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. Through cooperation of the first Hall element, the second Hall element and the corresponding magnetic elements, the position of the door body can be detected again when the whole vehicle is powered off and then powered on, and the problem that position information is lost in an existing scheme is solved. The Hall element is fixed on the opening side frame, the magnetic element is mounted on the vehicle door, and sensing states of the Hall element and the magnetic element can reflect whether the vehicle door enters a collision area in real time to ensure that a central controller accurately masters door body states. And secondly, based on the sensing results of the Hall element and the magnetic element, whether the vehicle door is in a safe area or a non-safe area can be accurately judged, and corresponding control logic is executed, so that the collision or hand clamping risk caused by direct electric control due to information loss is avoided, and the control safety is improved. And finally, stable induction of the Hall element and the magnetic element provides a reliable basis for door body control, the control reliability is guaranteed, and the requirements for safety and stability in practical application are met.

Description

Technical Field

[0001] 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

[0002] There are two existing control schemes for vehicle doors. For example, patent CN119843950A obtains the passive rotation amount of the first door and / or the second door. If the passive rotation amount is non-zero, it actively controls the rotation of one or both doors until they are in the closed position or in the safe zone. Another example is patent CN104718095B, ​​which controls the first drive device and / or the second drive device to achieve collision-avoidance door movement, specifically by moving the door away from the collision zone, moving it in the opposite direction to the fully open or closed position, or keeping it stopped.

[0003] However, both of these solutions share a common problem when the vehicle is powered off. If the central control unit powers off due to user intervention or system anomalies while the door is stopped, the controller responsible for memorizing the door's position will lose this information. Even after powering back on, the central control unit will not know the door's actual position. Furthermore, if the user manually changes the door's position after powering off, the central control unit will not be able to detect this position change upon powering back on.

[0004] Therefore, existing solutions lose door position information when the vehicle is powered off and then back on, preventing the central control system from accurately monitoring the door's status. Direct electronic control of the floor-to-ceiling door can easily lead to safety risks such as door collisions and hand pinching, making it difficult to meet the safety and reliability requirements for door control in real-world applications. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a vehicle control method, device, electronic device and storage medium to solve the problem in existing solutions that when the entire vehicle is powered on again after being powered off, the central control cannot accurately grasp the door status due to the loss of door position information.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle control method, the vehicle including a vehicle body, a first drive device, a second drive device, a first door and a second door, both rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element cooperating with the first Hall element, and a second magnetic element cooperating with the second Hall element; 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, and the first door and the second door define a closed position, a non-safety zone where they may contact each other, and a safety zone where they do not contact each other; The first Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the first door; the second Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the second door; the first magnetic element is disposed in the first door, and the second magnetic element is disposed in the second door; The method comprises: Obtaining whether the first Hall element senses the first magnetic element and obtaining whether the second Hall element senses the second magnetic element, to obtain a sensing result; If the sensing result is that the first Hall element senses the first magnetic element, and / or the second Hall element senses the second magnetic element, it is determined that the corresponding first door and / or second door is located in the safety zone, the active rotation function of the first door and the second door is disabled, and the first drive device and the second drive device are controlled to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position, wherein after the active rotation function of the first door and the second door is disabled, the vehicle does not execute the active rotation instruction for automatic door opening and closing; If the sensing result is that the first Hall element does not sense the first magnetic element, and / or the second Hall element does not sense the second magnetic element, it is determined that the corresponding first door and second door are located in a non-safe area, and the active rotation function of the first door and the second door are disabled.

[0007] Furthermore, the obtaining of whether the first Hall element senses the first magnetic element and the obtaining of whether the second Hall element senses the second magnetic element to obtain the sensing result includes: Receive detection instructions; detecting whether the vehicle is powered on and whether the first door and the second door are in a closed position; If the vehicle is powered on and the first door and the second door are not in the closed position, the detection instruction is responded to to obtain whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element to obtain a sensing result; or, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, the detection instruction is not responded to.

[0008] Furthermore, after controlling the first driving device and the second driving device to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position, the method further includes: The active rotation function of the first door and the second door is restored.

[0009] Furthermore, after the sensing result indicates that the first door and the second door are located in a non-safe zone and the active rotation function of the first door and the second door are disabled, the method further includes: If the first door and the second door are both in the closed position, or the first door and the second door are both in the safety zone, or the first door is in the safety zone and the second door is in the closed position, the active rotation function of the first door and / or the second door is allowed to be restored.

[0010] In a second aspect, an embodiment of the present invention provides a vehicle, comprising a vehicle body, a first drive device, a second drive device, a first door and a second door, both rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element cooperating with the first Hall element, and a second magnetic element cooperating with the second Hall element; 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, and the first door and the second door define a closed position, a non-safety zone where they may contact each other, and a safety zone where they do not contact each other; The first Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the first door; the second Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the second door; the first magnetic element is disposed in the first door, and the second magnetic element is disposed in the second door; the vehicle further includes: The controller is configured to obtain whether the first Hall element senses the first magnetic element and obtain whether the second Hall element senses the second magnetic element, to obtain a sensing result. The controller is configured to, when the sensing result is that the first Hall element senses the first magnetic element and / or the second Hall element senses the second magnetic element, determine that the corresponding first vehicle door and / or second vehicle door is located in the safety zone, disable the active rotation function of the first vehicle door and the second vehicle door, and control the first driving device and the second driving device to drive the first vehicle door and the second vehicle door to continue rotating from the current position until the first vehicle door and the second vehicle door are rotated to the closed position, wherein after the active rotation function of the first vehicle door and the second vehicle door is disabled, the vehicle does not execute the active rotation instruction of automatic opening and closing of the doors. The controller is configured to, when the sensing result is that the first Hall element does not sense the first magnetic element and / or the second Hall element does not sense the second magnetic element, determine that the corresponding first vehicle door and second vehicle door is located in the non-safety zone, and disable the active rotation function of the first vehicle door and the second vehicle door.

[0011] Further, the controller is configured to receive a detection instruction, detect whether the vehicle is powered on and whether the first vehicle door and the second vehicle door are located in the closed position, and if the vehicle is powered on and the first vehicle door and the second vehicle door are not located in the closed position, obtain whether the first Hall element senses the first magnetic element and obtain whether the second Hall element senses the second magnetic element in response to the detection instruction, to obtain a sensing result; or if the vehicle is not powered on and / or the first vehicle door and the second vehicle door are not located in the closed position, the detection instruction is not responded.

[0012] Further, the controller is configured to, after controlling the first driving device and the second driving device to drive the first vehicle door and the second vehicle door to continue rotating from the current position until the first vehicle door and the second vehicle door are rotated to the closed position, restore the active rotation function of the first vehicle door and the second vehicle door.

[0013] Further, the controller is configured to, after disabling the active rotation function of the first vehicle door and the second vehicle door when the sensing result is that the first vehicle door and the second vehicle door are located in the non-safety zone, if the first vehicle door and the second vehicle door are located in the closed position, or the first vehicle door and the second vehicle door are located in the safety zone, or the first vehicle door is located in the safety zone and the second vehicle door is located in the closed position, allow the active rotation function of the first vehicle door and / or the second vehicle door to be restored.

[0014] 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.

[0015] 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.

[0016] The embodiment of the present application, through the cooperation of the first and second Hall elements with the corresponding magnetic elements, can re-detect the door body position when the vehicle is powered on again after being powered off, thereby solving the problem of position information loss in the existing solution. The Hall element is fixed to the side frame of the opening, and the magnetic element is installed on the door. The sensing state of the two can reflect in real time whether the door has entered the collision zone, ensuring that the central control accurately grasps the state of the door body. Secondly, based on the sensing results of the Hall element and the magnetic element, it can accurately determine whether the door is in a safe area or a non-safe area, and execute the corresponding control logic to avoid the risk of collision or pinching caused by direct electric control due to lack of information, thereby improving the control safety. Finally, the stable sensing of the Hall element and the magnetic element provides a reliable basis for door body control, ensures the reliability of control, meets the requirements for safety and stability in practical applications, and provides users with a safer car experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 is a schematic structural diagram of a vehicle according to some embodiments of the present invention; Figure 2 is a schematic diagram of a closed position of a first door and a second door according to some embodiments of the present invention; Figure 3 is a schematic diagram of a non-safe zone according to some embodiments of the present invention; Figure 4 is a schematic diagram of a safety zone according to some embodiments of the present invention; Figure 5 is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 6is a schematic diagram of the rotation of a first door and a second door according to some embodiments of the present invention; Figure 7 is a flow chart of a vehicle control method according to some embodiments of the present invention; Figure 8 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] 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.

[0020] According to an embodiment of the present invention, an embodiment of a vehicle control method is 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.

[0021] The embodiment of the present application provides a vehicle, such as Figure 1 As shown, it includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive device 14 and a second drive device 15, a first Hall element 16, a second Hall element 17, a first magnetic element 18 cooperating with the first Hall element 16, and a second magnetic element 19 cooperating with the second Hall element 17. 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 communicatively connected to the first drive device 14 and the second drive device 15; 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. As shown 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.

[0022] In the embodiment of the present application, the first and second doors have two motion modes: active rotation and passive rotation. Active rotation refers to the ability of the door to achieve purposeful rotation based on instructions from the vehicle control system or user operation, using its own power drive device (such as a motor), thereby completing the door opening or closing action. Passive rotation refers to the rotation of the door caused by external forces not applied by 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, or the vehicle being subjected to external impact causing force on the door.

[0023] 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 trajectories and spatial position relationship. Figure 5 As shown in FIG, the non-safe zone refers to the area where the first door and the second door may come into contact with each other during the door rotation process, which is usually caused by the movement trajectory and angle change of the door. Figure 6 As shown in FIG, the safety zone refers to the area where the two doors will not touch each other when the doors rotate.

[0024] In the embodiments of this application, Figure 1 As shown, the first Hall element 16 is disposed in the side frame of the opening formed by the first door and the second door, and is close to one end of the first door. The second Hall element 17 is disposed in the side frame of the opening formed by the first door and the second door, and is close to one end of the second door. The first magnetic element 18 is disposed in the first door, and the second magnetic element 19 is disposed in the second door. The vehicle further includes: The controller 13 is configured to determine whether the first Hall element 16 senses the first magnetic element 18 and whether the second Hall element 17 senses the second magnetic element 19, thereby obtaining a sensing result. the controller 13 being configured to, when the sensing result is that the first Hall element 16 senses the first magnetic element 18, and / or the second Hall element 17 senses the second magnetic element 19, determine that the corresponding first door and / or second door is located in a safety zone, disable the active rotation function of the first door and the second door, and control the first drive device and the second drive device to drive the first door and the second door to continue rotating from a current position until they are rotated to a closed position, wherein after the active rotation function of the first door and the second door is disabled, the vehicle does not execute an active rotation instruction for automatically opening and closing the door; The controller 13 is configured to determine that the first door and the second door are in the unsafe zone when the sensing result is that the first Hall element 16 does not sense the first magnetic element 18 and / or the second Hall element 17 does not sense the second magnetic element 19, and then disable the active rotation function of the first door and the second door.

[0025] Specifically, the first Hall element 16 is fixed on the side frame at one end of the tailgate opening and corresponds to the first door, and its sensing object is the first magnetic element 18 installed on the first door. The second Hall element 17 is also fixed on the side frame at one end of the tailgate opening and corresponds to the second door, and its sensing object is the second magnetic element 19 installed on the second door. The controller 13 continuously communicates with the two Hall elements to accurately capture whether the corresponding magnetic element is sensed. When the Hall element senses the magnetic element, it indicates that the door opening is small and enters the collision zone. When it is not sensed, it means that the door opening is large and is in the safe zone. This sensing result is not obtained at all times, but only when the central control detects that the vehicle is powered on and the first and second doors are not in the closed position. At this time, the matched switch is connected under the control of the central control to power the Hall element to reduce power consumption and ensure that the controller 13 can accurately grasp the position state of the two doors when needed. When the sensing result shows that the first Hall element 16 senses the first magnetic element 18 and / or the second Hall element 17 senses the second magnetic element 19, the controller 13 will determine that the corresponding first door and / or second door is in the safe zone and immediately perform two key operations. On the one hand, the controller 13 will simultaneously disable the active rotation function of the first door and the second door, so that the vehicle no longer responds to any active rotation instruction for automatic opening and closing of the doors, preventing external instructions from interfering with the movement of the doors. On the other hand, it will send a driving signal to the first driving device and the second driving device to control the two doors to continue rotating at a preset speed from the current position until they reach the closed position. The basis of this logic is that when at least one door is in the safe zone (not sensed by the Hall element, i.e., not in the collision zone), the two doors will not collide during the closing process, so the automatic closing of the doors can be completed through the driving device, and the disabled active rotation function can ensure the continuity and safety of the closing process. If the sensing result is that the first Hall element 16 does not sense the first magnetic element 18, and the second Hall element 17 does not sense the second magnetic element 19, the controller 13 determines that both the first door and the second door are in the unsafe zone (i.e., both door openings are small, and both enter the collision zone), and immediately disables the active rotation function of both doors. This design aims to avoid the risk of collision - when both doors are in the unsafe zone, there is a possibility of cross interference in their movement trajectories, and if electric drive is allowed at this time, it is easy to cause door collision or hand clamping accidents. The controller 13 will maintain this disabled state until the user manually moves at least one door so that the corresponding Hall element re-senses the magnetic element (i.e., at least one door is out of the unsafe zone), and then considers restoring the corresponding active rotation function according to the new sensing result.

[0026] In the embodiment of the present application, the controller 13 is configured to receive a detection instruction, detect whether the vehicle is powered on and whether the first door and the second door are in the closed position, and if the vehicle is powered on and the first door and the second door are not in the closed position, respond to the detection instruction to obtain whether the first Hall element 16 senses the first magnetic element 18 and obtain whether the second Hall element 17 senses the second magnetic element 19, and obtain a sensing result. Alternatively, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, the detection instruction is not responded to.

[0027] Specifically, after receiving the detection instruction, the controller 13 will simultaneously check two key states: one is the power-on state of the vehicle, which is confirmed by communicating with the vehicle power management system to confirm whether the vehicle is in the power supply state, which is the basis for the subsequent Hall element detection and drive device operation; the second is the position of the first door and the second door, which is accurately determined by the feedback signal of the door position sensor or the locking mechanism. Whether both doors are in the closed position. The results of these two detections will directly determine the subsequent operation logic of the controller 13, ensuring that the detection function is only started in necessary and safe scenarios.

[0028] Based on the detection result, the controller 13 will execute a differentiated response strategy. If the detection shows that the vehicle has been powered on, and neither the first door nor the second door is in the closed position, it means that the vehicle has the power support required for detection, and the two doors are in an open state with potential collision risk. At this time, the controller 13 will immediately respond to the detection instruction. Specifically, the controller 13 will control the switches matched with the first Hall element 16 and the second Hall element 17 to be connected, so as to supply power to the Hall elements, and then obtain the signals of whether the first Hall element 16 senses the first magnetic element 18 and whether the second Hall element 17 senses the second magnetic element 19 in real time, so as to determine whether the two doors enter the collision area and form a complete sensing result. On the contrary, if the vehicle is not powered on (no power supply condition), or at least one of the first door and the second door is in the closed position (lower collision risk), the controller 13 determines not to respond to the detection instruction. This design not only avoids invalid detection in the power-off state, but also reduces the redundant operation when the door is closed, thereby reducing the power consumption and ensuring that the detection function is started only in the scene that really needs it, and providing accurate and reliable sensing data support for the subsequent door control logic.

[0029] In the embodiment of the application, the controller 13 is configured to restore the active rotation function of the first door and the second door after the first driving device and the second driving device drive the first door and the second door to continue rotating from the current position until the first door and the second door reach the closed position.

[0030] Specifically, after the controller 13 controls the first driving device and the second driving device to drive the first door and the second door to continue rotating from the current position until the first door and the second door reach the closed position, the controller 13 starts the operation of restoring the active rotation function of the two doors. The triggering of this process is based on the fact that the doors have been stably placed in the closed position. At this time, the first Hall element 16 and the second Hall element 17 cannot detect the corresponding first magnetic element 18 and the second magnetic element 19, because after the door is closed, the magnetic element installed on the door is out of the sensing range of the Hall element. This state change will be captured by the controller 13 in real time and used as a key basis for restoring the function. During the process of rotating the two doors to the closed position, the controller 13 has disabled the active rotation function of the two doors to avoid the interference of the automatic opening and closing instruction, and to ensure that the door closing action is not hindered.

[0031] Once it is confirmed that the two doors are completely closed, the risk of collision has been completely eliminated, and it is necessary to restore the active rotation function. Specifically, the controller 13 will remove the functional restrictions on the first drive device and the second drive device, allowing the two doors to once again respond to electric control commands. Whether the door opening and closing commands are issued through in-vehicle buttons, remote control signals, or other electric triggering methods, the vehicle can execute them normally. At the same time, this recovery operation is also coordinated with the hardware design. When the door is closed, if the subsequent vehicle is powered on again and the door is in the open state, the switch matching the Hall element will be reconnected under the control of the central control to ensure that the detection function is activated as needed. When the door is closed and no operation is required, the system coordinates function recovery with status monitoring to ensure the normal use of the door's electric function and maintain effective control of power consumption, forming a complete closed loop from door closing control to function recovery.

[0032] In an embodiment of the present application, the controller 13 is used to disable the active rotation function of the first door and the second door when the sensing result is that the first door and the second door are located in a non-safe zone. If the first door and the second door are both in the closed position, or the first door and the second door are both in the safe zone, or the first door is in the safe zone and the second door is in the closed position, then the active rotation function of the first door and / or the second door is allowed to be restored.

[0033] Specifically, after the sensing results indicate that both the first door and the second door are located in the unsafe zone (i.e., the first Hall element 16 detects the first magnetic element 18 and the second Hall element 17 detects the second magnetic element 19, and the two doors are only slightly opened and in the collision zone), and the active rotation function of the two doors has been disabled, the controller 13 will continuously monitor the position state changes of the two doors and allow the active rotation function of the corresponding door to be restored when any of the following conditions is met: First, when both the first and second doors are rotated to the closed position, both doors are out of the sensing range of the Hall element, and the Hall element cannot detect the magnetic element, which means that the risk of collision is completely eliminated, and there is no need to maintain the function disabled in the closed state; Second, both the first door and the second door move from the non-safe zone to the safe zone, that is, the first Hall element 16 does not detect the first magnetic element 18 and the second Hall element 17 does not detect the second magnetic element 19, the two doors are opened widely and are out of the collision zone, and there is no risk of cross-interference in the movement trajectory; third, the first door is in the safe zone (the first Hall element does not detect the magnetic element) and the second door is in the closed position, or the second door is in the safe zone (the second Hall element does not detect the magnetic element) and the first door is in the closed position. At this time, the doors in the safe zone have safe movement space, and the closed doors do not need to participate in electric control, both of which meet the safety prerequisites of the recovery function.

[0034] In this embodiment, a vehicle control method is provided. Figure 7 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps: Step S101 , obtaining whether the first Hall element senses the first magnetic element and obtaining whether the second Hall element senses the second magnetic element, and obtaining a sensing result.

[0035] In an embodiment of the present application, obtaining whether the first Hall element senses the first magnetic element and obtaining whether the second Hall element senses the second magnetic element to obtain a sensing result includes: receiving a detection instruction; detecting whether the vehicle is powered on and whether the first door and the second door are in a closed position; if the vehicle is powered on and both the first door and the second door are not in a closed position, responding to the detection instruction to obtain whether the first Hall element senses the first magnetic element and obtaining whether the second Hall element senses the second magnetic element to obtain a sensing result.

[0036] Upon receiving the command, controller 13 immediately initiates two core tests: First, it verifies that the vehicle is powered on using the vehicle power management module to confirm that the battery is providing stable power to hardware such as the Hall effect element and the drive unit. This is essential for ensuring the effective operation of subsequent detection and control functions. Second, it uses the door lock sensor or position detection device to accurately determine whether both the first and second doors are in the closed position. The closed position is determined by ensuring that the doors are fully aligned with the vehicle body and the locking mechanisms are fully engaged. These two tests are performed simultaneously, forming the prerequisite for responding to the command and ensuring that the detection function is only activated when necessary.

[0037] When the detection results indicate that the vehicle is powered on and neither the first door nor the second door is in the closed position, the controller 13 determines that the detection conditions are met and responds to the detection command. At this point, the switches associated with the first and second Hall effect elements are connected under the control of the central control system, powering the Hall effect elements to reduce power consumption and activating the sensing detection process. The first Hall effect element begins detecting the first magnetic element mounted on the first door, while the second Hall effect element simultaneously detects the second magnetic element mounted on the second door. The controller 13 receives and records the sensing signals from both Hall effect elements in real time. Sensing a magnetic element indicates that the corresponding door is open only slightly and in the collision zone, while not sensing a magnetic element indicates that the door is open more significantly and in the non-collision zone, ultimately generating a complete sensing result. This process, through rigorous conditional screening, avoids invalid detection in the off-power state while ensuring timely acquisition of position information when the door is open and a collision risk exists. This provides accurate data support for the subsequent door control logic, balancing system safety and operational efficiency.

[0038] In the embodiment of the present application, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, the detection instruction will not be responded to.

[0039] In step S102, if the sensing result is that the first Hall element senses the first magnetic element, and / or the second Hall element senses the second magnetic element, it is determined that the corresponding first door and / or second door are located in a safe zone, and the active rotation function of the first door and the second door are disabled, and the first drive device and the second drive device are controlled to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position. After the active rotation function of the first door and the second door is disabled, the vehicle does not execute the active rotation instruction for automatic door opening and closing.

[0040] In this embodiment of the present application, when the sensing results indicate that the first Hall effect element senses the first magnetic element and / or the second Hall effect element senses the second magnetic element, the controller 13 determines that the corresponding first door and / or second door is located in a safe zone. This is because the Hall effect element detecting the magnetic element indicates that the door is only slightly open and has entered the collision zone. The "safe zone" here actually refers to an area where there is a risk of collision and intervention is required.

[0041] Based on this judgment, the controller 13 will immediately perform two operations: First, the active rotation function of the first and second doors is disabled. At this time, the vehicle no longer responds to any active rotation command of automatic door opening and closing to prevent external commands from interfering with door movement; Second, the first and second drive units are controlled to drive the doors from their current positions, continuing to rotate at a preset speed until they reach the closed position. Throughout the closing process, the active rotation function remains disabled, ensuring the doors can close without interruption and preventing safety risks such as door collisions or hand pinching caused by unintended commands.

[0042] In step S103, if the sensing result is that the first Hall element does not sense the first magnetic element, and / or the second Hall element does not sense the second magnetic element, it is determined that the corresponding first door and second door are located in a non-safe area, and the active rotation function of the first door and the second door are both disabled.

[0043] In this embodiment of the present application, if the sensing result indicates that the first Hall effect element fails to sense the first magnetic element, and the second Hall effect element fails to sense the second magnetic element, the controller 13 determines that the first and second doors are located in an unsafe zone. This "unsafe zone" refers to a situation where both doors are wide open and neither is within the collision zone. However, in this situation, there is a higher risk of collision. Therefore, the controller 13 immediately disables the active rotation function of both the first and second doors, and this disabled state persists. Only when the user manually moves the first and / or second door, causing at least one Hall effect element to sense the corresponding magnetic element—that is, when at least one door enters the collision zone—will the controller consider restoring the active rotation function of the corresponding door based on the new sensing result. This design is intended to eliminate potential collision risks by strictly limiting the power-operated function, forcing the user to manually adjust the door position. This ensures that accidents caused by power-operated operation in an unsafe state are prevented, further strengthening the safety of door control.

[0044] The embodiment of the present application, through the cooperation of the first and second Hall elements with the corresponding magnetic elements, can re-detect the door body position when the vehicle is powered on again after being powered off, thereby solving the problem of position information loss in the existing solution. The Hall element is fixed to the side frame of the opening, and the magnetic element is installed on the door. The sensing state of the two can reflect in real time whether the door has entered the collision zone, ensuring that the central control accurately grasps the state of the door body. Secondly, based on the sensing results of the Hall element and the magnetic element, it can accurately determine whether the door is in a safe area or a non-safe area, and execute the corresponding control logic to avoid the risk of collision or pinching caused by direct electric control due to lack of information, thereby improving the control safety. Finally, the stable sensing of the Hall element and the magnetic element provides a reliable basis for door body control, ensures the reliability of control, meets the requirements for safety and stability in practical applications, and provides users with a safer car experience.

[0045] In an embodiment of the present application, after controlling the first drive device and the second drive device to drive the first door and the second door to continue rotating from the current position until they rotate to the closed position, the method also includes: restoring the active rotation function of the first door and the second door.

[0046] Specifically, when the two doors reach the closed position, the signal path between the transmitter and receiver of the corresponding infrared occlusion sensor is no longer blocked by the doors. The sensor will feedback this status to the controller. After the controller confirms that the two doors are indeed stably in the closed position, it will remove the active rotation function restriction that was previously disabled to avoid interference during the door closing process. At this time, the first and second doors can once again respond to active rotation commands for automatic door opening and closing. Whether the commands are issued through in-vehicle buttons, remote control, or other electric control methods, the vehicle can execute them normally. This restores the convenience of the door's electric function while ensuring the safety of the door closing process, ensuring that the user can subsequently perform smooth electric operation of the door.

[0047] In an embodiment of the present application, after the sensing result is that the first door and the second door are located in a non-safe zone, the active rotation function of the first door and the second door are disabled, the method also includes: if the first door and the second door are both in a closed position, or, the first door and the second door are both in a safe zone, or, the first door is in a safe zone and the second door is in a closed position, then the active rotation function of the first door and / or the second door is allowed to be restored.

[0048] Specifically, when both doors are closed, there is no possibility of collision during opening, and restoring the active rotation function ensures normal subsequent electric door opening and closing operations. When both doors are in the safe zone (i.e., the infrared occlusion sensor is not blocked, the door is wide open, and out of the collision zone), there is no risk of cross-interference in their movement trajectories. At this time, the recovery function allows the user to flexibly control the door opening and closing through electric commands. In the combined state of one door in the safe zone and the other door closed, the door in the safe zone has sufficient space for electric rotation. The closed door does not need to participate in the movement, and there is no need to worry about collision. Therefore, the active rotation function of the corresponding door is allowed to be restored. This design not only continues the strict prevention and control of collision risks, but also realizes flexible function recovery through dynamic judgment status. It ensures safety while taking into account the convenience of vehicle use, ensuring that users can use the electric door opening and closing function normally when the door is in a safe state.

[0049] See also Figure 8 , Figure 8 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 8 As shown, the computer device includes: one or more processors, memory 20, and the interface for connecting various components, including high-speed interface and low-speed interface. Each component utilizes different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, being coupled to the display device of the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides the necessary operation of part (for example, as a server array, a group of blade servers, or a multi-processor system).

[0050] The processor may be a central processing unit, a network processor, or a combination thereof. The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0051] The memory 20 stores instructions that can be executed by at least one processor, so as to enable the at least one processor to execute the method shown in the above embodiment.

[0052] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0053] 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.

[0054] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0055] 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.

[0056] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a vehicle body, a first drive device, a second drive device, a first door and a second door both rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element cooperating with the first Hall element, and a second magnetic element cooperating with the second Hall element; 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, and the first door and the second door define a closed position, a non-safety zone where they may contact each other, and a safety zone where they do not contact each other; The first Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the first door; the second Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the second door; the first magnetic element is disposed in the first door, and the second magnetic element is disposed in the second door; The method comprises: Obtaining whether the first Hall element senses the first magnetic element and obtaining whether the second Hall element senses the second magnetic element, to obtain a sensing result; If the sensing result is that the first Hall element senses the first magnetic element, and / or the second Hall element senses the second magnetic element, it is determined that the corresponding first door and / or second door is located in the safety zone, the active rotation function of the first door and the second door is disabled, and the first drive device and the second drive device are controlled to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position, wherein after the active rotation function of the first door and the second door is disabled, the vehicle does not execute the active rotation instruction for automatic door opening and closing; If the sensing result is that the first Hall element does not sense the first magnetic element, and / or the second Hall element does not sense the second magnetic element, it is determined that the corresponding first door and second door are located in a non-safe area, and the active rotation function of the first door and the second door are disabled.

2. The method according to claim 1, characterized in that The obtaining of whether the first Hall element senses the first magnetic element and obtaining of whether the second Hall element senses the second magnetic element to obtain a sensing result includes: Receive detection instructions; detecting whether the vehicle is powered on and whether the first door and the second door are in a closed position; If the vehicle is powered on and the first door and the second door are not in the closed position, the detection instruction is responded to to obtain whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element to obtain a sensing result; or, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, the detection instruction is not responded to.

3. The method according to claim 1, characterized in that After controlling the first driving device and the second driving device to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position, the method further includes: The active rotation function of the first door and the second door is restored.

4. The method according to claim 1, wherein After the sensing result indicates that the first door and the second door are located in a non-safe zone, and the active rotation functions of the first door and the second door are disabled, the method further includes: If the first door and the second door are both in the closed position, or the first door and the second door are both in the safety zone, or the first door is in the safety zone and the second door is in the closed position, the active rotation function of the first door and / or the second door is allowed to be restored.

5. A vehicle, characterized in that: The vehicle includes a vehicle body, a first drive device, a second drive device, a first door and a second door both rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element cooperating with the first Hall element, and a second magnetic element cooperating with the second Hall element; 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, and the first door and the second door define a closed position, a non-safety zone where they may contact each other, and a safety zone where they do not contact each other; The first Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the first door; the second Hall element is disposed in a side frame of an opening formed by the first door and the second door, and is close to one end of the second door; the first magnetic element is disposed in the first door, and the second magnetic element is disposed in the second door; the vehicle further includes: a controller, configured to obtain whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element, and obtain a sensing result; the controller being configured to, when the sensing result is that the first Hall element senses the first magnetic element, and / or the second Hall element senses the second magnetic element, determine that the corresponding first door and / or second door is located in the safety zone, disable the active rotation function of the first door and the second door, and control the first drive device and the second drive device to drive the first door and the second door to continue rotating from their current positions until they are rotated to a closed position, wherein after the active rotation functions of the first door and the second door are disabled, the vehicle does not execute an active rotation instruction for automatically opening and closing the doors; The controller is used to determine that the corresponding first door and second door are located in a non-safe area when the sensing result is that the first Hall element does not sense the first magnetic element, and / or the second Hall element does not sense the second magnetic element, and then disable the active rotation function of the first door and the second door.

6. The vehicle according to claim 5, characterized in that The controller is configured to receive a detection instruction; detect whether the vehicle is powered on and whether the first door and the second door are in a closed position; If the vehicle is powered on and the first door and the second door are not in the closed position, the detection instruction is responded to to obtain whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element to obtain a sensing result; or, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, the detection instruction is not responded to.

7. The vehicle according to claim 5, characterized in that The controller is used to control the first driving device and the second driving device to drive the first door and the second door to continue rotating from the current position until they are rotated to the closed position, and then restore the active rotation function of the first door and the second door.

8. The vehicle according to claim 5, characterized in that The controller is used to allow the active rotation function of the first door and / or the second door to be restored after the active rotation function of the first door and the second door is disabled when the sensing result is that the first door and the second door are located in a non-safe area, if the first door and the second door are both located in a closed position, or the first door and the second door are both located in a safe area, or the first door is located in a safe area and the second door is located in a closed position.

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

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

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