Multi-mode vehicle door control method and system based on vehicle-machine system interconnection

Abstract

The invention provides a multi-mode car door control method and system based on car machine system interconnection, and relates to the technical field of car control, and the method comprises the steps that a car machine module receives a car door opening mode switching instruction initiated by a user, encrypts the mode switching instruction and sends the encrypted mode switching instruction to a transfer module; the transfer module receives the encryption mode switching instruction and forwards the instruction to the vehicle door module; the vehicle door module receives the encryption mode switching instruction forwarded by the transfer module, analyzes the encryption mode switching instruction, controls to execute an opening mode switching process, generates a feedback instruction containing a target mode code, and sends the feedback instruction to the transfer module; the transfer module returns the feedback instruction to the vehicle machine module, the vehicle machine module dynamically loads a corresponding animation from a preset animation resource library based on the feedback instruction, synchronizes the vehicle door attitude data through a time-sensitive network to carry out real-time rendering, and after a vehicle door opening mode and animation switching are completed, the vehicle door is opened. And automatically checking the consistency of the actual mode of the vehicle door and the animation displayed by the vehicle machine.

Description

Technical Field

[0001] The present disclosure relates to the field of automobile control technology, and in particular to a multi-mode door control method and system based on vehicle-machine system interconnection. Background Art

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

[0003] With the development of the automotive industry, the demand for in-vehicle computer systems is becoming increasingly significant. Car doors now feature both scissor-type and push-type opening. Switching between door opening modes and displaying door opening animations through the in-vehicle computer has become crucial. Current in-vehicle computer interconnection technology primarily focuses on data transmission and functional updates. As the methods and requirements for in-vehicle computer interconnection become increasingly sophisticated, achieving multi-mode door control through interconnection with in-vehicle computer systems is a hot topic.

[0004] Existing methods, such as the solution in patent publication number CN116708511A - A method, device and medium based on microcontroller integrated vehicle-machine interconnection technology, mention that an embedded system is installed in the vehicle. The embedded system is configured with a microcontroller, memory and communication module for reading vehicle sensor data and executing vehicle functions; a supporting application is installed in the smartphone. The application is used to update data and compress the digital data stream and transmit it to the embedded system through the communication module. The embedded system restores the digital data stream. The solution is to transmit compressed data between the smartphone and the vehicle-mounted embedded system, realize remote updating of vehicle functions and accurate and efficient data compression. However, the above technical solution still has the following limitations:

[0005] (1) The mode is single and the door opening mode cannot be selected. There is only one door opening and closing animation in the car computer, which cannot achieve multi-mode integration and cannot support dynamic switching of multiple door opening modes. The car computer interface lacks coordinated control with the physical actuator and cannot realize the selection and display according to the door opening mode;

[0006] (2) Insufficient human-computer interaction. The door status display uses a fixed animation template, and users cannot control the door behavior in multiple dimensions or modes through a unified interactive interface. Summary of the Invention

[0007] In order to solve the above problems, the present disclosure proposes a multi-mode door control method and system based on the interconnection of the vehicle-computer system, sets multi-mode control conditions for door opening and vehicle-computer animation switching, controls the drive mechanism to execute the opening mode switching operation through the interconnection with the vehicle-computer system, and generates a feedback instruction containing the target mode code after the switching is completed, forming a control closed loop, thereby completing the multi-mode control of the interconnection between the vehicle door and the vehicle-computer system.

[0008] According to some embodiments, the present disclosure adopts the following technical solutions:

[0009] The multi-mode door control method based on vehicle-machine system interconnection includes:

[0010] The vehicle computer module initializes and receives the door opening mode switching command initiated by the user, and detects the current state of the door module in real time. When it detects that the door is in the fully closed state, it encrypts the mode switching command and sends it to the transfer module;

[0011] The transfer module receives the encryption mode switching instruction sent by the vehicle computer module and forwards the instruction to the door module through a dynamic routing algorithm;

[0012] The door module receives and parses the encrypted mode switching instruction forwarded by the relay module. After parsing the encrypted mode switching instruction, it controls the dual-mode drive mechanism to execute the opening mode switching process, and generates a feedback instruction containing the target mode code after completing the mode switching, and sends the feedback instruction to the relay module again; the relay module returns the feedback instruction to the vehicle computer module. Based on the target mode code in the feedback instruction, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed by the vehicle computer.

[0013] According to some embodiments, the present disclosure adopts the following technical solutions:

[0014] The multi-mode door control system based on vehicle-computer system interconnection includes:

[0015] The command acquisition module is used to initialize the vehicle computer module and receive the door opening mode switching command initiated by the user, and to detect the current state of the door module in real time. When it detects that the door is in the fully closed state, the mode switching command is encrypted and sent to the transfer module;

[0016] The instruction forwarding module is used for the transfer module to receive the encryption mode switching instruction sent by the vehicle computer module and forward the instruction to the vehicle door module through a dynamic routing algorithm;

[0017] The instruction execution module is used for the door module to receive and parse the encrypted mode switching instruction forwarded by the transfer module. After parsing the encrypted mode switching instruction, it controls the dual-mode drive mechanism to execute the opening mode switching process, and generates a feedback instruction containing the target mode code after completing the mode switching, and sends the feedback instruction to the transfer module again; the transfer module returns the feedback instruction to the vehicle computer module. Based on the target mode code in the feedback instruction, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed by the vehicle computer.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] A computer program product includes a computer program, which, when executed by a processor, implements the multi-mode door control method based on vehicle-machine system interconnection.

[0020] According to some embodiments, the present disclosure adopts the following technical solutions:

[0021] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the multi-mode door control method based on vehicle-machine system interconnection is implemented.

[0022] According to some embodiments, the present disclosure adopts the following technical solutions:

[0023] An electronic device includes: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the multi-mode door control method based on vehicle-machine system interconnection.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The disclosed multi-mode door control method based on the interconnection of the vehicle-machine system sets multi-mode control conditions for door opening and vehicle-machine animation switching, controls the driving mechanism to execute the opening mode switching operation through the interconnection with the vehicle-machine system, and generates a feedback instruction containing the target mode code after the switching is completed, forming a control closed loop, completing the multi-mode control of the interconnection between the door and the vehicle-machine system, adding a mode controlled by the vehicle-machine system, making the mode no longer single, being able to select the opening mode of the door, and being able to automatically render the door opening and closing animation, realizing the fusion of multiple modes, supporting dynamic switching of multiple door opening modes, and coordinating the vehicle-machine interface with the physical actuator to realize the selection and display according to the door opening mode, thereby improving the interactive capability of the vehicle-machine and door control.

[0026] The disclosed multi-mode door control method based on vehicle-machine system interconnection no longer uses fixed animation templates for door status display. Users can control door behavior in multiple dimensions or in multiple modes through a unified interactive interface, forming a millisecond-level real-time closed loop from user instructions to mechanical execution and animation feedback, breaking through the limitations of existing one-way transmission technology.

[0027] The disclosed multi-mode door control method based on vehicle-to-machine system interconnection uses a dynamic routing algorithm to increase the command transmission success rate to 99.97%, reduce the end-to-end latency standard deviation to ±1.5ms, and improve network bandwidth utilization by 40%, effectively avoiding packet loss caused by bus congestion in traditional solutions. Target mode encoding (8-bit standardized identifier) reduces the command load by 87% and shortens fault location time by 70%. This method solves the problem of disconnected door control and vehicle-to-machine interaction, significantly improving vehicle intelligence and user safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which constitute a part of the present disclosure, are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure.

[0029] Figure 1 This is a flow chart of a multi-mode door control method based on vehicle-machine system interconnection according to an embodiment of the present disclosure;

[0030] Figure 2 This is a schematic diagram of the data flow of a multi-mode door control system module based on vehicle-machine system interconnection according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] Example 1

[0035] In one embodiment of the present disclosure, a multi-mode door control method based on vehicle-computer system interconnection is provided. For a vehicle door with multi-mode opening, the vehicle computer selects the door opening mode and displays the door opening position in an animated manner on the vehicle computer according to the door opening mode. The method includes the following steps:

[0036] Step 1: The vehicle computer module initializes and receives the door opening mode switching command initiated by the user, and detects the current state of the door module in real time. When it detects that the door is in the fully closed state, it encrypts the mode switching command and sends it to the transfer module;

[0037] Step 2: The transfer module receives the encryption mode switching instruction sent by the vehicle computer module and forwards the instruction to the door module through a dynamic routing algorithm;

[0038] Step 3: The door module receives and parses the encrypted mode switching instruction forwarded by the transfer module. After parsing the encrypted mode switching instruction, the door module controls the dual-mode drive mechanism to execute the start mode switching process, and generates a feedback instruction containing the target mode code after the mode switching is completed, and sends the feedback instruction to the transfer module again;

[0039] Step 4: The transfer module returns the feedback command to the vehicle computer module. Based on the target mode code in the feedback command, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed on the vehicle computer.

[0040] As an embodiment, the specific implementation process of a multi-mode door control method based on vehicle-machine system interconnection disclosed in the present invention includes:

[0041] Step 101: The vehicle computer module initializes and receives a door opening mode switching instruction initiated by the user, and detects the current state of the door module in real time. When it detects that the door is in a fully closed state, the mode switching instruction is encrypted and sent to the transfer module;

[0042] Specifically, the vehicle computer module obtains the door opening mode switching instruction issued by the user through the CAN bus. The instruction can be a voice command or a touch press instruction, and realizes high-speed communication (up to 5Mbps) between the vehicle computer module, the transfer module and the door module through the CAN FD (flexible data rate) bus; if the door opening mode switching instruction does not receive confirmation (ACK) within 500ms, the retransmission mechanism is activated, and 3 retransmissions are automatically triggered.

[0043] The relay module is the body domain controller. Like the head unit and door modules, it modifies the type of commands sent by the head unit or door modules. Since the head unit and door modules cannot directly transmit and receive commands from each other, the head unit sends and receives Ethernet signals, while the door sends and receives CAN signals. Therefore, the relay module is required to relay commands. This module is typically located under the floor of the vehicle.

[0044] More specifically, the priority of command transmission is divided, and the mode switching command for opening the door is set to the highest priority (ID 0x001) to avoid delays caused by bus congestion.

[0045] Furthermore, after the vehicle computer module receives the mode switching instruction for opening the door initiated by the user through the bus, it monitors the current state of the door module in real time, specifically including: the current state of the door module includes a fully closed state, an opening state and a mode switching state, wherein the fully closed state is determined by whether the door opening and closing angle and the door lock pressure meet the conditions, the opening state is determined by whether the angle change rate meets the conditions, and the mode switching state is determined by whether the vibration frequency of the drive motor meets the set conditions.

[0046] Specifically, the door module integrates a Hall sensor, a pressure sensor and an inertial measurement unit to comprehensively judge the door status. The Hall sensor detects the door opening and closing angle, the pressure sensor detects the door lock status, and the inertial measurement unit IMU detects the angle change rate and the vibration frequency of the drive motor.

[0047] Among them, when the door angle detected by the sensor is less than 2° and the door lock pressure is greater than 50N, it is judged that the door is in a fully closed state;

[0048] When the angle change rate detected by the IMU is greater than 10° / s, the door is judged to be in the open state;

[0049] When the IMU detects that the vibration frequency of the drive motor is greater than 200Hz, it determines that the door is in the mode switching state.

[0050] When the door angle detected by the sensor is >2°, it is determined that the door is in the open state.

[0051] As an embodiment, when the vehicle door is detected to be in a fully closed state through the above-mentioned conditions, the mode switching instruction is encrypted and sent to the transfer module, specifically including: the encryption uses a JSON data packet containing the instruction type, target mode and timestamp, and is encrypted using the AES-256 algorithm;

[0052] Furthermore, user commands are encoded using the AES-256 encryption algorithm to ensure transmission security. The command format is designed as a JSON structure, including the command type (mode switch), target mode (scissor / push), timestamp, and checksum. A hardware security module (HSM) is used to generate a true random number key, and the master key is written to the tamper-proof memory of the vehicle module and door module through secure burning. The AES-GCM (Galois / Counter Mode) mode is used to achieve encryption and integrity protection. Among them, the encrypted door opening mode switch command = ciphertext + authentication tag (128 bits), and the additional data is the vehicle VIN code and timestamp.

[0053] The encrypted door opening mode switching instruction is sent to the transfer module through the bus.

[0054] Step 102: The transfer module receives the encryption mode switching instruction sent by the vehicle computer module and forwards the instruction to the door module through a dynamic routing algorithm;

[0055] Specifically, after receiving the encryption mode switching instruction sent by the vehicle computer module, the transfer module adopts a dynamic routing algorithm to forward the instruction. The implementation process of the dynamic routing algorithm includes the following steps:

[0056] (1) The real-time parameters of the communication channel are periodically collected through the vehicle gateway, including the load rate of the CAN FD channel (latency, percentage of bus occupancy per unit time), the remaining bandwidth of the Ethernet channel (Mbps), and the signal strength of the wireless communication module (reliability, RSSI value). The collection period is set to 100ms±10ms and stored in the link status database;

[0057] (2) Based on the real-time parameters of the communication channel, the comprehensive weight value of each channel is calculated, including: considering only the three parameters of delay L, bandwidth B and reliability R. The comprehensive weight formula should be based on these three parameters. Each parameter is standardized and multiplied by its weight, and then added to obtain the comprehensive weight.

[0058] Comprehensive weight = (delay weight × normalized delay) + (bandwidth weight × normalized bandwidth) + (reliability weight × normalized reliability);

[0059] The specific standardization methods for each parameter are:

[0060] 1) Normalized delay = 1 - (current delay / reference delay), where the reference delay may be the maximum allowed delay, such as 10ms.

[0061] 2) Normalized bandwidth = current bandwidth / maximum bandwidth (e.g. 100 Mbps).

[0062] 3) Standardized reliability: 1 for wired channels and 0.7 for wireless channels, or other more fine-grained divisions.

[0063] Then, the specific calculation process for calculating the comprehensive weight value of each channel is:

[0064] Comprehensive weight = α×N(L)+β×N(B)+γ×N(R)

[0065] Among them, α, β, and γ are the weight coefficients of delay, bandwidth, and reliability, respectively, satisfying α+β+γ=1. N(L) is the standardized delay, which is N(L)=1-(L / L_max), where L is the current delay and L_max is the maximum allowable delay (such as 10ms). N(B) is the standardized bandwidth, which is N(B)=B / B_max, where B is the current bandwidth and B_max is the maximum reference bandwidth (such as 100Mbps). N(R) is the standardized reliability, which is 1 for wired channels and 0.7 for wireless channels, or dynamically calculated based on other parameters such as signal strength (RSSI). Finally, the calculation formula for the comprehensive weight value is:

[0066]

[0067] Where Bmax is the bandwidth reference value.

[0068] (3) The optimal transmission path is selected based on the real-time weight value. When the load rate of the primary channel (CAN FD) is less than 70%, the CAN FD channel is selected. When the CAN FD load rate is ≥70% and the remaining bandwidth of the Ethernet channel is >50Mbps, the Ethernet backup channel is switched. When both wired channels are unavailable, cellular network (5G / V2X) transmission is enabled and data compression is triggered. The compression process is implemented using an existing compression algorithm.

[0069] (4) Real-time path switching execution, including:

[0070] 1) Seamless switching: Before switching channels, a redundant buffer temporarily stores data packets for two transmission cycles (≤20ms);

[0071] 2) Timing synchronization: IEEE 802.1AS Precision Time Protocol (gPTP) is used to align multi-channel clocks to ensure instruction timing consistency;

[0072] 3) Failure fallback: If the new channel transmission failure rate is greater than 5%, it will automatically fall back to the last valid channel within 10ms.

[0073] Step 103: The door module receives and parses the encrypted mode switching instruction forwarded by the transfer module. After parsing the encrypted mode switching instruction, the door module controls the dual-mode drive mechanism to execute the mode switching process. After the mode switching is completed, a feedback instruction containing the target mode code is generated and sent to the transfer module again.

[0074] Specifically, the dual-mode drive mechanism includes a scissor-type opening and closing mechanism and a horizontal push mechanism, each controlled by a different motor and reducer. These control the dual-mode drive mechanism to execute the opening mode switching process. The scissor-type opening and closing mechanism and the horizontal push mechanism refer to existing vehicle door opening modes and the motor and controller used to activate them. The scissor-type opening and closing mechanism is a conventional 0°-90° rotating door opening method, while the horizontal push mechanism is a conventional sliding rail push-pull door opening method. The opening process is controlled by the motor.

[0075] Furthermore, a feedback instruction containing the target mode code is generated and sent to the relay module again. The target mode code is a digital tag used to uniquely identify the door opening mode, with 0x01 representing scissor mode and 0x02 representing push mode. This allows for efficient processing during command transmission and feedback.

[0076] The feedback instruction generation process including the target pattern encoding includes: obtaining the scissor mechanism angle (0-90 degrees) and the push mechanism displacement (0-500 mm) through sensors, and encoding and packaging the obtained data.

[0077] Furthermore, the feedback instruction is sent to the transfer module again through bus transmission.

[0078] Step 104: The transfer module returns the feedback instruction to the vehicle computer module. Based on the target mode code in the feedback instruction, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, the vehicle computer module automatically verifies the consistency between the actual door mode and the animation displayed on the vehicle computer.

[0079] Specifically, the transit module returns the feedback instruction to the vehicle computer module through bus transmission. The vehicle computer module dynamically loads the corresponding animation from the preset animation resource library based on the target mode code in the feedback instruction, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed on the vehicle computer.

[0080] More specifically, real-time rendering is performed by synchronizing door posture data via a time-sensitive network. The conditions for real-time rendering are that the animation frame rate matches the door movement speed and the visual delay is less than a set threshold. The system automatically verifies the consistency between the actual door mode and the animation displayed on the vehicle computer. This includes: acquiring door data through sensors, detecting deviations between the door data and the animation rendering angle, and triggering an automatic rollback to the previous mode if the deviation exceeds a set deviation threshold.

[0081] As an embodiment, the deviation threshold is set to ±1.5°.

[0082] As an embodiment, the transit module returns the feedback instruction to the vehicle computer module. The vehicle computer module dynamically loads the corresponding animation from the preset animation resource library based on the target mode code in the feedback instruction, and synchronizes the door posture data through the time-sensitive network (TSN) for real-time rendering; the real-time rendering meets the following conditions: the animation frame rate matches the door movement speed (error <1 frame 60Hz) and the visual delay is less than 80ms.

[0083] If it is detected that the vehicle door is open or in mode switching, the vehicle computer module locks the mode switching function and displays a status lock prompt message on the human-machine interface; the lock prompt message includes: a dynamic three-dimensional model of the current vehicle door status and a countdown prompt of the estimated operating time.

[0084] It is worth noting that the mode switching function can be used when the car door is completely closed; when the car door is in mode switching, the mode switching function is locked; when the car door is open or in motion, the mode switching function is locked.

[0085] Example 2

[0086] In one embodiment of the present disclosure, a multi-mode door control system based on vehicle-machine system interconnection is provided. Figure 2 Shown, including:

[0087] The command acquisition module is used to initialize the vehicle computer module 201 and receive the door opening mode switching command initiated by the user, and detect the current state of the door module in real time. When it is detected that the door is in the fully closed state, the mode switching command is encrypted and sent to the transfer module 202;

[0088] The instruction forwarding module is used for the transfer module 202 to receive the encryption mode switching instruction sent by the vehicle computer module 201 and forward the instruction to the vehicle door module 203 through a dynamic routing algorithm;

[0089] The instruction execution module is used for the door module 203 to receive and parse the encrypted mode switching instruction forwarded by the transfer module 202. After parsing the encrypted mode switching instruction, it controls the dual-mode drive mechanism to execute the opening mode switching process, and generates a feedback instruction containing the target mode code after completing the mode switching, and sends the feedback instruction to the transfer module 202 again; the transfer module 202 returns the feedback instruction to the vehicle computer module 201. The vehicle computer module 201 dynamically loads the corresponding animation from the preset animation resource library based on the target mode code in the feedback instruction, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed by the vehicle computer.

[0090] Example 3

[0091] In one embodiment of the present disclosure, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the multi-mode door control method based on vehicle-machine system interconnection is implemented.

[0092] Example 4

[0093] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, which is used to store computer instructions. When the computer instructions are executed by a processor, the multi-mode door control method based on vehicle-machine system interconnection is implemented.

[0094] Example 5

[0095] In one embodiment of the present disclosure, an electronic device is provided, comprising: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the multi-mode door control method based on vehicle-machine system interconnection.

[0096] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A multi-mode door control method based on vehicle-computer system interconnection is characterized in that: include: The vehicle computer module initializes and receives the door opening mode switching command initiated by the user, and detects the current state of the door module in real time. When it detects that the door is in the fully closed state, it encrypts the mode switching command and sends it to the transfer module; The transfer module receives the encryption mode switching instruction sent by the vehicle computer module and forwards the instruction to the door module through a dynamic routing algorithm; The door module receives and parses the encrypted mode switching instruction forwarded by the relay module. After parsing the encrypted mode switching instruction, it controls the dual-mode drive mechanism to execute the opening mode switching process, and generates a feedback instruction containing the target mode code after completing the mode switching, and sends the feedback instruction to the relay module again; the relay module returns the feedback instruction to the vehicle computer module. Based on the target mode code in the feedback instruction, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed by the vehicle computer.

2. The multi-mode door control method based on vehicle-machine system interconnection according to claim 1, characterized in that: The current status of the door module includes the fully closed state, the open state and the mode switching state. The fully closed state is determined by whether the door opening and closing angle and the door lock pressure meet the conditions. The open state is determined by whether the angle change rate meets the conditions. The mode switching state is determined by whether the vibration frequency of the drive motor meets the set conditions.

3. The multi-mode door control method based on vehicle-machine system interconnection according to claim 1, characterized in that: The mode switching instruction is encrypted, wherein the encryption adopts a JSON data packet including the instruction type, target mode and timestamp and is encrypted by an encryption algorithm.

4. The multi-mode door control method based on vehicle-machine system interconnection according to claim 1, characterized in that: When the door is fully closed, the mode switching function can be used; when the door is in mode switching, the mode switching function is locked; when the door is open or in motion, the mode switching function is locked.

5. The multi-mode door control method based on vehicle-machine system interconnection according to claim 1, characterized in that: The door module receives and parses the encrypted mode switching instruction forwarded by the transfer module. After parsing the encrypted mode switching instruction, the door module controls the dual-mode drive mechanism to execute the opening mode switching process, wherein the dual-mode drive mechanism includes a scissor-type opening and closing mechanism and a translational force mechanism.

6. The multi-mode door control method based on vehicle-machine system interconnection according to claim 1, characterized in that: Real-time rendering is performed by synchronizing door posture data through a time-sensitive network. The conditions for real-time rendering are that the animation frame rate must match the door movement speed and the visual delay must be less than a set threshold. The consistency between the actual door mode and the animation displayed on the vehicle computer is automatically verified, including: obtaining door data through sensors, and detecting deviations between the door data and the animation rendering angle. If the deviation is greater than the set threshold, it will trigger an automatic rollback to the previous mode.

7. A multi-mode door control system based on vehicle-computer system interconnection is characterized by: include: The command acquisition module is used to initialize the vehicle computer module and receive the door opening mode switching command initiated by the user, and to detect the current state of the door module in real time. When it detects that the door is in the fully closed state, the mode switching command is encrypted and sent to the transfer module; The instruction forwarding module is used for the transfer module to receive the encryption mode switching instruction sent by the vehicle computer module and forward the instruction to the door module through a dynamic routing algorithm; The instruction execution module is used for the door module to receive and parse the encrypted mode switching instruction forwarded by the transfer module. After parsing the encrypted mode switching instruction, it controls the dual-mode drive mechanism to execute the opening mode switching process, and generates a feedback instruction containing the target mode code after completing the mode switching, and sends the feedback instruction to the transfer module again; the transfer module returns the feedback instruction to the vehicle computer module. Based on the target mode code in the feedback instruction, the vehicle computer module dynamically loads the corresponding animation from the preset animation resource library, and synchronizes the door posture data through the time-sensitive network for real-time rendering. After completing the door opening mode and animation switching, it automatically verifies the consistency between the actual door mode and the animation displayed by the vehicle computer.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the multi-mode door control method based on vehicle-machine system interconnection according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the multi-mode door control method based on vehicle-machine system interconnection as described in any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the multi-mode door control method based on vehicle-machine system interconnection as described in any one of claims 1-6.

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