Vehicle control method, vehicle, electronic equipment and storage medium

Abstract

The invention relates to the field of vehicle intelligent control, in particular to a vehicle control method, a vehicle, electronic equipment and a storage medium. According to the method, judgment is not made only according to tiny changes of the position of the vehicle door, but the passive rotation amount of the vehicle door is obtained as a key initial condition. And when it is detected that the passive rotation amount is not zero, the state of the vehicle door is not directly changed, and whether the first vehicle door meets the preset condition or not is further judged. Only when the first vehicle door meets the preset conditions that the memory function of the maximum opening angle of the vehicle door is executed within the preset time or the release position of the first vehicle door is located within the angle subset range of the safety area, the first vehicle door and the second vehicle door are allowed to execute the active rotation function. Therefore, even if the passive rotation amount is caused by slight position change, as long as the first vehicle door does not meet the preset condition, the back door is still not locked at will and loses the electric function, so that the situation that the vehicle door function is abnormal due to unintentional fine operation of a user is effectively avoided.

Description

[0001] This application is a divisional application of the patent application "A vehicle control method, device, electronic device and storage medium" filed on March 21, 2025. The application number of the parent patent is 2025103443739. Technical Field

[0002] The present invention relates to the field of vehicle intelligent control, and in particular to a vehicle control method, a vehicle, an electronic device and a storage medium. Background Art

[0003] Safe rear door operation is crucial in modern vehicle design, especially for vehicles with specialized rear door structures (such as upper and lower doors). During daily vehicle use, users frequently open and close the rear doors, which requires door displacement control. With the advancement of vehicle technology, the demand for intelligent door control continues to increase. Due to the spatial proximity of upper and lower doors and the complexity of electric operation, collision risks exist.

[0004] In existing vehicles, when a user slightly moves (e.g., gently pulls) the upper and lower doors, both doors lock and lose their power function, requiring a power-on operation to restore power. This results in a poor user experience when setting the maximum door opening. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a vehicle control method, a vehicle, an electronic device, and a storage medium to solve the problem that when a user operates a vehicle door, a slight position change causes the back door to be locked and lose its power function.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle control method, wherein the vehicle includes a vehicle body and a first door and a second door, both of which are rotatably connected to the vehicle body; the first door and the second door are both capable of actively and passively rotating relative to the vehicle body; the first door can cover and partially overlap the second door by rotating to close the vehicle body; the first door and the second door define a closed position, an unsafe zone in which they may contact each other, and a safe zone in which they do not contact each other; the method includes:

[0007] Obtaining the passive rotation amount of the first door and / or the second door;

[0008] If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, both the first door and the second door are allowed to perform the active rotation function;

[0009] If the passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset conditions, the active rotation functions of the first door and the second door are disabled, wherein the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0010] Furthermore, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0011] Furthermore, the lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

[0012] Furthermore, the preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0013] In a second aspect, an embodiment of the present invention provides a vehicle, comprising a vehicle body, a first door, a second door, a controller, a first drive device, and a second drive device, wherein the first drive device and the second drive device are connected to the first door and the second door, respectively, and the controller is communicatively connected to the first drive device and the second drive device, respectively; the controller is capable of driving the first door and the second door to rotate relative to the vehicle body by controlling the first drive device and the second drive device, respectively; the first door is capable of covering and partially overlapping the second door by rotating to close the vehicle body; the first door and the second door define a closed position, a non-safe zone where there is a probability of contact between the first door and the second door, and a safe zone where contact between the first door and the second door is prevented;

[0014] The vehicle further includes a sensor communicatively connected to the controller, the sensor being configured to obtain an amount of passive rotation of the first door and / or the second door;

[0015] If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, both the first door and the second door are allowed to perform the active rotation function;

[0016] The controller is used to disable the active rotation function of the first door and the second door when the passive rotation amount corresponding to the first door and / or the second door is not zero and the first door does not meet the preset conditions, wherein the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0017] Furthermore, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0018] Furthermore, the lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

[0019] Furthermore, the preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

[0020] In a third aspect, an embodiment of the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0021] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0022] This application doesn't rely solely on slight changes in door position to make decisions, but instead uses the passive door rotation amount as a key initial condition. When the passive door rotation amount is detected to be non-zero, the door state isn't directly changed. Instead, a further determination is made as to whether the first door meets preset conditions. Only when the first door meets these preset conditions, such as having executed the memory function for the door's maximum opening angle within a preset time, or its release position being within the angular subset of the safety zone, will the first and second doors be allowed to perform active rotation. This means that even if a slight position change triggers passive rotation, as long as the first door doesn't meet the preset conditions, the tailgate will not be locked arbitrarily and lose its power function, effectively preventing door malfunctions caused by subtle, unintentional user operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0025] Figure 2 is a schematic diagram of a physical structure in which a first door and a second door are fully opened according to some embodiments of the present invention;

[0026] Figure 3 is a schematic diagram of a physical structure of a first vehicle door and a second vehicle door in a closed position according to some embodiments of the present invention;

[0027] Figure 4 is a schematic diagram of a first door performing a maximum opening angle memory function according to some embodiments of the present invention;

[0028] Figure 5 is a schematic diagram illustrating that a release position of a first door is within an angular subset of a safety zone according to some embodiments of the present invention;

[0029] Figure 6 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0032] According to an embodiment of the present invention, a vehicle control method, a vehicle, an electronic device and a storage medium are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] The embodiment of the present application provides a vehicle, such as Figure 1 As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15. The first drive device 14 and the second drive device 15 are respectively connected to the first door 11 and the second door 12, and the controller 13 is respectively connected to the first drive device 14 and the second drive device 15 for communication; the controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive device 14 and the second drive device 15; the first door 11 can cover and partially overlap the second door 12 by rotating to close the vehicle body 10; the first door 11 and the second door 12 define a closed position, a non-safe zone where there is a probability of contact with each other, and a safe zone where there is no contact with each other. Figure 2 As shown in FIG, the first door and the second door are fully opened. Figure 3 As shown, this is a structural schematic diagram of the first door and the second door in the closed position.

[0034] In the embodiment of the present application, the first door and the second door have two movement modes: active rotation and passive rotation. Active rotation means that the door can achieve purposeful rotation through its own power drive device (such as a motor, etc.) according to the instructions of the vehicle control system or the user's operation, thereby completing the door opening or closing action. Passive rotation refers to the rotation of the door when it is subjected to an external force applied by a force not from the vehicle control system. This external force may come from a variety of situations, such as the user manually forcibly pushing the door, the door encountering an obstacle during movement, the vehicle being hit by an external impact causing the door to be subjected to force, etc.

[0035] The closed position defined by the first door 11 and the second door 12 can be understood as follows: during the door closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping with the second door, thereby forming a complete closed structure that isolates the interior of the vehicle body from the external environment. In addition, during the rotation of the first door and the second door relative to the vehicle body, different areas will be formed according to their movement trajectory and spatial position relationship. The unsafe zone refers to the area where the first door and the second door may come into contact with each other during the door rotation process, which is usually caused by reasons such as the movement trajectory and angle change of the doors. The safe zone refers to the area where the two doors will not come into contact with each other when the doors rotate.

[0036] In the present embodiment, the vehicle further includes a sensor 16 communicatively connected to the controller 13 , and the sensor 16 is configured to obtain the passive rotation amount of the first door and / or the second door.

[0037] If the passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets the preset conditions, both the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include the first preset conditions or the second preset conditions, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within the preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0038] Specifically, sensor 16 (using a Hall element within the motor) monitors the passive rotation of first door 11 and / or second door 12 in real time. Passive rotation refers to the change in door rotation caused by external forces (such as manual pushing or pulling by the user, collision with an external object, or other forces not actively applied by the vehicle's own drive system). When the first door 11 and / or second door 12 passively rotates due to external factors, the Hall element connected to the door drive system senses the change in motor rotation and feeds the relevant electrical signal back to controller 13.

[0039] When the passive rotation amount corresponding to the first door and / or the second door detected by sensor 16 is non-zero, it indicates that the door has been disturbed by external force. However, the active rotation function is not immediately disabled. Instead, a further determination is made as to whether the first door meets pre-set conditions. If so, the active rotation function is enabled for both the first and second doors.

[0040] There are two kinds of preset conditions. Figure 4 As shown, the first preset condition is that the first door has executed the memory function for its maximum opening angle within a preset time. For example, the owner may have previously set a maximum opening angle. Within the preset time range, if the door is passively rotated by an external force and the memory condition is met, this passive rotation is likely within normal operating expectations, so both doors are allowed to resume active rotation.

[0041] like Figure 5 As shown, the second pre-set condition is that the release position of the first door is within the angular subset of the safety zone. The safety zone is a pre-defined area that ensures safe door rotation, and the angular subset is a detailed angular range of this safety zone. If the first door, after passively rotating under external force, finally reaches the release position within the angular subset of this safety zone, the door is safely positioned and the conditions for active rotation of both doors are met.

[0042] In an embodiment of the present application, the controller is used to disable the active rotation function of the first door and the second door when the passive rotation amount corresponding to the first door and / or the second door obtained is not zero and the first door does not meet the preset conditions. Disabling the active rotation function of the first door and the second door can be understood as that after disabling the active rotation function of the doors, the controller will not respond to active control instructions triggered by the user for the two doors, such as instructions to open or close the doors issued by the user through buttons, remote controls, etc., which will not be executed by the controller. At this time, the movement of the door is only determined by the passive force applied by the outside world, and the ability to rotate by executing active instructions through the drive device is completely lost. In this way, it is possible to effectively avoid safety risks or mechanical failures that may be caused by executing active control instructions when the passive rotation amount of the door is not zero and the first door does not meet the preset conditions.

[0043] It should be noted that when the passive rotation amount corresponding to the first door and / or the second door obtained by the controller is not zero, it indicates that the door has been interfered with by an external force and has undergone passive rotation. At this time, the controller does not immediately decide to disable the active rotation function, but will further evaluate the status of the first door to determine whether it meets the preset conditions. If it is determined that the first door does not meet these preset conditions, such as the first door does not execute the memory function of the maximum door opening angle within the preset time (if the preset conditions include this content), or the release position of the first door is not within the angle subset range of the safety zone (also if the preset conditions include this requirement), etc., as long as any of the preset conditions is not met, the controller will issue a command to disable the active rotation function of the first door and the second door at the same time.

[0044] This ensures that when the door is unstable or there may be safety hazards, the vehicle will not actively rotate the door, thereby avoiding problems such as door collision and damage caused by simultaneous active and passive rotation, and ensuring the safety of the door.

[0045] The controller is also used to allow the active rotation functions of the first door and the second door to be restored after the active rotation functions of the first door and the second door are disabled, if the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position.

[0046] The controller is further configured to, after disabling the active rotation functions of the first door and the second door, continue to disable the active rotation functions of the first door and the second door if the first door is located in an unsafe zone or in a closed position, and the second door is located in a closed position or in an unsafe zone.

[0047] Specifically, the situation where "the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position" means that at least one door is in a safe state (the closed position can be understood as completely closed, which is a safe state; the safe zone is a pre-set area in which no safety hazard will occur when the door is in it). In this case, the controller believes that the state of the door has reached the conditions for restoring the active rotation function, so it will issue an instruction to allow the active rotation function of the first door and the second door to be restored. For example, when the first door is closed (in a closed position), even if the second door may still be in a safe zone but not completely closed, the controller will allow the two doors to regain the ability to actively rotate, so that the user can once again control the door opening and closing and other operations through the vehicle's active system.

[0048] On the other hand, when the situation occurs that "the first door is in an unsafe zone or in a closed position, and the second door is in a closed position or in an unsafe zone", it means that at least one of the doors is in an unsafe zone (that is, it is not in a safe zone and there may be risks such as collision with surrounding objects), or there is a potential risk in the combination of the position states of the two doors. In this case, the controller will consider that the current state of the door is not suitable for restoring the active rotation function, and will therefore continue to disable the active rotation function of the first and second doors. For example, the first door is in an unsafe zone, and although the second door is in a closed position, due to the unsafe state of the first door, in order to avoid possible dangers, the controller will not allow the two doors to restore the active rotation function until the position state of the doors changes and the conditions for allowing restoration are met.

[0049] Through such logical judgment and control operations, the controller in the embodiment of the present application can flexibly decide whether to restore or continue to disable the active rotation function according to the actual position and status of the vehicle door, thereby effectively ensuring the safety and reliability of the vehicle door system.

[0050] In an embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0051] Specifically, a user interface can be provided where the user can pre-set the lower limit of the safety zone angle subset range based on their needs and preferences. For example, a user may set the lower limit to 30 degrees based on the parking environment or personal preferences. This means that the vehicle will only enter the safety zone angle range if the first door is opened at an angle greater than or equal to 30 degrees.

[0052] Alternatively, the lower limit can be determined by studying and analyzing the user's long-term operating habits. For example, after repeatedly recording the angles at which the user opens and closes the first door, it is found that the angle is generally greater than 25 degrees each time. In this case, 25 degrees will be used as the lower limit based on the user's operating habits. For the upper limit of the safety zone angle subset range, the maximum opening angle of the first door is automatically obtained. This maximum opening angle is determined by the vehicle's mechanical structure and design. For example, if the first door can open to a maximum of 78 degrees, then 78 degrees will become the upper limit of the angle subset range.

[0053] For example, every time a user operates the first door, a series of key information is recorded, including the start and end time of the door opening, the real-time angle change during the opening process, and the final angle upon completion. This data is stored in real time in a dedicated data repository. Over time, the data repository accumulates a large amount of user operation data. At this point, the algorithm's analysis phase begins, with a data mining algorithm processing the massive amount of data in the repository. The user operation data is first sorted chronologically. The minimum door opening angle for each operation is then calculated and sorted from smallest to largest. Statistical analysis methods, such as calculating the median and mode, are then used to determine an angle that represents the user's common operating habits. If the data exhibits a normal distribution, the median can be used as a reference for the lower limit. If the data has a significant mode cluster, the angle corresponding to the mode may be more appropriate. Finally, the calculated angle is fine-tuned to determine the final lower limit, taking into account various factors such as vehicle usage scenarios, safety considerations, and user experience.

[0054] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes zero, where N is an integer greater than 1.

[0055] The lower limit of the safety zone's angle subset is set at 60°, meaning the vehicle can only enter the safety zone's angle subset when the first door's opening angle reaches or exceeds 60°. The upper limit is 78°, meaning any door opening angle up to 78° falls within this specific safety zone's angle subset.

[0056] The preset time period is the Nth second after the passive rotation of the first and / or second door reaches zero, where N is an integer greater than 1. For example, if N is 3, the preset time period is 3 seconds after the passive rotation of the door stops. During this preset time period, the door's angular position, combined with the safety zone angle subset of 60° to 78°, is used to determine whether certain control conditions are met, such as whether to allow the active rotation function to be restored.

[0057] The solution provided in the present application is applicable to scenarios in which the doors are stationary and in motion, because the door status is monitored in real time by obtaining the passive rotation amount of the first door and / or the second door. Regardless of whether the door is stationary or in motion, as long as the passive rotation amount is not zero, it means that the door is rotated by external force. At this time, combined with whether the first door meets the preset conditions (executing the door maximum opening angle memory function or the release position is within the safety zone angle subset range), it is determined whether the active rotation function of the two doors is allowed or disabled. This can avoid dangers caused by external force misoperation when the door is stationary, and can timely avoid abnormal external force interference when the door is in motion to prevent the door from getting out of control.

[0058] In this embodiment, a vehicle control method is provided, wherein the vehicle includes a body and a first door and a second door both rotatably connected to the body; the first door and the second door are both capable of actively and passively rotating relative to the body, and the first door can cover and partially overlap the second door by rotating to close the body, and the first door and the second door define a closed position, an unsafe zone where they may come into contact with each other, and a safe zone where they will not come into contact with each other. Figure 6 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 6 As shown, the process includes the following steps:

[0059] Step S101: Acquire the passive rotation amount of the first door and / or the second door.

[0060] In an embodiment of the present application, a special sensor is installed on the vehicle, such as a Hall effect sensor based on the Hall effect principle, which is reasonably arranged at the key position where the first door and the second door are connected to the vehicle body. These sensors are closely connected to the vehicle controller via a communication line. When the door is subjected to external forces (such as manual pushing and pulling by the user, impact of an object, etc.) and produces passive rotation, the sensing element inside the sensor will undergo corresponding physical changes as the relative position of the door and surrounding components changes. For example, the Hall effect element will generate an electrical signal due to changes in the magnetic field. These changing signals are transmitted to the controller in real time. The controller converts them into specific numerical values by analyzing and processing the signals, thereby accurately obtaining the passive rotation amount of the first door and / or the second door.

[0061] In step S102, if the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset conditions, the active rotation functions of the first door and the second door are disabled, wherein the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

[0062] In an embodiment of the present application, after the controller detects that the passive rotation amount of the first door and / or the second door is non-zero, it determines whether the first door meets a preset condition. According to the aforementioned determination method for the first and second preset conditions, if the first door fails to memorize its maximum door opening angle within the preset time, and its release position angle is not within the angle subset of the safety zone, that is, if any of the preset conditions are not met, the controller will promptly issue a disable command. This command is transmitted via a communication line to the drive devices of the first and second doors. Upon receiving the command, the drive devices immediately cut off the power supply to the active rotation function, thereby disabling the active rotation function of the first and second doors. This prevents problems such as door collisions caused by active rotation when the door is unstable or presents a safety hazard.

[0063] Disabling the active rotation function of the first and second doors can be understood as disabling the controller from responding to active control commands initiated by the user for these two doors. For example, commands to open or close the doors issued by the user via buttons, remote controls, etc. will not be executed by the controller. At this point, the movement of the doors is determined solely by passive forces applied by the outside world, completely losing the ability to rotate in response to active commands via the drive device. This effectively avoids safety risks or mechanical failures that could arise from executing active control commands if the passive rotation of the doors is non-zero and the first door does not meet preset conditions.

[0064] In step S103 , if the acquired passive rotation amount corresponding to the first door and / or the second door is not zero and the first door meets a preset condition, both the first door and the second door are allowed to perform the active rotation function.

[0065] In this embodiment of the present application, upon detecting that the passive rotation amount of the first and / or second doors is non-zero, the controller immediately determines whether the first door meets a preset condition. For the first preset condition, the system pre-records the user-set or vehicle-default maximum door opening angle and sets a preset time (e.g., within N seconds after the door's passive rotation amount reaches 0, where N is an integer greater than 1). After the door undergoes passive rotation, the controller monitors whether the first door has executed its memory function within the preset time, i.e., whether it has reached the pre-recorded maximum opening angle. If this condition is met, the first door is considered to meet the first preset condition. For the second preset condition, the system has a preset safety zone angle subset range (e.g., a lower limit of 60° and an upper limit of 78°). When the first door stops passively rotating, the controller obtains its release position angle information and compares it with the safety zone angle subset range. If the first door's release position angle falls within this range, the first door is considered to meet the second preset condition. As long as the first door meets any one of the first preset condition or the second preset condition, the controller will issue an instruction to allow the first door and the second door to perform active rotation functions, such as automatic door opening and closing.

[0066] This application doesn't rely solely on slight changes in door position to make decisions, but instead uses the passive door rotation amount as a key initial condition. When the passive door rotation amount is detected to be non-zero, the door state isn't directly changed. Instead, a further determination is made as to whether the first door meets preset conditions. Only when the first door meets these preset conditions, such as having executed the memory function for the door's maximum opening angle within a preset time, or its release position being within the angular subset of the safety zone, will the first and second doors be allowed to perform active rotation. This means that even if a slight position change triggers passive rotation, as long as the first door doesn't meet the preset conditions, the tailgate will not be locked arbitrarily and lose its power function, effectively preventing door malfunctions caused by subtle, unintentional user operations.

[0067] wherein, after the active rotation functions of the first door and the second door are both disabled, if the first door is in the closed position or in the safety zone, and / or the second door is in the safety zone or in the closed position, the active rotation functions of the first door and the second door are allowed to be restored;

[0068] After disabling the active rotation functions of the first door and the second door, if the first door is located in an unsafe zone or in a closed position, and the second door is located in a closed position or in an unsafe zone, continue to disable the active rotation functions of the first door and the second door.

[0069] When the vehicle system disables the active rotation function of the first door and the second door, it will continue to monitor the door position. If the first door is in the closed position at this time, it means that the door is completely closed and is in a safe and stable state; or the first door is in a safe zone, indicating that its position will not create safety risks such as collision with the surrounding environment. Similarly, if the second door is in a safe zone or closed position, it is also a safe state. As long as any of the above conditions of "the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position" are met, the vehicle's control system will determine that the current door state is suitable for restoring the active rotation function, and then issue a command to allow the first door and the second door to have the ability to actively rotate again, and the user can once again operate the door switch through the vehicle's active control method.

[0070] After disabling the active rotation function for both the first and second doors, the vehicle system continuously monitors changes in door position. If the first door is in an unsafe zone—meaning it's in a position that could result in a collision with surrounding objects or other dangerous situations—even if the first door is closed, but the second door is also closed or in the unsafe zone, the vehicle control system will deem the overall state of the doors to still present a safety hazard. As long as the conditions of "the first door is in the unsafe zone or closed, and the second door is closed or in the unsafe zone" are met, the control system will continue to disable the active rotation function for both doors, preventing door damage or other safety incidents caused by active rotation, until the door position changes and the conditions for resuming the active rotation function are met.

[0071] In an embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

[0072] It should be noted that, first, within the vehicle system's settings interface, users can manually enter an angle value as the lower limit, pre-setting it based on their needs and actual usage scenarios. Simultaneously, the system activates data collection, recording relevant data such as the door opening angle each time the user operates the first door and storing it in a database. Over time, once sufficient data has accumulated, the system applies data analysis algorithms, such as calculating statistics such as the median, mode, or mean of these opening angle data to reflect user operating habits, thereby determining a lower limit based on these habits. If the user has pre-set a lower limit, that value takes precedence; if not, the value determined based on user habits is used. For the upper limit of the angle subset range, the system directly obtains the maximum opening angle of the first door in the vehicle design. This maximum opening angle is determined by the door's mechanical structure and design parameters. Finally, the determined lower limit and maximum opening angle are combined as the upper limit to define the angle subset range for the safety zone.

[0073] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes zero, where N is an integer greater than 1.

[0074] In the embodiment of the present application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes zero, where N is an integer greater than 1.

[0075] The lower limit of the safety zone's angle subset is set at 60°, meaning the vehicle can only enter the safety zone's angle subset when the first door's opening angle reaches or exceeds 60°. The upper limit is 78°, meaning any door opening angle up to 78° falls within this specific safety zone's angle subset.

[0076] The preset time period is the Nth second after the passive rotation of the first and / or second door reaches zero, where N is an integer greater than 1. For example, if N is 3, the preset time period is 3 seconds after the passive rotation of the door stops. During this preset time period, the door's angular position, combined with the safety zone angle subset of 60° to 78°, is used to determine whether certain control conditions are met, such as whether to allow the active rotation function to be restored.

[0077] The control method provided in the present application is applicable to scenarios in which the doors are stationary and in motion, because the door status is monitored in real time by obtaining the passive rotation amount of the first door and / or the second door. Regardless of whether the door is stationary or in motion, as long as the passive rotation amount is not zero, it means that the door is rotated by external force. At this time, combined with whether the first door meets the preset conditions (executing the door maximum opening angle memory function or the release position is within the safety zone angle subset range), it is determined whether the active rotation function of the two doors is allowed or disabled. This can avoid dangers caused by external force misoperation when the door is stationary, and can respond to abnormal external force interference in time when the door is in motion to prevent the door from getting out of control.

[0078] See also Figure 7 , Figure 7 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors, memory 20, and the interface for connecting various components, including high-speed interface and low-speed interface. Each component utilizes different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, being coupled to the display device of the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides the necessary operation of part (for example, as a server array, a group of blade servers, or a multi-processor system).

[0079] The processor may be a central processing unit, a network processor, or a combination thereof. The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0080] The memory 20 stores instructions that can be executed by at least one processor, so that the at least one processor executes the method shown in the above embodiment.

[0081] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0082] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0083] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0084] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0085] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a body and a first door and a second door, both of which are rotatably connected to the body; the first door and the second door are both actively and passively rotatable relative to the body; the first door can cover and partially overlap the second door by rotating to close the body; the first door and the second door define a closed position, an unsafe zone where they may contact each other, and a safe zone where they do not contact each other; the method includes: Obtaining the passive rotation amount of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, both the first door and the second door are allowed to perform the active rotation function; If the passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door does not meet the preset conditions, the active rotation functions of the first door and the second door are disabled, wherein the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

2. The method according to claim 1, characterized in that The lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

3. The method according to claim 2, characterized in that The lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

4. The method according to claim 1, wherein The preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

5. A vehicle comprising a vehicle body, a first door, a second door, a controller, a first drive device and a second drive device, wherein the first drive device and the second drive device are connected to the first door and the second door respectively, and the controller is communicatively connected to the first drive device and the second drive device respectively; the controller can drive the first door and the second door to rotate relative to the vehicle body by controlling the first drive device and the second drive device respectively; the first door can cover and partially overlap the second door by rotating to close the vehicle body; the first door and the second door define a closed position, a non-safe zone where there is a probability of contact between each other, and a safe zone where there is no contact between each other; characterized in that The vehicle further includes a sensor communicatively connected to the controller, the sensor being configured to obtain an amount of passive rotation of the first door and / or the second door; If the acquired passive rotation amount corresponding to the first door and / or the second door is not zero, and the first door meets a preset condition, both the first door and the second door are allowed to perform the active rotation function; The controller is used to disable the active rotation function of the first door and the second door when the passive rotation amount corresponding to the first door and / or the second door is not zero and the first door does not meet the preset conditions, wherein the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the release position of the first door is within the angle subset range of the safety zone.

6. The vehicle according to claim 5, characterized in that The lower limit value of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit value of the angle subset range is the maximum opening of the first door.

7. The vehicle according to claim 6, characterized in that The lower limit value of the angle subset range is 60°, and the upper limit value of the angle subset range is 78°.

8. The vehicle according to claim 5, characterized in that The preset time is within N seconds after the passive rotation amount of the first door and / or the second door becomes 0, where N is an integer greater than 1.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 4 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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