Vehicle swing door control method and vehicle controller

Abstract

The invention provides a vehicle swing door control method and a vehicle controller, and relates to the technical field of vehicles. The method comprises the steps that in response to a first instruction for a first swing door of a vehicle, a swing door motion strategy matched with the first instruction is determined according to the position state of the first swing door, the position state of a second swing door and the motion state of the second swing door; when the first swing door and the second swing door are both in a closed state, the first swing door and the second swing door have an overlapping area; and controlling the first swing door and / or the second swing door to move based on the swing door movement strategy. The method is used for avoiding collision of the vehicle swing door.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a control method for a vehicle swing door and a vehicle controller. Background Art

[0002] A vehicle swing door is a common door structure, which realizes the swing opening and closing of the door through a specific transmission mechanism and is widely used in various vehicles.

[0003] In the field of modern transportation, in order to improve the efficiency of passengers getting on and off the vehicle and the utilization rate of vehicle space, the design of setting multiple swing doors on the same side of the vehicle is becoming more and more common. To ensure that the vehicle has good sealing performance and reduce the intrusion of wind, rain, dust and noise, a sealing structure in which adjacent swing doors overlap each other is often adopted, that is, when one swing door is closed, it will cover a certain area of the edge of the adjacent swing door. However, this swing door structure is extremely prone to collision during the process of opening and closing the door, resulting in scratches on the door surface, damage to the sealing strip, reducing the service life of the door and increasing the maintenance cost. Summary of the Invention

[0004] In order to solve the above technical problems, this application provides a control method for a vehicle swing door and a vehicle controller, which are used to avoid collisions of the vehicle swing door.

[0005] In a first aspect, this application provides a control method for a vehicle swing door, including: in response to a first instruction for a first swing door of a vehicle, determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of a second swing door, and the movement state of the second swing door; when both the first swing door and the second swing door are in a closed state, the first swing door and the second swing door have an overlapping area; controlling the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

[0006] In a second aspect, this application provides a vehicle controller, including: a strategy determination unit, configured to determine a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of a second swing door, and the movement state of the second swing door in response to a first instruction for the first swing door of the vehicle; when both the first swing door and the second swing door are in a closed state, the first swing door and the second swing door have an overlapping area; a movement control unit, configured to control the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

[0007] In a third aspect, the present invention provides a vehicle, including the vehicle controller provided in the second aspect.

[0008] Fourthly, the present invention provides a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the control method of the vehicle swing door provided in any item of the first aspect.

[0009] Fifthly, the present invention provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the control method of the vehicle swing door provided in any item of the first aspect.

[0010] When the control method of the vehicle swing door provided in this application receives a first instruction for the first swing door of the vehicle, it will respond to the first instruction for the first swing door of the vehicle, and determine a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, and control the movement of the first swing door and / or the second swing door based on the swing door movement strategy. Since there is an overlapping area between the first swing door and the second swing door when both the first swing door and the second swing door are in the closed state, directly controlling the first swing door to execute the first instruction may cause the first swing door to collide with the second swing door. However, the embodiment of this application can, after receiving the first instruction for the first swing door of the vehicle, comprehensively consider the position state of the first swing door, the position state of the second swing door, and the movement state, judge the movement trends of the first swing door and the second swing door of the vehicle, etc., and then determine a swing door movement strategy matching the movement trends of the multiple swing doors, and control the movement of the first swing door and / or the second swing door based on the swing door movement strategy to avoid the first swing door from colliding with the second swing door during the movement process. Description of the Drawings

[0011] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0012] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0013] Figure 1 It is a schematic diagram of the first swing door and the second swing door provided in this embodiment;

[0014] Figure 2 It is a schematic diagram of the collision space provided in this embodiment;

[0015] Figure 3 It is one of the step flowcharts of the control method of a vehicle swing door provided in this embodiment;

[0016] Figure 4 The second of the step flowcharts of a control method for a vehicle swing door provided in this embodiment;

[0017] Figure 5 The third of the step flowcharts of a control method for a vehicle swing door provided in this embodiment;

[0018] Figure 6 The structural schematic diagram of the vehicle controller provided in this embodiment;

[0019] Figure 7 The hardware structural schematic diagram of the vehicle controller provided in this embodiment. Specific embodiments

[0020] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present application, the solution of the present application will be further described below. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0021] Many specific details are set forth in the following description in order to fully understand the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present application, rather than all the embodiments.

[0022] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0023] A vehicle swing door is a door body structure installed at the vehicle entrance and exit, which realizes the opening and closing functions by swinging around a fixed rotating shaft or guide rail. Since the swing door can swing to the side of the vehicle with the rotating shaft or guide rail as the center when it is opened to form an unobstructed through-type channel, and the opening width is close to the physical limit of the door frame, the vehicle swing door can improve the passenger passage efficiency.

[0024] The vehicle in the vehicle swing door control method provided by the embodiments of the present application has at least two swing doors. The vehicle swing door control method provided by the embodiments of the present application can be used to determine a swing door movement strategy matching the foregoing instruction based on the position state of the swing door, the position state and movement state of the associated swing door of the swing door when receiving an instruction to open or close a certain swing door of the vehicle, and control the movement of the swing door and / or the associated swing door based on the swing door movement strategy; wherein, when the swing door and the associated swing door are both in a closed state, the swing door and the associated swing door have an overlapping area.

[0025] For ease of description, in the following content of the present application, the swing door indicated by the foregoing instruction to open or close is described as the first swing door, and the first swing door can be any swing door among at least two swing doors of the vehicle; the foregoing associated swing door is described as the second swing door. Then, when the first swing door and the second swing door are both in a closed state in the embodiments of the present application, the first swing door and the second swing door have an overlapping area.

[0026] Exemplarily, referring to Figure 1 as shown, Figure 2 is a schematic diagram of the first swing door and the second swing door provided by the embodiments of the present application. Referring to Figure 1 as shown, the vehicle includes: a front swing door 11 and a rear swing door 12. When receiving an instruction to open or close the front swing door 11 of the vehicle, the front swing door 11 is the first swing door in the embodiments of the present application, and the rear swing door 12 is the second swing door in the embodiments of the present application; when receiving an instruction to open or close the rear swing door 12 of the vehicle, the rear swing door 12 is the first swing door in the embodiments of the present application, and the front swing door 11 is the second swing door in the embodiments of the present application. In addition, Figure 1 it is exemplified that when the front swing door 11 and the rear swing door 12 are both in a closed state, the front swing door 11 and the rear swing door 12 have an overlapping area, and in the overlapping area, the front swing door 11 is located outside the vehicle and the rear swing door 12 is located inside the vehicle. However, the embodiments of the present application are not limited thereto. In some other embodiments, it may also be that in the overlapping area, the rear swing door 12 is located outside the vehicle and the front swing door 11 is located inside the vehicle.

[0027] Referring to Figure 2 as shown, Figure 2 is a schematic diagram of the collision space provided by the embodiments of the present application. Since the first swing door and the second swing door have an overlapping area when the first swing door and the second swing door are both in a closed state, the movement space 21 of the first swing door and the movement space 22 of the second swing door have an intersection. The collision space 200 in the embodiments of the present application is the intersection of the movement space 21 of the first swing door and the movement space 22 of the second swing door.

[0028] An embodiment of the present application provides a control method for a vehicle swing door. The execution subject of the control method for the vehicle swing door can be a vehicle, a vehicle controller integrated in the vehicle, or other devices deployed independently of the vehicle, etc. Refer to Figure 3 As shown, the control method for the vehicle swing door includes the following steps:

[0029] S31. In response to a first instruction for a first swing door of the vehicle, determine a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of a second swing door, and the movement state of the second swing door.

[0030] Wherein, when both the first swing door and the second swing door are in a closed state, the first swing door and the second swing door have an overlapping area.

[0031] The first instruction in the embodiment of the present application refers to an operation command issued by a user or a vehicle control system for the first swing door of the vehicle, used to instruct the first swing door to perform an opening action or a closing action. It can be input to the vehicle by the user through physical buttons, touch interfaces, voice input, etc., or can be automatically generated by vehicle sensors, preset logic, or external signals.

[0032] The position state of any swing door in the embodiment of the present application is used to reflect the spatial position of the swing door. For example, the position state is used to characterize the distribution relationship between the position of the swing door and the corresponding swing door closing position, and the distribution relationship between the swing door and the collision space; wherein, the swing door closing position is the position where the swing door is in a fully closed state, and the collision space is the intersection of the movement spaces of the swing door and the associated swing door; further, the position state of the swing door can specifically but not limited to characterize the following situations: "the swing door is in the corresponding swing door closing position", "the swing door is not in the corresponding first closing position", "the swing door is located within the collision space", "the swing door is located outside the position collision area", etc.

[0033] The position state of the first swing door in the embodiment of the present application is used to reflect the spatial position of the first swing door. For example, the position state of the first swing door can characterize the distribution relationship between the position of the first swing door and the corresponding first closing position and / or the distribution relationship between the position of the first swing door and the collision space; specifically, the position state of the first swing door can but not limited to include the following situations: the position state of the first swing door characterizes that "the first swing door is located at the corresponding first closing position", the position state of the first swing door characterizes that "the first swing door is located within the collision space", the position state of the first swing door characterizes that "the first swing door is located outside the position collision area". Wherein, the first closing position is the position where the first swing door is in a fully closed state, and the first closing position is a special position that neither belongs to the collision space nor outside the collision space. The collision space is the intersection of the movement space of the first swing door and the movement space of the second swing door.

[0034] In the embodiments of the present application, the position state of the second swing door is used to reflect the spatial position of the second swing door. For example, the position state of the second swing door can characterize the distribution relationship between the position of the second swing door and the corresponding second closed position and / or the distribution relationship between the position of the second swing door and the collision space. Specifically, the position state of the second swing door can but is not limited to include the following situations: the position state of the second swing door characterizes that "the second swing door is located at the corresponding second closed position", the position state of the second swing door characterizes that "the second swing door is located within the collision space", and the position state of the second swing door characterizes that "the second swing door is located outside the position collision area". Wherein, the second closed position refers to the position where the second swing door is in a fully closed state.

[0035] In the embodiments of the present application, the position state is determined based on the current opening / closing angle and / or the current position. That is, the position state of the first swing door is determined based on the current opening / closing angle and / or the current position of the first swing door, and the position state of the second swing door is determined based on the current opening / closing angle and / or the current position of the second swing door.

[0036] Exemplarily, determining the position state of the first swing door based on the current opening / closing angle of the first swing door includes: when the opening / closing angle of the first swing door is 0°, it is determined that the first swing door is located at the first closed position; when the opening / closing angle of the first swing door belongs to (0°, n°], it is determined that the first swing door is located within the collision space; when the opening / closing angle of the first swing door belongs to (n°, N°], it is determined that the first swing door is located outside the collision space. Wherein, N° is the maximum opening / closing angle of the first swing door.

[0037] Similarly, determining the position state of the second swing door based on the current opening / closing angle of the second swing door includes: when the opening / closing angle of the second swing door is 0°, it is determined that the second swing door is located at the second closed position; when the opening / closing angle of the second swing door belongs to (0°, p°], it is determined that the second swing door is located within the collision space; when the opening / closing angle of the second swing door belongs to (n°, P°], it is determined that the second swing door is located outside the collision space. Wherein, P° is the maximum opening / closing angle of the second swing door.

[0038] Exemplarily, determining the position state of the first swing door based on the current position of the first swing door includes: determining whether the current position of the first swing door is the first closed position; if so, it is determined that the first swing door is located at the first closed position; if not, it is determined whether the current position of the first swing door is within the collision space; if so, it is determined that the first swing door is located within the collision space; if not, it is determined that the first swing door is located outside the collision space.

[0039] Similarly, determining the position state of the second swing door based on the current position of the second swing door includes: determining whether the current position of the second swing door is the second closed position; if so, determining that the second swing door is in the second closed position, and if not, determining whether the current position of the second swing door is within the collision space, and if so, determining that the second swing door is within the collision space, and if not, determining that the second swing door is outside the collision space.

[0040] In the embodiments of the present application, the motion state of the second swing door is used to reflect the dynamic behavior characteristics of the second swing door in space, including the following three situations: one is that the second swing door is in a static state; the second is that the second swing door is performing an opening motion; the third is that the second swing door is performing a closing motion.

[0041] In the embodiments of the present application, the swing door motion strategy may include the motion actions performed by the first swing door and / or the second swing door, and the execution timing between the respective motion actions.

[0042] Since there is an overlapping area between the first swing door and the second swing door when both the first swing door and the second swing door are in the closed state, when both the first swing door and the second swing door are in the closed state, the overlapping area between the first swing door and the second swing door can form a sealing barrier, which can not only effectively isolate the intrusion of wind, rain and dust from the outside, but also significantly reduce the noise from the outside entering the vehicle.

[0043] S32. Control the movement of the first swing door and / or the second swing door based on the swing door motion strategy.

[0044] When receiving a first instruction for the first swing door of the vehicle, the control method for the vehicle swing door provided by the application will respond to the first instruction for the first swing door of the vehicle, determine a swing door motion strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the motion state of the second swing door, and control the movement of the first swing door and / or the second swing door based on the swing door motion strategy. Since there is an overlapping area between the first swing door and the second swing door when both the first swing door and the second swing door are in the closed state, directly controlling the first swing door to execute the first instruction may cause the first swing door to collide with the second swing door. However, in the embodiments of the present application, after receiving the first instruction for the first swing door of the vehicle, the position state of the first swing door, the position state of the second swing door, and the motion state can be comprehensively considered to judge the movement trends of the first swing door and the second swing door of the vehicle, etc., and then determine a swing door motion strategy matching the movement trends of the multiple swing doors, and control the movement of the first swing door and / or the second swing door based on the swing door motion strategy to avoid collision between the first swing door and the second swing door during the movement process.

[0045] In some embodiments, the method for controlling a vehicle swing door provided by the embodiments of the present application further includes: before determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, determining an interruption strategy according to the movement state of the first swing door, and controlling the first swing door based on the interruption strategy.

[0046] The movement state of the first swing door in the embodiments of the present application is used to reflect the dynamic behavior characteristics of the first swing door in space, including the following three situations: one is that the first swing door is in a moving state; the second is that the first swing door is in a stationary state and has a swing door movement strategy to be executed; the third is that the first swing door is in a stationary state and does not have a swing door movement strategy to be executed.

[0047] In some embodiments, before determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, the method for controlling the vehicle swing door further includes: if the first swing door is executing a second instruction, controlling the first swing door to stop executing the second instruction and / or the associated instruction of the second instruction. Wherein, the second instruction is used to instruct the first swing door to perform an opening action or a closing action.

[0048] It should be noted that the first swing door is executing the second instruction in the above embodiments means that the swing door is performing the action indicated by the second instruction, and does not include the situation where the first swing door is in a stationary state and waiting to execute the action indicated by the second instruction.

[0049] In the above embodiments, when receiving the first instruction for the first swing door of the vehicle and the first swing door is executing the second instruction, the first swing door can be controlled to stop executing the second instruction and / or the associated instruction of the second instruction. Therefore, the above embodiments can avoid executing multiple instructions simultaneously, and further avoid damage to components such as the swing door motor and the transmission mechanism due to abnormal force.

[0050] In some embodiments, before determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, the method for controlling the vehicle swing door further includes: in response to the first swing door being in a stationary state and the first swing door having a swing door movement strategy to be executed, discarding the first instruction.

[0051] When the above embodiment receives a first instruction for the first swing door of the vehicle, if it is determined that the first swing door is in a stationary state and the first swing door has a swing door movement strategy to be executed, the first instruction will be discarded and no response will be made to the first instruction. Therefore, the above embodiment can avoid the interference caused by the user repeating the input of the same instruction due to waiting for the response of the previous instruction, and further avoid the operation blockage caused by the accumulation of repeated instructions.

[0052] In some embodiments, after discarding the first instruction, the control method of the vehicle swing door further includes: outputting a prompt message.

[0053] Exemplarily, the prompt message can be a specific sound effect or a pop-up window displayed on the display interface of the in-vehicle display device.

[0054] The embodiment of the present application provides another control method for a vehicle swing door. Referring to Figure 4 as shown, the control method of the vehicle swing door includes the following steps:

[0055] S401. In response to a first instruction for the first swing door of the vehicle, according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, determine the collision prediction situation between the first swing door and the second swing door during the execution of the first instruction.

[0056] In the embodiment of the present application, the collision prediction situation between the first swing door and the second swing door during the execution of the first instruction is used to indicate whether the first swing door and the second swing door will collide during the execution of the first instruction, including two collision prediction results. One is that the first swing door and the second swing door will collide during the execution of the first instruction, and the other is that the first swing door and the second swing door will not collide during the execution of the first instruction.

[0057] S402. Determine a swing door movement strategy that matches the first instruction according to the collision prediction situation.

[0058] As described above, the collision prediction situation between the first swing door and the second swing door during the execution of the first instruction includes two collision prediction results. The swing door movement strategies corresponding to the two collision prediction results are described below respectively.

[0059] In some embodiments, the determining a swing door movement strategy that matches the first instruction according to the collision prediction situation includes: in response to the collision prediction situation indicating that the first swing door and the second swing door will not collide during the execution of the first instruction, generating a direct response swing door movement strategy.

[0060] In some embodiments, the direct response swing door movement strategy only includes controlling the first swing door to perform the movement action indicated by the first instruction. For example, if the first instruction indicates to open the first swing door, the direct response swing door movement strategy only includes controlling the first swing door to perform the opening action. Another example is that if the first instruction indicates to close the first swing door, the direct response swing door movement strategy only includes controlling the first swing door to perform the closing action.

[0061] In some embodiments, determining the swing door movement strategy matching the first instruction according to the collision prediction situation includes: in response to the collision prediction situation indicating that the first swing door and the second swing door will collide during the execution of the first instruction, generating an avoidance swing door movement strategy. Wherein, the avoidance swing door movement strategy at least includes the second swing door performing a collision avoidance action.

[0062] Performing a collision avoidance action in the embodiments of the present application includes: moving to a preset avoidance position.

[0063] Since the position of the vehicle swing door corresponds one-to-one with the opening and closing angle, in some embodiments, moving to a preset avoidance position can also be described as moving to a preset opening and closing angle. Wherein, the preset opening and closing angle is the opening and closing angle corresponding to the preset avoidance position.

[0064] In some embodiments, the avoidance swing door movement strategy includes: sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs the movement action indicated by the first instruction.

[0065] That is, the second swing door first performs a collision avoidance action, and then the first swing door performs the movement action indicated by the first instruction.

[0066] In other embodiments, the avoidance swing door movement strategy includes: sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs the movement action indicated by the first instruction, and the second swing door performs a position state restoration action.

[0067] Performing a position state restoration action in the embodiments of the present application means restoring the swing door to the position state before performing the collision avoidance action.

[0068] That is, the second swing door first performs a collision avoidance action, then the first swing door performs the movement action indicated by the first instruction, and after the first swing door finishes performing the movement action indicated by the first instruction, the position of the second swing door is restored to the position state before performing the collision avoidance action.

[0069] S403. Control the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

[0070] This embodiment of this period also provides another control method for a vehicle swing door. Refer to Figure 5 As shown, the control method for the vehicle swing door includes the following steps:

[0071] S501. Receive a first instruction for the first swing door of the vehicle.

[0072] S502. In response to the first instruction for the first swing door of the vehicle, obtain the position state of the first swing door, the position state of the second swing door, the movement state of the second swing door, the type of the first swing door, and the type of the first instruction.

[0073] Wherein, when both the first swing door and the second swing door are in the closed state, the first swing door and the second swing door have an overlapping area, and the type of the first swing door is used to indicate whether the first swing door is located inside or outside the vehicle in the overlapping area; the type of the first instruction characterizes whether the first instruction is used to control the swing door to open or close.

[0074] When the type of the first swing door is used to indicate that the first swing door is located inside the vehicle in the overlapping area, when both the first swing door and the second swing door are in the closed state, the second swing door will cover a certain area of the edge of the first swing door. Conversely, when the type of the first swing door is used to indicate that the first swing door is located outside the vehicle in the overlapping area, when both the first swing door and the second swing door are in the closed state, the first swing door will cover a certain area of the edge of the second swing door.

[0075] S503. Determine a swing door movement strategy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door.

[0076] S504. Control the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

[0077] The implementation manner of the above step S503 (determine a swing door movement strategy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door) will be described in detail.

[0078] When the first swing door is the swing door located inside the vehicle in the overlapping area, the implementation solutions for determining a swing door movement strategy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door at least include the following four types:

[0079] The first type: When the first instruction is used to control the opening of the first swing door, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position and the position state and motion state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determine that the swing door motion strategy is the first swing door motion strategy. Among them, the first swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs an opening action, and the second swing door performs a closing action.

[0080] The second type: When the first instruction is used to control the opening of the first swing door, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position and the position state and motion state of the second swing door indicating that the second swing door is stationary within the collision space, determine that the swing door motion strategy is the second swing door motion strategy. Among them, the second swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs an opening action.

[0081] The third type: When the first instruction is used to control the closing of the first swing door, in response to the position state of the first swing door indicating that the first swing door is outside the collision space and the position state and motion state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determine that the swing door motion strategy is the third swing door motion strategy. Among them, the third swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs a closing action, and the second swing door performs a closing action.

[0082] The fourth type: When the first instruction is used to control the closing of the first swing door, in response to the position state of the first swing door indicating that the first swing door is outside the collision space and the position state and motion state of the second swing door indicating that the second swing door is stationary within the collision space, determine that the swing door motion strategy is the fourth swing door motion strategy; the fourth swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs a closing action.

[0083] In some embodiments, the second swing door performing a collision avoidance action in the first swing door motion strategy to the fourth swing door motion strategy includes: the second swing door moves to the first avoidance position.

[0084] In some embodiments, combining the above first swing door motion strategy to the fourth swing door motion strategy

[0085] When the first swing door is the swing door located outside the vehicle in the overlapping area, determining an implementation solution for the swing door movement strategy matching the first instruction based on the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door includes at least the following two cases:

[0086] The first case: When the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and movement state of the second swing door indicating that the second swing door is stationary within the collision space, determine that the swing door movement strategy is the fifth swing door movement strategy. Wherein, the fifth swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs an opening action.

[0087] The second case: When the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state of the second swing door indicating that the second swing door is stationary within the collision space, determine that the swing door movement strategy is the sixth swing door movement strategy. Wherein, the sixth swing door movement strategy includes sequentially performing the following actions: the second swing door performs an avoidance collision action, and the first swing door performs a closing action.

[0088] In some embodiments, the second swing door performing a collision avoidance action in the fifth swing door movement strategy and the sixth swing door movement strategy includes: the second swing door moves to the second avoidance position.

[0089] In some embodiments, determining the swing door movement strategy matching the first instruction based on the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door includes: determining the swing door movement strategy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, the movement state of the second swing door, and a preset mapping relationship.

[0090] Exemplarily, the mapping relationship (preset mapping relationship) between the type of the first swing door, the type of the first instruction, the position state of the second swing door, the movement state of the second swing door, and the swing door movement strategy can be as shown in Table 1 below:

[0091] Table 1

[0092]

[0093] It should be noted that the above embodiments only provide a partial mapping relationship between the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy. The following describes the mapping relationship between the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy.

[0094] When the first swing door is the swing door located outside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to open, the mapping relationship between the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy can be as shown in Table 2 below:

[0095] Table 2

[0096]

[0097] When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to open, the mapping relationship between the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy can be as shown in Table 3 below:

[0098] Table 3

[0099]

[0100] When the first swing door is the swing door located outside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to close, the mapping relationship between the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy can be as shown in Table 4 below:

[0101] Table 4

[0102]

[0103] When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to close, the mapping relationship between the position state of the first swing door, the position state of the second swing door, the motion state of the second swing door, and the swing door motion strategy can be as shown in Table 5 below:

[0104] Table 5

[0105]

[0106] The responses in Tables 2 to 5 refer to the direct response swing door movement strategy. That is, directly control the first swing door to execute the action indicated by the first instruction.

[0107] The non - response in Tables 2 to 5 means discarding the first instruction.

[0108] The delayed response in Tables 2 to 5 means waiting for a preset duration or waiting for the second vehicle door to complete the current action, and then controlling the first swing door to execute the action indicated by the first instruction; the aforementioned preset duration can be set based on actual business requirements, such as setting the preset duration to 7s, 6s, or 5s, etc.

[0109] The first self - learning strategy in Tables 2 to 5 is the movement strategy corresponding to the first swing door movement strategy. The difference between the first self - learning strategy and the first swing door movement strategy is that when the second swing door executes the collision avoidance action in the first swing door movement strategy, it will move to a preset avoidance position, while when the second swing door executes the collision avoidance action in the first self - learning strategy, it will move a first angle in the opening direction. Exemplarily, the first angle can be the opening and closing angle corresponding to the preset avoidance position.

[0110] The second self - learning strategy in Tables 2 to 5 is the movement strategy corresponding to the second swing door movement strategy. The difference between the second self - learning strategy and the second swing door movement strategy is that when the second swing door executes the collision avoidance action in the second swing door movement strategy, it will move to a preset avoidance position, while when the second swing door executes the collision avoidance action in the second self - learning strategy, it will move a second angle in the opening direction. Exemplarily, the second angle can be the opening and closing angle corresponding to the preset avoidance position.

[0111] The third self - learning strategy in Tables 2 to 5 is the movement strategy corresponding to the third swing door movement strategy. The difference between the third self - learning strategy and the third swing door movement strategy is that when the third swing door executes the collision avoidance action in the third swing door movement strategy, it will move to a preset avoidance position, while when the third swing door executes the collision avoidance action in the third self - learning strategy, it will move a third angle in the opening direction. Exemplarily, the third angle can be the opening and closing angle corresponding to the preset avoidance position.

[0112] The fourth self - learning strategy in Tables 2 to 5 is the movement strategy corresponding to the fourth swing door movement strategy. The difference between the fourth self - learning strategy and the fourth swing door movement strategy is that when the fourth swing door executes the collision avoidance action in the fourth swing door movement strategy, it will move to a preset avoidance position, while when the fourth swing door executes the collision avoidance action in the fourth self - learning strategy, it will move a fourth angle in the opening direction. Exemplarily, the fourth angle can be the opening and closing angle corresponding to the preset avoidance position.

[0113] The fifth self - learning strategy in Tables 2 to 5 is the motion strategy corresponding to the fifth swing door motion strategy. The difference between the fifth self - learning strategy and the fifth swing door motion strategy is that when the fifth swing door performs a collision avoidance action in the fifth swing door motion strategy, it will move to a preset avoidance position, while when the fifth swing door performs a collision avoidance action in the fifth self - learning strategy, it will move a fifth angle in the opening direction. Exemplarily, the fifth angle can be the opening and closing angle corresponding to the preset avoidance position.

[0114] The sixth self - learning strategy in Tables 2 to 5 is the motion strategy corresponding to the sixth swing door motion strategy. The difference between the sixth self - learning strategy and the sixth swing door motion strategy is that when the sixth swing door performs a collision avoidance action in the sixth swing door motion strategy, it will move to a preset avoidance position, while when the sixth swing door performs a collision avoidance action in the sixth self - learning strategy, it will move a sixth angle in the opening direction. Exemplarily, the sixth angle can be the opening and closing angle corresponding to the preset avoidance position.

[0115] The vehicle swing door control method provided in the above - mentioned embodiments is designed around avoiding collisions between the first swing door and the second swing door. However, in an actual vehicle control system, the swing door control strategy has multi - objectivity and complexity. During the process of controlling the movement of the first swing door and / or the second swing door based on the swing door motion strategy, other modes of swing door control strategies may also be triggered simultaneously. If other modes of swing door control strategies are triggered during the process of controlling the movement of the first swing door and / or the second swing door based on the swing door motion strategy, the execution situations of other modes of swing door control strategies are shown in Table 6 below:

[0116] Table 6

[0117] Serial number Other modes Strategy Serial number Other modes Strategy ① Long press and dot motion No response ⑥ Keep the door open Normal response ② Anti-collision Normal response ⑦ Anti-play Normal response ③ Anti-pinch Normal response ⑧ Same-side opening / closing No response ④ Interference between the right front wheel and the vehicle Normal response ⑨ Interference between the driver's door and the seat Normal response ⑤ Manual mode of the driver's door Normal response ⑩ Close the door when driving Disable the door opening function

[0118] In some embodiments, when not responding to other modes of swing door control strategies, a prompt message can also be generated. Exemplarily, the prompt message is an alarm sound effect or a pop - up reminder.

[0119] Based on the same inventive concept, as an implementation of the above - mentioned method, an embodiment of the present application also provides a vehicle controller. This embodiment corresponds to the foregoing method embodiment. For the convenience of reading, the details in the foregoing method embodiment will not be repeated one by one in this embodiment, but it should be clear that the vehicle controller in this embodiment can correspondingly implement all the contents in the foregoing method embodiment.

[0120] An embodiment of the present application provides a vehicle controller, Figure 6 which is a schematic structural diagram of the vehicle controller. As Figure 6 shown, the vehicle controller 600 includes:

[0121] A strategy determination unit 61, configured to, in response to a first instruction for a first swing door of a vehicle, determine a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of a second swing door, and the movement state of the second swing door; when both the first swing door and the second swing door are in a closed state, the first swing door and the second swing door have an overlapping area;

[0122] A movement control unit 62, configured to control the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

[0123] As an optional implementation manner of an embodiment of the present application, the strategy determination unit 61 is further configured to, before determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, if the first swing door is executing a second instruction, control the first swing door to stop executing the second instruction and / or an associated instruction of the second instruction; the second instruction is used to instruct the first swing door to execute an opening action or a closing action.

[0124] As an optional implementation manner of an embodiment of the present application, the strategy determination unit 61 is further configured to, before determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, in response to the first swing door being in a stationary state and the first swing door having a swing door movement strategy to be executed, discard the first instruction.

[0125] As an optional implementation manner of an embodiment of the present application, the strategy determination unit 61 is specifically configured to, according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, determine a collision prediction situation between the first swing door and the second swing door during the execution of the first instruction; determine a swing door movement strategy matching the first instruction according to the collision prediction situation.

[0126] As an optional implementation manner of an embodiment of the present application, the strategy determination unit 61 is specifically configured to, in response to the collision prediction situation indicating that the first swing door and the second swing door will not collide during the execution of the first instruction, generate a direct swing door movement strategy; in response to the collision prediction situation indicating that the first swing door and the second swing door will collide during the execution of the first instruction, generate an avoidance swing door movement strategy;

[0127] Wherein, the avoidance swing door movement strategy at least includes that the second swing door executes a collision avoidance action.

[0128] As an optional implementation manner of an embodiment of the present application, the avoidance swing door movement strategy includes:

[0129] Perform the following actions in sequence: the second swing door performs a collision avoidance action, and the first swing door performs the motion action indicated by the first instruction; or

[0130] Perform the following actions in sequence: the second swing door performs a collision avoidance action, the first swing door performs the motion action indicated by the first instruction, and the second swing door performs a position state restoration action.

[0131] As an optional implementation manner of the embodiment of the present application, the policy determination unit 61 determines a swing door motion policy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the motion state of the second swing door;

[0132] Wherein, the type of the first swing door is used to indicate whether the first swing door in the overlapping area is located inside or outside the vehicle; the type of the first instruction characterizes that the first instruction is used to control the swing door to open or close.

[0133] As an optional implementation manner of the embodiment of the present application, the first swing door is the swing door located inside the vehicle in the overlapping area.

[0134] The policy determination unit 61 is specifically configured to:

[0135] When the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and motion state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determine the swing door motion policy as the first swing door motion policy; wherein, the first swing door motion policy includes performing the following actions in sequence: the second swing door performs a collision avoidance action, the first swing door performs an opening action, and the second swing door performs a closing action;

[0136] When the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and motion state of the second swing door indicating that the second swing door is stationary in the collision space, determine the swing door motion policy as the second swing door motion policy; the second swing door motion policy includes performing the following actions in sequence: the second swing door performs a collision avoidance action, and the first swing door performs an opening action;

[0137] When the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state and motion state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determine the swing door motion strategy as the third swing door motion strategy; the third swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs a closing action, and the second swing door performs a closing action;

[0138] When the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state and motion state of the second swing door indicating that the second swing door is stationary inside the collision space, determine the swing door motion strategy as the fourth swing door motion strategy; the fourth swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs a closing action.

[0139] As an optional implementation manner of the embodiment of the present application, the first swing door is the swing door located outside the vehicle in the overlapping area.

[0140] The strategy determination unit 61 is specifically configured to:

[0141] When the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is at the corresponding first closed position, and the position state and motion state of the second swing door indicating that the second swing door is stationary inside the collision space, determine the swing door motion strategy as the fifth swing door motion strategy; the fifth swing door motion strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs an opening action;

[0142] When the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state of the second swing door indicating that the second swing door is stationary inside the collision space, determine the swing door motion strategy as the sixth swing door motion strategy; the sixth swing door motion strategy includes sequentially performing the following actions: the second swing door performs an avoidance collision action, and the first swing door performs a closing action.

[0143] As an optional implementation manner of the embodiment of the present application, performing the collision avoidance action includes: moving to a preset avoidance position.

[0144] As an optional implementation manner of the embodiment of the present application, the position state of the first swing door represents the distribution relationship between the position of the first swing door and the corresponding first closed position and / or the collision space;

[0145] The position state of the second swing door characterizes the distribution relationship between the position of the second swing door and the corresponding second closed position and / or the collision space.

[0146] As an optional implementation manner of the embodiment of the present application, the position state is determined based on the current opening and closing angle and / or the current position.

[0147] As an optional implementation manner of the embodiment of the present application, the collision space is the intersection of the movement space of the first swing door and the movement space of the second swing door.

[0148] Among them, all relevant contents of each step involved in the above method embodiment can be cited to the function description of the corresponding function module, and its function will not be elaborated here.

[0149] Of course, the vehicle controller provided by the embodiment of the present invention includes but is not limited to the above modules. For example, the vehicle controller may further include a processor, a memory, etc. The storage module can be used to store the program code of the vehicle controller, and can also be used to store the data generated during the operation of the vehicle controller, such as diagnostic data, etc.

[0150] Figure 7 A schematic structural diagram of a vehicle controller provided by an embodiment of the present invention is as Figure 7 shown. The vehicle controller may include: at least one processor 71, a memory 72, a communication interface 73, and a communication bus 74.

[0151] Next, in conjunction with Figure 7 each component of the vehicle controller will be specifically introduced:

[0152] Among them, the processor 71 is the control center of the vehicle controller, which can be a single processor or a collective term for multiple processing elements. For example, the processor 71 is a central processing unit (CPU), or can be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention, such as: one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0153] In a specific implementation, as an embodiment, the processor 71 may include one or more CPUs, for example Figure 7CPU0 and CPU1 shown in [figure]. And, as an embodiment, the vehicle controller may include multiple processors. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0154] The memory 72 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but not limited to this. The memory 72 may exist independently and be connected to the processor 71 through the communication bus 74. The memory 72 may also be integrated with the processor 71.

[0155] In a specific implementation, the memory 72 is used to store the data and execute the software program of the present invention. The processor 71 may execute various functions of the air conditioner by running or executing the software program stored in the memory 72 and calling the data stored in the memory 72.

[0156] The communication interface 73 uses any device such as a transceiver for communicating with other devices or communication networks, such as a radio access network (RAN), a wireless local area network (WLAN), a terminal, the cloud, etc. The communication interface 73 may include an acquisition module to implement the acquisition function.

[0157] The communication bus 74 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 it is only represented by a thick line in Figure 7 , but it does not mean that there is only one bus or one type of bus.

[0158] The embodiment of the present application also provides a vehicle, which may include the vehicle controller in any of the embodiments.

[0159] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the control method of the vehicle swing door provided in any of the above embodiments.

[0160] The embodiment of the present application also provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the control method of the vehicle swing door provided in any of the above embodiments.

[0161] The above are only the specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A control method for a vehicle swing door, characterized in that, Including: In response to a first instruction for a first swing door of a vehicle, determining a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of a second swing door, and the movement state of the second swing door; when both the first swing door and the second swing door are in a closed state, there is an overlapping area between the first swing door and the second swing door; Controlling the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

2. The method according to claim 1, wherein Before determining the swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door, the method further includes: If the first swing door is executing a second instruction, controlling the first swing door to stop executing the second instruction and / or an associated instruction of the second instruction; the second instruction is used to instruct the first swing door to perform an opening action or a closing action; and / or In response to the first swing door being in a stationary state and the first swing door having a swing door movement strategy to be executed, discarding the first instruction.

3. The method according to claim 1, wherein The determining the swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door includes: Judging the collision prediction situation between the first swing door and the second swing door during the execution of the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door; determining the swing door movement strategy matching the first instruction according to the collision prediction situation; and / or Determining the swing door movement strategy matching the first instruction according to the type of the first swing door, the type of the first instruction, the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door; wherein, the type of the first swing door is used to indicate whether the first swing door is located inside or outside the vehicle in the overlapping area; The type of the first instruction characterizes that the first instruction is used to control the swing door to open or close.

4. The method according to claim 3, characterized in that, The determining the swing door movement strategy matching the first instruction according to the collision prediction situation includes: In response to the collision prediction situation indicating that there will be no collision between the first swing door and the second swing door during the execution of the first instruction, generating a direct response swing door movement strategy; In response to the collision prediction situation indicating that there will be a collision between the first swing door and the second swing door during the execution of the first instruction, generating an avoidance swing door movement strategy; the avoidance swing door movement strategy at least includes the second swing door performing a collision avoidance action.

5. The method according to claim 4, wherein The avoidance swing door movement strategy includes: Sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs the movement action indicated by the first instruction; or Sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs the movement action indicated by the first instruction, and the second swing door performs a position state restoration action.

6. The method according to claim 1, characterized in that Determining a swing door movement strategy that matches the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door includes: When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and movement state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determining the swing door movement strategy as the first swing door movement strategy; wherein, the first swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs an opening action, and the second swing door performs a closing action; When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and movement state of the second swing door indicating that the second swing door is stationary in the collision space, determining the swing door movement strategy as the second swing door movement strategy; the second swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs an opening action; When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state and movement state of the second swing door indicating that the second swing door is stationary at the corresponding second closed position, determining the swing door movement strategy as the third swing door movement strategy; the third swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, the first swing door performs a closing action, and the second swing door performs a closing action; When the first swing door is the swing door located inside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space, and the position state and movement state of the second swing door indicating that the second swing door is stationary in the collision space, determining the swing door movement strategy as the fourth swing door movement strategy; the fourth swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs a closing action; When the first swing door is the swing door located outside the vehicle in the overlapping area, and when the first instruction is used to control the first swing door to open, in response to the position state of the first swing door indicating that the first swing door is located at the corresponding first closed position, and the position state and movement state of the second swing door indicating that the second swing door is stationary in the collision space, determining the swing door movement strategy as the fifth swing door movement strategy; the fifth swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs an opening action; The first swing door is the swing door located outside the vehicle in the overlapping area. When the first instruction is used to control the first swing door to close, in response to the position state of the first swing door indicating that the first swing door is outside the collision space and the position state of the second swing door indicating that the second swing door is stationary inside the collision space, determine that the swing door movement strategy is the sixth swing door movement strategy; the sixth swing door movement strategy includes sequentially performing the following actions: the second swing door performs a collision avoidance action, and the first swing door performs a closing action.

7. The method according to claim 5 or 6, characterized in that, The performing the collision avoidance action includes: Moving to a preset avoidance position.

8. The method according to claim 1, characterized in that The position state of the first swing door represents the distribution relationship between the position of the first swing door and the corresponding first closing position and / or the collision space; The position state of the second swing door represents the distribution relationship between the position of the second swing door and the corresponding second closing position and / or the collision space.

9. A vehicle controller, characterized in that, It includes: A strategy determination unit, configured to, in response to a first instruction for the first swing door of the vehicle, determine a swing door movement strategy matching the first instruction according to the position state of the first swing door, the position state of the second swing door, and the movement state of the second swing door; when both the first swing door and the second swing door are in a closed state, the first swing door and the second swing door have an overlapping area; A movement control unit, configured to control the movement of the first swing door and / or the second swing door based on the swing door movement strategy.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the control method of the vehicle swing door according to any one of claims 1-8.

11. A computer program product, when the computer program product runs on a computer, enables the computer to implement the control method of the vehicle swing door according to any one of claims 1-8.

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