Vehicle control method and vehicle

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle control method and a vehicle. In the rotating process of the first vehicle door and / or the second vehicle door, the vehicle door abnormity can be found in time by monitoring the collision event in real time, and the limitation that problems are passively found manually and intervention processing is delayed is broken through. By obtaining the collision reason, blind operation caused by lack of reason analysis in traditional manual calibration is avoided. Corresponding vehicle door calibration strategies are executed on the basis of different collision reasons, intelligence of the calibration process is achieved, calibration can be rapidly and accurately completed and normal operation can be rapidly recovered without relying on tedious manual operation when the electric door encounters special situations such as collision, the use convenience and reliability of the electric door are improved, and the safety of the electric door is improved. And the fault risk caused by improper manual calibration is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a vehicle control method and a vehicle. Background Art

[0002] With the development of automotive intelligence, various electric door configurations such as electric side-opening double doors, electric sliding double doors, electric side-opening and sliding hybrid double doors, and electric rear vertical doors are becoming increasingly popular on vehicles. The prerequisite for these electric doors to operate automatically is that their position information is accurate and the automatic operation function is not inhibited.

[0003] However, at the current stage, when electric doors are in some special situations (such as collision, position loss, or electric function inhibition), only manual pulling of the electric doors can be relied on for learning and calibration operations. This manual calibration learning process is not only complex in operation but also prone to calibration errors, resulting in the inability of the electric doors to quickly resume normal automatic operation functions. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle control method and a vehicle to solve the problem that when electric doors are in some special situations (such as collision, position loss, or electric function inhibition), they can only be calibrated and learned through complex and error-prone manual operations, and it is difficult to quickly resume normal automatic operation functions.

[0005] In a first aspect, embodiments of the present invention provide a vehicle control method. The vehicle includes a vehicle body, a first door, and a second door both rotatably connected to the vehicle body; both the first door and the second door can rotate relative to the vehicle body actively and passively, and the first door can cover and partially overlap the second door by rotation to close the vehicle body. The method includes:

[0006] During the rotation of the first door and / or the second door, detecting whether a collision event occurs to the first door and / or the second door;

[0007] If a collision event occurs to the first door and / or the second door, obtaining the collision cause of the collision event;

[0008] Performing a door calibration operation based on the door calibration strategy corresponding to the collision cause.

[0009] Further, before the rotation of the first door and / or the second door, the method further includes:

[0010] Receive a door rotation instruction, where the door rotation instruction is generated based on a triggering operation on a control button, and the control button is installed on the vehicle or on the key corresponding to the vehicle; or, the door rotation instruction is sent by a client associated with the vehicle.

[0011] Control the rotation of the first door and / or the second door based on the door rotation instruction.

[0012] Further, the detecting whether a collision event occurs on the first door and / or the second door includes:

[0013] Send detection instructions to sensors installed on the first door and the second door respectively;

[0014] Receive detection data feedback by the sensors based on the detection instructions;

[0015] Analyze the detection data to determine whether a collision event occurs on the first door and / or the second door.

[0016] Further, the performing a door calibration operation based on the door calibration strategy corresponding to the collision cause includes:

[0017] If the collision cause is a mechanical failure, disable the active rotation function of the first door and the second door, and send a first voice prompt, where the first voice prompt is used to prompt the user to manually close or manually open the first door and the second door.

[0018] Further, the performing a door calibration operation based on the door calibration strategy corresponding to the collision cause includes:

[0019] If the collision cause is that the first door collides during rotation, control the first door and the second door to stop, and determine the target object collided by the first door;

[0020] Obtain the first relative position relationship between the first door and the target object;

[0021] Perform corresponding door calibration operations according to the first relative position relationship.

[0022] Further, when the target object is the second door, the performing corresponding door calibration operations according to the first relative position relationship includes:

[0023] If the first distance is greater than the second distance, control the second door to rotate to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the stationary position to the closed position.

[0024] Further, when the target object is the second vehicle door, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes:

[0025] If the first distance is greater than the second distance, control the first vehicle door to rotate from the stationary position to the maximum opening position;

[0026] When the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the maximum opening position. When the second vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position; or, when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the closed position. When the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum opening position to the closed position.

[0027] Further, when the target object is the second vehicle door, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes:

[0028] If the first distance is less than or equal to the second distance, control the second vehicle door to rotate from the stationary position to the maximum opening position;

[0029] When the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position. When the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

[0030] Further, when the target object is an obstacle, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes:

[0031] If the first relative position relationship is that the obstacle is inside the first vehicle door, control the first vehicle door to rotate from the stationary position to the maximum opening position; or,

[0032] If the first relative position relationship is that the obstacle is outside the first vehicle door, sequentially control the second vehicle door and the first vehicle door to rotate from the stationary position to the closed position.

[0033] Further, the vehicle door calibration operation performed based on the vehicle door calibration strategy corresponding to the collision cause includes:

[0034] If the collision cause is that the second vehicle door collides during rotation, control the first vehicle door and the second vehicle door to stop, and determine the target object with which the second vehicle door collides;

[0035] Obtain the second relative position relationship between the second vehicle door and the target object;

[0036] Perform corresponding door calibration operations according to the second relative position relationship.

[0037] Further, obtaining the second relative position relationship between the second door and the target object includes:

[0038] When the target object is the first door, determine a first distance between the first door and the closed position and a second distance between the second door and the closed position according to the static positions of the first door and the second door; based on the magnitudes of the first distance and the second distance, determine the second relative position relationship between the first door and the second door; or,

[0039] When the target object is an obstacle, determine the second relative position relationship between the obstacle and the second door according to the contact position between the obstacle and the second door.

[0040] Further, when the target object is the first door, performing the corresponding door calibration operations according to the second relative position relationship includes:

[0041] If the first distance is greater than the second distance, control the second door to rotate to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the static position to the closed position.

[0042] Further, when the target object is the first door, performing the corresponding door calibration operations according to the second relative position relationship includes:

[0043] If the first distance is greater than the second distance, control the first door to rotate from the static position to the maximum opening position;

[0044] When the first door rotates to the maximum opening position, control the second door to rotate from the static position to the maximum opening position, and when the second door rotates to the maximum opening position, control the first door and the second door to rotate to the closed position; or, when the first door rotates to the maximum opening position, control the second door to rotate from the static position to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the maximum opening position to the closed position.

[0045] Further, when the target object is the first door, performing the corresponding door calibration operations according to the second relative position relationship includes:

[0046] If the first distance is less than or equal to the second distance, then control the second door to rotate from the static position to the maximum opening position;

[0047] When the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position. When the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

[0048] Further, when the target object is an obstacle, the corresponding vehicle door calibration operation is performed according to the second relative position relationship, including:

[0049] If the second relative position relationship is that the obstacle is inside the second vehicle door, sequentially control the first vehicle door and the second vehicle door to rotate from the stationary position to the maximum opening position; or,

[0050] If the second relative position relationship is that the obstacle is outside the second vehicle door, sequentially control the second vehicle door and the first vehicle door to rotate from the stationary position to the closed position.

[0051] Further, the method further includes:

[0052] If the second vehicle door fails to rotate to the maximum opening position, or the first vehicle door fails to rotate to the maximum opening position, or the second vehicle door fails to rotate to the closed position, or the first vehicle door and the second vehicle door fail to rotate to the closed position, determine that there is a mechanical failure in the second vehicle door or the first vehicle door, and send a third voice prompt, where the third voice prompt is used to prompt the user to manually close or manually open the first vehicle door and the second vehicle door.

[0053] Further, during the rotation of the first vehicle door and / or the second vehicle door, or during the execution of the vehicle door calibration operation, the method further includes:

[0054] Detect whether the first vehicle door and / or the second vehicle door has lost its position;

[0055] If the first vehicle door and / or the second vehicle door has lost its position, detect whether the second vehicle door is in the closed position;

[0056] Perform corresponding vehicle door calibration operations according to whether the second vehicle door is in the closed position.

[0057] Further, the performing corresponding vehicle door calibration operations according to whether the second vehicle door is in the closed position includes:

[0058] If the second vehicle door is in the closed position, control the first vehicle door to rotate to the closed position; or,

[0059] If the second vehicle door is not in the closed position, control the first vehicle door to rotate in the opposite direction of the closed position. If a collision occurs between the first vehicle door and the second vehicle door, control the first vehicle door to stop and control the second vehicle door to rotate to the corresponding maximum blocked rotation position;

[0060] When the second vehicle door rotates to the corresponding maximum blocked rotation position, control the first vehicle door to rotate to the corresponding maximum blocked rotation position;

[0061] When the first vehicle door rotates to the corresponding maximum blocked rotation position, control the second vehicle door to rotate to the closed position.

[0062] In a second aspect, an embodiment of the present invention provides a vehicle, including a vehicle body, a first vehicle door, a second vehicle door, a controller, a first driving device, and a second driving device. The first driving device and the second driving device are respectively connected to the first vehicle door and the second vehicle door, and the controller is communicatively connected to the first driving device and the second driving device respectively; the controller can drive the first vehicle door and the second vehicle door to rotate relative to the vehicle body by controlling the first driving device and the second driving device respectively; the first vehicle door can cover and partially overlap the second vehicle door by rotating to close the vehicle body; the vehicle further includes a sensor communicatively connected to the controller;

[0063] The controller is configured to, during the rotation of the first vehicle door and / or the second vehicle door, call the sensor to detect whether a collision event occurs between the first vehicle door and / or the second vehicle door; if a collision event occurs between the first vehicle door and / or the second vehicle door, obtain the collision cause of the collision event, and perform a vehicle door calibration operation based on the vehicle door calibration strategy corresponding to the collision cause.

[0064] In a third aspect, an embodiment of the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method according to the first aspect or any corresponding embodiment thereof.

[0065] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding embodiment thereof.

[0066] During the rotation of the first door and / or the second door, by monitoring collision events in real time, abnormal situations of the door can be detected in a timely manner, breaking the limitation of passive manual problem discovery and delayed intervention for handling. By obtaining the collision cause, it is possible to avoid the blind operation caused by the lack of cause analysis in traditional manual calibration. By executing corresponding door calibration strategies based on different collision causes, the intelligence of the calibration process is realized. In this way, when the electric door encounters special situations such as collisions, it can quickly and accurately complete the calibration without relying on cumbersome manual operations, quickly resume normal operation, improve the convenience and reliability of the use of the electric door, and reduce the failure risk caused by improper manual calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0068] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0069] Figure 2 is a schematic diagram of the door closed according to some embodiments of the present invention;

[0070] Figure 3 is a schematic diagram of the door in the maximum open position according to some embodiments of the present invention;

[0071] Figure 4 is a schematic flowchart of a vehicle control method according to some embodiments of the present invention;

[0072] Figure 5 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0073] Figure 6 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0074] Figure 7 is a schematic flowchart of another vehicle control method according to some embodiments of the present invention;

[0075] Figure 8 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0076] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0077] According to an embodiment of the present invention, a vehicle control method and a vehicle are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0078] An embodiment of the present application provides a vehicle, as Figure 1 shown, including a vehicle body 10, a first door 11, a second door 12, a controller 13, a first driving device 14, and a second driving device 15. The first driving device 14 and the second driving device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively communicatively connected to the first driving device 14 and the second driving device 15; the controller 13 can respectively drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first driving device 14 and the second driving device 15; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe area where there is a chance of contact with each other, and a safe area where they will not contact each other.

[0079] In the embodiment of the present application, the first door and the second door have two motion modes: active rotation and passive rotation. Active rotation means that the door can achieve purposeful rotation through its own equipped power driving device (such as a motor, etc.) according to the instructions of the vehicle control system or the operation of the user, so as to complete the door opening or closing action. Passive rotation means that the door rotates when it is subjected to a force applied by an external non-vehicle control system. This external force may come from various situations, such as the user manually pushing the door forcefully, the door encountering an obstacle during movement, or the vehicle being impacted externally resulting in the door being stressed.

[0080] As Figure 2As shown, it can be understood that the first door 11 and the second door 12 define a closed position: during the closing process of the door, the first door rotates around its connection point with the vehicle body and finally can cover the second door with partial overlap with the second door, thus forming a complete closed structure to isolate the interior of the vehicle body from the external environment. In addition, during the relative rotation of the first door and the second door with respect to the vehicle body, different regions will be formed according to their movement trajectories and spatial position relationships.

[0081] In the embodiments of the present application, the first door and the second door are applied to the rear door of the vehicle, or applied to the side door of the vehicle, or applied to the sliding door of the vehicle.

[0082] It should be noted that the first door and the second door can be flexibly applied to different parts of the vehicle. They can be used as the rear door of the vehicle to achieve up-and-down opening or double-opening. The first door and the second door can also be applied to the side door of the vehicle, such as double-opening side door electric doors, etc., which is convenient for passengers to get on and off the vehicle. The first door and the second door are applied to the sliding door of the vehicle. No matter what application form, when the active rotation function of the first door and the second door is disabled, the door calibration instruction can be received, the reason for the disablement can be obtained in response to the instruction, the position of the corresponding door can be detected according to the reason, and the calibration operation can be performed according to the calibration strategy corresponding to the door position situation, so as to ensure the safety of the subsequent operation of the door.

[0083] In the embodiments of the present application, the vehicle further includes a sensor 16 communicatively connected to a controller 13. The controller 13 is configured to, during the rotation of the first door and / or the second door, call the sensor to detect whether a collision event occurs to the first door and / or the second door; if a collision event occurs to the first door and / or the second door, obtain the collision reason of the collision event, and perform a door calibration operation based on the door calibration strategy corresponding to the collision reason.

[0084] In the embodiments of the present application, the sensors deployed on the first door and the second door can be radar sensors (including ultrasonic, millimeter wave, UWB, lidar, which detect distance and target information by transmitting and receiving specific wave signals), vision sensors (such as cameras, which perceive the surrounding environment conditions by means of image acquisition and recognition technology), contact sensors (such as capacitive anti-pinch strips, which sense contact pressure by using capacitance value changes), etc. Their function is to monitor and judge in real time whether a collision event occurs during the operation of the first door and the second door.

[0085] A collision event refers to the mutual impact between the first door and the second door during the operation of the vehicle, or the abnormal situation where the first door, the second door come into contact with various surrounding obstacles (such as users, fixed facilities, items carried by users, etc.) and cause impact force.

[0086] Specifically, when the vehicle is running, radar sensors deployed on the first door and the second door (such as ultrasonic radars that detect distances by emitting and receiving reflected sound waves, millimeter-wave radars that detect targets using electromagnetic waves in the millimeter-wave band, UWB radars that locate based on ultra-wideband signals, and lidar that emits laser beams to construct a point cloud of the surrounding environment), vision sensors (cameras that capture real-time images of the area around the door and use image recognition algorithms to determine whether there are obstacles or abnormal contacts), and contact sensors (capacitive anti-pinch strips that sense contact situations based on changes in capacitance values when squeezed).

[0087] When the first door and / or the second door rotates, the controller 13 sends a detection instruction to the sensors, and various sensors work together. For example: radar sensors scan the space around the door to obtain information such as target distance and speed; vision sensors collect images and analyze and identify potential collision risks; contact sensors continuously monitor the contact pressure on the door surface. The sensors transmit the collected data to the controller 13, and the controller 13 comprehensively analyzes the data to determine whether a collision has occurred to the door. If a collision event is detected, the controller 13 further analyzes the detailed data fed back by the sensors, such as radar echo characteristics, image details, contact pressure change curves, etc., to determine the cause of the collision. Subsequently, the controller 13 obtains and executes the door calibration strategy corresponding to the cause of the collision to complete the door calibration operation.

[0088] In the embodiment of the present application, the controller 13 is specifically configured to receive a door rotation instruction, where the door rotation instruction is generated based on a trigger operation on a control button, and the control button is installed on the vehicle or on the key corresponding to the vehicle; or, the door rotation instruction is sent by a client associated with the vehicle; and control the rotation of the first door and / or the second door based on the door rotation instruction.

[0089] Specifically, the user can generate a door rotation instruction in the following two ways. One is to operate the control button installed on the vehicle or the key corresponding to the vehicle. After triggering the corresponding operation, the control button will generate a door rotation instruction; the other is to perform a corresponding operation on the client associated with the vehicle, and the client will send a door rotation instruction.

[0090] The controller 13 continuously monitors the instruction signal. When a door rotation instruction is generated in any of the above ways, the controller 13 will receive the instruction. After receiving the door rotation instruction, the controller 13 will parse the instruction to clarify the information contained in the instruction, such as whether to control the rotation of the first door, the second door, or both doors simultaneously, and the direction of rotation (open or close), etc.

[0091] Based on the parsed instruction content, the controller 13 sends a control signal to the driving devices of the first door and / or the second door. After receiving the signal, the driving devices drive the doors to rotate according to the instruction requirements, thereby realizing the opening or closing action of the doors.

[0092] In the embodiment of the present application, the controller 13 is specifically configured to send detection instructions to the sensors installed on the first door and the second door respectively; receive the detection data fed back by the sensors based on the detection instructions; analyze the detection data to determine whether a collision event occurs on the first door and / or the second door.

[0093] Specifically, first, the controller 13 sends detection instructions to the sensors installed on the first door and the second door respectively to trigger the sensors to start working. These sensors include different types such as radar types (such as ultrasonic, millimeter wave, UWB, lidar), vision types (such as cameras), and contact types (such as capacitive anti-pinch strips). They will detect the environment, status, etc. around the first door and the second door according to the received detection instructions. Then, the sensors feed back the detection data obtained based on the detection instructions to the controller 13. Finally, after receiving the fed-back detection data, the controller 13 will analyze it in detail. The controller 13 compares the detection data with the data in the normal state to determine whether a collision event occurs on the first door and / or the second door. If the detection data shows abnormal fluctuations or the characteristics match the collision situation, it is determined that a collision event has occurred.

[0094] In the embodiment of the present application, the controller 13 is specifically configured to disable the active rotation function of the first door and the second door if the collision cause is a mechanical failure, and send a first voice prompt, where the first voice prompt is used to prompt the user to manually close or manually open the first door and the second door.

[0095] Specifically, after the controller 13 determines that a collision event occurs on the first door and / or the second door, it analyzes the collision cause. By comprehensively considering the data fed back by the sensors, the historical information of the door operation, and the preset fault judgment logic, it is determined whether the collision cause is a mechanical failure. For example: the speed of the first door and / or the second door is abnormal at the moment of closing, or the capacitive anti-pinch strip detects abnormal pressure, and the lidar detects that there is no contact between the door and the surrounding obstacles. Then, by checking the historical operation data of the door, it is determined that the first door and / or the second door have repeatedly shown closing jams. Based on this, when the door has abnormal jams or abnormal pressure at the moment of closing but no contact with external obstacles, it is determined that there is a problem with the internal mechanical structure of the door, such as a door transmission mechanism failure, etc.

[0096] If it is determined that the cause of the collision is a mechanical failure, the controller 13 will disable the active rotation function of the first door and the second door. Thereby preventing safety problems from being caused during the active rotation of the door due to mechanical failure, and avoiding personal injury or vehicle damage. The controller 13 will send an instruction to the driving device of the door to cut off the control signal for active rotation. After disabling the active rotation function, the controller 13 will call the voice prompt module and send a first voice prompt. This voice prompt will be played through the audio system inside the vehicle, clearly prompting the user to manually close or open the first door and the second door.

[0097] In the embodiment of the present application, the controller 13 is specifically configured to, if the cause of the collision is that the first door collides during rotation, control the first door and the second door to be stationary, and determine the target object collided by the first door; obtain the first relative position relationship between the first door and the target object; and perform corresponding door calibration operations according to the first relative position relationship.

[0098] It should be noted that after the controller 13 confirms that the cause of the collision is that the first door collides during rotation (that is, the first door actively hits the second door or collides with an obstacle), first, by disabling the active rotation function of the first door and the second door, or issuing an instruction to control the two doors to stop temporarily, the first door and the second door are made stationary, and the stationary positions of the two doors are accurately obtained by means of a position sensor.

[0099] In the embodiment of the present application, when the target object is the second door, the controller 13 is used to determine the first distance between the first door and the closed position and the second distance between the second door and the closed position according to the stationary positions of the first door and the second door; and determine the first relative position relationship between the first door and the second door based on the magnitude relationship between the first distance and the second distance.

[0100] It should be noted that after the first door and the second door are stationary, the controller 13 obtains the real-time coordinates of the two doors through the position sensor, calculates the straight-line distance (the first distance) between the current position of the first door and the closed position and the straight-line distance (the second distance) between the current position of the second door and the closed position. Based on the numerical magnitudes of these two distances, the relative position relationship between the two doors is judged: if the first distance is greater than the second distance, it indicates that the first door is farther from the closed position and the second door is closer; if the first distance is less than or equal to the second distance, it means that the first door is closer to the closed position or the distances are equal.

[0101] In the embodiment of the present application, when the target object is the second door, the controller 13 is specifically configured to, when the first distance is greater than the second distance, control the second door to rotate to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the stationary position to the closed position.

[0102] It should be noted that when the distance of the first vehicle door from the closed position is greater than that of the second vehicle door, the controller 13 first controls the second vehicle door to directly rotate from the stationary position to the closed position (taking advantage of its closer distance, giving priority to resetting to reduce the risk of interference). After the sensor feedback indicates that the second vehicle door is fully closed, the first vehicle door is then controlled to rotate from the stationary position towards the closed position until it is fully closed. Through the logic of "prioritizing the reset of the closer vehicle door", it is avoided that the first vehicle door collides with the unclosed second vehicle door during the reset process, simplifying the calibration process.

[0103] In the embodiment of the present application, when the target object is the second vehicle door, the controller 13 is specifically configured to control the first vehicle door to rotate from the stationary position to the maximum opening position when the first distance is greater than the second distance; when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the maximum opening position, and when the second vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position; or, when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the closed position, and when the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum opening position to the closed position.

[0104] It should be noted that when the first distance is greater than the second distance, the controller 13 sends an instruction to the first driving device of the first vehicle door to drive the first vehicle door to rotate from the stationary position towards the maximum opening position. During this process, the data transmitted back by the position sensor is continuously received to monitor the rotation state of the first vehicle door in real time. When the first vehicle door successfully rotates to the maximum opening position and the controller 13 receives the position feedback signal, an instruction is sent to the second driving device of the second vehicle door to make the second vehicle door rotate from the stationary position to the maximum opening position, and the rotation process of the second vehicle door is synchronously monitored.

[0105] When the second vehicle door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, the first vehicle door and the second vehicle door are simultaneously controlled to rotate from the maximum opening position to the closed position until both vehicle doors are fully closed, thereby completing the calibration operation of the vehicle doors. Or, when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the closed position, and when the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum opening position to the closed position. As Figure 3 shown, the positional relationship when the first vehicle door and the second vehicle door respectively rotate to the maximum opening position.

[0106] When the first vehicle door rotates smoothly to the maximum opening position, after the controller 13 receives the position feedback signal, it immediately issues an instruction to the second driving device of the second vehicle door, causing the second vehicle door to rotate from the stationary position to the closed position, and synchronously monitors its rotation process. After the second vehicle door successfully rotates to the closed position and the controller 13 receives the corresponding feedback signal, it controls the first vehicle door to rotate from the maximum opening position to the closed position, finally completing the calibration of the vehicle doors.

[0107] In the embodiment of the present application, when the target object is the second vehicle door, the controller 13 is specifically configured to control the second vehicle door to rotate from the stationary position to the maximum opening position if the first distance is less than or equal to the second distance; when the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position, and when the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

[0108] It should be noted that the maximum opening position can be set by the user or by the vehicle manufacturer. Specifically, it can be the position of the maximum opening degree that the vehicle door can reach set by the user according to their own usage needs and preferences. For example, if the user feels that in certain special scenarios, it is most appropriate for the vehicle door to open to a specific angle, they can set the position corresponding to this angle as the maximum opening position.

[0109] When the first vehicle door is closer to or at the same distance from the closed position (the first distance ≤ the second distance), the controller 13 first controls the second vehicle door to rotate from the stationary position to the maximum opening position. After it is fully unfolded (the sensor feedbacks that it is in place), it then drives the first vehicle door to rotate from the stationary position to the maximum opening position (at this time, the second vehicle door is fully open to avoid collision when both are opening). When both vehicle doors are in the maximum opening position, synchronously instruct both vehicle doors to rotate to the closed position until they are fully closed. By the order of "first opening the far - distance vehicle door (the second vehicle door), then opening the near - distance vehicle door (the first vehicle door)", using the near - distance advantage of the first vehicle door, it ensures a safe and interference - free opening process and finally synchronously completes the calibration and closing.

[0110] As a scenario example, when the user opens the first vehicle door and the second vehicle door of the vehicle, due to the relatively dim surrounding light, the first vehicle door collides with a branch beside it during the opening process. At this time, the vehicle's controller identifies that the cause of the collision is the rotation collision of the first vehicle door, controls the first vehicle door and the second vehicle door to stop, and uses the position sensor to determine the stationary positions of the first vehicle door and the second vehicle door. Subsequently, the controller issues an instruction to control the first vehicle door to rotate from the stationary position to the maximum opening position. During this process, the rotation state of the first vehicle door is monitored in real - time, and the power of the driving motor is intelligently adjusted according to the change in resistance when the first vehicle door rotates, etc., to avoid greater damage caused by deformation after the collision.

[0111] When the first vehicle door rotates smoothly to the maximum opening position, the controller then controls the second vehicle door to rotate from the stationary position to the maximum opening position. During the rotation of the second vehicle door, its rotation state is also monitored in real time. When the second vehicle door rotates to the maximum opening position, the controller controls the first vehicle door and the second vehicle door to rotate to the closed position, thereby completing the door calibration.

[0112] In another case, when the first vehicle door rotates to the maximum opening position, the second vehicle door is controlled to rotate from the stationary position to the closed position. When the second vehicle door rotates to the closed position, the first vehicle door is controlled to rotate from the maximum opening position to the closed position, thereby completing the door calibration.

[0113] Based on this, on the one hand, the step-by-step calibration method can minimize the risk of further damage to the vehicle door after a collision. By first rotating the first vehicle door and the second vehicle door to the maximum opening position and then closing them respectively, or by controlling the doors to close separately, the vehicle's control system can adjust according to the actual state of the doors, repair the position deviation caused by the collision, and enable the doors to return to the normal working state. On the other hand, the above calibration scheme can quickly restore the normal function of the vehicle doors. In scenarios such as camping in the wild, timely restoring the normal use of the vehicle doors is crucial for protecting the safety of the items inside the vehicle. Moreover, through precise calibration, it avoids the situation where users may need to spend time and effort to repair the vehicle doors, improves the vehicle's usage efficiency, guarantees the user's travel experience, and also reduces the potential safety hazards caused by vehicle door failures.

[0114] In the embodiment of the present application, when the target object is an obstacle, the controller 13 is configured to determine the first relative position relationship between the obstacle and the first vehicle door according to the contact position between the obstacle and the first vehicle door.

[0115] In the embodiment of the present application, when the target object is an obstacle, specifically, when the first relative position relationship is that the obstacle is inside the first vehicle door, the controller 13 controls the first vehicle door to rotate from the stationary position to the maximum opening position; or, specifically, when the first relative position relationship is that the obstacle is outside the first vehicle door, the controller 13 controls the second vehicle door and the first vehicle door to rotate from the stationary position to the closed position in sequence.

[0116] It should be noted that when the controller 13 determines that the obstacle is located on the inside of the first door based on the position sensor data, in order to avoid the door from scratching the obstacle during the door opening process, the controller will control the first door to rotate from the static position to the maximum open position, ensuring that it completely avoids the obstacle, and then determine that the calibration is completed. When the first relative position relationship determines that the obstacle is on the inside of the first door, the first door cannot be closed normally. At this time, if the door is closed forcibly, it may cause damage to the door or the obstacle. By rotating the first door from the static position to the maximum open position, it can be confirmed that the door has completed the calibration, and then the user is reminded to manually remove the obstacle, so as to remove the movement restriction of the obstacle on the first door, and then the first door can be controlled to rotate to the closed position.

[0117] When it is determined that the obstacle is located outside the first door, in order to prevent the door from colliding with the obstacle during closing, the controller will prioritize controlling the second door to rotate from a static position to a closed position. After it is fully closed and away from the obstacle, the controller will control the first door to rotate from a static position to a closed position, completing safe door closing through a staged closing strategy.

[0118] During the entire operation process, if the first door cannot be rotated to the maximum open position, or the second door cannot reach the maximum open position, or the first door and the second door fail to be successfully rotated to the closed position, the controller 13 will determine that there is a mechanical failure in the first door or the second door, and then trigger the voice prompt module, sending a second voice prompt through the vehicle audio system to guide the user to manually close or open the first door and the second door.

[0119] In the embodiment of the present application, the controller 13 is specifically used to control the first door and the second door to be stationary if the cause of the collision is a collision of the second door during rotation, and determine the target object collided with the second door; obtain the second relative position relationship between the second door and the target object; and perform corresponding door calibration operations according to the second relative position relationship.

[0120] It should be noted that when the controller 13 confirms that the cause of the collision is a collision of the second door during its rotation process (i.e., the second door actively hits the first door, or collides with an obstacle), it first disables the active rotation function of the first door and the second door, or issues a command to control the two doors to temporarily stop, so that the first door and the second door are stationary, and uses a position sensor to accurately obtain the stationary position of the two doors.

[0121] In this embodiment of the present application, when the target object is the first door, the controller 13 is used to determine a first distance between the first door and the closed position and a second distance between the second door and the closed position according to the static positions of the first door and the second door; and determine a second relative position relationship between the first door and the second door based on the size between the first distance and the second distance.

[0122] It should be noted that after the first door and the second door are stationary, the controller 13 obtains the real-time coordinates of the two doors through the position sensor, and calculates the straight-line distance (the first distance) between the current position of the first door and the closed position and the straight-line distance (the second distance) between the current position of the second door and the closed position. Based on the numerical magnitudes of these two distances, the relative position relationship between the two doors is judged: if the first distance is greater than the second distance, it indicates that the first door is farther from the closed position and the second door is closer; if the first distance is less than or equal to the second distance, it means that the first door is closer to the closed position or the distances are equal.

[0123] In the embodiment of the present application, when the target object is the first door, the controller 13 is specifically configured to control the second door to rotate to the closed position when the first distance is greater than the second distance, and when the second door rotates to the closed position, control the first door to rotate from the stationary position to the closed position.

[0124] It should be noted that when the distance of the first door from the closed position is greater than that of the second door, the controller 13 first controls the second door to directly rotate from the stationary position to the closed position (taking advantage of its closer distance, giving priority to resetting to reduce the risk of interference). After the sensor feedbacks that the second door is fully closed, then control the first door to rotate from the stationary position to the closed position until it is fully closed. Through the logic of "prioritizing the reset of the closer door", it is avoided that the first door collides with the unclosed second door during the reset process, simplifying the calibration process.

[0125] In the embodiment of the present application, when the target object is the first door, the controller 13 is specifically configured to control the first door to rotate from the stationary position to the maximum opening position when the first distance is greater than the second distance; when the first door rotates to the maximum opening position, control the second door to rotate from the stationary position to the maximum opening position, and when the second door rotates to the maximum opening position, control the first door and the second door to rotate to the closed position; or, when the first door rotates to the maximum opening position, control the second door to rotate from the stationary position to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the maximum opening position to the closed position.

[0126] It should be noted that when the first distance is greater than the second distance, the controller 13 sends an instruction to the first driving device of the first door to drive the first door to rotate from the stationary position towards the maximum opening position. During this process, continuously receive the data transmitted back by the position sensor and monitor the rotation state of the first door in real time. When the first door successfully rotates to the maximum opening position and the controller 13 receives the position feedback signal, send an instruction to the second driving device of the second door to make the second door rotate from the stationary position to the maximum opening position, and synchronously monitor the rotation process of the second door.

[0127] When the second vehicle door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, it simultaneously controls the first vehicle door and the second vehicle door to rotate from the maximum opening position to the closed position until the two vehicle doors are completely closed, thereby completing the calibration operation of the vehicle doors. Alternatively, when the first vehicle door rotates to the maximum opening position, the second vehicle door is controlled to rotate from the stationary position to the closed position, and when the second vehicle door rotates to the closed position, the first vehicle door is controlled to rotate from the maximum opening position to the closed position. As Figure 3 shown, the positional relationship when the first vehicle door and the second vehicle door respectively rotate to the maximum opening position.

[0128] When the first vehicle door successfully rotates to the maximum opening position and the controller 13 receives the position feedback signal, it immediately issues an instruction to the second drive device of the second vehicle door to make the second vehicle door rotate from the stationary position to the closed position and simultaneously monitors its rotation process. After the second vehicle door successfully rotates to the closed position and the controller 13 receives the corresponding feedback signal, it controls the first vehicle door to rotate from the maximum opening position to the closed position, finally completing the calibration of the vehicle doors.

[0129] In the embodiment of the present application, when the target object is the first vehicle door, the controller 13 is specifically configured to, if the first distance is less than or equal to the second distance, control the second vehicle door to rotate from the stationary position to the maximum opening position; when the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position, and when the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

[0130] It should be noted that the maximum opening position can be set by the user or by the vehicle manufacturer. Specifically, it can be the position of the maximum opening degree that the vehicle door can reach set by the user according to their own usage needs and preferences. For example, if the user feels that in certain special scenarios, it is most appropriate for the vehicle door to open to a specific angle, they can set the position corresponding to this angle as the maximum opening position.

[0131] When the first vehicle door is closer to or at the same distance from the closed position (the first distance ≤ the second distance), the controller 13 first controls the second vehicle door to rotate from the stationary position to the maximum opening position. After it is fully unfolded (the sensor feedbacks in place), the first vehicle door is then driven to rotate from the stationary position to the maximum opening position (at this time, the second vehicle door is already fully open, avoiding collision when the two are opening). After both vehicle doors are in the maximum opening position, they are synchronously commanded to rotate to the closed position until they are completely closed. By following the order of "first opening the far vehicle door (the second vehicle door), and then opening the near vehicle door (the first vehicle door)", and taking advantage of the near distance of the first vehicle door, it is ensured that the opening process is safe and interference-free, and finally the calibration and closing are completed synchronously.

[0132] In the embodiment of the present application, when the target object is an obstacle, the controller 13 is specifically configured to, when the second relative position relationship is that the obstacle is inside the second door, sequentially control the first door and the second door to rotate from the stationary position to the maximum opening position; or, the controller 13 is specifically configured to, when the second relative position relationship is that the obstacle is outside the second door, sequentially control the second door and the first door to rotate from the stationary position to the closed position.

[0133] It should be noted that when the controller 13 determines based on the position sensor data that the obstacle is inside the second door, to avoid the door rubbing against the obstacle during the door opening process, the controller will first control the first door to rotate from the stationary position to the maximum opening position. After ensuring that it completely avoids the obstacle, it will then control the second door to rotate from the stationary position to the maximum opening position, achieving safe door opening through a phased opening strategy; while when it is determined that the obstacle is outside the second door, to prevent the door from colliding with the obstacle during the door closing process, the controller will first control the second door to rotate from the stationary position to the closed position. After it is completely closed and away from the obstacle, it will then control the first door to rotate from the stationary position to the closed position, completing safe door closing through a phased closing strategy.

[0134] The door calibration solution of the embodiment of the present application, on the one hand, the step-by-step calibration can effectively avoid secondary damage to the door during the reset process after a collision. By precisely controlling the rotation path and force, it repairs the position deviation caused by the collision, ensuring that the first door can accurately cover and overlap the second door, restoring the sealing and safety of the rear door. On the other hand, for users, it greatly shortens the processing time of abnormal door conditions, and can quickly restore the door function after a collision, improving the vehicle usage experience.

[0135] In addition, during the door calibration process, when the first distance between the first door and the closed position is greater than the second distance between the second door and the closed position, first control the first door to rotate from the stationary position to the maximum opening position, and then make the second door complete the same opening action. This sequence can avoid collision interference between the two doors during opening. However, only opening the first door and the second door to the maximum position can only verify the smoothness of the door opening process, but cannot detect whether there are faults such as jamming or abnormal transmission in the mechanical components of the door during the closing process. Therefore, after both doors are in the maximum opening position, they must be further controlled to rotate towards the closed position until they are completely closed. Through the complete "opening - closing" process, not only can the state of the door during opening be inspected, but also the reliability of the door closing can be tested, confirming that the mechanical structure and control logic of the entire door system are normal, thereby ensuring the effectiveness of the door calibration operation.

[0136] During the entire operation, if the second door fails to rotate to the maximum opening position, or the first door fails to reach the maximum opening position, or the first door and the second door fail to rotate smoothly to the closed position, the controller 13 will determine that there is a mechanical failure in the second door or the first door, and then activate the voice prompt module to send a third voice prompt through the vehicle audio system to guide the user to manually close or open the first door and the second door.

[0137] In the embodiment of the present application, the controller 13 is specifically configured to detect whether the first door and / or the second door has lost its position during the rotation of the first door and / or the second door, or during the execution of the door calibration operation; if the first door and / or the second door has lost its position, then detect whether the second door is in the closed position; and perform corresponding door calibration operations according to whether the second door is in the closed position.

[0138] Among them, the controller 13 is specifically configured to, if the second door is in the closed position, control the first door to rotate to the closed position.

[0139] Alternatively, the controller 13 is specifically configured to, if the second door is not in the closed position, control the first door to rotate in the opposite direction of the closed position. If the first door collides with the second door, control the first door to stop, and control the second door to rotate to the corresponding maximum blocked rotation position; when the second door rotates to the corresponding maximum blocked rotation position, control the first door to rotate to the corresponding maximum blocked rotation position; when the first door rotates to the corresponding maximum blocked rotation position, control the second door to rotate to the closed position.

[0140] It should be noted that the maximum blocked rotation position refers to the position where, during the door calibration operation, when the driving device of the door continuously rotates to drive the door to rotate until the door cannot continue to rotate due to mechanical limitation or resistance. The maximum blocked rotation position is greater than or equal to the preset maximum opening position in the foregoing embodiment. At the same time, anti-collision members, such as rubber strips, are provided at the edges of both the first door and the second door. Therefore, when the two doors are rotated simultaneously in the case of position loss, even if the two doors come into accidental contact, the anti-collision members can absorb the impact force generated by the collision through their own elastic deformation, play a buffering role, avoid direct collision of the metal parts of the doors, and effectively prevent scratches, dents and other damages to the doors.

[0141] In this embodiment, a vehicle control method is provided. Figure 4 It is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 4 shown, and the process includes the following steps:

[0142] Step S101, during the rotation of the first door and / or the second door, detect whether a collision event occurs between the first door and / or the second door.

[0143] In the embodiment of the present application, before the first door and / or the second door rotates, the method further includes: receiving a door rotation instruction, where the door rotation instruction is generated based on a trigger operation on a control button, and the control button is installed on the vehicle or on the key corresponding to the vehicle; or, the door rotation instruction is sent by a client associated with the vehicle; controlling the first door and / or the second door to rotate based on the door rotation instruction.

[0144] It should be noted that when the user needs to control the rotation of the door, there are two ways to generate instructions:

[0145] First, if the user operates the control buttons installed on the vehicle or the key corresponding to the vehicle, the circuits inside these buttons will generate electrical signal changes due to the trigger operation, and then generate a door rotation instruction.

[0146] Second, the user performs corresponding operations on the client associated with the vehicle. The client will package the operation information into a door rotation instruction and send it out through the network.

[0147] At this time, the controller is always in a real-time monitoring state. Whether it receives an instruction generated by the control button or an instruction sent by the client associated with the vehicle, it will receive the instruction. After receiving it, the controller parses the instruction content to obtain a parsing result. According to the parsing result, the controller sends a control signal to the corresponding door driving device. After receiving the signal, the driving device drives the first door and / or the second door to rotate according to the instruction requirements through components such as a motor and a transmission mechanism, thereby realizing the opening or closing action of the door.

[0148] It should be noted that diverse instruction modes can be formed by setting and identifying operation parameters such as the number of presses and the duration of pressing of the control button. Among them, combinations of specific numbers and durations of presses can achieve functions such as one-key opening (such as a single short press), one-key closing (such as a single long press), and opening or closing of a single door (such as two presses combined with button coding information to distinguish the door), enabling the controller to accurately parse the instruction and then control the first door, the second door, or both to perform corresponding rotation operations simultaneously.

[0149] In the embodiment of the present application, detecting whether a collision event occurs to the first door and / or the second door includes the following steps A1 - A3:

[0150] Step A1, sending detection instructions to the sensors installed on the first door and the second door respectively.

[0151] Specifically, the controller sends detection instructions to various sensors installed on the first door and the second door respectively through a pre-established communication link. The sensors can be radar types (such as ultrasonic, millimeter wave, UWB, lidar), vision types (such as cameras), contact types (such as capacitive anti-pinch strips), etc. The controller encodes the detection instructions in a specific communication protocol and data format, and then accurately sends the instructions to the corresponding sensors through a communication interface (such as CAN bus, LIN bus, etc.). After sending the instructions, the controller will enter a waiting state and wait for the data feedback from the sensors.

[0152] Step A2, receive the detection data feedback by the sensors based on the detection instructions.

[0153] Specifically, the radar-type sensors will emit corresponding waves (such as ultrasonic waves, millimeter waves, lasers, etc.), and receive the reflected waves, and obtain information such as the distance and speed of the surrounding environment through the analysis of the reflected waves; the vision-type sensors will capture images or videos around the door and perform image recognition and analysis; the contact-type sensors will continuously monitor changes in pressure, capacitance, etc. on the door surface. The sensors will perform preliminary processing and encoding on the obtained raw data, and feedback the detection data to the controller through the communication link according to the communication protocol and data format agreed with the controller. The communication interface of the controller will continuously monitor the communication link to receive the data feedback from the sensors.

[0154] Step A3, analyze the detection data to determine whether a collision event has occurred on the first door and / or the second door.

[0155] Specifically, the controller will analyze the preprocessed data according to the preset collision judgment rules and algorithms. For the data of the radar-type sensors, it will analyze the changes in distance and speed to judge whether there are abnormal approaching or collision signs; for the data of the vision-type sensors, it will detect whether there is contact between an obstacle and the door through an image recognition algorithm; for the data of the contact-type sensors, it will analyze the changes in pressure and capacitance to judge whether there is a sudden change in pressure caused by a collision. The controller will make a judgment by integrating the data of various sensors. If the detected data meets the preset collision conditions, it will be determined that a collision event has occurred on the first door and / or the second door.

[0156] Step S102, if a collision event occurs on the first door and / or the second door, obtain the collision cause of the collision event.

[0157] In the embodiment of the present application, after a collision event occurs on the first door and / or the second door, the controller will determine the collision cause based on the data feedback by the radar-type, vision-type, contact-type, etc. sensors installed on the door.

[0158] If the radar - type sensor continuously feeds back abnormal door movement parameters, such as sudden speed changes and displacement deviations, and there is no approaching signal of external obstacles. The vision - type sensor does not capture the picture of the door contacting external objects, only showing the deformation of the internal structure of the door; the contact - type sensor also does not detect external contact pressure, only recording abnormal stress changes inside the door. This situation is determined as a mechanical failure.

[0159] When the radar - type sensor shows that the distance between the first door and the second door or an obstacle rapidly decreases to the collision threshold during the rotation of the first door, the vision - type sensor captures an image of the first door actively hitting the second door or an obstacle, and the contact - type sensor detects abnormal pressure fluctuations on the surface of the first door due to the collision, it can be determined that the first door rotates and collides.

[0160] If the radar - type sensor monitors that the distance between the second door and the first door or an obstacle rapidly shortens during the rotation of the second door and triggers a collision alarm, the vision - type sensor records the moment when the second door actively collides with the first door or an obstacle, and the contact - type sensor detects a sudden pressure change caused by the collision on the surface of the second door, then it is determined that the cause of the collision is the second door rotates and collides.

[0161] Step S103, perform a door calibration operation based on the door calibration strategy corresponding to the collision cause.

[0162] In the embodiment of the present application, performing a door calibration operation based on the door calibration strategy corresponding to the collision cause includes: if the cause of the collision is a mechanical failure, disable the active rotation functions of the first door and the second door, and send a first voice prompt, where the first voice prompt is used to prompt the user to manually close or manually open the first door and the second door.

[0163] After the controller determines that a collision event has occurred to the first door and / or the second door, it will analyze the cause of the collision. By comprehensively analyzing the data fed back by the sensors, the historical information of the door operation, and the preset fault judgment logic, to determine whether the cause of the collision is a mechanical failure. For example: the speed of the first door and / or the second door is abnormal at the moment of closing, or the capacitive anti - pinch strip detects abnormal pressure, and the lidar detects that there is no contact between the door and the surrounding obstacles. Then check the historical operation data of the door and determine that the first door and / or the second door have had multiple cases of closing jams. Based on this, when the door has abnormal jams or abnormal pressure at the moment of closing but there is no contact with external obstacles, it is determined that there is a problem with the mechanical structure inside the door, such as a failure of the door transmission mechanism, etc.

[0164] If it is determined that the cause of the collision is a mechanical failure, the controller will disable the active rotation function of the first door and the second door. This can prevent safety issues from arising during the active rotation of the doors due to mechanical failures, and avoid causing personal injuries or vehicle damage. The controller will send an instruction to the drive device of the door to cut off the control signal for active rotation. After disabling the active rotation function, the controller will call the voice prompt module to send a first voice prompt. This voice prompt will be played through the audio system inside the vehicle, notifying the user that they need to manually close or open the first door and the second door.

[0165] The solution provided in the embodiments of this application can be applied to various scenarios under mechanical failures. For example, during the vehicle's docking process, a failure occurs in the rotating components (such as hinges, etc.) of the first door or the second door, resulting in a collision when the door rotates; or a sensor failure of the door causes the door to be unable to detect its position normally during rotation, thus triggering a collision; or the transmission mechanism (such as gears, chains, etc.) of the door is damaged, causing the door to rotate abnormally and collide. In these scenarios where mechanical failures cause collisions, after detecting a collision event and determining that the cause of the collision is a mechanical failure, the active rotation function of the first door and the second door is disabled, and at the same time, a first voice prompt is sent to inform the user that they need to manually close or open the door, so as to avoid more serious damage or safety hazards caused by abnormal active rotation functions.

[0166] The embodiments of this application can timely detect potential dangers by real-time detecting collision events during the rotation of the first door and / or the second door, and avoid serious consequences such as aggravated damage to the door and personal injuries caused by collisions. Secondly, the operation of obtaining the cause of the collision helps to accurately locate the root cause of the problem. Then, based on the cause of the collision, a door calibration strategy is executed. When the cause of the collision is a mechanical failure, the active rotation functions of the first door and the second door are timely disabled, and a first voice prompt is sent to guide the user to perform manual operations, which not only prevents accidents such as out-of-control doors that may be caused by mechanical failures, but also enables the user to take measures under the prompt to ensure the safety and reliability of the subsequent use of the door.

[0167] Figure 5 is a flowchart of a vehicle control method according to an embodiment of the present invention, as Figure 5 shown, and this process includes the following steps:

[0168] Step S201, during the rotation of the first door and / or the second door, detect whether a collision event occurs to the first door and / or the second door.

[0169] In the embodiments of the present application, the controller encodes the detection instructions through a pre-established communication link in a specific communication protocol and data format, and then sends them through communication interfaces such as the CAN bus and LIN bus to sensors such as radar types (such as ultrasonic, millimeter wave, UWB, lidar), vision types (such as cameras), and contact types (such as capacitive anti-pinch strips) installed on the first door and the second door, and then enters the waiting state; after receiving the instructions, various sensors start to work. The radar sensors emit and receive reflected waves to analyze the surrounding environment distance and speed, the vision sensors capture images or videos and perform recognition and analysis, and the contact sensors monitor the surface pressure and capacitance changes of the door, and then feedback the preliminarily processed and encoded detection data to the controller through the communication link.

[0170] The controller continuously monitors the communication link to receive data, analyzes the preprocessed data according to the preset collision judgment rules and algorithms, comprehensively considers data such as the distance and speed changes of the radar sensors, the image recognition results of the vision sensors, and the pressure and capacitance mutations of the contact sensors. If the preset collision conditions are met, it is determined that a collision event has occurred on the first door and / or the second door.

[0171] Step S202, if a collision event occurs on the first door and / or the second door, obtain the cause of the collision event.

[0172] In the embodiments of the present application, after a collision event occurs on the first door and / or the second door, the controller determines the cause of the collision based on the data feedback from sensors such as radar types, vision types, and contact types installed on the door.

[0173] If the radar sensors continuously feedback abnormal door movement parameters, such as sudden speed changes and displacement deviations, and there is no approaching signal of external obstacles. The vision sensors do not capture the picture of the door contacting external objects, only showing the deformation of the internal structure of the door; the contact sensors also do not detect external contact pressure, only recording abnormal stress changes inside the door. This situation is determined as a mechanical failure.

[0174] When the radar sensors show that the distance between the first door and the second door or an obstacle rapidly decreases to the collision threshold during the rotation of the first door, the vision sensors capture the image of the first door actively hitting the second door or an obstacle, and the contact sensors detect abnormal pressure fluctuations on the surface of the first door due to the collision, it can be determined as a rotation collision of the first door.

[0175] If the radar sensors monitor that the distance between the second door and the first door or an obstacle rapidly shortens and triggers a collision alarm during the rotation of the second door, the vision sensors record the moment when the second door actively collides with the first door or an obstacle, and the contact sensors detect a pressure mutation caused by the collision on the surface of the second door, then the cause of the collision is determined as a rotation collision of the second door.

[0176] Step S203, if the collision reason is that the first door collides during rotation, control the first door and the second door to be stationary, and determine the object collided by the first door.

[0177] In the embodiment of the present application, if the collision reason is that the first door collides during rotation, control the first door and the second door to be stationary, and determine the stationary positions of the first door and the second door.

[0178] For example: when the user is about to close the vehicle door, eager to leave, he forcefully pushes the first door, causing it to rotate quickly towards the vehicle body. At this time, the second door is also closing automatically. The first door actively collides with the second door that is still on the closing path due to excessive speed; in another scenario, when the vehicle owner starts the first door opening function after picking up and placing items in the warehouse, if the items in the warehouse are stacked messily and the goods outside the first door are placed beyond the safe range, the door will collide with the inner obstacle when it is opened; or when the vehicle is parked in a narrow lane and the vehicle owner opens the first door to get out of the car, and the outer side of the door is adjacent to the wall, the first door collides with the outer wall when it rotates outwards. These all belong to the scenarios where the first door collides during rotation.

[0179] In the embodiment of the present application, when the controller determines that the collision reason is the rotation collision of the first door, it sends a braking signal to the driving devices of the first door and the second door through the communication link. This signal will cause the driving devices to stop operating, and at the same time trigger the braking device, and disable the active rotation function of the first door and the second door through mechanical locking or electromagnetic braking, etc., so that the two doors quickly stop.

[0180] At the same time, the controller reads the data of the position sensors (such as Hall sensors, encoders, etc.) installed on the door, such as the angle and position information of the door. The controller determines the stationary positions of the first door and the second door based on this.

[0181] Step S204, obtain the first relative position relationship between the first door and the object.

[0182] In the embodiment of the present application, obtaining the first relative position relationship between the first door and the object includes: when the object is the second door, determine the first distance between the first door and the closed position and the second distance between the second door and the closed position according to the stationary positions of the first door and the second door; based on the magnitude relationship between the first distance and the second distance, determine the first relative position relationship between the first door and the second door.

[0183] It should be noted that when it is confirmed that the target object of the collision is the second vehicle door, that is, after the first vehicle door collides with the second vehicle door, the controller 13 will use the position sensor to obtain the static position coordinates of the first vehicle door and the second vehicle door after the collision (which can be the coordinates of any point on the vehicle door). Based on these coordinate data, the straight-line distance (the first distance) from the current position of the first vehicle door to the closed position and the straight-line distance (the second distance) from the current position of the second vehicle door to the closed position are calculated respectively. By comparing the numerical values of the first distance and the second distance, the relative position relationship between the first vehicle door and the second vehicle door can be determined, such as whether the first vehicle door is farther from the closed position or the second vehicle door is farther from the closed position, providing a key basis for formulating the vehicle door calibration strategy in the follow-up.

[0184] In the embodiment of the present application, obtaining the first relative position relationship between the first vehicle door and the target object includes: when the target object is an obstacle, determining the first relative position relationship between the obstacle and the first vehicle door according to the contact position between the obstacle and the first vehicle door.

[0185] It should be noted that when it is confirmed that the target object of the collision of the first vehicle door is an obstacle, the controller 13 obtains the specific position information of the contact point between the obstacle and the first vehicle door based on the position sensor and related detection devices. If the contact point is located in the area of the first vehicle door close to the inner side of the vehicle body, it indicates that the obstacle is inside the first vehicle door; if the contact point is located at the outer edge of the first vehicle door, it means that the obstacle is outside the first vehicle door.

[0186] Step S205, performing corresponding vehicle door calibration operations according to the first relative position relationship.

[0187] In the embodiment of the present application, when the target object is the first vehicle door, performing corresponding vehicle door calibration operations according to the first relative position relationship includes: if the first distance is greater than the second distance, controlling the second vehicle door to rotate to the closed position, and when the second vehicle door rotates to the closed position, controlling the first vehicle door to rotate from the static position to the closed position.

[0188] When the controller 13 determines that the first distance between the first vehicle door and the closed position is greater than the second distance between the second vehicle door and the closed position, it will immediately send an instruction to the second driving device of the second vehicle door to drive the second vehicle door to rotate from the static position until it is completely closed. After the position sensor feeds back that the second vehicle door is in the closed position, the controller 13 then issues an instruction to the first driving device of the first vehicle door to make the first vehicle door rotate from the static position to the closed position, completing the vehicle door calibration.

[0189] In an embodiment of the present application, if the first distance is greater than the second distance, control the first door to rotate from the stationary position to the maximum opening position; when the first door rotates to the maximum opening position, control the second door to rotate from the stationary position to the maximum opening position, and when the second door rotates to the maximum opening position, control the first door and the second door to rotate to the closed position; or, when the first door rotates to the maximum opening position, control the second door to rotate from the stationary position to the closed position, and when the second door rotates to the closed position, control the first door to rotate from the maximum opening position to the closed position.

[0190] When the controller 13 determines that the first distance is greater than the second distance, it first sends an instruction to the first driving device of the first door to drive the first door to rotate from the stationary position towards the maximum opening position. During this process, the rotation state is monitored in real time by receiving the data transmitted back by the position sensor. When the first door rotates to the maximum opening position and the controller 13 receives the position feedback signal, there are two operations:

[0191] First, send an instruction to the second driving device of the second door to make the second door rotate from the stationary position to the maximum opening position, and synchronously monitor its rotation process. When the second door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, simultaneously control the first door and the second door to rotate from the maximum opening position to the closed position.

[0192] Second, send an instruction to the second driving device of the second door to make the second door rotate from the stationary position to the closed position. When the second door rotates to the closed position, the controller 13 sends an instruction to the first driving device of the first door to control the first door to rotate from the maximum opening position to the closed position, achieving door calibration.

[0193] In an embodiment of the present application, if the first distance is less than or equal to the second distance, then control the second door to rotate from the stationary position to the maximum opening position; when the second door rotates to the maximum opening position, control the first door to rotate from the stationary position to the maximum opening position, and when the first door rotates to the maximum opening position, control the first door and the second door to rotate to the closed position.

[0194] If the controller 13 determines that the first distance is less than or equal to the second distance, it will preferentially send an instruction to the second driving device of the second door to drive the second door to rotate from the stationary position to the maximum opening position, and continuously monitor its rotation process. When the second door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, it then sends an instruction to the first driving device of the first door to control the first door to rotate from the stationary position to the maximum opening position. After the first door also rotates to the maximum opening position and the controller 13 receives the corresponding feedback, it simultaneously sends instructions to the first driving device of the first door and the second driving device of the second door to control the first door and the second door to rotate from the maximum opening position to the closed position until the two doors are completely closed, completing the door calibration operation.

[0195] In one example, when the vehicle is in a low underground garage and the first door is about to collide with the top pipe or crossbeam during the opening process, the collision sensor on the door will immediately detect the abnormality and transmit the signal to the controller. After receiving the collision signal, the controller first sends an instruction to the air suspension control system of the vehicle to gradually reduce the vehicle body height by adjusting the air pressure of the air suspension. During this process, the height sensor installed at the bottom of the vehicle body will continuously monitor the change in the vehicle body height and feed the data back to the controller. When the vehicle body height drops to the preset safety value, the controller pauses the height adjustment and executes the door calibration process: first, control the first door to rotate from the stationary position to the maximum opening position, and after the first door rotates in place, control the second door to rotate from the stationary position to the maximum opening position; after the second door also rotates to the maximum opening position, the controller then controls the two doors to rotate to the closed position to complete the calibration. After the calibration is completed, the controller sends an instruction to the air suspension control system again to restore the vehicle body height to the normal level to ensure that the subsequent driving and use of the vehicle are not affected.

[0196] In another example, when the vehicle is in a strong wind environment, the wind speed sensor installed outside the vehicle body continuously monitors the wind speed and direction and transmits the data to the controller in real time. When the wind speed sensor detects that the wind force reaches or exceeds the preset strong wind threshold, the controller enters the protection mode. When the first door rotates to the maximum opening position, the controller calculates the required torque compensation value according to the wind force data and sends an instruction to the first driving device of the first door to increase the output torque of the first driving device, so that the door can still be stably opened under the action of strong wind. For example, the controller will match the currently detected wind speed with the wind speed intervals in the database to find the corresponding wind speed interval. For instance, if the current wind speed is 26 m / s and it is in the interval of 24.5 - 28.4 m / s, the system will retrieve the corresponding basic torque compensation value for this interval. Then, it corrects according to the influence degree of the wind direction on the door opening. If the wind direction is directly towards the door opening direction, it increases the basic torque compensation value by 20%; if the wind direction is obliquely blowing towards the door opening direction, it increases by 10%; if the wind direction has little influence on the door opening, the basic torque compensation value remains unchanged.

[0197] During the opening process of the second door, the sway amplitude and angular change of the second door are detected. The collected door sway data is compared with the preset safety threshold. If the sway amplitude exceeds the safe range, the controller adjusts the rotation speed of the first driving device of the second door: when the sway amplitude is small, it reduces the rotation speed according to the first amplitude to increase stability. If the sway amplitude is large, it reduces the rotation speed according to the second amplitude and appropriately increases the torque, so that the door slowly and smoothly opens to the maximum position. During the whole process, the motor parameters are continuously and dynamically adjusted to ensure that the door will not collide due to out-of-control under strong wind, and finally the door calibration is completed and safely closed. Among them, the second amplitude is greater than the first amplitude.

[0198] In the embodiment of the present application, when the target is an obstacle, the corresponding door calibration operation is performed according to the first relative position relationship, including: if the first relative position relationship is that the obstacle is inside the first door, controlling the first door to rotate from the stationary position to the maximum opening position; or, if the first relative position relationship is that the obstacle is outside the first door, sequentially controlling the second door and the first door to rotate from the stationary position to the closed position.

[0199] When the first vehicle door collides with an obstacle during the opening process, the controller 13 determines that the target object is an obstacle based on the sensor data and determines its relative position relationship with the first vehicle door. If it is detected that the obstacle is inside the first vehicle door, for example, a toolbox placed in the trunk hinders the closing of the first vehicle door, at this time, the controller 13 first sends an instruction to the first driving device of the first vehicle door to drive the first vehicle door to rotate from the stationary position towards the maximum opening position, and monitors the data transmitted back by the position sensor in real time during the rotation process to confirm that the first vehicle door rotates smoothly to the maximum opening position, so as to complete the calibration while avoiding the obstacle.

[0200] Alternatively, when the vehicle is parked beside a narrow street and the first vehicle door collides with an external obstacle (such as another vehicle parked adjacent to the vehicle) during the opening process, when the controller 13 determines that the obstacle is outside the first vehicle door, it will first send an instruction to the second driving device of the second vehicle door to drive the second vehicle door to rotate from the stationary position to the closed position, and continuously monitor its rotation process; after the second vehicle door is successfully closed, the controller 13 receives the feedback signal and then sends an instruction to the first driving device of the first vehicle door to control the first vehicle door to rotate from the stationary position to the closed position, so as to complete the closing calibration of the two vehicle doors on the premise of avoiding collision with the external obstacle again.

[0201] The calibration solution provided by the embodiments of the present application can be applied to the daily use of vehicles. When the first vehicle door collides with surrounding obstacles (such as walls, other vehicles, etc.) during the opening process, the collision event is detected and the collision cause is obtained. If it is a rotation collision of the first vehicle door, the two vehicle doors are controlled to stop and the stationary position is determined. Subsequently, according to different calibration strategies, the first vehicle door can be first rotated to the maximum opening position, and then the second vehicle door is rotated to the maximum opening position, and then the two vehicle doors are controlled to rotate to the closed position; or when the first vehicle door rotates to the maximum opening position, the second vehicle door can be directly rotated to the closed position, and finally the first vehicle door is controlled to rotate to the closed position, so as to realize the calibration of the vehicle door and restore the normal state of the vehicle door. It can also be applied to the vehicle door opening collision scenarios in the parking lot, the vehicle door opening collision scenarios on the narrow street, etc. The collided vehicle door is calibrated through this solution to ensure the normal use of the vehicle door subsequently.

[0202] The real-time detection of the collision event during the rotation of the vehicle door in the embodiments of the present application can timely discover potential dangers and avoid damage to vehicle door components or injuries to personnel caused by collisions. Secondly, obtaining the collision cause can accurately locate the root cause of the problem. When the collision cause is the rotation collision of the first vehicle door, the two vehicle doors are controlled to stop and the position is determined to prevent damage to the vehicle door caused by abnormal movement after the collision; then by sequentially controlling the first vehicle door and the second vehicle door to open to the maximum position and then close together, the position of the vehicle door can be effectively calibrated, the deviation of the vehicle door operation trajectory caused by the collision can be calibrated, and the normal opening and closing function of the vehicle door can be restored, ensuring the stability of the subsequent operation of the vehicle door.

[0203] Figure 6 is a flowchart of a vehicle control method according to an embodiment of the present invention. As Figure 6 shown, the process includes the following steps:

[0204] Step S301, during the rotation of the first door and / or the second door, detect whether a collision event occurs to the first door and / or the second door.

[0205] In an embodiment of the present application, the controller encodes the detection instruction through a pre-established communication link in a specific communication protocol and data format, and then sends it to sensors such as radar (e.g., ultrasonic, millimeter wave, UWB, lidar), vision (e.g., camera), and contact (e.g., capacitive anti-pinch strip) installed on the first door and the second door through communication interfaces such as the CAN bus and the LIN bus, and then enters a waiting state; after receiving the instruction, each type of sensor starts to work. The radar sensor emits and receives reflected waves to analyze the surrounding environment distance and speed. The vision sensor captures images or videos and performs recognition and analysis. The contact sensor monitors the surface pressure and capacitance change of the door, and then feeds back the preliminarily processed and encoded detection data to the controller through the communication link.

[0206] Step S302, if a collision event occurs to the first door and / or the second door, obtain the cause of the collision event.

[0207] In an embodiment of the present application, after a collision event occurs to the first door and / or the second door, the controller determines the cause of the collision based on the data fed back by sensors such as radar, vision, and contact installed on the door.

[0208] If the radar sensor continuously feeds back abnormal door movement parameters, such as sudden speed change and displacement deviation, and there is no approaching signal of an external obstacle. The vision sensor does not capture the picture of the door contacting an external object, only showing the deformation of the internal structure of the door; the contact sensor also does not detect external contact pressure, only recording abnormal stress changes inside the door. This situation is determined as a mechanical failure.

[0209] When the radar sensor shows that the distance between the first door and the second door or an obstacle rapidly decreases to the collision threshold during the rotation of the first door, the vision sensor captures an image of the first door actively hitting the second door or an obstacle, and the contact sensor detects abnormal pressure fluctuations on the surface of the first door due to the collision, it can be determined that the first door rotates and collides.

[0210] If the radar sensor detects that the distance between the second door and the first door or an obstacle rapidly shortens during the rotation of the second door and triggers a collision alarm, the vision sensor records the moment when the second door actively collides with the first door or an obstacle, and the contact sensor detects a sudden change in pressure caused by the collision on the surface of the second door, it is determined that the cause of the collision is the rotation collision of the second door.

[0211] Step S303, if the cause of the collision is that the second door collides during rotation, control the first door and the second door to be stationary, and determine the object that the first door collides with.

[0212] In the embodiment of the present application, if the cause of the collision is that the second door collides during rotation, control the first door and the second door to be stationary, and determine the stationary positions of the first door and the second door.

[0213] For example: The car owner manually pushes the first door forcefully to accelerate its closing, causing the first door to approach the closed position in advance. At this time, the second door that is still closing at the original speed, due to failure to adjust in time, actively hits the first door that has already arrived in place. Another situation is that when the car owner opens the trunk to pick up something and activates the second door, because large packages stacked against the wall inside the trunk are tilted, the packages squeeze the second door, causing the second door to accelerate during the opening process and collide with the first door; or when the second door is opened, there is exactly a pedestrian passing by outside, and there is no time to avoid, so the second door collides with the pedestrian as an obstacle. These all belong to the situation where the second door collides during rotation.

[0214] In the embodiment of the present application, after the controller determines that the cause of the collision is the rotation collision of the second door, it sends a braking signal to the driving devices of the first door and the second door through the communication link. This signal will cause the driving devices to stop operating, and at the same time trigger the braking device, and disable the active rotation function of the first door and the second door through mechanical locking or electromagnetic braking and other methods, so that the two doors quickly stop.

[0215] At the same time, the controller reads the data of the position sensors (such as Hall sensors, encoders, etc.) installed on the doors, such as the angle and position information of the doors, and the controller determines the stationary positions of the first door and the second door based on this.

[0216] Step S304, obtain the second relative position relationship between the second door and the object.

[0217] In the embodiment of the present application, obtaining the second relative position relationship between the second door and the target object includes: when the target object is the first door, determining the first distance between the first door and the closed position and the second distance between the second door and the closed position according to the stationary positions of the first door and the second door; and determining the second relative position relationship between the first door and the second door based on the magnitudes of the first distance and the second distance.

[0218] It should be noted that when it is confirmed that the target object for collision is the second door, that is, after a collision occurs between the first door and the second door, the controller 13 will use the position sensor to obtain the stationary position coordinates after the collision of the first door and the second door (which can be the coordinates of any point on the door). Based on these coordinate data, the straight-line distance from the current position of the first door to the closed position (the first distance) and the straight-line distance from the current position of the second door to the closed position (the second distance) are respectively calculated. By comparing the numerical magnitudes of the first distance and the second distance, the relative position relationship between the first door and the second door can be determined, such as whether the first door is farther from the closed position or the second door is farther from the closed position, providing a key basis for formulating a door calibration strategy in the subsequent steps.

[0219] In the embodiment of the present application, obtaining the second relative position relationship between the second door and the target object includes: when the target object is an obstacle, determining the second relative position relationship between the obstacle and the first door according to the contact position between the obstacle and the first door.

[0220] It should be noted that when it is confirmed that the target object for the first door to collide with is an obstacle, the controller 13 obtains the specific position information of the contact point between the obstacle and the first door based on the position sensor and related detection devices. If the contact point is located in the area of the first door close to the inner side of the vehicle body, it indicates that the obstacle is inside the first door; if the contact point is located at the outer edge of the first door, it means that the obstacle is outside the first door.

[0221] Step S305, performing corresponding door calibration operations according to the first relative position relationship.

[0222] In the embodiment of the present application, when the target object is the second door, performing corresponding door calibration operations according to the second relative position relationship includes: if the first distance is greater than the second distance, controlling the second door to rotate to the closed position, and when the second door rotates to the closed position, controlling the first door to rotate from the stationary position to the closed position.

[0223] When the controller 13 determines that the first distance between the first vehicle door and the closed position is greater than the second distance between the second vehicle door and the closed position, it immediately sends an instruction to the second driving device of the second vehicle door to drive the second vehicle door to rotate from the stationary position until it is completely closed. After the position sensor feeds back that the second vehicle door is in the closed position, the controller 13 then issues an instruction to the first driving device of the first vehicle door to make the first vehicle door rotate from the stationary position to the closed position, completing the calibration of the vehicle door.

[0224] In the embodiment of the present application, if the first distance is greater than the second distance, control the first vehicle door to rotate from the stationary position to the maximum opening position; when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the maximum opening position, and when the second vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position; or, when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the closed position, and when the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum opening position to the closed position.

[0225] After the controller 13 determines that the first distance is greater than the second distance, it first sends an instruction to the first driving device of the first vehicle door to drive the first vehicle door to rotate from the stationary position towards the maximum opening position. During this process, it monitors its rotation state in real time by receiving the data transmitted back by the position sensor. When the first vehicle door rotates to the maximum opening position and the controller 13 receives the position feedback signal, there are two operations:

[0226] First, issue an instruction to the second driving device of the second vehicle door to make the second vehicle door rotate from the stationary position to the maximum opening position, synchronously monitor its rotation process. After the second vehicle door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, it simultaneously controls the first vehicle door and the second vehicle door to rotate from the maximum opening position to the closed position.

[0227] Second, issue an instruction to the second driving device of the second vehicle door to make the second vehicle door rotate from the stationary position to the closed position. When the second vehicle door rotates to the closed position, the controller 13 sends an instruction to the first driving device of the first vehicle door to control the first vehicle door to rotate from the maximum opening position to the closed position, realizing the calibration of the vehicle door.

[0228] In the embodiment of the present application, if the first distance is less than or equal to the second distance, control the second vehicle door to rotate from the stationary position to the maximum opening position; when the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position, and when the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

[0229] If the controller 13 determines that the first distance is less than or equal to the second distance, it will preferentially send an instruction to the second driving device of the second door to drive the second door to rotate from the stationary position to the maximum opening position, and continuously monitor its rotation process. When the second door successfully rotates to the maximum opening position and the controller 13 receives the corresponding feedback signal, it then sends an instruction to the first driving device of the first door to control the first door to rotate from the stationary position to the maximum opening position. After the first door also rotates to the maximum opening position and the controller 13 receives the corresponding feedback, it simultaneously sends instructions to the first driving device of the first door and the second driving device of the second door to control the first door and the second door to rotate from the maximum opening position to the closed position until the two doors are completely closed, completing the door calibration operation.

[0230] In the embodiment of the present application, when the target object is an obstacle, the corresponding door calibration operation is performed according to the second relative position relationship, including: if the second relative position relationship is that the obstacle is inside the second door, the first door and the second door are sequentially controlled to rotate from the stationary position to the maximum opening position; or, if the second relative position relationship is that the obstacle is outside the second door, the second door and the first door are sequentially controlled to rotate from the stationary position to the closed position.

[0231] It should be noted that when the second door collides with an obstacle during the closing process, the controller 13 determines that the target object is an obstacle through the position sensor data and further determines its relative position relationship with the second door. If it is detected that the obstacle is inside the second door (such as a tilted package in the trunk), the controller 13 will first send an instruction to the first driving device of the first door to drive the first door to rotate from the stationary position towards the maximum opening position, and continuously monitor the data transmitted back by the position sensor to ensure that the first door successfully reaches the maximum opening position to create space for the second door to open; subsequently, the controller 13 then sends an instruction to the second driving device of the second door to control the second door to rotate from the stationary position to the maximum opening position to avoid the inner obstacle and complete the calibration.

[0232] In an outdoor scenario, if the second door collides with an outside pedestrian during opening, and the controller 13 determines that the obstacle is outside the second door, it will preferentially send an instruction to the second driving device of the second door to drive the second door to rotate from the stationary position to the closed position, and simultaneously monitor its rotation process; after the second door is successfully closed, the controller 13 then sends an instruction to the first driving device of the first door to control the first door to rotate from the stationary position to the closed position, thereby completing the closing calibration of the two doors while avoiding the outside obstacle.

[0233] In the embodiment of the present application, the method further includes: if the second door fails to rotate to the maximum opening position, or the first door fails to rotate to the maximum opening position, or the first door and the second door fail to rotate to the closed position, it is determined that there is a mechanical failure in the second door or the first door, and a third voice prompt is sent, where the third voice prompt is used to prompt the user to manually close or manually open the first door and the second door.

[0234] Specifically, during the above entire process, when the second door is rotating to the maximum opening position, the position information feedback by the position sensor can never reach the preset maximum opening position; or when the first door is rotating to the maximum opening position, it also cannot reach the maximum opening position.

[0235] Or when the first door and the second door cannot accurately rotate to the closed position during the closing process, the controller determines that there is a mechanical failure in the first door or the second door according to the pre-set fault judgment logic. At this time, the controller will call the voice prompt module and send a second voice prompt through the vehicle's audio system to inform the user that they need to manually close or manually open the first door and the second door, so as to avoid safety problems caused by abnormal doors due to mechanical failures.

[0236] The calibration solution provided by the embodiment of the present application can be applied to various scenarios in daily vehicle use. For example, in an underground parking lot, the second door accidentally collides with obstacles such as adjacent vehicles or walls when opening; or in a narrow lane, when the vehicle is parked, the second door collides with pedestrians or other moving objects during the opening process. Or during the daily frequent opening and closing of the vehicle doors, due to improper operation, etc., the second door collides and causes a position deviation during rotation. After such a collision event occurs, by detecting the collision, determining the cause, controlling the two doors to stop and determining the position, rotating the doors to the maximum opening position step by step according to the established strategy, and finally controlling the doors to close, so as to achieve precise calibration, restore the normal use state and opening and closing accuracy of the doors, and ensure the convenience of vehicle calibration.

[0237] The real-time detection of collision events during the door rotation process in the embodiment of the present application can timely discover potential dangers and avoid damage to door components or injuries to personnel caused by collisions. Secondly, obtaining the cause of the collision can accurately locate the root cause of the problem. When the cause of the collision is the rotation and collision of the second door, timely control the two doors to stop and determine the static position to avoid damage to the doors caused by abnormal operation of the doors after the collision. Then, control the second door and the first door to open to the maximum position in sequence, and then close together. This process effectively corrects the position deviation and running error of the doors caused by the collision, restores the normal opening and closing state of the doors, and ensures the stability of the subsequent operation of the doors.

[0238] Figure 7is a flowchart of a vehicle control method according to an embodiment of the present invention. As Figure 7 shown, the process includes the following steps:

[0239] Step S401, during the rotation of the first door and / or the second door, or during the execution of the door calibration operation, detect whether the first door and / or the second door has lost its position.

[0240] In the embodiment of the present application, when the first door and / or the second door is in a rotating state, or when the vehicle is performing a door calibration operation, position sensors installed at key parts such as door shafts and guide rails, such as Hall sensors and other devices, can be called in real time to continuously collect the real-time position data of the door. Compare and analyze the real-time data with the pre-set standard position parameters, and at the same time monitor the stability and continuity of the sensor transmission signals. If it is found that the actual position of the door deviates from the preset trajectory, or the sensor signal is interrupted or abnormally fluctuates, it is determined that the first door and / or the second door has lost its position.

[0241] Step S402, if the first door and / or the second door has lost its position, detect whether the second door is in a closed position.

[0242] In the embodiment of the present application, when it is determined that the first door and / or the second door has lost its position, limit switches and travel sensors arranged at positions such as the second door frame and door lock can be used to obtain the state of the second door. Specifically, the limit switches arranged around the second door frame and the travel sensors at the door lock position start to work. The limit switch continuously monitors the distance between the door edge and the door frame, and the travel sensor accurately records the telescopic state of the door lock. When the second door is completely closed, the door edge closely fits the door frame, the limit switch senses that the distance between the two is zero, and at the same time the door lock completely extends and snaps into the card slot, and the travel sensor detects that the door lock reaches the set locking position, and both of them synchronously feedback corresponding electrical signals to the vehicle control system. After the controller receives these signals, it determines that the second door is in a closed position; if the limit switch detects a gap between the door and the door frame, or the travel sensor feedbacks that the door lock is not fully locked, it will be determined that the second door is not in a closed position.

[0243] Step S403, perform corresponding door calibration operations according to whether the second door is in a closed position.

[0244] In the embodiment of the present application, performing corresponding door calibration operations according to whether the second door is in a closed position includes: if the second door is in a closed position, control the first door to rotate to the closed position.

[0245] Specifically, the controller sends a closing instruction to the first driving device corresponding to the first vehicle door. After receiving the signal, the first driving device starts to operate and drives the transmission mechanism to drive the first vehicle door to slowly rotate in the closing direction. During this process, the position sensor installed on the first vehicle door monitors the rotation angle and position of the vehicle door in real time and feeds the data back to the controller. The controller continuously compares the actual position with the target closing position and adjusts the rotation speed and torque of the driving motor to ensure that the first vehicle door accurately rotates to the closing position. When the first vehicle door is completely attached to the vehicle body and the lock is successfully locked, the vehicle door calibration operation is completed, and the normal electric function of the vehicle door can be restored subsequently.

[0246] In the embodiment of the present application, corresponding vehicle door calibration operations are performed according to whether the second vehicle door is in the closed position, including: if the second vehicle door is not in the closed position, controlling the first vehicle door to rotate in the opposite direction of the closed position; if a collision occurs between the first vehicle door and the second vehicle door, controlling the first vehicle door to stop and controlling the second vehicle door to rotate to the corresponding maximum stall position; when the second vehicle door rotates to the corresponding maximum stall position, controlling the first vehicle door to rotate to the corresponding maximum stall position; when the first vehicle door rotates to the corresponding maximum stall position, controlling the second vehicle door to rotate to the closed position.

[0247] Specifically, the controller sends an instruction to the first driving device corresponding to the first vehicle door to drive the first vehicle door to rotate in the opposite direction of the closed position. During the rotation of the first vehicle door, the pressure sensor and the collision detection device installed on the edge of the vehicle door monitor the state between the first vehicle door and the second vehicle door in real time. If a collision between the two vehicle doors is detected, the controller controls the first driving device of the first vehicle door to stop operating, keeping the first vehicle door in a stationary state.

[0248] Subsequently, the controller sends an instruction to the second driving device corresponding to the second vehicle door to drive the second vehicle door to continue rotating. As the rotation progresses, the sensor installed in the second driving device monitors the rotation resistance in real time. When the resistance reaches the preset maximum value, it indicates that the second vehicle door has rotated to the maximum stall position. At this time, the controller stops the rotation of the second vehicle door. Immediately afterwards, the controller controls the first vehicle door to start rotating until the first vehicle door also reaches its corresponding maximum stall position.

[0249] Finally, after confirming that the first vehicle door is in the maximum stall position, the controller sends an instruction to the second driving device of the second vehicle door again to drive the second vehicle door to rotate towards the closed position. During the rotation process, the system continuously monitors the position and state of the second vehicle door until the second vehicle door is completely closed and the lock is successfully locked, thus completing the entire vehicle door calibration operation, and the normal electric function of the vehicle door can be restored subsequently.

[0250] The embodiments of the present application can address the specific problem of door position loss, take corresponding calibration measures according to the state of the second door, and effectively solve the door calibration problems in different situations. Secondly, through collision detection and determination of the maximum locked-rotor position, the accurate position of the door can be found more precisely, improving the calibration accuracy and avoiding door position deviation. Moreover, this calibration method is relatively simple and direct, without the need for complex calculations and equipment, reducing the cost and difficulty of calibration.

[0251] In addition, during the door calibration process, there may be safety hazards due to insufficient light at night and strong light environment interfering with the calibration accuracy. Therefore, when the loss of the position of the first door and / or the second door is detected and the calibration program is triggered, the ambient light sensor installed on the door edge is activated to collect the intensity of the surrounding ambient light in real time at a frequency of multiple times per second, and transmit this data to the controller. After receiving the data, the controller compares the light intensity with a preset threshold. If the light intensity is lower than the night setting threshold, it is determined to be a night environment, and then an instruction is sent to the dynamic color-changing film control module on the door surface to switch it to the high-reflection mode. At the same time, a signal is sent to the vehicle lighting system to activate the door warning light, and the flashing light and the high-reflection film jointly warn surrounding pedestrians and vehicles to pay attention and avoid.

[0252] If the light intensity is higher than the strong light setting threshold, the controller determines it to be a strong light environment, sends an instruction to the dynamic color-changing film control module to adjust it to the anti-glare mode, reducing the interference of strong light reflection on the calibration operation. At the same time, the photosensitive parameters of the door sensor are adjusted to ensure that the door position and movement state can still be accurately monitored under strong light, thereby improving the accuracy and reliability of the calibration process under different light conditions.

[0253] The door calibration solution of the embodiments of the present application is applicable to a variety of scenarios. For example, in the scenario where the door position is lost due to bumps or collisions, by detecting the loss of the position of the first door and / or the second door and judging whether the second door is in the closed position, corresponding calibration operations are performed to ensure the normal closing of the door. Or, when the door position changes due to external forces (such as being scratched by other vehicles, hit by pedestrians, etc.) and the position is lost, according to the calibration solution of the embodiments of the present application, the state of the second door is detected and calibrated to restore the door to its normal position. In addition, it can also be applied to the scenario where the door position is lost due to sensor failures, motor abnormalities, etc. during the automatic opening and closing process of the door. Using this solution to judge the state of the second door and control the rotation of the first door and the second door to achieve door calibration and ensure the stable operation of the door system.

[0254] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention, as Figure 8As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system).

[0255] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0256] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0257] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device presented by a kind of mini-program landing page, etc. In addition, the memory 20 can include high-speed random access memory and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0258] The memory 20 can include volatile memory, such as random access memory; the memory can also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memory.

[0259] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0260] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented by downloading over a network and originally stored in a remote storage medium or a non-transitory machine-readable storage medium and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0261] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The vehicle includes a vehicle body, a first door and a second door both rotatably connected to the vehicle body; both the first door and the second door can rotate relative to the vehicle body actively and passively, and the first door can cover and partially overlap the second door by rotation to close the vehicle body. The method includes: During the rotation of the first door and / or the second door, detecting whether a collision event occurs to the first door and / or the second door; If a collision event occurs to the first door and / or the second door, obtaining the cause of the collision of the collision event; Performing a door calibration operation based on the door calibration strategy corresponding to the cause of the collision.

2. The method according to claim 1, characterized in that, Before the first door and / or the second door rotates, the method further includes: Receiving a door rotation instruction, where the door rotation instruction is generated based on a trigger operation on a control button, and the control button is installed on the vehicle or on the key corresponding to the vehicle; or, the door rotation instruction is sent by a client associated with the vehicle; Controlling the first door and / or the second door to rotate based on the door rotation instruction.

3. The method according to claim 1, characterized in that, The detecting whether a collision event occurs to the first door and / or the second door includes: Sending detection instructions to sensors installed on the first door and the second door respectively; Receiving detection data fed back by the sensors based on the detection instructions; Analyzing the detection data to determine whether a collision event occurs to the first door and / or the second door.

4. The method according to claim 1, wherein The performing a door calibration operation based on the door calibration strategy corresponding to the cause of the collision includes: If the cause of the collision is a mechanical failure, disabling the active rotation function of the first door and the second door, and sending a first voice prompt, where the first voice prompt is used to prompt the user to manually close or manually open the first door and the second door.

5. The method according to claim 1, wherein The performing a door calibration operation based on the door calibration strategy corresponding to the cause of the collision includes: If the cause of the collision is that the first door collides during rotation, controlling the first door and the second door to stop, and determining the target object collided by the first door; Obtaining a first relative position relationship between the first door and the target object; Performing a corresponding door calibration operation according to the first relative position relationship.

6. The method according to claim 5, wherein The obtaining a first relative position relationship between the first door and the target object includes: When the target object is the second door, determining a first distance between the first door and a closed position and a second distance between the second door and the closed position according to the stationary positions of the first door and the second door; determining the first relative position relationship between the first door and the second door based on the magnitudes of the first distance and the second distance; or, When the target object is an obstacle, determining a first relative position relationship between the obstacle and the first door according to the contact position between the obstacle and the first door.

7. The method according to claim 6, wherein When the target object is the second vehicle door, if the corresponding vehicle door calibration operation is performed according to the first relative position relationship, it includes: If the first distance is greater than the second distance, control the second vehicle door to rotate to the closed position. When the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the stationary position to the closed position.

8. The method according to claim 6, wherein When the target object is the second vehicle door, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes: If the first distance is greater than the second distance, control the first vehicle door to rotate from the stationary position to the maximum opening position; When the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the maximum opening position. When the second vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position; or, when the first vehicle door rotates to the maximum opening position, control the second vehicle door to rotate from the stationary position to the closed position. When the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum opening position to the closed position.

9. The method according to claim 6, characterized in that, When the target object is the second vehicle door, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes: If the first distance is less than or equal to the second distance, control the second vehicle door to rotate from the stationary position to the maximum opening position; When the second vehicle door rotates to the maximum opening position, control the first vehicle door to rotate from the stationary position to the maximum opening position. When the first vehicle door rotates to the maximum opening position, control the first vehicle door and the second vehicle door to rotate to the closed position.

10. The method according to claim 6, wherein When the target object is an obstacle, the corresponding vehicle door calibration operation performed according to the first relative position relationship includes: If the first relative position relationship is that the obstacle is inside the first vehicle door, control the first vehicle door to rotate from the stationary position to the maximum opening position; or, If the first relative position relationship is that the obstacle is outside the first vehicle door, sequentially control the second vehicle door and the first vehicle door to rotate from the stationary position to the closed position.

11. The method according to claim 1, characterized in that, The vehicle door calibration operation performed based on the vehicle door calibration strategy corresponding to the collision cause includes: If the collision cause is that the second vehicle door collides during rotation, control the first vehicle door and the second vehicle door to stop, and determine the target object with which the second vehicle door collides; Obtain the second relative position relationship between the second vehicle door and the target object; Perform the corresponding vehicle door calibration operation according to the second relative position relationship.

12. The method according to claim 11, wherein The obtaining of the second relative position relationship between the second vehicle door and the target object includes: When the target object is the first vehicle door, according to the stationary positions of the first vehicle door and the second vehicle door, determine the first distance between the first vehicle door and the closed position and the second distance between the second vehicle door and the closed position; based on the magnitude relationship between the first distance and the second distance, determine the second relative position relationship between the first vehicle door and the second vehicle door; or, When the target object is an obstacle, determine a second relative position relationship between the obstacle and the second vehicle door according to a contact position between the obstacle and the second vehicle door.

13. The method according to claim 12, wherein When the target object is the first vehicle door, perform a corresponding vehicle door calibration operation according to the second relative position relationship, including: If the first distance is greater than the second distance, control the second vehicle door to rotate to a closed position, and when the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the stationary position to the closed position.

14. The method according to claim 12, wherein When the target object is the first vehicle door, perform a corresponding vehicle door calibration operation according to the second relative position relationship, including: If the first distance is greater than the second distance, control the first vehicle door to rotate from the stationary position to a maximum open position; When the first vehicle door rotates to the maximum open position, control the second vehicle door to rotate from the stationary position to the maximum open position, and when the second vehicle door rotates to the maximum open position, control the first vehicle door and the second vehicle door to rotate to the closed position; or, when the first vehicle door rotates to the maximum open position, control the second vehicle door to rotate from the stationary position to the closed position, and when the second vehicle door rotates to the closed position, control the first vehicle door to rotate from the maximum open position to the closed position.

15. The method according to claim 12, wherein When the target object is the first vehicle door, perform a corresponding vehicle door calibration operation according to the second relative position relationship, including: If the first distance is less than or equal to the second distance, control the second vehicle door to rotate from the stationary position to the maximum open position; When the second vehicle door rotates to the maximum open position, control the first vehicle door to rotate from the stationary position to the maximum open position, and when the first vehicle door rotates to the maximum open position, control the first vehicle door and the second vehicle door to rotate to the closed position.

16. The method according to claim 12, wherein When the target object is an obstacle, perform a corresponding vehicle door calibration operation according to the second relative position relationship, including: If the second relative position relationship is that the obstacle is inside the second vehicle door, sequentially control the first vehicle door and the second vehicle door to rotate from the stationary position to the maximum open position; or, If the second relative position relationship is that the obstacle is outside the second vehicle door, sequentially control the second vehicle door and the first vehicle door to rotate from the stationary position to the closed position.

17. The method according to any one of claims 5-16, characterized in that, The method further includes: If the second vehicle door fails to rotate to the maximum open position, or the first vehicle door fails to rotate to the maximum open position, or the second vehicle door fails to rotate to the closed position, or the first vehicle door and the second vehicle door fail to rotate to the closed position, determine that there is a mechanical failure in the second vehicle door or the first vehicle door, and send a third voice prompt, where the third voice prompt is used to prompt the user to manually close or manually open the first vehicle door and the second vehicle door.

18. The method according to claim 1, characterized in that During the rotation of the first vehicle door and / or the second vehicle door, or during the execution of the vehicle door calibration operation, the method further includes: Detect whether the first vehicle door and / or the second vehicle door has a position loss; If the position of the first vehicle door and / or the second vehicle door is lost, detect whether the second vehicle door is in a closed position; Perform corresponding vehicle door calibration operations according to whether the second vehicle door is in a closed position.

19. The method according to claim 18, wherein The performing corresponding vehicle door calibration operations according to whether the second vehicle door is in a closed position includes: If the second vehicle door is in a closed position, control the first vehicle door to rotate to the closed position; or, If the second vehicle door is not in a closed position, control the first vehicle door to rotate in the opposite direction of the closed position. If the first vehicle door collides with the second vehicle door, control the first vehicle door to stop, and control the second vehicle door to rotate to the corresponding maximum blocked rotation position; When the second vehicle door rotates to the corresponding maximum blocked rotation position, control the first vehicle door to rotate to the corresponding maximum blocked rotation position; When the first vehicle door rotates to the corresponding maximum blocked rotation position, control the second vehicle door to rotate to the closed position.

20. A vehicle, comprising a vehicle body, a first door, a second door, a controller, a first driving device and a second driving device, wherein the first driving device and the second driving device are respectively connected to the first door and the second door, and the controller is communicatively connected to the first driving device and the second driving device respectively; the controller can drive the first door and the second door to rotate relative to the vehicle body respectively by controlling the first driving device and the second driving device; the first door can cover and partially overlap the second door by rotation to close the vehicle body; characterized in that, The vehicle further includes a sensor communicatively connected to the controller; The controller is configured to, during the rotation of the first vehicle door and / or the second vehicle door, call the sensor to detect whether a collision event occurs to the first vehicle door and / or the second vehicle door; If a collision event occurs to the first vehicle door and / or the second vehicle door, obtain the collision cause of the collision event, and perform a vehicle door calibration operation based on the vehicle door calibration strategy corresponding to the collision cause.

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