A vehicle control method and device, electronic equipment and storage medium

Abstract

The present application relates to the field of vehicle intelligent control, in particular to a vehicle control method and device, electronic equipment and storage medium. Through the cooperation of the first and second Hall elements and the corresponding magnetic elements, the position of the door body can be detected again when the vehicle is powered on again after being powered off, solving the problem of position information loss in the existing scheme. The Hall element is fixed on the opening side frame, and the magnetic element is installed on the door, and the sensing state of the two can reflect whether the door enters the collision area in real time, ensuring that the central control accurately masters the door body state. Secondly, based on the sensing results of the Hall element and the magnetic element, the safety zone or the non-safety zone of the door can be accurately judged, and the corresponding control logic is executed, avoiding the collision or hand clamping risk caused by direct electric control due to information loss, and improving the control safety. Finally, the stable sensing of the Hall element and the magnetic element provides a reliable basis for door body control, ensuring the reliability of the control and meeting the requirements of safety and stability in actual application.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control of vehicles, and in particular to a vehicle control method and device, an electronic device and a storage medium. BACKGROUND

[0002] There are two control schemes for vehicle door bodies in the prior art. For example, patent CN119843950A obtains the passive rotation amount of the first door and / or the second door, and if the passive rotation amount is not zero, it actively controls the rotation of any one of the doors or both to the closed position or a safe zone. For another example, patent CN104718095B controls the first driving device and / or the second driving device to move the door body in a collision-avoiding manner, specifically including moving the door body away from the collision zone, moving in the opposite direction to the fully open or closed position, or keeping the door body in a stopped state.

[0003] However, the above two schemes have a common problem in the whole vehicle power-off scenario. When the overhead door and the ground door are in a stopped state, if the central control is powered off due to user operation or system abnormality, the controller responsible for memorizing the door body position will lose the door body position information at the power-off moment due to power loss. Even if it is powered on again, the central control cannot know the actual position of the door body, and if the user manually changes the door body position after power-off, the central control after power-on again cannot obtain this position change.

[0004] Based on this, in the scenario of powering on again after the whole vehicle is powered off, the existing schemes all cause the central control to be unable to accurately grasp the door body state due to the loss of door body position information. If the overhead door and the ground door are directly controlled by electricity, it is easy to cause safety risks such as door body collision or hand clamping, and it is difficult to meet the requirements of safety and reliability of door body control in actual application. SUMMARY

[0005] Therefore, the embodiments of the present application provide a vehicle control method and device, an electronic device and a storage medium to solve the problem that the central control cannot accurately grasp the door body state due to the loss of door body position information in the scenario of powering on again after the whole vehicle is powered off in the existing schemes.

[0006] In a first aspect, the embodiments of the present application provide a vehicle control method, wherein the vehicle includes a vehicle body, a first driving device, a second driving device, a first door and a second door both rotationally 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.

[0007] The first driving device and the second driving device are connected and used for driving the first door and the second door to rotate relative to the vehicle body; the first door and the second door can also be passively rotated relative to the vehicle body, and the first door can be overlapped and partially stacked on 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 in which the first door and the second door can contact each other, and a safety zone in which the first door and the second door do not contact each other;

[0008] The first Hall element is arranged in an opening side frame formed by the first door and the second door and close to one end of the first door, the second Hall element is arranged in the opening side frame formed by the first door and the second door and close to one end of the second door, the first magnetic element is arranged on the first door, and the second magnetic element is arranged on the second door;

[0009] The method comprises:

[0010] 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;

[0011] 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 first door and / or the second door are located in the non-safety zone, the active rotation function of the first door and the second door is disabled, and the first driving device and the second driving device are controlled to drive the first door and the second door to continue to rotate from the current position until 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 of automatic opening and closing of the door;

[0012] 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 first door and the second door are located in the safety zone, and the active rotation function of the first door and the second door is disabled.

[0013] Further, the obtaining whether the first Hall element senses the first magnetic element and the obtaining whether the second Hall element senses the second magnetic element to obtain a sensing result comprises:

[0014] Receiving a detection instruction;

[0015] Detecting whether the vehicle is powered on and whether the first door and the second door are located in the closed position;

[0016] If the vehicle has been powered on and the first door and the second door are not in the closed position, the detection instruction is responded 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 has not been powered on and / or the first door and the second door are not in the closed position, the detection instruction is not responded to.

[0017] Further, after the first driving device and the second driving device are controlled to drive the first door and the second door to continue to rotate from the current position until the closed position, the method further comprises:

[0018] Resuming the active rotation function of the first door and the second door.

[0019] Further, after the sensing result is that the first door and the second door are in the non-safe zone, the active rotation function of the first door and the second door is disabled, the method further comprises:

[0020] If the first door and the second door are in the closed position, or the first door and the second door are in the safe zone, or the first door is in the safe 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 resumed.

[0021] In a second aspect, an embodiment of the present application provides a vehicle, which comprises a vehicle body, a first driving device, a second driving device, a first door and a second door which are rotationally connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element which cooperates with the first Hall element, and a second magnetic element which cooperates with the second Hall element.

[0022] The first driving device and the second driving device are connected and used to drive the first door and the second door to actively rotate relative to the vehicle body, respectively; the first door and the second door can also passively rotate relative to the vehicle body, 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-safe zone in which the first door and the second door can contact each other, and a safe zone in which the first door and the second door will not contact each other.

[0023] The first Hall element is arranged in an opening side frame formed by the first door and the second door, and is close to one end of the first door, the second Hall element is arranged in the opening side frame formed by the first door and the second door, and is close to one end of the second door, the first magnetic element is arranged on the first door, and the second magnetic element is arranged on the second door; the vehicle further comprises:

[0024] 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, and obtain a sensing result.

[0025] 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 door and / or second door is located in the non-safe area, disable the active rotation function of the first door and the second door, and control the first driving device and the second driving device to drive the first door and the second door to continue to rotate from the current position until 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 of automatic opening and closing of the door.

[0026] 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 door and second door is located in the safe area, and disable the active rotation function of the first door and the second door.

[0027] Further, 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 located in the closed position, and if the vehicle is powered on and the first door and the second door are not located in the closed position, respond to the detection instruction to obtain whether the first Hall element senses the first magnetic element and obtain whether the second Hall element senses the second magnetic element, and 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, do not respond to the detection instruction.

[0028] Further, the controller is configured to, after controlling the first driving device and the second driving device to drive the first door and the second door to continue to rotate from the current position until the closed position, restore the active rotation function of the first door and the second door.

[0029] Further, the controller is configured to, after disabling the active rotation function of the first door and the second door when the sensing result indicates that the first door and the second door are located in the non-safe zone, allow the active rotation function of the first door and / or the second door to be restored if the first door and the second door are both located in the closed position, or if the first door and the second door are both located in the safe zone, or if the first door is located in the safe zone and the second door is located in the closed position.

[0030] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory and a processor, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method in the first aspect or any of the corresponding embodiments thereof.

[0031] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer perform the method in the first aspect or any of the corresponding embodiments thereof.

[0032] The first and second Hall elements and the corresponding magnetic elements are matched, so that the door body position can be detected again when the vehicle is powered on again after being powered off, and the problem of loss of position information in the prior art is solved. The Hall elements are fixed to the opening side frame, and the magnetic elements are mounted on the vehicle door. The sensing state of the Hall elements and the magnetic elements can reflect whether the vehicle door enters the collision zone in real time, so as to ensure that the central control accurately masters the door body state. Secondly, based on the sensing result of the Hall elements and the magnetic elements, it can be accurately judged whether the vehicle door is in the safe zone or the non-safe zone, and the corresponding control logic is executed, so as to avoid the collision or hand clamping risk caused by direct electric control due to information loss, and the control safety is improved. Finally, the stable sensing of the Hall elements and the magnetic elements provides a reliable basis for door body control, ensures the reliability of control, meets the requirements of safety and stability in actual application, and provides users with a safer vehicle experience. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0034] Figure 1 is a structural schematic diagram of a vehicle according to some embodiments of the present application;

[0035] Figure 2is a schematic view of the closed position of the first door and the second door according to some embodiments of the present application;

[0036] Figure 3 is a schematic view of a non-safety zone according to some embodiments of the present application;

[0037] Figure 4 is a schematic view of a safety zone according to some embodiments of the present application;

[0038] Figure 5 is a schematic view of the rotation of the first door and the second door according to some embodiments of the present application;

[0039] Figure 6 is a schematic view of the rotation of the first door and the second door according to some embodiments of the present application;

[0040] Figure 7 is a schematic view of the flow of a vehicle control method according to some embodiments of the present application;

[0041] Figure 8 is a schematic view of the hardware structure of a computer device according to some embodiments of the present application. DETAILED DESCRIPTION

[0042] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0043] According to the embodiments of the present application, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the 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.

[0044] The embodiments of the present application provide a vehicle, such as Figure 1As shown, including the vehicle body 10, the first door 11, the second door 12, the controller 13, the first driving device 14 and the second driving device 15, the first Hall element 16, the second Hall element 17, the first magnetic element 18 cooperating with the first Hall element 16 and the second magnetic element 19 cooperating with the second Hall element 17, the first driving device 14 and the second driving device 15 are connected to the first door 11 and the second door 12 respectively, and the controller 13 is communicatively connected to the first driving device 14 and the second driving device 15 respectively; 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 driving device 14 and the second driving 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 area with a contact probability with each other, and a safe area without contact with each other. As shown in Figure 2 As shown, the structure schematic diagram of the first door and the second door completely opened. As shown in Figure 3 As shown, the structure schematic diagram of the first door and the second door in the closed position.

[0045] In the embodiment of the present application, the first door and the second door have two motion modes of active rotation and passive rotation. The active rotation refers to that the door can realize purposeful rotation by the power driving device (such as a motor) equipped by itself according to the instruction of the vehicle control system or the operation of the user, so as to complete the opening or closing action. The passive rotation refers to the rotation of the door when the door is subjected to the force applied by the external non-vehicle control system. The external force can come from various situations, for example, the user manually pushes the door, the door encounters an obstacle during movement, the vehicle is hit by the outside world, etc.

[0046] As shown in 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 closing process of the door, the first door rotates around the connection point with the vehicle body, and finally covers the second door and partially overlaps the second door, so as to form a complete closed structure and isolate the inside of the vehicle body from the outside environment. In addition, during the rotation of the first door and the second door relative to the vehicle body, different areas are formed according to their motion trajectories and spatial position relationships. As shown in Figure 5 As shown, the non-safe area refers to the area where the first door and the second door can contact each other during the rotation of the door, which is usually caused by the motion trajectory and angle change of the door. Figure 6 As shown, the safe area refers to the area where the two doors do not contact each other during the rotation of the door.

[0047] In the embodiment of the present application, as shown in Figure 1The first Hall element 16 is arranged in the opening side frame 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 arranged in the opening side frame 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 arranged on the first door, and the second magnetic element 19 is arranged on the second door; the vehicle further comprises:

[0048] The controller 13 is configured to acquire 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, and obtain a sensing result;

[0049] The controller 13 is configured to determine that the corresponding first door and / or second door is located in the non-safety zone 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, disable the active rotation function of the first door and the second door, and control the first driving device and the second driving device to drive the first door and the second door to continue to rotate from the current position until the first door and the second door are rotated to the closed position, wherein the vehicle does not execute the active rotation instruction of automatically opening and closing the door after the active rotation function of the first door and the second door is disabled.

[0050] The controller 13 is configured to determine that the corresponding first door and second door is located in the safety 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 disable the active rotation function of the first door and the second door.

[0051] Specifically, the first Hall element 16 is fixed at the side frame position of one end of the tail door opening, corresponding to the installation of the first door, and the sensing object is the first magnetic element 18 installed on the first door; the second Hall element 17 is also fixed at the side frame position of one end of the tail door opening, corresponding to the installation of the second door, and senses the second magnetic element 19 installed on the second door. The controller 13 continuously communicates with the two Hall elements to accurately capture whether it detects the signal of the corresponding magnetic element - when the Hall element senses the magnetic element, it indicates that the door opening degree is small, and enters the collision zone; when it is not sensed, it represents that the door opening degree is large, and is in the safety zone. The acquisition of this sensing result is not performed at all times, but only starts when the central control detects that the vehicle is powered on and the first and second doors are not in the closed position, at which 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.

[0052] 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 determines that the corresponding first door and / or second door is in the unsafe zone, and immediately performs two key operations. On the one hand, the controller 13 disables the active rotation function of the first door and the second door at the same time, so that the vehicle no longer responds to any active rotation instruction of the automatic opening and closing door at this time, preventing external instructions from interfering with the movement of the door; on the other hand, it sends a driving signal to the first driving device and the second driving device to control the two doors to continue to rotate 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, that is, not in the collision zone), the two doors will not collide during the closing process, so the automatic closing of the door can be completed through the driving device, and disabling the active rotation function can ensure the continuity and safety of the closing process.

[0053] 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 the first door and the second door are in the safe zone, and disables the active rotation function of the two doors.

[0054] 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 driving 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 the active rotation function of the corresponding door will be restored according to the new sensing result.

[0055] In the embodiment of the 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; or, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, do not respond to the detection instruction.

[0056] Specifically, upon receiving the detection instruction, the controller 13 will synchronously check two key states: first, the power-on state of the vehicle, which is confirmed by communicating with the vehicle power management system to determine whether the vehicle is in a powered state, which is the basis for ensuring the subsequent Hall element detection and driving device operation; second, the position of the first and second doors, which is accurately determined by the feedback signal of the door position sensor or locking mechanism to determine 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 to ensure that the detection function is only started in necessary and safe scenarios.

[0057] Based on the above detection results, the controller 13 will execute differentiated response strategies. If the detection shows that the vehicle has been powered on and the first and second doors are not 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 risks. 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 and second Hall elements 16, 17 to be connected, power the Hall elements, and then obtain the signals of whether the first Hall element 16 senses the first magnetic element 18 and the second Hall element 17 senses the second magnetic element 19 in real time to determine whether the two doors enter the collision zone and form a complete sensing result. Conversely, if the vehicle is not powered on (no power supply condition) or at least one of the first and second doors is in the closed position (lower collision risk), the controller 13 will determine not to respond to the detection instruction. This design not only avoids invalid detection in the absence of power supply, but also reduces redundant operations when the doors are closed, reducing power consumption while ensuring that the detection function is only started in truly necessary scenarios to provide accurate and reliable sensing data support for subsequent door control logic.

[0058] In the embodiments of the present application, the controller 13 is configured to, after controlling the first and second driving devices to drive the first and second doors to continue rotating from the current position until the first and second doors are in the closed position, restore the active rotating function of the first and second doors.

[0059] Specifically, the controller 13 will start the operation of restoring the active rotation function of the two doors 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 completely reaching the closed position. The triggering of this process is based on the fact that the doors have been stably placed in the closed position, at which 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 doors are closed, the magnetic elements installed on the doors are out of the sensing range of the Hall elements, and 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 their active rotation function to avoid interference from automatic opening and closing door instructions and to ensure that the door closing action is not hindered.

[0060] When it is confirmed that the two doors are completely closed and the risk of collision has been completely eliminated, it is necessary to restore the active rotation function. Specifically, the controller 13 will remove the functional restrictions on the first driving device and the second driving device, so that the two doors regain the ability to respond to electric control instructions, whether the opening and closing door instructions are issued through in-vehicle buttons, remote control signals or other electrically triggered ways. The vehicle can perform normally. At the same time, this restoration operation is also coordinated with the hardware design. When the doors are closed, if the vehicle is powered on again and the doors are in an open state, the switch matched with the Hall element will be reconnected under the control of the central control, ensuring that the detection function is started as needed. When the doors are closed and do not need to be operated, the system cooperates with the function recovery and state monitoring to not only ensure the normal use of the electric function of the doors, but also effectively control the power consumption, forming a complete closed loop from door closing control to function recovery.

[0061] In the embodiment of the present application, the controller 13 is configured to, after disabling the active rotation function of the first door and the second door when the sensing result indicates that the first door and the second door are located in the non-safety zone, allow the active rotation function of the first door and / or the second door to be restored if the first door and the second door are both located in the closed position, or the first door and the second door are both located in the safety zone, or the first door is located in the safety zone and the second door is located in the closed position.

[0062] Specifically, after the sensing result shows that the first door and the second door are both located in the non-safety 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 opening degrees of the two doors are small and they are in the collision zone), and the active rotation function of the two doors has been disabled, the controller 13 will continue to monitor the position state change 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:

[0063] One is that both the first door and the second door are rotated to the closed position, at this time both doors are out of the sensing range of the Hall element, the Hall element cannot detect the magnetic element, which means that the collision risk is completely eliminated, and there is no need to maintain the function disabled in the closed state;

[0064] Two is that both the first door and the second door are moved from the non-safe area to the safe area, 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, both doors are large in opening degree and are out of the collision area, and there is no risk of intersection interference in the movement track;

[0065] Three is that the first door is in the safe area (the first Hall element does not detect the first magnetic element) and the second door is in the closed position, or the second door is in the safe area (the second Hall element does not detect the second magnetic element) and the first door is in the closed position, at this time the door in the safe area has a safe movement space, and the closed door does not need to participate in the electric control, both meet the safety premise of restoring the function.

[0066] In the embodiment, a vehicle control method is provided, Figure 7 The flow chart of the vehicle control method according to the embodiment of the application is shown in Figure 7 The flow chart includes the following steps:

[0067] In step S101, whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element are acquired, and a sensing result is obtained.

[0068] In the embodiment of the application, acquiring whether the first Hall element senses the first magnetic element and acquiring 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 located in the closed position; if the vehicle is powered on and the first door and the second door are not located in the closed position, then in response to the detection instruction, whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element are acquired to obtain a sensing result.

[0069] After receiving the instruction, the controller 13 will immediately start two core detections: one is to check whether the whole vehicle is in the powered-on state through the vehicle power management module, to confirm whether the battery provides stable power supply for the Hall element, the driving device and other hardware, which is the basis for ensuring the effective operation of the subsequent detection and control functions; the other is to accurately judge whether the first door and the second door are both in the closed position by means of the door locking sensor or the position detection device, and the closed state is determined by the complete adhesion of the door to the vehicle body and the engagement of the locking mechanism. The two detections are carried out synchronously to form the prerequisite for responding to the instruction, so as to ensure that the detection function is started only in the necessary scene.

[0070] When the detection result shows that the vehicle has been powered on, and neither the first door nor the second door is in the closed position, the controller 13 determines that the detection condition is met and then responds to the detection instruction. At this time, the switches matched with the first and second Hall elements are connected under the control of the central control system to supply power to the Hall elements to reduce power consumption and activate the sensing detection process. The first Hall element starts to detect the first magnetic element installed on the first door, and the second Hall element synchronously detects the second magnetic element installed on the second door. The controller 13 receives and records the sensing signals of the two Hall elements in real time, which indicates that the corresponding door opening is small and enters the collision zone when the magnetic element is sensed, and indicates that the door opening is large and is in the non-collision zone when the magnetic element is not sensed, and finally forms a complete sensing result. This process avoids invalid detection in the absence of power supply through strict condition screening, and ensures that position information can be obtained in time when the door is opened and there is a collision risk, providing accurate data support for subsequent door control logic, and taking into account the safety and operating efficiency of the system.

[0071] In the embodiments 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 is not responded to.

[0072] 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 is in the non-safe zone, the active rotation function of the first door and the second door is disabled, and the first driving device and the second driving device are controlled to drive the first door and the second door to continue to rotate from the current position until the closed position is reached. After the active rotation function of the first door and the second door is disabled, the vehicle does not execute the active rotation instruction of automatic opening and closing of the door.

[0073] In the embodiments of the present application, when the sensing result shows that the first Hall element senses the first magnetic element and / or the second Hall element senses the second magnetic element, the controller 13 determines that the corresponding first door and / or second door is in the non-safe zone. This is because the detection of the magnetic element by the Hall element means that the door opening is small and enters the collision zone, and the "non-safe zone" here actually refers to the area where intervention is required due to the risk of collision.

[0074] Based on this determination, the controller 13 will immediately perform two operations:

[0075] First, the active rotation function of the first door and the second door is disabled, and at this time the vehicle no longer responds to any active rotation instruction of automatic opening and closing of the door to prevent external instructions from interfering with the movement of the door.

[0076] Second, control the first drive device and the second drive device to drive the two doors to continue rotating from the current position according to the current position and the preset speed until the two doors rotate to the closed position. During the whole door closing process, the active rotation function is always disabled to ensure that the two doors can complete the closing action without interference and avoid safety risks such as door body collision or hand clamping caused by accidental instructions.

[0077] 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 the second door are located in the safety zone, and the active rotation function of the first door and the second door is disabled.

[0078] In the embodiment of the present application, if the sensing result is that the first Hall element does not sense the first magnetic element, and the second Hall element does not sense the second magnetic element, the controller 13 determines that the first door and the second door are located in the safety zone.

[0079] The first and second Hall elements cooperate with the corresponding magnetic elements in the embodiment of the present application, which can detect the door position again when the vehicle is powered on again after being powered off, solving the problem of loss of position information in the existing scheme. The Hall element is fixed to the opening side frame, and the magnetic element is installed on the door. The sensing state of the two can reflect whether the door enters the collision area in real time, ensuring that the central control accurately masters the door state. Secondly, based on the sensing result of the Hall element and the magnetic element, the door can be accurately judged to be in the safety zone or the non-safety zone, and the corresponding control logic is executed to avoid the collision or hand clamping risk caused by direct electric control due to information loss, and the control safety is improved. Finally, the stable sensing of the Hall element and the magnetic element provides a reliable basis for door control, ensuring the reliability of the control and meeting the requirements of safety and stability in actual application, providing users with a safer driving experience.

[0080] In the embodiment of the present application, after the first drive device and the second drive device drive the first door and the second door to continue rotating from the current position until the first door and the second door rotate to the closed position, the method further comprises: restoring the active rotation function of the first door and the second door.

[0081] Specifically, when the two doors reach the closed position, the signal path between the transmitting end and the receiving end of the corresponding installed infrared shielding sensor is no longer blocked by the vehicle door, and the sensor will feed back this state to the controller. After confirming that the two doors are indeed stably in the closed position, the controller will release the previously disabled active rotation function restriction to avoid interference during the closing process. At this time, the first door and the second door can respond to the active rotation instruction of the automatic opening and closing of the door, whether it is through the in-vehicle button, remote control operation or other electric control mode. The vehicle can execute normally, thereby ensuring the convenience of the electric function of the door on the basis of ensuring the safety of the closing process, and ensuring that the user can subsequently smoothly electrically control the door.

[0082] In the embodiments of the present application, 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 the non-safe area, the method further comprises: if the first door and the second door are both located in the closed position, or the first door and the second door are both located in the safe area, or the first door is located in the safe area and the second door is located in the closed position, the active rotation function of the first door and / or the second door is allowed to be restored.

[0083] Specifically, when both doors are closed, there is no possibility of mutual collision during opening, and restoring the active rotation function can ensure normal subsequent electric opening and closing operation; when both doors are located in the safe area (i.e. the infrared shielding sensor is not blocked, the opening is large and is away from the collision area), there is no risk of cross interference of the movement track, and at this time the function is restored to allow the user to flexibly control the opening and closing of the door through the electric instruction; and in the combination state that one door is in the safe area and the other door is closed, the door in the safe area has enough space for electric rotation, and the closed door does not need to participate in the movement, and there is also no need to worry about the collision problem, so the active rotation function of the corresponding door is allowed to be restored. This design not only continues to strictly prevent the collision risk, but also realizes flexible restoration of the function through dynamic state judgment, ensuring safety while taking into account the convenience of vehicle use, and ensuring that the user can normally use the electric opening and closing function when the door is in a safe state.

[0084] Please refer to Figure 8 , Figure 8 is a structural schematic diagram of a computer device provided by an optional embodiment of the present application, as Figure 8As shown, the computer device includes one or more processors 10, memory 20, and interfaces 30 for external devices such as a keyboard and a mouse and peripheral devices such as disk devices or other storage devices. One or more busses 10 can be used to implement the interface between the various circuits and components of the computer device. It will be appreciated that the bus 10 can be implemented using any one or more of a variety of bus or interconnect protocols, such as a Peripheral Component Interconnect (PCI), a Universal Serial Bus (USB), etc. In some embodiments, multiple buses can be used, such as an I / O bus, data bus, address bus, and the like. Although various busses can be used in the computer device, the bus 10 illustrated is used to merely facilitate an illustration of the existence of circuits and components used in hardware implementations.

[0085] The processor 10 can be a central processing unit, a network processing unit, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0086] The memory 20 stores instructions that can be executed by the at least one processor 10, so that the at least one processor 10 can perform the method shown in the above embodiments.

[0087] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required by at least one function, and the like. The data storage area can store data created by the use of the computer device according to the presentation of the applet landing page, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some alternative embodiments, the memory 20 can optionally include a memory that is remotely located with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0088] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. The memory 20 can also include an

[0089] The computer device further includes a communication interface 30 for communicating with other devices or communication networks.

[0090] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or be implemented as computer codes stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded through a network and stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer codes, when the software or computer codes are accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0091] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A vehicle control method characterized by, The vehicle comprises a vehicle body, a first driving device, a second driving device, a first door and a second door which are rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element which cooperates with the first Hall element, and a second magnetic element which cooperates with the second Hall element; The first driving device and the second driving device are connected to and used for driving the first door and the second door to rotate relative to the vehicle body, respectively; the first door and the second door can also be passively rotated relative to the vehicle body, and the first door can be overlapped with and partially stacked on the second door to close the vehicle body by rotating; the first door and the second door define a closed position, a non-safe area in which the first door and the second door can contact each other, and a safe area in which the first door and the second door do not contact each other; The first Hall element is arranged in a side frame of an opening formed by the first door and the second door and close to one end of the first door; the second Hall element is arranged in the side frame of the opening formed by the first door and the second door and close to one end of the second door; the first magnetic element is arranged on the first door; and the second magnetic element is arranged on the second door; The method comprises: If the vehicle is powered on, it is determined 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; 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 first door and / or the second door are located in the non-safe area, the active rotation function of the first door and the second door is disabled, and the first driving device and the second driving device are controlled to drive the first door and the second door to continue rotating from the current position until the closed position is reached, 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 of automatically opening and closing the door; 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 first door and the second door are located in the safe area, and the active rotation function of the first door and the second door is disabled.

2. The method of claim 1, wherein, The method comprises: receiving a detection instruction; detecting whether the vehicle is powered on and whether the first door and the second door are located in the closed position; If the vehicle is powered on and the first door and the second door are not located in the closed position, the detection instruction is responded to, to obtain the sensing result that whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element; or if the vehicle is not powered on, the detection instruction is not responded to.

3. The method of claim 1, wherein, After the first driving device and the second driving device are controlled to drive the first door and the second door to continue rotating from the current position until the closed position, the method further comprises: Resuming the active rotating function of the first door and the second door.

4. The method of claim 1, wherein, After the active rotating 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 the unsafe area, the method further comprises: If the first door and the second door are both located in the closed position, or the first door and the second door are both located in the safe area, or the first door is located in the safe area and the second door is located in the closed position, the active rotating function of the first door and / or the second door is allowed to be resumed.

5. A vehicle characterized by comprising: The vehicle comprises a vehicle body, a first driving device, a second driving device, a first door and a second door which are both rotatably connected to the vehicle body, a first Hall element, a second Hall element, a first magnetic element which cooperates with the first Hall element, and a second magnetic element which cooperates with the second Hall element. The first driving device and the second driving 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 can also passively rotate relative to the vehicle body. The first door can cover and partially overlap the second door to close the vehicle body through rotation. The first door and the second door define a closed position, an unsafe area in which the first door and the second door can contact each other, and a safe area in which the first door and the second door do not contact each other. The first Hall element is arranged 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 arranged 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 is arranged on the first door, and the second magnetic element is arranged on the second door. The vehicle further comprises: A controller is configured to acquire whether the first Hall element senses the first magnetic element and whether the second Hall element senses the second magnetic element when the vehicle is powered on, to obtain a sensing result. The controller is configured to determine that the first door and / or the second door are located in the unsafe area 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, to disable the active rotating function of the first door and the second door, and 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 the closed position. After the active rotating function of the first door and the second door is disabled, the vehicle does not execute the active rotating instruction of automatic opening and closing of the door. The controller is configured to determine that the first door and the second door are located in a safe zone 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, and then disable the active rotation function of the first door and the second door.

6. The vehicle of claim 5, wherein The controller is configured to receive a detection instruction, and detect whether the vehicle is powered on and whether the first door and the second door are located in a closed position. If the vehicle is powered on and the first door and the second door are not located in the closed position, the controller is configured to obtain, in response to the detection instruction, 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. Alternatively, if the vehicle is not powered on, the controller is configured not to respond to the detection instruction.

7. The vehicle of claim 5, wherein, The controller is configured to restore the active rotation function of the first door and the second door after controlling the first driving device and the second driving device to drive the first door and the second door to continue rotating from a current position until the first door and the second door are rotated to the closed position.

8. The vehicle of claim 5, wherein, The controller is configured to allow the active rotation function of the first door and / or the second door to be restored if the first door and the second door are located in the closed position, or the first door and the second door are located in the safe zone, or the first door is located in the safe zone and the second door is located in the closed position, after the controller disables the active rotation function of the first door and the second door if the sensing result is that the first door and the second door are located in a non-safe zone.

9. An electronic device, comprising: The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in any one of claims 1 to 4. The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, ​

Images