Vehicle door control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle door control method and device, a vehicle and a storage medium. After the vehicle enters the wading mode, the wading function of the vehicle is started. At the moment, the wading height of a target vehicle door of the vehicle is determined; and under the condition that the wading height is smaller than the first preset height, the target vehicle door is controlled to move from the full-locking position to the over-locking position. That is to say, the target vehicle door is adjusted from a completely closed and locked state to a state in which the target vehicle door and the vehicle body have a negative segment difference. Namely, the gap between the target vehicle door and the vehicle body can be gradually reduced, and the sealing performance of the target vehicle door is enhanced. Thus, when the target vehicle door in the vehicle is located in the water accumulation area of the wading height, accumulated water cannot easily enter the vehicle from the target vehicle door, and the vehicle using experience of the vehicle in the wading process can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, device, vehicle, and storage medium for controlling a vehicle door in the field of vehicles. Background Art

[0002] With the development of vehicle technology, more and more vehicles have entered people's lives. However, there are also more and more vehicle-related problems, including problems encountered by vehicles during wading.

[0003] Nowadays, people are increasingly demanding vehicles' water-wading capabilities and intelligent door control. When a vehicle user closes the door and passes through a flooded area, the wading depth of the door may exceed the threshold, potentially allowing water to enter the vehicle. Therefore, a method for timely door control is urgently needed to prevent water from seeping into the vehicle and improve the driving experience during flooding. Summary of the Invention

[0004] The present application provides a method, device, vehicle and storage medium for controlling vehicle doors. The method can prevent accumulated water from easily entering the vehicle through the target door when the target door in the vehicle is in a flooded area of ​​the wading height, thereby improving the vehicle's driving experience when wading.

[0005] In a first aspect, a method for controlling a vehicle door is provided, the method comprising: when the vehicle enters a wading mode, determining the wading height of a target door in the vehicle, the wading height being the vertical distance between a target reference point on the target door and the water surface; when the wading height is less than a first preset height, controlling the target door to move from a fully locked position to an over-locked position, the over-locked position being used to indicate that there is a negative step difference between the target door and the vehicle body.

[0006] In the above technical solution, after the vehicle enters wading mode, the vehicle's wading function is activated. At this point, the method determines the wading height of the vehicle's target door; if the wading height is less than a first preset height, the target door is controlled to move from the fully locked position to the overlocked position. In other words, the target door adjusts from a fully closed and locked state to a state where there is a negative step difference between the target door and the vehicle body. In other words, the gap between the target door and the vehicle body gradually narrows, enhancing the sealing of the target door. In this way, when the target door in the vehicle is in a water-logged area at the wading height, accumulated water will not easily enter the vehicle through the target door, thereby improving the driving experience when wading.

[0007] In combination with the first aspect, in some possible implementations, controlling the target vehicle door to move from the fully locked position to the over-locked position includes: controlling the ratchet in the door lock of the target vehicle door to move from the current gear position to the target gear position, when the ratchet is in the current gear position, the target vehicle door is in the fully locked position, and when the ratchet is in the target gear position, the target vehicle door is in the over-locked position.

[0008] In the above technical solution, the method controls the ratchet in the door lock to move from the current gear to the target gear. In this way, during the gear change process of the ratchet, the target door will be able to press the sealing strip more and more tightly, thus preventing accumulated water from easily entering the vehicle through the target door.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the wading height of the target door in the vehicle includes: detecting a first height between the target vehicle component and the water surface by a ranging sensor installed in the vehicle, wherein the detection direction of the ranging sensor is a vertically downward direction; and determining the wading height of the target door based on the slope of the road on which the vehicle is traveling and the first height.

[0010] In the above technical solution, when the vehicle enters wading mode, the method uses a distance measuring sensor installed in the vehicle to detect a first height between the target vehicle component and the water surface. When the vehicle is on a road with a specific road slope, the relative position of the target vehicle component and the target vehicle door is determined, and the detection direction of the distance measuring sensor is vertically downward. Therefore, the wading height of the target vehicle door can be accurately determined based on the road slope and the first height.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target reference point and the target vehicle component are in the same horizontal plane, and the wading height of the target door is determined based on the road slope on which the vehicle is traveling and the first height, including any one of the following: when the road slope indicates that the vehicle is traveling on an uphill section, determining the first product between the first distance and the sine value of the road slope; determining the difference between the first height and the first product as the wading height of the target door, the first distance being the horizontal distance when the target vehicle component and the target reference point are in the same horizontal plane; when the road slope indicates that the vehicle is traveling on a downhill section, determining the sum of the first height and the first product as the wading height of the target door; when the road slope indicates that the vehicle is traveling on a flat road, determining the first height as the wading height of the target door.

[0012] In the above technical solution, the wading height is specifically the vertical distance between the target reference point on the target vehicle door and the water surface, and the target reference point and the target vehicle component are in the same horizontal plane. This method uses the vertical distance from the target reference point to the water surface as the wading height of the target vehicle door. The road on which the vehicle is located may have different slopes, so this method determines the wading height of the target vehicle door in different ways. Based on the known distance information (the horizontal distance (first distance) and first height when the target vehicle component and the target reference point are in the same horizontal plane) and angle information (road slope), a right triangle is constructed, and the Pythagorean theorem of the right triangle is used to determine the wading height of the target vehicle door. Specifically, when the road slope indicates that the vehicle is traveling on an uphill section, a first product between the first distance and the sine value of the road slope is determined; the difference between the first height and the first product is determined as the wading height of the target vehicle door; when the road slope indicates that the vehicle is traveling on a downhill section, the sum of the first height and the first product is determined as the wading height of the target vehicle door; when the road slope indicates that the vehicle is traveling on a flat road, the vertical distances from the target vehicle component and the target reference point to the water surface are the same, and the first height can be determined as the wading height of the target vehicle door. Through the above multiple methods, the wading height of the target vehicle door can be comprehensively determined when the vehicle is on roads of different slopes.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method for determining whether the vehicle enters the wading mode includes: determining whether there is a water accumulation area in front of the vehicle based on the environmental image in front of the vehicle; when there is a water accumulation area in front of the vehicle, determining the driving intention of the vehicle; when the driving intention indicates that the vehicle will pass through the water accumulation area, determining that the vehicle enters the wading mode.

[0014] In the above technical solution, the method can accurately determine whether there is a waterlogged area ahead of the vehicle using images of the environment ahead of the vehicle. Furthermore, the method can accurately predict the vehicle's trajectory based on the vehicle's driving intention. Therefore, if there is a waterlogged area ahead of the vehicle and the vehicle's driving intention indicates that the vehicle will pass through the waterlogged area, it can accurately determine that the vehicle has entered the wading mode.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the driving intention of the vehicle includes any one of the following: determining the driving intention of the vehicle based on the navigation information on the vehicle; determining the driving intention of the vehicle based on the steering wheel angle and the current position of the vehicle.

[0016] In the above technical solution, the vehicle's current navigation information can indicate the vehicle's upcoming destination and route. Therefore, the method can accurately determine the vehicle's driving intention based on the navigation information. Alternatively, the driver's current driving behavior information can also indicate the vehicle's future driving intention. Therefore, the method can also accurately determine the vehicle's driving intention based on the steering wheel angle and the vehicle's current location.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: determining the pressure of the accumulated water on the target door during the process of the target door moving from the fully locked position to the over-locked position; when the pressure is less than the preset pressure, controlling the target door to remain in the current position.

[0018] In the above technical solution, as the target door moves from the fully locked position to the overlocked position—that is, as the target door is being closed more tightly—the method detects the pressure of the accumulated water on the target door. If the pressure is less than a preset pressure, the target door is controlled to remain in its current position. In other words, when the pressure of the accumulated water on the target door is low, the depth of the accumulated water is small, and the water will not enter the vehicle through the target door. At this point, there is no need to continue controlling the target door to move toward the overlocked position; instead, the target door can be controlled to remain in its current position. This avoids unnecessary mechanical control processes and reduces energy consumption.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the target vehicle door to remain in the current position, the method also includes any one of the following: when the driving speed of the vehicle is greater than a preset speed, controlling the target vehicle door to adjust from the current position to the fully locked position; when the wading height of the target vehicle door is greater than a second preset height within a preset time period, controlling the target vehicle door to adjust from the current position to the fully locked position.

[0020] In the above technical solution, when the vehicle's driving speed exceeds a preset speed, or when the wading height of the target door exceeds a second preset height for a preset period of time, it can be indicated that the vehicle has exited the flooded area and the water can no longer enter the door. Therefore, the target door can be controlled to adjust from the current position to the fully locked position. In this way, when the vehicle user wants to open the door, the vehicle user can directly open the door from the fully locked position with less force.

[0021] In a second aspect, a device for controlling a vehicle door is provided, which includes: a determination module for determining the wading height of a target door in the vehicle when the vehicle enters a wading mode, wherein the wading height is the vertical distance between a target reference point on the target door and the water surface; and a control module for controlling the target door to move from a fully locked position to an over-locked position when the wading height is less than a first preset height, wherein the over-locked position is used to indicate that there is a negative step difference between the target door and the vehicle body.

[0022] In combination with the second aspect, in some possible implementations, the control module is specifically used to control the ratchet in the door lock of the target vehicle door to move from the current gear position to the target gear position. When the ratchet is in the current gear position, the target vehicle door is in the fully locked position; when the ratchet is in the target gear position, the target vehicle door is in the over-locked position.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes a detection module for detecting a first height between the target vehicle component and the water surface through a ranging sensor installed in the vehicle, and the detection direction of the ranging sensor is a vertically downward direction; the determination module is specifically used to determine the wading height of the target vehicle door based on the slope of the road on which the vehicle is traveling and the first height.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the target reference point and the target vehicle component are in the same horizontal plane, and the determination module is specifically further used for any one of the following: when the road slope indicates that the vehicle is traveling on an uphill section, determining the first product between the first distance and the sine value of the road slope; determining the difference between the first height and the first product as the wading height of the target door, the first distance being the horizontal distance when the target vehicle component and the target reference point are in the same horizontal plane; when the road slope indicates that the vehicle is traveling on a downhill section, determining the sum of the first height and the first product as the wading height of the target door; when the road slope indicates that the vehicle is traveling on a flat road, determining the first height as the wading height of the target door.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine whether there is a water accumulation area in front of the vehicle based on the environmental image in front of the vehicle; when there is a water accumulation area in front of the vehicle, determine the driving intention of the vehicle; when the driving intention indicates that the vehicle will pass through the water accumulation area, determine that the vehicle enters the wading mode.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically further used for any one of the following: determining the driving intention of the vehicle based on the navigation information on the vehicle; determining the driving intention of the vehicle based on the steering wheel rotation angle and the current position of the vehicle.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to determine the pressure of the accumulated water on the target vehicle door during the process of the target vehicle door moving from the fully locked position to the over-locked position; the control module is also used to control the target vehicle door to remain in the current position when the pressure is less than the preset pressure.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the target door to remain in the current position, the control module is also used to: when the vehicle's driving speed is greater than a preset speed, control the target door to adjust from the current position to the fully locked position; when the wading height of the target door is greater than a second preset height within a preset time period, control the target door to adjust from the current position to the fully locked position.

[0029] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0030] In a fourth aspect, a computer-readable storage medium is provided, which stores an executable program code. When the executable program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a scenario in which a vehicle is in a flooded area, provided by an embodiment of the present application;

[0032] Figure 2 is a schematic flow chart of a method for controlling a vehicle door provided in an embodiment of the present application;

[0033] Figure 3 is a schematic diagram of determining the wading height of a target vehicle door provided by an embodiment of the present application;

[0034] Figure 4 is a schematic diagram of determining a first preset height provided in an embodiment of the present application;

[0035] Figure 51 is a schematic structural diagram of a vehicle door control device provided in an embodiment of the present application;

[0036] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0038] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0039] Figure 1 This is a schematic diagram of a scenario in which a vehicle is in a flooded area, provided in an embodiment of the present application.

[0040] Nowadays, people are increasingly demanding vehicles' water-wading capabilities and intelligent door control. When a vehicle user closes the door and passes through a flooded area, the wading depth of the door may exceed the threshold height, and water may enter the vehicle, seriously affecting the user's driving experience.

[0041] For example, Figure 1 The door sill height and water level shown in the figure are used as an example to describe the scene when the vehicle is wading. Figure 1 When the threshold reaches the height shown, accumulated water can easily enter the car through the gap a next to the door, which may easily cause a short circuit in the vehicle, which will seriously affect the user's driving experience.

[0042] Therefore, there is an urgent need for a method to control the car door in a timely manner to prevent water from seeping into the car and improve the driving experience of the vehicle when wading. The following is a method for controlling the car door proposed in this application. For details, please refer to Figure 2 shown.

[0043] Figure 2 This is a schematic flowchart of a method for controlling a vehicle door provided in an embodiment of the present application.

[0044] It should be understood that the method for controlling a vehicle door provided in the embodiment of the present application can be applied to Figure 1 The vehicle shown. Specifically, the method for controlling vehicle doors can be applied to a target controller in the vehicle, which is any one of a vehicle controller and a body domain controller in the vehicle. The body domain controller is used to control various vehicle components in the vehicle. In some embodiments, the vehicle components include lights, wipers, windows, rearview mirrors, seats, vehicle air conditioners, doors, Bluetooth devices, steering wheels, brake pedals, wheels, sunshades on windows, and various types of vehicle screens. In the present application, when the target controller is a body domain controller, the body domain controller is used to control the door locks on the vehicle doors.

[0045] For example, Figure 2 As shown, the method 200 includes:

[0046] Step 201 : When a vehicle enters a wading mode, the vehicle determines a wading height of a target door in the vehicle, where the wading height is a vertical distance between a target reference point on the target door and the water surface.

[0047] It should be understood that the "wading mode" in step 201 is a mode activated when the vehicle detects that the wading height of the target door is approaching a critical depth. Once this wading mode is activated, the vehicle controls the vehicle components to minimize water from entering the vehicle, preventing short circuits in the vehicle, reducing maintenance costs, and improving the user experience.

[0048] It should also be understood that the slope of the road on which the vehicle is traveling may be within a certain angular range. In some embodiments, this angular range is (-65°, 65°). When the vehicle is traveling on an uphill or downhill section, the heights of different vehicle components in the vehicle are different, the vertical distances between different vehicle components and the water surface are also different, and the vertical distances between reference points on different vehicle doors and the water surface are also different. Therefore, this method discusses the wading height of a certain door (target door) in the vehicle. The "wading height of the target door" in step 201 above can be specifically understood as: the vertical distance between a reference point (target reference point) on the target door and the water surface. The angular range of the road slope corresponding to the uphill section is (0°, 65°); the angular range of the road slope corresponding to the downhill section is (-65°, 0°).

[0049] The process of "the vehicle determining the wading height of the target door" is described in detail below.

[0050] In one possible implementation, the vehicle in step 201 determines the wading height of a target door in the vehicle, including: the vehicle detects a first height between a target vehicle component and a water surface using a ranging sensor installed in the vehicle, wherein the detection direction of the ranging sensor is a vertically downward direction; and the vehicle determines the wading height of the target door based on the slope of the road on which the vehicle is traveling and the first height.

[0051] It should be understood that the "distance measuring sensor" in the above solution refers to a sensor installed in the vehicle, and the detection direction of the distance measuring sensor is vertically downward. In some embodiments, the distance measuring sensor is placed inside the target vehicle component. The vehicle determines the vertical distance between itself and the water surface, detected by the distance measuring sensor, as the first height between the target vehicle component (the geometric center thereof) and the water surface.

[0052] In the above technical solution, when the vehicle enters wading mode, the method uses a distance measuring sensor installed in the vehicle to detect a first height between the target vehicle component and the water surface. When the vehicle is on a road with a specific road slope, the relative position of the target vehicle component and the target vehicle door is determined, and the detection direction of the distance measuring sensor is vertically downward. Therefore, the wading height of the target vehicle door can be accurately determined based on the road slope and the first height.

[0053] In some embodiments, the ranging sensor is an ultrasonic liquid level sensor.

[0054] In some embodiments, the ranging sensor is an ultrasonic liquid level sensor, and the vehicle detects a first height between a target vehicle component and a water surface through the ranging sensor installed in the vehicle, including: the vehicle transmits an ultrasonic wave to the water surface through the probe of the ultrasonic liquid level sensor, and receives the ultrasonic wave reflected back from the water surface; the vehicle determines the time difference between transmitting the ultrasonic wave and receiving the ultrasonic wave reflected back from the water surface; the vehicle determines the first height as the product of the time difference, the propagation speed of the ultrasonic wave and the first numerical value.

[0055] It should be understood that the first value in the above scheme is 0.5. It should also be understood that the principle of distance measurement of the ultrasonic liquid level sensor is the ultrasonic pulse echo method, in which the probe of the ultrasonic liquid level sensor transmits an ultrasonic wave, and when the ultrasonic wave encounters an obstacle, the ultrasonic wave will be reflected. The ultrasonic liquid level sensor measures distance by the time difference between the transmitted ultrasonic wave and the received reflected ultrasonic wave, and the propagation speed of the ultrasonic wave. Among them, the obstacle is the water surface, which can reflect ultrasonic waves. This is because water is a transparent medium, and when ultrasonic waves are irradiated on the water surface, reflection occurs. This reflection is caused by the total reflection of ultrasonic waves between two different media (here water and air). When the ultrasonic wave enters the water surface at an appropriate angle, it will be completely reflected back into the air, forming a reflection.

[0056] In some embodiments, the ultrasonic wave emitted by the probe is a frequency-modulated ultrasonic wave, and the vehicle determines the time difference between the emitted ultrasonic wave and the ultrasonic wave reflected back by the water surface, including: the vehicle determines the frequency difference between the frequency of the frequency-modulated ultrasonic wave reflected back by the water surface and the frequency of the emitted frequency-modulated ultrasonic wave; the vehicle determines the time difference between the emitted ultrasonic wave and the ultrasonic wave reflected back by the water surface based on the frequency difference and the correspondence between the sample frequency difference and the sample time difference.

[0057] In some embodiments, the target vehicle component is a rearview mirror.

[0058] In one possible implementation, the target reference point and the target vehicle component are in the same horizontal plane, and the vehicle determines the wading height of the target door based on the road slope on which the vehicle is traveling and the first height, including any one of the following: when the road slope indicates that the vehicle is traveling on an uphill section, the vehicle determines a first product between a first distance and the sine value of the road slope; the vehicle determines the difference between the first height and the first product as the wading height of the target door, and the first distance is the horizontal distance when the target vehicle component and the target reference point are in the same horizontal plane; when the road slope indicates that the vehicle is traveling on a downhill section, the vehicle determines the sum of the first height and the first product as the wading height of the target door; when the road slope indicates that the vehicle is traveling on a flat road, the vehicle determines the first height as the wading height of the target door.

[0059] It should be understood that the phrase "the target reference point and the target vehicle component are at the same horizontal plane" in the above solution can be specifically understood as: when the vehicle is on a flat road, the target reference point and the target vehicle component are at the same height. The flat road has a road slope of 0°.

[0060] It should also be understood that for the above scheme, when the road slope is in the angle range (0°, 65°), the road slope indicates that the vehicle is traveling on an uphill section; when the road slope is in the angle range (-65°, 0°), the road slope indicates that the vehicle is traveling on a downhill section; when the road slope is 0°, the road slope indicates that the vehicle is traveling on a flat road.

[0061] In the above technical solution, the wading height is specifically the vertical distance between the target reference point on the target vehicle door and the water surface, and the target reference point and the target vehicle component are in the same horizontal plane. This method uses the vertical distance from the target reference point to the water surface as the wading height of the target vehicle door. The road on which the vehicle is located may have different slopes, so this method determines the wading height of the target vehicle door in different ways. Based on the known distance information (the horizontal distance (first distance) and first height when the target vehicle component and the target reference point are in the same horizontal plane) and angle information (road slope), a right triangle is constructed, and the Pythagorean theorem of the right triangle is used to determine the wading height of the target vehicle door. Specifically, when the road slope indicates that the vehicle is traveling on an uphill section, a first product between the first distance and the sine value of the road slope is determined; the difference between the first height and the first product is determined as the wading height of the target vehicle door; when the road slope indicates that the vehicle is traveling on a downhill section, the sum of the first height and the first product is determined as the wading height of the target vehicle door; when the road slope indicates that the vehicle is traveling on a flat road, the vertical distances from the target vehicle component and the target reference point to the water surface are the same, and the first height can be determined as the wading height of the target vehicle door. Through the above multiple methods, the wading height of the target vehicle door can be comprehensively determined when the vehicle is on roads of different slopes.

[0062] Figure 3 This is a schematic diagram of determining the wading height of a target vehicle door provided in an embodiment of the present application.

[0063] For example, Figure 3 As shown in (a), the target door is the right rear door of the vehicle, the target vehicle component is the right rearview mirror, the road slope ∠1 is 30°, when the vehicle is driving on an uphill section of the road slope, the first height between the target vehicle component and the water surface is h1, and the horizontal distance (first distance) when the target vehicle component and the target reference point are on the same horizontal plane is l1. As an example, the process of determining the wading height of the target door is described. Figure 3 In the right triangle shown in (a), the vehicle determines the first product between the first distance l1 and the sine value of the road slope ∠1, that is, the distance between the right rearview mirror and the target reference point in the vertical direction; the vehicle determines the difference between the first height h1 and the first product (the distance between the right rearview mirror and the target reference point in the vertical direction) as the vertical distance between the target reference point and the water surface, that is, the wading height of the right rear door.

[0064] For example, Figure 3As shown in (b), the target door is the right rear door of the vehicle, the target vehicle component is the right rearview mirror, the road slope ∠2 is -20°, when the vehicle is driving on a downhill section of the road slope, the first height between the target vehicle component and the water surface is h2, and the horizontal distance (first distance) when the target vehicle component and the target reference point are on the same horizontal plane is l1. As an example, the process of determining the wading height of the target door is described. Figure 3 In the right triangle shown in (b), the vehicle determines the first product between the first distance l1 and the sine value of the road slope ∠2, that is, the distance between the right rearview mirror and the target reference point in the vertical direction; the vehicle determines the sum of the first height h2 and the first product (the distance between the right rearview mirror and the target reference point in the vertical direction) as the vertical distance between the target reference point and the water surface, that is, the wading height of the right rear door.

[0065] For example, Figure 3 As shown in (c) of the figure, the target door is the right front door of the vehicle, the target vehicle component is the right rearview mirror, and the road slope is 0°. When the vehicle is traveling on a flat road with this road slope, the first height between the target vehicle component and the water surface is h3, and the horizontal distance (first distance) when the target vehicle component and the target reference point are on the same horizontal plane is l2. The process of determining the wading height of the target door is described. When the vehicle is traveling on a flat road, the vertical distance between the target reference point and the water surface is the same as the first height h3 between the target vehicle component and the water surface. Therefore, the first height h3 can be determined as the vertical distance between the target reference point and the water surface, i.e., the wading height of the right front door.

[0066] The process of determining whether the vehicle enters the wading mode is described in detail below.

[0067] In some embodiments, the method for determining that the vehicle enters the wading mode includes: the vehicle determines that the vehicle enters the wading mode in response to a vehicle user triggering an operation of a wading function in the vehicle.

[0068] Optionally, the wading function is triggered by clicking a target button on the vehicle display screen, or by voice, or by a target gesture.

[0069] In one possible implementation, the method for determining whether the vehicle enters the wading mode includes: the vehicle determines whether there is a water accumulation area in front of the vehicle based on an image of the environment in front of the vehicle; when there is a water accumulation area in front of the vehicle, the vehicle determines the driving intention of the vehicle; when the driving intention indicates that the vehicle will pass through the water accumulation area, the vehicle determines that the vehicle enters the wading mode.

[0070] It should be understood that the "vehicle's driving intention" in the above solution refers to the future driving state of the vehicle, including the driving route. It should also be understood that the future driving state of the vehicle can be inferred by detecting the driving behavior of the driver in the vehicle at the current time.

[0071] In the above technical solution, the method can accurately determine whether there is a waterlogged area ahead of the vehicle using images of the environment ahead of the vehicle. Furthermore, the method can accurately predict the vehicle's trajectory based on the vehicle's driving intention. Therefore, if there is a waterlogged area ahead of the vehicle and the vehicle's driving intention indicates that the vehicle will pass through the waterlogged area, it can accurately determine that the vehicle has entered the wading mode.

[0072] In some embodiments, the vehicle determines whether there is a water accumulation area in front of the vehicle based on the environmental image in front of the vehicle, including: the vehicle extracts features from the environmental image to obtain extracted features; the vehicle compares the extracted features with target features, where the target features include color features and texture features for describing the water surface; when the similarity between the extracted features and the target features is greater than or equal to a preset similarity, the vehicle determines that there is a water accumulation area in front of the vehicle; when the similarity between the extracted features and the target features is less than the preset similarity, the vehicle determines that there is no water accumulation area in front of the vehicle.

[0073] In one possible implementation, the vehicle determines the driving intention of the vehicle, including any one of the following: the vehicle determines the driving intention of the vehicle based on navigation information on the vehicle; the vehicle determines the driving intention of the vehicle based on the steering wheel angle and the current position of the vehicle.

[0074] It should be understood that in the above scheme, when the driving intention of the vehicle includes a driving route, the current position of the vehicle is used to determine the starting position of the driving route, and the steering wheel rotation angle is used to determine the direction of the driving route.

[0075] In the above technical solution, the vehicle's current navigation information can indicate the vehicle's upcoming destination and route. Therefore, the method can accurately determine the vehicle's driving intention based on the navigation information. Alternatively, the driver's current driving behavior information can also indicate the vehicle's future driving intention. Therefore, the method can also accurately determine the vehicle's driving intention based on the steering wheel angle and the vehicle's current location.

[0076] In some embodiments, the vehicle determines the driving intention of the vehicle based on navigation information on the vehicle, including: the vehicle determines the driving intention of the vehicle based on the navigation route in the navigation information.

[0077] In some embodiments, the vehicle determines the driving intention of the vehicle based on the steering wheel's turning angle and the vehicle's current position, including: the vehicle determines the turning angle of the front wheels of the vehicle based on the steering wheel's turning angle and the target transmission ratio, the target transmission ratio being the transmission ratio between the steering wheel and the front wheels; the vehicle determines the vehicle's future driving route based on the front wheel's turning angle and the vehicle's current position.

[0078] In step 202 , when the wading height is less than a first preset height, the vehicle controls the target door to move from a fully locked position to an over-locked position, where the over-locked position indicates that a negative step difference exists between the target door and the vehicle body.

[0079] It should be understood that the "target door" in step 202 is a self-priming door, which is a door that automatically closes to a fully closed position when the door is not properly closed. Wherein, "the door is not properly closed" means that the door has not reached the fully locked position (fully closed position).

[0080] In some embodiments, when a vehicle user closes a door and pulls the door to a position that is not completely closed (a semi-locked position), the self-priming door automatically closes to a fully locked position.

[0081] It should also be understood that the "fully locked position" in step 202 refers to the position where the pawl in the door lock of the target door engages the first lock tongue on the ratchet wheel when the target door is fully closed; the "overlocked position" refers to the position where the pawl engages the second lock tongue on the ratchet wheel when the target door is closed more tightly, with the second lock tongue being closer to the inside of the target door than the first lock tongue. It should also be understood that the process of "the target door moving from the fully locked position to the overlocked position" in step 202 can be considered the process of the lock body actuator in the door lock of the target door performing an over-priming process.

[0082] It should also be understood that the "vehicle body" in step 202 refers to the vehicle's body shell mounted on the vehicle's chassis, and the "step difference" in step 202 refers to the difference between two planes in the vehicle, such as the level difference between the left rear door and the left rear side panel. The phrase "a negative step difference exists between the target door and the vehicle body" in step 202 means that the target door is located at a lower level than the body shell, and the target door is embedded in the vehicle body.

[0083] The process of “the vehicle controlling the target door to move from the fully locked position to the over-locked position” is described in detail below.

[0084] In one possible implementation, the vehicle in step 202 controls the target door to move from a fully locked position to an over-locked position, including: the vehicle controls the ratchet in the door lock of the target door to move from a current gear position to a target gear position, and when the ratchet is in the current gear position, the target door is in the fully locked position; and when the ratchet is in the target gear position, the target door is in the over-locked position.

[0085] In the above technical solution, the method controls the ratchet in the door lock to move from the current gear to the target gear. In this way, during the gear change process of the ratchet, the target door will be able to press the sealing strip more and more tightly, thus preventing accumulated water from easily entering the vehicle through the target door.

[0086] In some embodiments, the vehicle controls the ratchet in the door lock of the target door to move from the current gear position to the target gear position, including: the vehicle controls the locking transmission rocker in the door lock of the target door to continue to rotate, so as to drive the ratchet to continue to rotate, so that the pawl is adjusted from a state of engagement with the first lock tongue on the ratchet to a state of engagement with the second lock tongue on the ratchet, so that the target door moves from the fully locked position to the over-locked position, when the pawl engages with the first lock tongue on the ratchet, the target door is in the fully locked position, the ratchet is in the current gear position, when the pawl engages with the second lock tongue on the ratchet, the target door is in the over-locked position, the ratchet is in the target gear position, and the second lock tongue is closer to the inside of the target door than the first lock tongue.

[0087] It should be understood that in the above embodiment, since the second locking tongue is closer to the inside of the target door than the first locking tongue, the process in which the pawl adjusts from being engaged with the first locking tongue on the ratchet to being engaged with the second locking tongue on the ratchet is a process in which the target door is gradually adjusted from being fully closed to being more tightly closed. Therefore, when the target door in the vehicle is in a flooded area at the wading height, water will not easily enter the vehicle through the target door.

[0088] In the above technical solution, the method controls the lock drive rocker in the door lock to continue rotating, thereby driving the ratchet to continue rotating. As the ratchet rotates, the pawl adjusts from being engaged with the first locking tongue on the ratchet to being engaged with the second locking tongue on the ratchet. When the pawl engages the first locking tongue on the ratchet, the target door is in the fully locked position, with the second locking tongue closer to the inside of the target door than the first locking tongue. Therefore, this method allows the target door to better compress the sealing strip, preventing accumulated water from easily entering the vehicle through the target door.

[0089] The process of determining the "first preset height" is described in detail below.

[0090] In some embodiments, the method for determining the first preset height in step 202 includes any one of the following: when the road slope indicates that the vehicle is traveling on a flat road, the vehicle determines the first difference between the second distance and the height of the air suspension in the vehicle as the first preset height, and the second distance is the vertical distance between the target reference point and the ground; when the road slope indicates that the vehicle is traveling on an uphill section or a downhill section, the vehicle determines the first preset height as the product of the first difference and the cosine value of the road slope.

[0091] It should be understood that the first preset height in the above scheme can be understood as the critical height that prevents water from entering the vehicle through the target door during wading. This critical height is related to the slope of the road the vehicle is currently traveling on and must be greater than the height of the vehicle's air suspension. The air suspension is a device that can change the height of the vehicle's chassis by automatically extending or compressing the vehicle's springs by controlling the air compressor and exhaust valves, thereby raising or lowering the vehicle's chassis height. The height of the air suspension refers to the vertical distance between the air suspension and the ground.

[0092] It should also be understood that "the second distance is the vertical distance between the target reference point and the ground" in the above solution can be specifically understood as: the shortest distance between the target reference point and the ground when the vehicle is on a flat road.

[0093] Figure 4 This is a schematic diagram of determining a first preset height provided in an embodiment of the present application.

[0094] For example, Figure 4 As shown in (a) of FIG, the target door is the right front door of the vehicle, the road slope is 0°, when the vehicle is traveling on a flat road with the road slope, the vertical distance (second distance) between the target reference point and the ground is h4, and the height of the air suspension in the vehicle is h5, as an example, the process of determining the first preset height is described. Figure 4 As shown in (a) of FIG, the vehicle determines the first difference between the second distance h4 and the height h5 of the air suspension as the first predetermined height. This is because if the wading height of the target door (the vertical distance between the target reference point and the water surface) is less than the vertical distance between the target reference point and the air suspension, water can easily enter the vehicle through the right front door, and the vertical distance between the target reference point and the air suspension is the first difference between the second distance and the height of the air suspension.

[0095] For example, Figure 4As shown in (b), the target door is the right rear door of the vehicle, the road slope ∠3 is 40°, when the vehicle is driving on an uphill section of the road slope, the vertical distance (second distance) between the target reference point and the ground is h4, and the height of the air suspension in the vehicle is h5, as an example, the process of determining the first preset height is described. Figure 4 For the right triangle shown in (b) in FIG, the vehicle determines the vertical distance between the target reference point and the air suspension based on the road slope ∠3, the first difference, and the Pythagorean theorem of the right triangle. Ultimately, the vehicle obtains that the vertical distance between the target reference point and the air suspension is the product of the first difference and the cosine value of the road slope. The vehicle determines the product of the first difference and the cosine value of the road slope as the first preset height. This is because when the wading height of the target door (the vertical distance between the target reference point and the water surface) is less than the product of the first difference and the cosine value of the road slope, accumulated water can easily enter the vehicle through the right front door.

[0096] For example, Figure 4 As shown in (c), the target door is the right front door of the vehicle, the road slope ∠4 is -30°, when the vehicle is traveling on a downhill section of the road slope, the vertical distance (second distance) between the target reference point and the ground is h4, and the height of the air suspension in the vehicle is h5, as an example, the process of determining the first preset height is described. Figure 4 For the right triangle shown in (c) in the figure, the vehicle determines the vertical distance between the target reference point and the air suspension based on the road slope ∠4, the first difference, and the Pythagorean theorem of the right triangle. Ultimately, the vehicle obtains that the vertical distance between the target reference point and the air suspension is the product of the first difference and the cosine value of the road slope. The vehicle determines the product of the first difference and the cosine value of the road slope as the first preset height. This is because when the wading height of the target door (the vertical distance between the target reference point and the water surface) is less than the product of the first difference and the cosine value of the road slope, accumulated water can easily enter the vehicle through the right front door.

[0097] The process of "the vehicle controlling the target door to exit during the process of the target door moving from the fully locked position to the over-locked position" is described in detail below.

[0098] In some embodiments, the method 200 further includes: during the process of the target door moving from the fully locked position to the over-locked position, the vehicle determines the pressure of the accumulated water on the target door; when the pressure is less than a preset pressure, the vehicle controls the target door to remain in the current position.

[0099] It should be understood that the "water pressure exerted on the target vehicle door" in the above solution can be based on the product of water density, gravitational acceleration, and the wading depth corresponding to the target vehicle door. The wading depth corresponding to the target vehicle door is the difference between the third distance (the vertical distance between the target reference point on the target vehicle door and the ground) and the wading height of the target vehicle door.

[0100] In the above technical solution, as the target door moves from the fully locked position to the overlocked position—that is, as the target door is being closed more tightly—the method detects the pressure of the accumulated water on the target door. If the pressure is less than a preset pressure, the target door is controlled to remain in its current position. In other words, when the pressure of the accumulated water on the target door is low, the depth of the accumulated water is small, and the water will not enter the vehicle through the target door. At this point, there is no need to continue controlling the target door to move toward the overlocked position; instead, the target door can be controlled to remain in its current position. This avoids unnecessary mechanical control processes and reduces energy consumption.

[0101] In some embodiments, the vehicle determines the pressure of the accumulated water on the target door, including: the vehicle determines the difference between the vertical distance between the target reference point on the target door and the ground and the wading height of the target door at the current moment as the wading depth corresponding to the target door at the current moment; the vehicle determines the pressure of the accumulated water on the target door at the current moment based on the product of the density of water, the acceleration of gravity and the wading depth corresponding to the target door at the current moment.

[0102] It should be understood that the "vertical distance between the target reference point on the target door and the ground" and the "density of water" in the above solution are both acquired in advance. The density of water is 1000 (kg / m 3 ); In some embodiments, the method for determining the vertical distance between the target reference point on the target vehicle door and the ground includes: the vehicle determines the vertical distance between the target vehicle component and the ground as the vertical distance between the target reference point and the ground.

[0103] In some embodiments, the vehicle determines the pressure of the accumulated water on the target door, including: the vehicle obtains the pressure of the accumulated water on the target door at the current moment through a pressure sensor installed in the target door.

[0104] In some embodiments, the vehicle controls the target door to remain in the current position, including: controlling the lock transmission rocker in the door lock of the target door to stop rotating, so that the ratchet stops rotating, so that the pawl and the ratchet remain in the current position.

[0105] In some embodiments, after the vehicle controls the target door to remain in the current position, the method 200 further includes any one of the following: when the vehicle's driving speed is greater than a preset speed, the vehicle controls the target door to adjust from the current position to the fully locked position; when the wading height of the target door is greater than a second preset height within a preset time period, the vehicle controls the target door to adjust from the current position to the fully locked position.

[0106] It should be understood that the process of "adjusting the target door from the current position to the fully locked position" in the above solution can be regarded as the process of releasing the self-priming of the lock body actuator in the door lock of the target door.

[0107] In the above technical solution, when the vehicle's driving speed exceeds a preset speed, or when the wading height of the target door exceeds a second preset height for a preset period of time, it can be indicated that the vehicle has exited the flooded area and the water can no longer enter the door. Therefore, the target door can be controlled to adjust from the current position to the fully locked position. In this way, when the vehicle user wants to open the door, the vehicle user can directly open the door from the fully locked position with less force.

[0108] In some embodiments, the vehicle controls the target door to adjust from the current position to the fully locked position, including: the vehicle controls the ratchet to rotate so that the pawl and the ratchet are adjusted from the current position to a position where the pawl and the first lock tongue on the ratchet engage.

[0109] It should be understood that in the method of controlling a vehicle door proposed in the present application, the vehicle user can manually operate a button in the vehicle to control the target door to move from a fully locked position to an over-locked position, or can manually operate a button in the vehicle to control the target door to remain in the current position, and to adjust from the current position to the fully locked position.

[0110] Figure 5 It is a structural schematic diagram of a device for controlling a vehicle door provided in an embodiment of the present application.

[0111] For example, Figure 5 As shown, the apparatus 500 includes:

[0112] Determination module 501: for determining the wading height of a target door in the vehicle when the vehicle enters the wading mode, where the wading height is the vertical distance between a target reference point on the target door and the water surface;

[0113] Control module 502: used for controlling the target door to move from the fully locked position to the over-locked position when the wading height is less than a first preset height, and the over-locked position is used to indicate that there is a negative step difference between the target door and the vehicle body.

[0114] Optionally, the control module 502 is specifically used to control the ratchet in the door lock of the target vehicle door to move from the current gear position to the target gear position, when the ratchet is in the current gear position, the target vehicle door is in the fully locked position, and when the ratchet is in the target gear position, the target vehicle door is in the over-locked position.

[0115] Optionally, the device 500 also includes a detection module for detecting a first height between a target vehicle component and the water surface through a ranging sensor installed in the vehicle, wherein the detection direction of the ranging sensor is a vertically downward direction; the determination module 501 is specifically used to determine the wading height of the target vehicle door based on the slope of the road on which the vehicle is traveling and the first height.

[0116] Optionally, the target reference point and the target vehicle component are in the same horizontal plane, and the determination module 501 is specifically further used for any one of the following: when the road slope indicates that the vehicle is traveling on an uphill section, determining the first product between the first distance and the sine value of the road slope; determining the difference between the first height and the first product as the wading height of the target door, the first distance being the horizontal distance when the target vehicle component and the target reference point are in the same horizontal plane; when the road slope indicates that the vehicle is traveling on a downhill section, determining the sum of the first height and the first product as the wading height of the target door; when the road slope indicates that the vehicle is traveling on a flat road, determining the first height as the wading height of the target door.

[0117] Optionally, the determination module 501 is further specifically used to: determine whether there is a water accumulation area in front of the vehicle based on the environmental image in front of the vehicle; determine the driving intention of the vehicle when there is a water accumulation area in front of the vehicle; and determine whether the vehicle enters the wading mode when the driving intention indicates that the vehicle will pass through the water accumulation area.

[0118] Optionally, the determination module 501 is further specifically used for any one of the following: determining the driving intention of the vehicle based on navigation information on the vehicle; determining the driving intention of the vehicle based on the steering wheel rotation angle and the current position of the vehicle.

[0119] Optionally, the determination module 501 is also used to determine the pressure of the accumulated water on the target door during the process of the target door moving from the fully locked position to the over-locked position; the control module 502 is also used to control the target door to remain in the current position when the pressure is less than a preset pressure.

[0120] Optionally, after controlling the target door to remain in the current position, the control module 502 is further used to: when the vehicle's driving speed is greater than a preset speed, control the target door to adjust from the current position to the fully locked position; when the wading height of the target door is greater than a second preset height within a preset time period, control the target door to adjust from the current position to the fully locked position.

[0121] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0122] For example, Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 603, and the processor 602 is used to call and execute the executable program code 603 to perform a method for controlling a vehicle door.

[0123] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a vehicle door provided in an embodiment of the present application.

[0124] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0125] In the case of dividing each functional module into corresponding functional modules, the device may further include a determination module, a control module, a detection module, etc. It should be noted that all relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0126] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle door, and thus can achieve the same effect as the above-mentioned implementation method.

[0127] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements. The storage module may be used to support the vehicle's execution of executable program code, etc.

[0128] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0129] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle door provided in the above embodiment.

[0130] This embodiment also provides a computer-readable storage medium, which stores executable program code. When the executable program code runs on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0131] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a method for controlling a vehicle door provided in the above embodiment.

[0132] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0133] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0134] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0135] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a vehicle door, characterized in that: The method comprises: When the vehicle enters the wading mode, determining a wading height of a target door in the vehicle, the wading height being a vertical distance between a target reference point on the target door and the water surface; When the wading height is less than a first preset height, the target door is controlled to move from a fully locked position to an over-locked position, where the over-locked position indicates that a negative step difference exists between the target door and the vehicle body.

2. The method according to claim 1, characterized in that The controlling the target door to move from the fully locked position to the over-locked position includes: The ratchet in the door lock of the target door is controlled to move from a current gear position to a target gear position, wherein the target door is in the fully locked position when the ratchet is in the current gear position, and is in the over-locked position when the ratchet is in the target gear position.

3. The method according to claim 1, characterized in that Determining the wading height of the target door in the vehicle includes: detecting a first height between a target vehicle component and a water surface by a distance measuring sensor installed in the vehicle, wherein a detection direction of the distance measuring sensor is a vertically downward direction; The wading height of the target vehicle door is determined based on the slope of the road on which the vehicle is traveling and the first height.

4. The method according to claim 3, characterized in that The target reference point and the target vehicle component are in the same horizontal plane, and determining the wading height of the target vehicle door based on the slope of the road on which the vehicle is traveling and the first height includes any one of the following: When the road slope indicates that the vehicle is traveling on an uphill section, determining a first product between a first distance and a sine value of the road slope; determining a difference between the first height and the first product as the wading height of the target vehicle door, the first distance being a horizontal distance when the target vehicle component and the target reference point are on the same horizontal plane; When the road slope indicates that the vehicle is traveling on a downhill section, determining the sum of the first height and the first product as the wading height of the target vehicle door; When the road slope indicates that the vehicle is traveling on a flat road, the first height is determined as the wading height of the target vehicle door.

5. The method according to claim 1, characterized in that The method for determining whether the vehicle enters the wading mode includes: determining, based on an image of the environment ahead of the vehicle, whether there is a water accumulation area ahead of the vehicle; determining a driving intention of the vehicle when there is a water-logged area ahead of the vehicle; When the driving intention indicates that the vehicle will pass through the flooded area, it is determined that the vehicle enters the wading mode.

6. The method according to claim 5, characterized in that The determining of the driving intention of the vehicle includes any one of the following: determining a driving intention of the vehicle based on navigation information on the vehicle; The driving intention of the vehicle is determined based on the rotation angle of the steering wheel and the current position of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: determining a pressure of accumulated water applied to the target door during movement of the target door from the fully locked position to the over-locked position; When the pressure is less than a preset pressure, the target door is controlled to maintain at a current position.

8. The method according to claim 7, characterized in that After controlling the target door to remain at the current position, the method further includes any one of the following: When the vehicle's running speed is greater than a preset speed, controlling the target door to adjust from the current position to the fully locked position; When the wading height of the target door is greater than a second preset height within a preset time period, the target door is controlled to be adjusted from the current position to the fully locked position.

9. A device for controlling a vehicle door, characterized in that: The device comprises: a determination module, configured to determine, when the vehicle enters a wading mode, a wading height of a target door in the vehicle, the wading height being a vertical distance between a target reference point on the target door and a water surface; The control module is used to control the target door to move from a fully locked position to an over-locked position when the wading height is less than a first preset height. The over-locked position is used to indicate that there is a negative step difference between the target door and the vehicle body.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an executable program code, and when the executable program code is executed, the method according to any one of claims 1 to 8 is implemented.

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