Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of vehicle intelligent control, in particular to a vehicle control method and device, electronic equipment and a storage medium. According to the method provided by the embodiment of the invention, the passive rotation amount of the first vehicle door and / or the second vehicle door is obtained, and whether the vehicle door rotates under the action of external force can be sensed. And when it is detected that the passive rotation amount of the corresponding first vehicle door and / or second vehicle door is not zero, the active rotation function of the first vehicle door and the active rotation function of the second vehicle door are both forbidden. When a user operates the upper and lower vehicle doors at the same time or one vehicle door is rotating and the other vehicle door also starts to rotate due to improper coordination, the active rotation function is forbidden once the passive rotation amount of the vehicle door is detected. Therefore, the problem that in the moving process of the two vehicle doors, due to the fact that active rotation and passive rotation exist at the same time and are not coordinated, the two vehicle doors interfere with each other on the moving track and collide with each other is effectively solved. And the active rotation function is forbidden in time, so that damage to the vehicle door caused by collision is 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 2025103442793. Technical Field

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

[0003] In modern vehicle design, especially for vehicles with specially designed rear doors (such as upper and lower doors), safe operation of the rear doors is crucial. Currently, patent CN104718095B is available. This solution primarily determines whether both doors are in a collision zone during powered articulation. If both doors are stopped within the collision zone, the control device can take measures such as hingedly moving one or both doors out of the collision zone, hingedly moving in opposite directions to a fully open or closed position, or maintaining a stopped state to avoid a collision between the two doors. This solution does not involve detecting abnormal operations such as manual door opening by the user, resulting in an inability to effectively control situations caused by abnormal operations such as manual door opening by the user.

[0004] The proximity of the upper and lower doors and the complexity of electric operation also create a collision risk. When the user operates the rear door, they may simultaneously operate both doors, or one door may begin to rotate while the other is in motion due to a lack of coordination. This uncoordinated operation can cause the upper and lower doors to interfere with each other's trajectory, potentially leading to a collision. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a vehicle control method, device, electronic device, and storage medium to solve the problem of an upper tailgate and a lower tailgate interfering with each other in their motion trajectories, thereby causing a collision.

[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, and the first door can cover and partially overlap the second door by rotating to close the vehicle body; the method includes: when the vehicle is stopped, obtaining a passive rotation amount of the first door and / or the second door, wherein the passive rotation amount is the rotation amount generated when the door is manually pushed or pulled by a user;

[0007] If the corresponding passive rotation amount of the first door and / or the second door is not zero, the active rotation functions of the first door and the second door are disabled by controlling the first drive device and the second drive device, and the vehicle does not execute the active rotation instruction for automatic opening and closing of the door.

[0008] Furthermore, 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 they will not contact each other; after disabling the active rotation functions of the first door and the second door, the method also includes: obtaining the position of the first door and / or the second door; if the first door is located in the safe zone, and / or the second door is located in the safe zone or in a closed position, then allowing the active rotation function of the first door and the second door to be restored.

[0009] Furthermore, the method further includes: if the first door is located in an unsafe zone or in a closed position, and the second door is located in the unsafe zone, continuing to disable the active rotation function of the first door and the second door.

[0010] Furthermore, disabling the active rotation function of the first door and the second door includes:

[0011] Obtaining a starting time of passive rotation of the first door and / or the second door;

[0012] At the starting moment, the active rotation functions of the first door and the second door are disabled.

[0013] Furthermore, disabling the active rotation function of the first door and the second door includes:

[0014] Obtaining a stop moment when the first door and / or the second door stops passively rotating;

[0015] Active rotation functions of the first door and the second door are disabled at the stopping moment.

[0016] 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 them, and a safe zone where they do not contact each other; the vehicle further comprises a sensor communicatively connected to the controller, the sensor being configured to obtain a passive rotation amount of the first door and / or the second door when the vehicle is in a stopped state, wherein the passive rotation amount is the rotation amount generated when the door is manually pushed or pulled by a user;

[0017] The controller is used to control the first drive device and the second drive device to disable the active rotation functions of the first door and the second door when the passive rotation amount of the corresponding first door and / or second door is not zero, and the vehicle does not execute the active rotation instruction for automatic opening and closing of the door.

[0018] Furthermore, the sensor is further configured to detect the position of the first vehicle door and / or the second vehicle door;

[0019] The controller is configured to allow restoration of the active rotation function of the first door and the second door when the sensor detects that the first door is located in the safety zone and / or the second door is located in the safety zone or in a closed position.

[0020] Furthermore, when the sensor detects that the first door is located in an unsafe zone or in a closed position, and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

[0021] Furthermore, the controller is used to obtain the starting moment of the passive rotation of the first door and / or the second door; and disable the active rotation function of the first door and the second door at the starting moment.

[0022] Furthermore, the controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

[0023] 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.

[0024] 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.

[0025] The method provided in the embodiment of the present application can sense whether the doors are rotated by external force by obtaining the passive rotation amount of the first door and / or the second door. When it is detected that the passive rotation amount of the corresponding first door and / or the second door is not zero, the active rotation function of the first door and the second door is disabled. That is, when the user operates the upper and lower doors at the same time, or when one door is rotating, the other door also starts to rotate due to improper coordination, once the passive rotation amount of the door is detected, the active rotation function is disabled. This effectively avoids the problem of the two doors interfering with each other on the motion trajectory and causing collisions due to the simultaneous existence and lack of coordination of active and passive rotation during movement. By disabling the active rotation function in a timely manner, damage to the doors caused by collisions is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention;

[0028] 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;

[0029] 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;

[0030] Figure 4 is a schematic diagram of a first vehicle door and a second vehicle door when both are closed according to some embodiments of the present invention;

[0031] Figure 5is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention;

[0032] Figure 6 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention;

[0033] Figure 7 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention;

[0034] Figure 8 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0035] Figure 9 is a flow chart of another vehicle control method according to an embodiment of the present invention;

[0036] Figure 10 is a flow chart of another vehicle control method according to an embodiment of the present invention;

[0037] Figure 11 is a flow chart of another vehicle control method according to an embodiment of the present invention;

[0038] Figure 12 is a flow chart of another vehicle control method according to an embodiment of the present invention;

[0039] Figure 13 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] According to an embodiment of the present invention, a vehicle control method, device, electronic device and 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.

[0042] The embodiment of the present application provides a vehicle, such as Figure 1As 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.

[0043] 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.

[0044] like Figure 4 As shown, 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 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 contact each other during the door rotation process, which is usually caused by reasons such as the movement trajectory and angle change of the door. The safe zone refers to the area where the two doors will not contact each other during the door rotation.

[0045] In the embodiment of the present application, the vehicle further includes a sensor 16 communicatively connected to the controller 13 , and the sensor 16 is used to detect the passive rotation amount of the first door 11 and / or the second door 12 .

[0046] The controller 13 is configured to control the first driving device and the second driving device to disable the active rotation function of the first door and the second door when the sensor detects that the passive rotation amount of the corresponding first door and / or second door is not zero.

[0047] 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.

[0048] After receiving the electrical signal fed back by the Hall effect element, the controller 13 determines whether the passive rotation amount of the first door 11 and / or the second door 12 is zero. If the controller 13 determines that the passive rotation amount of the first door 11 and / or the second door 12 is not zero, the controller 13 issues a control instruction to respectively control the first drive device 14 and the second drive device 15. This instruction causes the first drive device 14 and the second drive device 15 to disable the active rotation function of the first door 11 and the second door 12. In other words, the doors are no longer driven to rotate by the instruction previously set by the controller 13. Instead, they are in a relatively static state after being affected by external passive rotation, or are only affected by external forces.

[0049] The solution of this application is applicable to scenarios where the vehicle doors are stationary or in motion. By acquiring the passive rotation amount of the first and / or second vehicle doors, the vehicle door status is monitored in real time. Regardless of whether the vehicle doors are stationary or in motion, as long as the passive rotation amount is non-zero, it indicates that the vehicle doors have been rotated by an external force.

[0050] As an example, Figure 5 As shown, the user pulls the first door 11 by hand, causing the door to passively rotate. The sensor 16 captures the change in the passive rotation amount of the first door 11 and transmits this data to the controller 13 via the communication line. After receiving the data, the controller 13 determines that the passive rotation amount of the first door 11 is not zero. Immediately, the controller 13 issues a command to control the first drive device and the second drive device through the communication connection, so that the active rotation function of the first door 11 and the second door 12 are both disabled. In this way, even if the vehicle is originally set with active rotation instructions such as automatic door opening and closing, when the door is passively rotated by external force, there will be no conflict between active rotation and passive rotation.

[0051] In an embodiment of the present application, the sensor is also used to detect the position of the first door and / or the second door; the controller is used to allow the active rotation function of the first door and the second door to be restored when the sensor detects that the first door is in a safe zone and / or the second door is in a safe zone or in a closed position.

[0052] Specifically, the sensor 16 continuously detects the positions of the first door 11 and the second door 12 in real time. During the detection process, it is necessary to clearly identify the specific position information of the safety zone (i.e., the area where the first door and the second door do not contact each other during rotation) and the closed position (when the doors are fully closed).

[0053] When the position of the first door 11 and / or the second door 12 changes, the sensor connected to the door drive device senses the corresponding change and feeds back electrical signals related to the positions of the first door 11 and the second door 12 to the controller 13. After receiving the electrical signals fed back by the sensors, the controller 13 determines whether the first door 11 is in the safety zone and whether the second door 12 is in the safety zone or in the closed position.

[0054] If the controller 13 determines that the first door 11 is located in a safe area, or the second door 12 is located in a safe area, or the second door 12 is in a closed position (any of the above conditions is met), the controller 13 issues an instruction to allow the active rotation function of the first door 11 and the second door 12 to be restored.

[0055] After receiving the instruction from the controller 13 allowing the restoration of the active rotation function, the first driving device and the second driving device restart the relevant mechanism so that the first door 11 and the second door 12 can actively rotate according to the instruction.

[0056] As an example, Figure 6 As shown, a parking lot scenario is used as an example. A user opens the second door, and another vehicle approaches from behind, preventing the user from fully closing the second door, placing the door in an unsafe zone. The vehicle's sensors monitor the door position and continuously transmit data to the controller to ensure that the active rotation function is disabled, preventing a collision caused by accidental door operation. After waiting for the vehicle behind to drive away, the user manually closes the second door to the closed position or adjusts both the first and second doors to the safe zone. The sensor captures this position change and feeds the information back to the controller. After analysis and determination, the controller confirms that the first door is in the safe zone and / or that the second door is in the safe zone or closed position. It then issues a command to restore the active rotation function for the first and second doors. The vehicle then performs normal active operations such as automatically opening and closing the doors.

[0057] In the embodiment of the present application, when the sensor detects that the first door is located in the unsafe zone or in the closed position and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

[0058] Specifically, if the controller determines that the first door is in an unsafe zone or in a closed position, and that the second door is also in an unsafe zone, the controller issues a control instruction to continue controlling the first and second drive mechanisms, disabling the active rotation functions of the first and second doors. This means that the doors will not rotate according to the instructions previously set by the controller, and are relatively stationary or only affected by external forces.

[0059] As an example, Figure 7 As shown, a user needs to open a vehicle door to retrieve a package. They first open the first door 11. Due to limited space, the first door 11 rotates into an unsafe zone, lacking sufficient room to fully extend to its normal position. The user then opens the second door 12. However, due to the obstruction of surrounding cargo, the second door 12 is also in the unsafe zone. Sensors on the vehicle monitor the status of both doors and detect that both the first and second doors 11 and 12 are in the unsafe zone. These positional information is then transmitted to the controller. Based on pre-defined logic, the controller determines that the current scenario meets the conditions for disabling the active rotation function. It immediately issues commands to the actuators controlling the rotation of the first and second doors, maintaining the active rotation function. Even if the vehicle is programmed to automatically open or close the tailgate, it will not automatically rotate in this unsafe position, effectively preventing collisions between the doors and surrounding cargo or shelves.

[0060] In an embodiment of the present application, the controller is used to obtain the starting moment of the passive rotation of the first door and / or the second door; at the starting moment, the active rotation function of the first door and the second door is disabled.

[0061] Specifically, when the first and / or second door begins to passively rotate due to external factors, a sensor connected to the door drive device senses the rotation of the motor. The sensor converts this rotation into an electrical signal and feeds it back to the controller. After receiving the electrical signal, the controller analyzes and processes it to determine the start time of the passive rotation of the first and / or second door. The start time is the initial point in time when the passive rotation of the door begins.

[0062] After determining the start time for passive rotation of the first and / or second doors, the controller issues a control command. This command acts simultaneously on the first and second drive devices, disabling the active rotation functions of the first and second doors. In other words, the first and second drive devices no longer drive the doors according to the previous command. The movement of the doors is now determined solely by passive forces applied by the outside world, resulting in a relatively free rotation state (affected only by external forces).

[0063] In an embodiment of the present application, the controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

[0064] Specifically, when the first and / or second doors passively rotate due to external factors, a sensor connected to the door drive device senses the motor's rotational changes and converts them into electrical signals that are fed back to the controller. Upon receiving these signals, the controller determines that the doors are in the passive rotation state and begins tracking the passive rotation of the doors.

[0065] While continuously tracking the passive rotation of the doors, the sensors continuously feed electrical signals indicating the door's rotational status back to the controller. Based on the changes in the received signals, the controller uses a pre-set determination mechanism (e.g., determining that the doors have stopped passive rotation when the detected rotational change is zero for a continuous period of time) to determine the stop time of the first and / or second door's passive rotation. This stop time indicates that the doors are no longer subject to rotation caused by external passive forces.

[0066] After determining the stop time for the passive rotation of the first and / or second doors, the controller issues a control command. This command acts simultaneously on the first and second drive devices, disabling the active rotation functions of the first and second doors. In other words, the first and second drive devices no longer drive the doors according to the previous command. The movement of the doors is now determined solely by passive forces applied by the outside world, resulting in a relatively free rotation state (affected only by external forces).

[0067] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 8 As shown, the process includes the following steps:

[0068] Step S101: Acquire the passive rotation amount of the first door and / or the second door.

[0069] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., it will drive the motor to rotate. The Hall element can sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0070] Step S102: If the acquired passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0071] In an embodiment of the present application, after the controller obtains the passive rotation amount of the first door and / or the second door, it analyzes and judges it. If it is found that the passive rotation amount of the first door or the second door is not zero, it indicates that the door has been interfered with by the outside world. At this time, the controller will immediately issue a control instruction, and act on the drive devices of the first door and the second door at the same time, that is, the first drive device and the second drive device. After receiving the instruction, the two drive devices perform corresponding operations, and both disable the active rotation function of the first door and the second door, so that the vehicle's own drive system no longer drives the door to rotate according to the previously set instructions. The door enters a state that is only affected by the passive force of the outside world, and after being disabled, the Hall element continues to monitor the door rotation state, and the controller further determines whether the conditions for restoring the active rotation function are met based on the new information.

[0072] The method provided in the embodiment of the present application can sense whether the doors are rotated by external force by obtaining the passive rotation amount of the first door and / or the second door. When it is detected that the passive rotation amount of the corresponding first door and / or the second door is not zero, the active rotation function of the first door and the second door is disabled. That is, when the user operates the upper and lower doors at the same time, or when one door is rotating, the other door also starts to rotate due to improper coordination, once the passive rotation amount of the door is detected, the active rotation function is disabled. This effectively avoids the problem of the two doors interfering with each other on the motion trajectory and causing collisions due to the simultaneous existence and lack of coordination of active and passive rotation during movement. By disabling the active rotation function in a timely manner, damage to the doors caused by collisions is avoided.

[0073] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 9 As shown, the process includes the following steps:

[0074] Step S201: Obtain the passive rotation amount of the first door and / or the second door.

[0075] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Since the door is connected to the drive device, when the door is subjected to external forces such as manual pushing and pulling by the user, collision with external objects, etc. that are not actively applied by the vehicle's own drive system, and then produces passive rotation, this rotation will drive the motor connected to it to rotate. At this time, the Hall element can keenly sense the rotation changes of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving these signals, the controller further converts the electrical signals into specific passive rotation amount data such as rotation angle and rotation speed through specific algorithms and processing procedures, and finally realizes the acquisition of the passive rotation amount of the first door and / or the second door.

[0076] Step S202: If the acquired passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0077] In this embodiment of the present application, if the passive rotation amount of the first or second door is non-zero, it indicates that the door has been subjected to external interference, such as manual pushing or pulling by the user, collision with an external object, or other such interference. In this case, the controller issues a control command, which is simultaneously transmitted to the respective drive devices of the first and second doors, namely, the first drive device and the second drive device. Upon receiving the command, the two drive devices disable the active rotation function of the first and second doors.

[0078] Based on this, the vehicle's own drive system no longer drives the door according to the previously set instructions, and the door is only affected by the passive force applied by the outside world. After the active rotation function is disabled, the Hall effect element will continue to monitor the door's rotation status and feed back the new information to the controller. The controller uses this new information to determine whether the conditions for resuming active rotation are met.

[0079] Step S203: Acquire the position of the first door and / or the second door.

[0080] In an embodiment of the present application, the position of the first and / or second doors is determined by utilizing specific sensors mounted on the vehicle doors and related structures. These sensors can operate based on a variety of principles, such as photoelectric sensing, magnetic sensing, and the like. When the position of a vehicle door changes, the sensor generates a corresponding signal change due to the change in the relative position of the door and surrounding components. For example, a photoelectric sensor may generate a signal by detecting the degree to which the door blocks light. The sensor then transmits a signal representing the real-time position of the door to a controller.

[0081] The controller uses pre-set decoding rules and calculation procedures to analyze and process the received signals, converting the signals into intuitive door position information, such as the current opening angle of the door, the angle to be rotated to fully close, etc., thereby successfully obtaining the position of the first door and / or the second door.

[0082] Step S204: If the first door is located in the safety zone, and / or the second door is located in the safety zone or in the closed position, the active rotation function of the first door and the second door is allowed to be restored.

[0083] In this embodiment of the present application, the controller continuously receives and monitors the position information of the first and second doors to determine their positional states. A safety zone is predefined within which the first and second doors will not contact each other when rotating, and the closed position indicates that the doors are fully closed.

[0084] When the controller determines that the first door is in the safe zone, the second door is in the safe zone / closed position, or both, the controller initiates the corresponding control process. The controller sends a command to the actuators of the first and second doors to restore active rotation. Upon receiving this command, the actuators activate the relevant functions, allowing the first and second doors to resume their rotation according to the vehicle's own system instructions.

[0085] The embodiments of the present application obtain the passive rotation amount of the first and / or second doors and disable the active rotation function of the dual doors when the passive rotation amount is non-zero. This effectively avoids conflicts between the vehicle drive system and external interference, prevents door collisions and other problems caused by chaotic drive logic, and improves door safety. Door position information is then continuously acquired, and active rotation is restored when the doors are in a safe zone or closed position, implementing intelligent door control logic. This improves the overall intelligence and ease of use of the vehicle.

[0086] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 10 As shown, the process includes the following steps:

[0087] Step S301: Acquire the passive rotation amount of the first door and / or the second door.

[0088] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Since the door is connected to the drive device, when the door is subjected to external forces such as manual pushing and pulling by the user, collision with external objects, etc. that are not actively applied by the vehicle's own drive system, and then produces passive rotation, this rotation will drive the motor connected to it to rotate. At this time, the Hall element can keenly sense the rotation changes of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving these signals, the controller further converts the electrical signals into specific passive rotation amount data such as rotation angle and rotation speed through specific algorithms and processing procedures, and finally realizes the acquisition of the passive rotation amount of the first door and / or the second door.

[0089] Step S302: If the acquired passive rotation amount of the corresponding first door and / or second door is not zero, the active rotation function of the first door and the second door is disabled.

[0090] In this embodiment of the present application, if the passive rotation amount of the first or second door is non-zero, it indicates that the door has been subjected to external interference, such as manual pushing or pulling by the user, collision with an external object, or other such interference. In this case, the controller issues a control command, which is simultaneously transmitted to the respective drive devices of the first and second doors, namely, the first drive device and the second drive device. Upon receiving the command, the two drive devices disable the active rotation function of the first and second doors.

[0091] Based on this, the vehicle's own drive system no longer drives the door according to the previously set instructions, and the door is only affected by the passive force applied by the outside world. After the active rotation function is disabled, the Hall effect element will continue to monitor the door's rotation status and feed back the new information to the controller. The controller uses this new information to determine whether the conditions for resuming active rotation are met.

[0092] Step S303: Acquire the position of the first door and / or the second door.

[0093] In the embodiments of the present application, specific sensors mounted on the vehicle doors and related structures are used to detect the position of the first and / or second vehicle doors. These sensors can operate based on a variety of principles, such as photoelectric or magnetic sensing. When the position of a vehicle door changes, the sensor generates a corresponding signal change due to the change in the relative position of the door and surrounding components. For example, a photoelectric sensor may generate a signal by detecting the degree to which the door blocks light.

[0094] The sensor sends a signal indicating the real-time position of the door to the controller. The controller analyzes and processes the received signal, converting it into intuitive door position information, such as the current door opening angle and the remaining angle to fully close, thereby successfully determining the position of the first and / or second door.

[0095] Step S304: If the first door is located in the unsafe zone or in the closed position, and the second door is located in the unsafe zone, the active rotation function of the first door and the second door continues to be disabled.

[0096] In this embodiment of the present application, if the controller determines that the first door is in an unsafe zone or is already in the closed position, and the second door is also in the unsafe zone, the controller immediately issues a persistent disabling command. This command is transmitted simultaneously to the drive devices corresponding to the first and second doors. Upon receiving the command, the drive devices continue to disable the active rotation functions of the first and second doors, ensuring that the vehicle's own drive system does not drive the doors to rotate, thereby avoiding safety issues such as collisions caused by the active rotation of the doors.

[0097] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 11 As shown, the process includes the following steps:

[0098] Step S401: Obtain the passive rotation amount of the first door and / or the second door.

[0099] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., it will drive the motor to rotate. The Hall element can sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0100] Step S402: if the acquired passive rotation amount of the corresponding first door and / or second door is not zero, then acquiring the starting time of the passive rotation of the first door and / or second door;

[0101] At the start, the active rotation functions of the first door and the second door are disabled.

[0102] Specifically, when it is detected that the passive rotation amount of the corresponding first door and / or second door is not zero, timing is performed to obtain the starting moment when the first door and / or second door starts to passively rotate. At the same time, the controller issues a disable command. The disable command is simultaneously transmitted to the drive devices corresponding to the first door and the second door. After receiving the command, the drive device immediately responds and executes it, quickly cutting off the power transmission path of the active rotation function, and maintaining the disabled state of the active rotation function of the first door and the second door. This measure ensures that the vehicle's own drive system stops driving the door to rotate at the starting moment when the door is passively rotated by external force, effectively avoiding the simultaneous occurrence of active rotation and passive rotation.

[0103] A vehicle control method is provided in an embodiment of the present application. FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 12 As shown, the process includes the following steps:

[0104] Step S501: Obtain the passive rotation amount of the first door and / or the second door.

[0105] In an embodiment of the present application, a Hall element based on the Hall effect in the motor is used as a sensor to obtain the passive rotation amount of the first door and / or the second door. Because the door is connected to the drive device, when the door is passively rotated by external forces not actively applied by the vehicle's own drive system, such as manual pushing and pulling by the user, collision with external objects, etc., it will drive the motor to rotate. The Hall element can sense the rotation change of the motor and convert it into an electrical signal containing information such as rotation speed and rotation direction, and then feed these electrical signals back to the controller. After receiving the signal, the controller converts the electrical signal into specific passive rotation amount data such as rotation angle and rotation speed, thereby obtaining the passive rotation amount of the first door and / or the second door.

[0106] Step S502: If the passive rotation amount of the corresponding first door and / or second door is not zero, the stop moment of the first door and / or second door stopping the passive rotation is obtained; the active rotation function of the first door and the second door is disabled at the stop moment.

[0107] In an embodiment of the present application, when the passive rotation amount of the first door and / or the second door is 0, it is determined that the first door and / or the second door stops passively rotating, and the stop time of the first door and / or the second door stopping passive rotation is obtained. At the same time as the stop time is obtained, the controller quickly generates a disable instruction and immediately transmits it synchronously to the respective drive devices of the first door and the second door. After receiving the instruction, the drive device quickly executes the operation and immediately disables the active rotation function of the first door and the second door. This process ensures that at the moment the door stops passively rotating, the vehicle's own drive system stops actively driving the door, effectively avoiding damage to the door and safety hazards caused by improper driving, and maintaining the door in a safe and stable state.

[0108] See also Figure 13 , Figure 13 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 13 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize 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, a display device coupled to 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 part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0109] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 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.

[0110] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0111] 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 10, 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.

[0112] 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.

[0113] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0114] 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.

[0115] 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, the vehicle comprising a vehicle body, a first drive device, a second drive device, and a first door and a second door both rotatably connected to the vehicle body; the first drive device and the second drive device are respectively connected and used to drive the first door and the second door to actively rotate relative to the vehicle body; the first door and the second door are also capable of passively rotating relative to the vehicle body, and the first door can cover and partially overlap the second door by rotating to close the vehicle body; characterized in that The method comprises: When the vehicle is in a stopped state, obtaining a passive rotation amount of the first door and / or the second door, wherein the passive rotation amount is an amount of rotation generated when the door is manually pushed or pulled by a user; If the corresponding passive rotation amount of the first door and / or the second door is not zero, the active rotation functions of the first door and the second door are disabled by controlling the first drive device and the second drive device, and the vehicle does not execute the active rotation instruction for automatic opening and closing of the door.

2. The method according to claim 1, characterized in that 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 there is no contact between the first door and the second door; After disabling the active rotation functions of both the first door and the second door, the method further includes: Obtaining the position of the first vehicle door and / or the second vehicle door; If the first door is located in the safety zone, and / or the second door is located 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.

3. The method according to claim 2, characterized in that The method further comprises: If the first door is located in the unsafe zone or in the closed position, and the second door is located in the unsafe zone, the active rotation functions of the first door and the second door continue to be disabled.

4. The method according to claim 1, wherein The disabling of the active rotation functions of the first door and the second door includes: Obtaining a starting time of passive rotation of the first door and / or the second door; At the starting moment, the active rotation functions of the first door and the second door are disabled.

5. The method according to claim 1, wherein The disabling of the active rotation functions of the first door and the second door includes: Obtaining a stop moment when the first door and / or the second door stops passively rotating; Active rotation functions of the first door and the second door are disabled at the stopping moment.

6. 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 a passive rotation amount of the first door and / or the second door when the vehicle is stopped, wherein the passive rotation amount is an amount of rotation generated when the door is manually pushed or pulled by a user; The controller is used to control the first drive device and the second drive device to disable the active rotation functions of the first door and the second door when the passive rotation amount of the corresponding first door and / or second door is not zero, and the vehicle does not execute the active rotation instruction for automatic opening and closing of the door.

7. The vehicle according to claim 6, wherein: The sensor is further configured to detect the position of the first vehicle door and / or the second vehicle door; The controller is configured to allow restoration of the active rotation function of the first door and the second door when the sensor detects that the first door is located in the safety zone and / or the second door is located in the safety zone or in a closed position.

8. The vehicle according to claim 7, wherein: When the sensor detects that the first door is located in an unsafe zone or in a closed position and the second door is located in the unsafe zone, the controller continues to disable the active rotation function of the first door and the second door.

9. The vehicle according to claim 6, characterized in that The controller is used to obtain the starting moment of the passive rotation of the first door and / or the second door; at the starting moment, the active rotation function of the first door and the second door is disabled.

10. The vehicle according to claim 6, characterized in that The controller is used to obtain the stop moment when the first door and / or the second door stops passively rotating; and disable the active rotation function of the first door and the second door at the stop moment.

11. 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 5 by executing the computer instructions.

12. 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 5.

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