheel steering operation is detected, set the upper limit of the steering angle of the wheels of the target vehicle to the preset maximum steering angle.

[0020] In some embodiments, the method further includes:

[0021] When it is determined that there is a tendency of structural interference between the doors and wheels of the target vehicle, output a prompt for the tendency of structural interference.

[0022] In a second aspect, in this embodiment, a body domain controller is provided for controlling a target vehicle equipped with electric doors, including: an angle detection unit, a door opening trigger unit, and a steering trigger unit; wherein:

[0023] The angle detection unit is configured to obtain the steering angle of the wheels and the opening and closing angle of the doors of the target vehicle when the target vehicle is in a stationary state;

[0024] The door opening trigger unit is configured to, when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, perform a steering return on the target wheel with a steering angle greater than the wheel avoidance threshold so that the steering angle of the target wheel is less than or equal to the wheel avoidance threshold, or set the upper limit of the opening and closing angle of the door of the target vehicle to the preset door avoidance threshold;

[0025] The steering trigger unit is configured to, when there is a door opening and closing angle greater than the door avoidance threshold and a wheel steering operation is detected, perform a door return on the target door with an opening and closing angle greater than the door avoidance threshold so that the opening and closing angle of the target door is less than or equal to the door avoidance threshold, or set the upper limit of the steering angle of the wheels of the target vehicle to the wheel avoidance threshold.

[0026] In a third aspect, in this embodiment, a vehicle control system is provided, including a door control device, a wheel steering device, and the body domain controller described in the second aspect above.

[0027] In a fourth aspect, in this embodiment, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the vehicle control method described in the first aspect above.

[0028] In a fifth aspect, a vehicle is provided in this embodiment, including an electric vehicle door and the vehicle control system described in the third aspect above.

[0029] Compared with the related art, a vehicle control method, a body domain controller, a vehicle control system, and a vehicle are provided in this embodiment. In the vehicle control method, when the target vehicle is in a stationary state, the wheel steering angle and the door opening / closing angle of the target vehicle are obtained; when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, the target wheel with a wheel steering angle greater than the wheel avoidance threshold is steered back to make the steering angle of the target wheel less than or equal to the wheel avoidance threshold, or the upper limit value of the opening / closing angle of the target vehicle door is set to a preset door avoidance threshold; when there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, the target door with a door opening / closing angle greater than the door avoidance threshold is returned to make the opening / closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the wheel steering angle of the target vehicle is set to the wheel avoidance threshold. It can perform interference avoidance based on door opening triggering or steering triggering, avoid structural interference between the door and the wheel, and reduce the collision risk.

[0030] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0032] Figure 1 is a hardware structure block diagram of the terminal of the vehicle control method in this embodiment;

[0033] Figure 2 is a flowchart of the vehicle control method in this embodiment;

[0034] Figure 3 is a flowchart of a vehicle control method in some embodiments;

[0035] Figure 4 is a flowchart of another vehicle control method in some embodiments;

[0036] Figure 5 is a structure block diagram of the body domain controller in this embodiment;

[0037] Figure 6 is a schematic structural diagram of the vehicle control system in this embodiment. Detailed implementation mode

[0038] To more clearly understand the purpose, technical solution and advantages of the present application, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments.

[0039] Unless otherwise defined, the technical terms or scientific terms involved in the present application shall have the general meaning understood by those with ordinary skills in the technical field to which the present application belongs. In the present application, words such as "a", "one", "a kind of", "the", "these" and the like do not indicate a limitation in quantity, and they can be singular or plural. The terms "including", "comprising", "having" and any variants thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled" and the like involved in the present application do not limit to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in the present application means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, and B exists alone. Usually, the character " / " indicates that the objects associated before and after are in an "or" relationship. The terms "first", "second", "third" and the like involved in the present application only distinguish similar objects and do not represent a specific sorting for the objects.

[0040] The method embodiment provided in this embodiment can be executed on a terminal, a computer or a similar computing device. For example, it runs on a terminal. Figure 1 It is the hardware structure block diagram of the terminal of the vehicle control method in this embodiment. As Figure 1 shown, the terminal may include one or more ( Figure 1 only one is shown in the figure) processors 102 and a memory 104 for storing data. Among them, the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a field programmable gate array FPGA. The above terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may also include more or fewer components than those shown in Figure 1 the figure, or have a different configuration from that shown in Figure 1 the figure.

[0041] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the vehicle control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.

[0042] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by a communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] In this embodiment, a vehicle control method is provided for controlling a target vehicle equipped with electric vehicle doors; Figure 2 is a flowchart of the vehicle control method of this embodiment, as Figure 2 shown, this process includes the following steps:

[0044] Step S210, when the target vehicle is in a stationary state, obtain the wheel steering angle and the door opening and closing angle of the target vehicle.

[0045] Among them, the target vehicle in this embodiment can be a vehicle equipped with electric vehicle doors. The electric vehicle door can specifically be a door that realizes opening and closing based on electric braking. The wheel steering angle can specifically obtain the real-time steering angle information of the steering wheel through a steering wheel angle sensor, and then convert the steering wheel angle into the actual steering angle of the wheel according to the transmission ratio of the steering device to obtain the wheel steering angle. Alternatively, the steering angle of the wheel can be obtained by directly installing a wheel angle sensor on the wheel or steering knuckle. Additionally, the door opening and closing angle can also be obtained through an angle sensor, an inertial measurement unit, or an accelerometer.

[0046] Step S220, when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, steering is performed on the target wheel whose wheel steering angle is greater than the wheel avoidance threshold so that the steering angle of the target wheel is less than or equal to the wheel avoidance threshold, or, the upper limit value of the opening and closing angle of the target vehicle door is set to the preset door avoidance threshold.

[0047] The door opening request may be initiated by a user riding in the target vehicle, for example, the user operates the door opening button in the vehicle to initiate the door opening request. In an actual application scenario, when the user requests to open the door, there is a situation where the wheel steering angle is large and has not returned to the center. For example, when the steering angle of the right front wheel is greater than the preset wheel avoidance angle threshold, the corresponding door opening request of the right front door is received. Therefore, when the door opening request is received, the judgment of whether the wheel steering angle is greater than the wheel avoidance threshold can be triggered. In addition, for electric doors, the pitch angle and roll angle of the vehicle body will affect the electric function of the door. When the pitch angle and roll angle exceed the preset angle range, the electric function of the electric door will not be used due to the limited driving force of the electric door. Therefore, in this step, when the door opening request is received, the vehicle body posture including the pitch angle and roll angle of the vehicle body can also be obtained. The vehicle body pitch angle and roll angle can be obtained by a gyroscope, or the vehicle body pitch angle and roll angle can be estimated by an acceleration sensor combined with an acceleration data processing algorithm.

[0048] When the vehicle body pitch angle and roll angle are both within the preset angle range, for example, both are less than 11.3 degrees, it is confirmed that the vehicle body posture will not affect the door opening. It can be determined whether the wheel steering angle is greater than the preset wheel avoidance threshold to determine whether there is a tendency of structural interference between the door and the wheel. The wheel avoidance threshold can be obtained by those skilled in the art based on measured data in actual application scenarios and is not specifically limited here.

[0049] In this step, the door opening request is used as a trigger source. After receiving the door opening request, it is triggered to determine whether the wheel steering angle is greater than the preset wheel avoidance threshold to determine whether the wheel needs to be actively steered back to the center position, thereby satisfying the user's door opening request under the premise of avoiding structural interference between the door and the wheel. Alternatively, the door opening and closing angle upper limit value is set as the preset door avoidance threshold value, so that the door is opened based on the opening angle upper limit value, thereby avoiding structural interference with the wheel.

[0050] Step S230, when there is a door opening and closing angle greater than the door avoidance threshold and the wheel steering operation is detected, the target door whose door opening and closing angle is greater than the door avoidance threshold is returned to its original position so that the opening and closing angle of the target door is less than or equal to the door avoidance threshold, or the upper limit value of the steering angle of the target vehicle wheel is set as the wheel avoidance threshold.

[0051] In this step, the wheel steering is used as the trigger source. When the opening / closing angle of the door is greater than the door avoidance threshold, for example, when it is at the fully open angle, based on the detected wheel steering operation, an active door return operation is triggered, or the steering angle of the steering wheel is restricted. Specifically, the fully open state of the door is when the door is opened to a preset fully open angle. For example, the fully open angle of the door in the structural design is 127 degrees. Next, the fully open door, taking the right front door as an example, will be described. For example, when the right front door is already in the fully open state, for example, the opening angle range at this time is between 110 degrees and 127 degrees. When the wheel steering operation of the user is received, in order to meet the steering needs of the user and avoid structural interference between the door and the wheel, the opening / closing angle of the door can be controlled to be adjusted from the fully open state to be less than or equal to the door avoidance threshold. For example, the right front door is reduced from the fully open angle of 127 degrees to an avoidance angle of less than 110 degrees. Or, the upper limit value of the steering angle of the steering wheel is restricted to avoid structural interference with the door, thereby reducing the collision risk between the door and the wheel.

[0052] Additionally, in some embodiments, the steering assist for the wheel steering can also be degraded, that is, the electric assist of the vehicle control system for the wheel steering is cancelled. In this case, the required force for the user to perform the steering operation will increase. At the same time, the Human-Machine Interaction (HMI) system of the vehicle prompts the user that the right front door is open and do not operate the steering.

[0053] Through the above steps in this embodiment, in the scenario of performing the door opening action, by actively returning the steering of the target wheel with a wheel steering angle greater than the wheel avoidance threshold, or restricting the opening / closing angle of the door, the structural interference between the door and the wheel can be avoided while ensuring the user's door opening needs. In the case where the door has been opened to the interference area (when the opening / closing angle of the door is greater than the door avoidance threshold), when a wheel steering operation is detected, the target door with an opening / closing angle greater than the door avoidance threshold is returned, or the wheel steering angle is restricted, so as to prevent the wheel and the door from having structural interference due to the user's steering. Therefore, based on the control of the software strategy, in the control modes of actively returning the steering of the wheel and retracting the door, the user does not need to actively avoid or manually restrict the steering angle when using the vehicle, thereby improving the vehicle use convenience and replacing the unreliable implementation of the user's manual operation.

[0054] In the above steps S210 to S230, when the target vehicle is in a stationary state, the wheel steering angle and the door opening / closing angle of the target vehicle are obtained; when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, the target wheel with a wheel steering angle greater than the wheel avoidance threshold is steered back to make the steering angle of the target wheel less than or equal to the wheel avoidance threshold, or the upper limit value of the opening / closing angle of the target vehicle door is set to the preset door avoidance threshold; when there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, the target door with a door opening / closing angle greater than the door avoidance threshold is returned to its original position to make the opening / closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the wheel steering angle of the target vehicle is set to the wheel avoidance threshold. It can perform interference avoidance based on door opening triggering or steering triggering, avoid structural interference between the door and the wheel, and reduce the collision risk.

[0055] Among them, in one embodiment, when the wheel steering angle is greater than or equal to a preset wheel avoidance threshold and the vehicle body attitude is within a preset vehicle body angle range, it is confirmed that there is a tendency of structural interference between the door and the wheel. Among them, the vehicle body angle range can be that both the vehicle body pitch angle and the vehicle body roll angle are less than 11.3 degrees. The preset wheel avoidance threshold can be obtained by actual measurement by those skilled in the art according to the actual application scenario, and this embodiment does not make specific limitations on this.

[0056] In addition, in one embodiment, based on the above step S220, when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, steering the target wheel with a wheel steering angle greater than the wheel avoidance threshold back to make the steering angle of the target wheel less than or equal to the wheel avoidance threshold, or setting the upper limit value of the opening / closing angle of the target vehicle door to the preset door avoidance threshold may include:

[0057] When there is a wheel steering angle greater than a preset wheel avoidance threshold, it is determined whether there is a door opening request; when a door opening request is detected, the target wheel with a wheel steering angle greater than the wheel avoidance threshold is controlled to be steered back, and the real-time angle during the steering back process of the target wheel is detected in real time; when it is determined that the target wheel has completed steering back, the upper limit value of the opening / closing angle of the target vehicle door is set to the preset maximum opening / closing angle.

[0058] When the wheel steering angle is greater than the preset wheel avoidance threshold and a door opening request is detected, it is determined at this time that there is a tendency of structural interference between the door and the wheel, and the wheel is controlled to steer back. During the process of the wheel steering back, the steering angle of the wheel can be detected in real time to determine whether the wheel has completed steering back, so as to avoid structural interference between the door and the wheel. After detecting that the wheel has completed steering back, there is no longer an interference risk at this time, and the upper limit value of the opening angle of the door can be set to the preset maximum opening and closing angle, so that the door can be opened based on the upper limit value of the opening angle, so as to fully open the door on the premise of avoiding structural interference and meet the user's door opening needs.

[0059] In this way, in this embodiment, during the door opening process, by controlling the wheel to actively return to the original position, the opened door and the wheel can be prevented from having structural interference.

[0060] In one embodiment, when the door opening and closing angle is greater than the door avoidance threshold and a wheel steering operation is detected, the target door with the door opening and closing angle greater than the door avoidance threshold is returned to its original position to make the opening and closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the steering angle of the wheels of the target vehicle can be set to the wheel avoidance threshold, which may include:

[0061] When the door opening and closing angle is greater than the door avoidance threshold, it is judged whether there is a wheel steering operation; when a wheel steering operation is detected, the target door with the door opening and closing angle greater than the door avoidance threshold is controlled to return to its original position, and the real-time angle during the process of the target door returning to its original position is detected in real time; when it is determined that the target door has completed returning to its original position, the upper limit value of the steering angle of the wheels of the target vehicle is set to the preset maximum steering angle.

[0062] For example, when the right front door has been opened to the fully open angle, at this time the right front door is already in the interference area. If a steering operation of the right front wheel is detected, it is necessary to actively return the right front door to its original position to make the opening and closing angle of the right front door less than or equal to the door avoidance threshold to avoid structural interference with the right front wheel. During the process of the right front door returning to its original position, the opening and closing angle of the right front door is detected in real time. When it is determined that the right front door has completed returning to its original position, there will no longer be a tendency of structural interference between the right front door and the right front wheel at this time, and the upper limit value of the steering angle of the right front wheel can be set to the preset maximum steering angle.

[0063] In one embodiment, when the door opening and closing angle is greater than the door avoidance threshold and a wheel steering operation is detected, the target door with the door opening and closing angle greater than the door avoidance threshold is returned to its original position to make the opening and closing angle of the target door less than or equal to the door avoidance threshold, or the upper limit value of the steering angle of the wheels of the target vehicle can be set to the wheel avoidance threshold, specifically including:

[0064] Perform steering limit on the steering wheel of the target vehicle so that the upper limit value of the steering angle of the wheels of the target vehicle is the wheel avoidance threshold. Specifically, the steering limit of the steering wheel of the target vehicle can be performed to limit the upper limit value of the steering angle of the wheels. In this way, the collision risk between the wheels and the door can be avoided.

[0065] Additionally, in one embodiment, the above vehicle control method may further include:

[0066] When the steering angles of all wheels are less than or equal to the wheel avoidance threshold and a door opening request is detected, set the upper limit value of the opening and closing angle of the target vehicle door to the preset maximum opening and closing angle; when the opening and closing angles of all doors are less than or equal to the door avoidance threshold and a wheel steering operation is detected, set the upper limit value of the steering angle of the target vehicle wheels to the preset maximum steering angle.

[0067] That is, if when the door opening request is initially received, the vehicle is stationary, and the pitch angle and roll angle of the vehicle body are within the preset vehicle body angle range, and the steering angles of all wheels are also less than or equal to the wheel avoidance threshold, the door can be allowed to open to the maximum opening and closing angle. For example, set the upper limit value of the door opening angle to the preset fully open angle of 127 degrees. Or, when the opening and closing angles of all doors are less than or equal to the door avoidance threshold and a wheel steering operation is detected, set the upper limit value of the steering angle of the target vehicle wheels to the preset maximum steering angle so that the wheels can fully steer without collision risk.

[0068] Additionally, in one embodiment, the above vehicle control method may further include:

[0069] When it is determined that there is a tendency of structural interference between the doors and wheels of the target vehicle, output a structural interference tendency prompt. By outputting a structural interference tendency prompt to the user, the user can be made to perform steering or door opening operations carefully to reduce the collision risk and improve the user experience.

[0070] Figure 3 It is a flowchart of a vehicle control method of some embodiments. As Figure 3 shown, the vehicle control method includes the following steps:

[0071] Step S301, when receiving a door opening request, obtain the wheel steering angle, vehicle body pitch angle, and vehicle body roll angle; for example, the door can be the right front door.

[0072] Step S302, determine whether the door opening condition is satisfied; if so, execute step S303; otherwise, end the process; where the door opening condition is that both the pitch angle and roll angle of the vehicle body are within the preset vehicle body angle range, for example, less than 11.3 degrees.

[0073] Step S303, determine whether the wheel steering angle is greater than a preset wheel avoidance threshold; if so, execute step S304; otherwise, execute step S305.

[0074] Step S304, control the wheels to turn back to the center, or set the upper limit of the door opening angle to a preset door avoidance threshold; in this case, the door may be allowed to open only to the maximum door avoidance threshold, such as 110 degrees. End the process.

[0075] Step S305, setting the upper limit of the door opening angle to a preset maximum opening angle, for example, 127 degrees. End the process.

[0076] The above steps S301 to S305 can trigger the detection of the wheel steering angle based on the door opening behavior, and actively steer the wheel back to the center when the door is opened, or actively stop the door at the door avoidance threshold to avoid interference. Therefore, the trigger source of the user opening the door is fully utilized, so that the avoidance operation of the door and wheel interference is controlled by software. When the user opens the door, the door opening requirement is met by actively returning the wheel to the center or limiting the door opening and closing angle, and the user's first intention requirement is met while avoiding interference.

[0077] Figure 4 is a flow chart of another vehicle control method in some of the embodiments, such as Figure 4 As shown, the vehicle control method includes the following steps:

[0078] Step S401, when the door opening and closing angle is greater than the door avoidance threshold, the wheel steering operation is detected; wherein the door has been opened to 110 degrees to 127 degrees.

[0079] Step S402, controlling the target door whose door opening and closing angle is greater than the door avoidance threshold to return to its original position; or setting the upper limit value of the steering angle of the wheel as the wheel avoidance threshold.

[0080] In the above steps S401 to S402, when the door is in the interference zone, the door is actively returned to its original position, or the maximum steering angle of the wheel is limited. In this way, the present embodiment can meet the steering requirements based on the active avoidance of the door triggered by steering, and avoid interference between the door and the wheel.

[0081] Figure 5 is a structural block diagram of the vehicle body domain controller 50 of this embodiment, as shown in Figure 5 As shown, the vehicle body domain controller includes but is not limited to: an angle detection unit 52, a door opening trigger unit 54 and a steering trigger unit 56; wherein:

[0082] An angle detection unit 52 is configured to obtain the wheel steering angle and the door opening / closing angle of a target vehicle when the target vehicle is in a stationary state; a door opening trigger unit 54 is configured to, when there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, perform a steering return on the target wheel with a wheel steering angle greater than the wheel avoidance threshold, so that the steering angle of the target wheel is less than or equal to the wheel avoidance threshold, or set the upper limit value of the opening / closing angle of the door of the target vehicle to the preset door avoidance threshold; a steering trigger unit 56, when there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, performs a door return on the target door with a door opening / closing angle greater than the door avoidance threshold, so that the opening / closing angle of the target door is less than or equal to the door avoidance threshold, or sets the upper limit value of the steering angle of the wheels of the target vehicle to the wheel avoidance threshold.

[0083] It should be noted that the above-mentioned each unit can be a functional unit or a program unit, and can be implemented either by software or by hardware. For the units implemented by hardware, the above-mentioned each unit can be located in the same processor; or the above-mentioned each unit can also be located in different processors in any combination form. The body domain controller may also have more structures other than the above-mentioned each unit, and this embodiment does not make specific limitations on this.

[0084] In this embodiment, a vehicle control system is also provided. Figure 6 It is a schematic structural diagram of the vehicle control system 60 of this embodiment, as Figure 6 shown, the vehicle control system 60 includes: a door control device 62, a wheel steering device 64, and the body domain controller 50 provided in the above embodiment.

[0085] In this embodiment, an electronic device is also provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0086] Optionally, the above-mentioned electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the above-mentioned processor, and the input / output device is connected to the above-mentioned processor.

[0087] Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

[0088] S1, when the target vehicle is in a stationary state, obtain the wheel steering angle and the door opening / closing angle of the target vehicle.

[0089] S2. When there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, perform a steering return on the target wheel with a wheel steering angle greater than the wheel avoidance threshold, so that the steering angle of the target wheel is less than or equal to the wheel avoidance threshold, or set the upper limit value of the opening and closing angle of the target vehicle door to the preset door avoidance threshold.

[0090] S3. When there is a door opening and closing angle greater than the door avoidance threshold and a wheel steering operation is detected, perform a door return on the target door with a door opening and closing angle greater than the door avoidance threshold, so that the opening and closing angle of the target door is less than or equal to the door avoidance threshold, or set the upper limit value of the steering angle of the target vehicle wheel to the wheel avoidance threshold.

[0091] It should be noted that specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated in this embodiment.

[0092] In addition, in combination with the vehicle control system provided in the above embodiments, a vehicle can also be provided in this embodiment. The vehicle includes an electric door and the vehicle control system of the above embodiments.

[0093] It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0094] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties.

[0095] Obviously, the accompanying drawings are only some examples or embodiments of the present application. For those of ordinary skill in the art, the present application can also be applied to other similar situations according to these drawings without creative work. In addition, it can be understood that although the work done during this development process may be complex and time-consuming, for those of ordinary skill in the art, certain design, manufacturing, or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be regarded as insufficient disclosure of the present application.

[0096] As used in this application, the term "embodiment" means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrase appears in various positions in the specification and does not necessarily mean the same embodiment, nor does it mean being independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0097] The above-described embodiments merely represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A vehicle control method, characterized in that, For controlling a target vehicle equipped with electric vehicle doors, the method includes: When the target vehicle is in a stationary state, obtaining the wheel steering angle and the door opening / closing angle of the target vehicle; When there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, performing a steering return on the target wheels with a wheel steering angle greater than the wheel avoidance threshold so that the steering angle of the target wheels is less than or equal to the wheel avoidance threshold, or setting the upper limit value of the opening / closing angle of the target vehicle doors to a preset door avoidance threshold; When there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, performing a door return on the target doors with a door opening / closing angle greater than the door avoidance threshold so that the opening / closing angle of the target doors is less than or equal to the door avoidance threshold, or setting the upper limit value of the wheel steering angle of the target vehicle to the wheel avoidance threshold.

2. The vehicle control method according to claim 1, wherein When there is a wheel steering angle greater than a preset wheel avoidance threshold and a door opening request is detected, performing a steering return on the target wheels with a wheel steering angle greater than the wheel avoidance threshold so that the steering angle of the target wheels is less than or equal to the wheel avoidance threshold, or setting the upper limit value of the opening / closing angle of the target vehicle doors to a preset door avoidance threshold, includes: When there is a wheel steering angle greater than a preset wheel avoidance threshold, determining whether there is a door opening request; when a door opening request is detected, controlling the target wheels with a wheel steering angle greater than the wheel avoidance threshold to perform a steering return and continuously detecting the real-time angle during the steering return process of the target wheels; When it is determined that the target wheels have completed the steering return, setting the upper limit value of the opening / closing angle of the target vehicle doors to a preset maximum opening / closing angle.

3. The vehicle control method according to claim 1, wherein When there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, performing a door return on the target doors with a door opening / closing angle greater than the door avoidance threshold so that the opening / closing angle of the target doors is less than or equal to the door avoidance threshold, or setting the upper limit value of the wheel steering angle of the target vehicle to the wheel avoidance threshold, includes: When there is a door opening / closing angle greater than the door avoidance threshold, determining whether there is a wheel steering operation; when a wheel steering operation is detected, controlling the target doors with a door opening / closing angle greater than the door avoidance threshold to perform a door return and continuously detecting the real-time angle during the door return process of the target doors; When it is determined that the target doors have completed the door return, setting the upper limit value of the wheel steering angle of the target vehicle to a preset maximum steering angle.

4. The vehicle control method according to claim 1 or 3, characterized in that, When there is a door opening / closing angle greater than the door avoidance threshold and a wheel steering operation is detected, performing a door return on the target doors with a door opening / closing angle greater than the door avoidance threshold so that the opening / closing angle of the target doors is less than or equal to the door avoidance threshold, or setting the upper limit value of the wheel steering angle of the target vehicle to the wheel avoidance threshold, includes: Perform steering limit on the steering wheel of the target vehicle so that the upper limit value of the steering angle of the wheels of the target vehicle is the wheel avoidance threshold value.

5. The vehicle control method according to claim 1, wherein The method further includes: When the steering angles of all the wheels are less than or equal to the wheel avoidance threshold value and a door opening request is detected, set the upper limit value of the opening and closing angle of the door of the target vehicle to the preset maximum opening and closing angle; When the opening and closing angles of all the doors are less than or equal to the door avoidance threshold value and a wheel steering operation is detected, set the upper limit value of the steering angle of the wheels of the target vehicle to the preset maximum steering angle.

6. The vehicle control method according to claim 1, wherein The method further includes: When it is determined that there is a tendency of structural interference between the doors and wheels of the target vehicle, output a prompt for the tendency of structural interference.

7. A body domain controller, characterized in that, Used to control a target vehicle equipped with electric doors, including: an angle detection unit, a door opening trigger unit, and a steering trigger unit; where: The angle detection unit is used to obtain the steering angle of the wheels of the target vehicle and the opening and closing angle of the door when the target vehicle is in a stationary state; The door opening trigger unit is used to, when there is a steering angle of a wheel greater than a preset wheel avoidance threshold value and a door opening request is detected, perform steering return on the target wheel with a steering angle greater than the wheel avoidance threshold value so that the steering angle of the target wheel is less than or equal to the wheel avoidance threshold value, or set the upper limit value of the opening and closing angle of the door of the target vehicle to the preset door avoidance threshold value; The steering trigger unit is used to, when there is an opening and closing angle of a door greater than the door avoidance threshold value and a wheel steering operation is detected, perform door return on the target door with an opening and closing angle greater than the door avoidance threshold value so that the opening and closing angle of the target door is less than or equal to the door avoidance threshold value, or set the upper limit value of the steering angle of the wheels of the target vehicle to the wheel avoidance threshold value.

8. A vehicle control system, characterized in that, Includes a door control device, a wheel steering device, and the body domain controller according to claim 7.

9. An electronic device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, Includes electric doors and the vehicle control system according to claim 8.

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