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

Abstract

The application relates to the field of intelligent control of vehicles, in particular to a vehicle control method and device, an electronic device and a storage medium. Through the arrangement of the first and second sensing devices, the position of the door body can be detected again when the vehicle is powered on again after being powered off, the problem of position information loss in the prior art is solved, and the central control can ensure that the accurate state of the first and second doors being in a safe area, a non-safe area or a closed position is acquired in real time. Secondly, based on the detection result of the sensing device, the control logic can be executed accordingly, that is, the door is driven to be closed and the active rotation function is disabled in the safe area, and the active rotation function is directly disabled in the non-safe area, so that the collision or hand clamping risk caused by direct electric control due to information loss is avoided, and the operation safety is ensured from the source. Finally, the continuous monitoring and state feedback of the sensing device provide a reliable basis for the door body control, and the safety and reliability of the vehicle in the door body control are improved.

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, 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 drive device and / or the second drive 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 the power is turned 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 pinching, and it is difficult to meet the requirements of safety and reliability of door body control in actual applications. 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.

[0006] In a first aspect, embodiments of the present application provide a vehicle control method, the vehicle comprising a vehicle body, a first driving device, a second driving device, a first door and a second door each rotationally connected to the vehicle body, a first sensing device corresponding to the first door and a second sensing device corresponding to the second door, the first driving device and the second driving device being connected to and configured 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 being also capable of passively rotating relative to the vehicle body, the first door being capable of covering and partially overlapping the second door to close the vehicle body by rotating, the first door and the second door defining a closed position, a non-safe zone where the first door and the second door are capable of contacting each other, and a safe zone where the first door and the second door are incapable of contacting each other, the method comprising:

[0007] obtaining sensing results of the first sensing device and the second sensing device;

[0008] if the sensing results indicate that the first door and / or the second door are in the safe zone, disabling the active rotation function of the first door and the second door, and 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 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 or closing the door;

[0009] if the sensing results indicate that the first door and the second door are in the non-safe zone, disabling the active rotation function of the first door and the second door.

[0010] Further, the obtaining of the sensing results of the first sensing device and the second sensing device comprises:

[0011] receiving a detection instruction;

[0012] detecting whether the vehicle is powered on and whether the first door and the second door are in the closed position;

[0013] if the vehicle is powered on and the first door and the second door are not in the closed position, obtaining the sensing results of the first sensing device and the second sensing device in response to the detection instruction; or, if the vehicle is not powered on and / or the first door and the second door are not in the closed position, not responding to the detection instruction.

[0014] Further, after the controlling of 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 closed position, the method further comprises:

[0015] restore the active rotation function of the first door and the second door.

[0016] Further, 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 unsafe zone, the method further comprises:

[0017] 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 zone, or the first door is located in the safe zone 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.

[0018] 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 both rotationally connected to the vehicle body, a first sensing device corresponding to the first door and a second sensing device corresponding to the second door, the first driving device and the second driving device are connected to and used for driving 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, the first door and the second door define a closed position, an unsafe 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, and the vehicle further comprises:

[0019] The controller is configured to obtain sensing results of the first sensing device and the second sensing device.

[0020] The controller is configured to disable the active rotation function of the first door and the second door when the sensing result indicates that the first door and / or the second door are located in the safe zone, and 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, wherein the vehicle does not execute an active rotation instruction of automatic opening and closing the door after the active rotation function of the first door and the second door is disabled.

[0021] The controller is configured to disable 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 unsafe zone.

[0022] Further, 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 in the closed position; if the vehicle is powered on and neither the first door nor the second door is in the closed position, the detection instruction is responded to to obtain sensing results of the first sensing device and the second sensing device; 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.

[0023] 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 rotating from the current position until the first door and the second door are in the closed position, restore the active rotating function of the first door and the second door.

[0024] Further, the controller is configured to, after disabling the active rotating function of the first door and the second door when the sensing results indicate that the first door and the second door are in the 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, allow the active rotating function of the first door and / or the second door to be restored.

[0025] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, the memory and the processor are communicatively connected, 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.

[0026] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in the first aspect or any of the corresponding embodiments.

[0027] The first and second sensing devices are provided to re-detect the door position when the vehicle is powered on again after being powered off, solve the problem of loss of position information in the prior art, and ensure that the central control can obtain the accurate state of the first door and the second door being in the safe zone, the non-safe zone or the closed position in real time. Secondly, based on the detection results of the sensing devices, the control logic can be executed accordingly, i.e., the door is driven to be closed and the active rotating function is disabled when the door is in the safe zone, and the active rotating function is directly disabled when the door is in the non-safe zone, so as to avoid the collision or hand clamping risk caused by direct electric control due to information loss, and ensure the operation safety from the source. Finally, the continuous monitoring and state feedback of the sensing devices provide a reliable basis for the door control, and improve the safety and reliability of the vehicle in the door control aspect. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0029] Figure 1 is a structural schematic diagram of a vehicle according to some embodiments of the present application;

[0030] Figure 2 is a closed position schematic diagram of a first door and a second door according to some embodiments of the present application;

[0031] Figure 3 is a schematic diagram of a non-safety zone according to some embodiments of the present application;

[0032] Figure 4 is a schematic diagram of a safety zone according to some embodiments of the present application;

[0033] Figure 5 is a rotation schematic diagram of a first door and a second door according to some embodiments of the present application;

[0034] Figure 6 is a rotation schematic diagram of a first door and a second door according to some embodiments of the present application;

[0035] Figure 7 is a flow schematic diagram of a vehicle control method according to some embodiments of the present application;

[0036] Figure 8 is a hardware structure schematic diagram of a computer device of an embodiment of the present application. DETAILED DESCRIPTION

[0037] 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 embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0038] According to embodiments of the present invention, a vehicle control method, apparatus, electronic device, and storage medium are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0039] This application provides a vehicle, such as... Figure 1 As shown, the system includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive unit 14, and a second drive unit 15. A first sensor 16 corresponds to the first door, and a second sensor 17 corresponds to the second door. The first drive unit 14 and the second drive unit 15 are respectively connected to the first door 11 and the second door 12. The controller 13 is communicatively connected to both the first drive unit 14 and the second drive unit 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 unit 14 and the second drive unit 15. The first door 11, by rotating, can cover and partially overlap the second door 12 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 between them, and a safe zone where they will not contact each other. Figure 2 The diagram shows the structure with the first and second doors fully open. Figure 3 The diagram shows the structure of the first and second doors in the closed position.

[0040] In this embodiment, the first and second doors have two movement modes: active rotation and passive rotation. Active rotation refers to the door's ability to rotate purposefully via its own power drive device (such as a motor) according to instructions from the vehicle control system or user operation, thereby completing the opening or closing action. Passive rotation refers to the door's rotation caused by external forces applied by factors other than the vehicle control system. These external forces may come from various situations, such as the user manually pushing the door, the door encountering an obstacle during movement, or the door being subjected to force due to an external impact on the vehicle.

[0041] like Figure 4 As shown, the first door 11 and the second door 12 defining the closed position can be understood as follows: during the closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping it, thus forming a complete closed structure that isolates the interior of the vehicle body from the external environment. Furthermore, as the first and second doors rotate relative to the vehicle body, they will form different areas based on their movement trajectories and spatial relationships. For example... Figure 5As shown, the non-safe zone refers to the area where the first door and the second door are likely to contact each other during the rotation of the door, which is usually caused by the movement track and angle change of the door, etc. Figure 6 As shown, the safe zone refers to the area where the two doors will not contact each other during the rotation of the door.

[0042] In the embodiments of the present application, as shown in the figure, Figure 1 The controller 13 is configured to obtain the sensing results of the first sensing device 16 and the second sensing device 17.

[0043] The controller 13 is configured to disable the active rotation function of the first door 11 and the second door 12 if the sensing results show that the first door 11 and / or the second door 12 are located in the safe zone, and control the first driving device and the second driving device to drive the first door 11 and the second door 12 to continue rotating from the current position until the closed position, wherein after the active rotation function of the first door 11 and the second door 12 is disabled, the vehicle does not execute the active rotation instruction of automatic opening and closing of the door.

[0044] The controller is configured to disable the active rotation function of the first door 11 and the second door 12 if the sensing results show that the first door 11 and the second door 12 are located in the non-safe zone.

[0045] Specifically, the first sensing device 16 and the second sensing device 17 can both use infrared blocking sensors, and in order to realize automatic opening and closing of the function to reduce power consumption, each infrared blocking sensor is matched with a switch, and the connection state of the switch is controlled by the central control system according to the state of the vehicle.

[0046] The first sensing device 16 is installed corresponding to the position of the first door 11, and the emission end and the receiving end are respectively fixed at the side frame positions of the tail door opening; the second sensing device 17 is installed corresponding to the second door 12, and also uses the layout of the emission end and the receiving end being separately arranged on both sides of the tail door opening. The core function of the sensing device is to judge the door state by whether the infrared signal is blocked: when the infrared signal is blocked, it indicates that the door opening is small, and it is in the "non-safe zone" where collision may occur; when the infrared signal is not blocked, it indicates that the door opening is large, and it is in the "safe zone" where there is no risk of collision. The controller 13 can accurately grasp the area state of the first door 11 and the second door 12 by continuously receiving the signals of the two groups of sensing devices, and provide a key basis for the execution of the subsequent control logic.

[0047] When the sensing result shows that the first door 11 and the second door 12 are located in the safe zone, the controller 13 performs two core operations: one is to immediately disable the active rotation function of the first door 11 and the second door 12, and the other is to control the first driving device and the second driving device to drive the two doors to continue rotating from the current position until completely closed. The "active rotation function" here specifically refers to the function of automatically driving the vehicle door to rotate after receiving external instructions (such as remote door opening and closing, in-vehicle button operation, etc.). Disabling this function can prevent the vehicle door from moving in a chaotic state due to external intervention during the closing process. Driving the door to continue rotating to the closed position is based on the judgment that there is no risk of collision in the safe zone - when at least one door is in the safe zone, the two doors will not collide with each other or interfere with the surrounding objects during the closing process, so the automatic closing of the door can be completed by the driving device. During this process, the vehicle will shield all active rotation instructions for automatic opening and closing (such as user voice control instructions, central control instructions, etc.), ensuring that the closing action is not disturbed until the two doors are completely closed, and then the normal active rotation function response is restored.

[0048] When the sensing result shows that the first door 11 and the second door 12 are both located in the non-safe zone, the core operation of the controller 13 is to immediately disable the active rotation function of the two doors. The design basis of this logic is that when both doors are in a non-safe zone with a small opening degree, there is a high risk of collision in their movement trajectory. If active rotation is allowed at this time (whether it is opening or closing), it may cause the two doors to collide or collide with the vehicle body or surrounding obstacles during movement. Therefore, disabling the active rotation function can forcibly terminate the electric driving state of the door to avoid danger. It should be noted that in this state, the system will not drive the door to continue moving, but will maintain the current position until the user moves the first door 11 and / or the second door 12 by manual operation, so that at least one door is out of the non-safe zone and enters the safe zone. The controller 13 will then remove the disabled state of the active rotation function to allow the vehicle to restore normal electric opening and closing of the door. This "manual intervention first" design ensures safety in emergency situations and provides users with a way to resolve dangerous situations through physical intervention, achieving a reasonable collaboration between automatic control and manual intervention.

[0049] In the embodiment of the present application, the controller is configured to receive a detection instruction, detect whether the vehicle is powered on and whether the first door 11 and the second door 12 are located in the closed position, and if the vehicle is powered on and the first door 11 and the second door 12 are not located in the closed position, respond to the detection instruction to obtain the sensing result of the first sensing device and the second sensing device; or, if the vehicle is not powered on and / or the first door 11 and the second door 12 are not in the closed position, do not respond to the detection instruction.

[0050] Specifically, after receiving the detection instruction, the controller synchronously detects two key information: one is the power-on state of the vehicle, confirming whether the vehicle is in a power supply state that can execute the electric control function; the other is the position of the first door 11 and the second door 12, judging whether both doors are in the closed position. Only when the two detection results meet the specific conditions at the same time, the controller will further respond to the detection instruction, that is, when the vehicle has successfully powered on, and the first door 11 and the second door 12 are not in the closed position (meaning that at least one door is in the open state), the controller will immediately start signal collection of the first sensing device and the second sensing device, and obtain the sensing result of whether the two doors are currently in the collision area, providing data support for the subsequent door control logic (such as automatic door closing or disabling the electric function).

[0051] On the contrary, if the detection result does not meet the above conditions, that is, any one of the vehicle is not powered on, or at least one of the first door 11 and the second door 12 is in the closed position, the controller will determine not to respond to the detection instruction. This design involves double considerations of system safety and operation efficiency: when the vehicle is not powered on, the electric control function itself cannot be started, and at this time, the sensing detection has no practical significance and will cause energy waste; when at least one door is in the closed position, the movement space of the remaining open door is relatively independent, the collision risk is significantly reduced, and the closed door does not need to participate in the opening detection, so suspending the response instruction can avoid unnecessary system operation and prevent the control logic from being chaotic due to false detection.

[0052] Through accurate judgment based on the vehicle state and the door position, the controller can efficiently respond to the detection instruction under the premise of ensuring the safety of the door operation, provide a reliable decision basis for the cooperative control of the double doors, and ensure that the collision risk state of the door can be grasped in time through the sensing device when the electric control condition is met, and that invalid operation is reduced by not responding to the instruction when the condition is not met.

[0053] In the embodiment of the present application, the controller is used to restore the active rotation function of the first door 11 and the second door 12 after controlling the first driving device and the second driving device to drive the first door 11 and the second door 12 to continue rotating from the current position until rotating to the closed position.

[0054] Specifically, when the first door 11 and the second door 12 are driven by the driving device to rotate gradually from the current position to the closed position at a preset speed, it means that the two doors have left the risk area of possible collision and are in a stable closed state. At this time, the controller determines through the internal program that the position signal of the two doors has met the closing condition, for example, the lock catch sensor feedbacks that the lock is in place, or the infrared blocking sensor corresponding to the door position is in a stable unblocked or blocked state due to the complete closing of the door (depending on the correspondence between the sensor installation position and the closed state).

[0055] After confirming that the two doors have been reliably closed, the controller will release the previous disablement of the active rotation function to avoid collision, and restore the ability of the first door 11 and the second door 12 to receive and execute automatic opening and closing instructions. This restoration operation ensures that after the doors are safely closed, the user can normally use the electric opening and closing function of the vehicle without manual intervention, and can control the door to open or close again through remote control, in-vehicle buttons, etc., which not only guarantees the safety during door closing, but also takes into account the practicality of the electric function of the vehicle. At the same time, this logic also forms a closed loop with the collision zone detection mechanism described above: when the two doors are driven to the closed position due to being in the safe zone, the active rotation function is restored in time to return the door control to the normal state.

[0056] In the embodiment of the present application, the controller is configured to, after disabling the active rotation function of the first door 11 and the second door 12 if the sensing result is that the first door 11 and the second door 12 are located in the non-safe zone, allow the active rotation function of the first door 11 and / or the second door 12 to be restored if the first door 11 and the second door 12 are both in the closed position, or the first door 11 and the second door 12 are both in the safe zone, or the first door 11 is in the safe zone and the second door 12 is in the closed position.

[0057] Specifically, the triggering condition of the controller to resume the function includes three cases: one is that the first door 11 and the second door 12 have both been rotated to the closed position, at this time, there is no collision risk between the two doors, and there is no need to maintain the function disabled in the closed state; two is that the first door 11 and the second door 12 are both moved from the non-safe zone to the safe zone (i.e. both groups of sensors do not detect obstruction, the opening of the two doors is large and out of the collision zone), indicating that there is no possibility of cross interference in the movement trajectory of the two doors; three is that the first door 11 is in the safe zone and the second door 12 is in the closed position, or the second door 12 is in the safe zone and the first door 11 is in the closed position, in this case, the door in the safe zone has a safe movement space, and the closed door does not need to participate in the electric control, both meet the safety premise of resuming the function. The above logic design not only continues to strictly control the collision risk, but also realizes flexible recovery of the function through dynamic monitoring - when the state of the two doors changes from the double non-safe zone to the risk-free state (full closed, full safe zone or combination of safe zone and closed), the controller removes the active rotation function disable of the corresponding door, so that the user can control the door movement through the electric command, avoiding the inconvenience caused by continuous disable. This mechanism echoes the rule described in the foregoing that "disable the electric function when both doors are in the non-safe zone, until at least one door is out of risk through manual adjustment", forming a complete control closed loop from risk identification, function limitation to safety recovery.

[0058] A vehicle control method is provided in the embodiment, Figure 7 A flow chart of a vehicle control method according to an embodiment of the present application is shown in Figure 7 The flow chart includes the following steps:

[0059] In step S101, the sensing results of the first sensing device and the second sensing device are obtained.

[0060] In the embodiment, the first sensing device and the second sensing device are both infrared obstruction sensors, and each is provided with a switch. These switches are only connected under the condition that the vehicle is powered on and neither the top door nor the bottom door is in the closed position, so that the sensors enter the working state under the control of the central control. The first sensing device is installed corresponding to the first door position, with the emitting end fixed to the side frame position at one end of the tail door opening and the receiving end fixed to the side frame position at the other end of the tail door opening; the second sensing device is installed corresponding to the second door position, with the emitting end and the receiving end also fixed to the side frame positions at both ends of the tail door opening.

[0061] When the first sensing device is blocked, it means that the first door is in a small opening degree, and is in a collision area (unsafe area). When the first sensing device is not blocked, it means that the first door is in a large opening degree, and is in a safe area. Similarly, when the second sensing device is blocked, the second door is in an unsafe area. When the second sensing device is not blocked, the second door is in a safe area. The controller communicates with the two sensing devices in real time, continuously receives the sensing signals of the two sensing devices, and obtains the sensing results of the current areas of the first door and the second door, thereby providing a basis for subsequent control steps.

[0062] In step S102, if the sensing result is that the first door and / or the second door is in a 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 closing 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 of automatic opening and closing of the doors.

[0063] In the embodiment of the present application, after receiving the sensing result, the controller first analyzes the result, and determines that the first door and / or the second door is in a safe area, that is, the infrared blocking sensor of at least one door is not blocked, and the door opening degree is large, and the door is not in a collision area.

[0064] At this time, the controller immediately sends an instruction to the control system of the first door and the second door to disable the active rotation function of the first door and the second door, which means that the vehicle no longer responds to any active rotation instruction of automatic opening and closing of the doors, thereby preventing collision risk caused by external instruction interference in the subsequent door closing process. Then, the controller sends a driving signal to the first driving device and the second driving device to control the two driving devices to drive the first door and the second door to continue rotating at a preset speed from the current position. During the rotation process, the controller continuously monitors the position information of the doors to ensure that the two doors move smoothly and accurately until the closing position is reached, thereby avoiding collision of the two doors during the movement process and ensuring the safety of the door closing process.

[0065] In step S103, if the sensing result is that the first door and the second door are in an unsafe area, the active rotation function of the first door and the second door is disabled.

[0066] In the embodiment of the present application, when the sensing result obtained by the controller shows that the first sensing device and the second sensing device are both blocked, it means that the opening degrees of the first door and the second door are both small, and the two doors enter a collision area (unsafe area). In this case, in order to prevent the two doors from colliding under the electric driving, the controller immediately sends an instruction to the control module of the first door and the second door to disable the active rotation function of the two doors.

[0067] At this time, whether it is an automatic door opening and closing instruction in the vehicle or an active rotation instruction sent through remote control or the like, the vehicle will not execute it. This operation can forcibly terminate the electric drive state of the two doors and keep the two doors at the current position, avoiding the occurrence of collision accidents caused by continued electric operation. Only when the user manually moves the first door and / or the second door so that the infrared blocking sensor of at least one door is no longer blocked, i.e., at least one door is out of the unsafe area, will the controller consider whether to restore the active rotation function of the corresponding door according to the new sensing result.

[0068] The present application can re-detect the door position when the vehicle is powered on again after being powered off through the setting of the first and second sensing devices, solves the problem of loss of position information in the existing scheme, and ensures that the central control can obtain the accurate state of the first and second doors being in the safe area, the unsafe area or the closed position in real time. Secondly, based on the detection result of the sensing device, the control logic can be executed accordingly, i.e., driving the door to close and disabling the active rotation function in the safe area, directly disabling the active rotation function in the unsafe area, avoiding the collision or hand clamping risk caused by direct electric control due to information loss, and ensuring operation safety from the source. Finally, the continuous monitoring and state feedback of the sensing device provide a reliable basis for door control, and improve the safety and reliability of the vehicle in door control.

[0069] In the embodiment of the present application, obtaining the sensing results of the first sensing device and the second sensing device includes: receiving a detection instruction; detecting whether the vehicle is powered on and whether the first door and the second door are located at the closed position; if the vehicle is powered on and neither the first door nor the second door is located at the closed position, responding to the detection instruction to obtain the sensing results of the first sensing device and the second sensing device; or, if the vehicle is not powered on and / or the first door and the second door are not at the closed position, not responding to the detection instruction.

[0070] Specifically, the controller receives a detection instruction, which triggers a double-state detection mechanism after being triggered: on the one hand, the vehicle power management module is checked to confirm whether the battery provides stable power supply for the door electric control system, to ensure that the infrared blocking sensor, the driving device and other hardware have working conditions; on the other hand, the first door and the second door are accurately judged by the door locking sensor or the position encoder whether they are at the closed position, and the closed state is determined by the door sealing and fitting with the vehicle body and the locking mechanism completely engaged. The two detections are carried out synchronously to form the prerequisite for the response instruction, providing initial judgment basis for whether to start sensing detection subsequently.

[0071] After the completion of the state detection, the controller will execute differentiated processing logic according to the results. When the detection shows that the vehicle has been powered on and both doors are not closed, the controller determines that the induction detection condition is met, immediately responds to the instruction and activates the first and second induction devices: controls the sensor matching switch to be connected, so that the infrared transmitting end and the receiving end enter the working state, and judges the door opening degree through the signal transmission and reception at the side frame of the tail door opening - when the signal is blocked, it is determined as the collision area (non-safety area), and when the signal is unblocked, it is determined as the safety area. The real-time collected induction results will be transmitted to the controller storage module as the core data support of the door control logic. On the contrary, if the vehicle is not powered on (the electric system cannot operate), or at least one door is in the closed position (the collision risk is extremely low), the controller directly determines not to respond to the detection instruction, which not only avoids invalid detection in the absence of power supply, but also reduces the redundant operation when a single door is opened. While ensuring the necessity of detection, the system power consumption is reduced.

[0072] In the embodiment of the present application, 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: restoring the active rotation function of the first door and the second door.

[0073] 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 doors, 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 automatic opening and closing, whether it is an instruction issued through an in-vehicle button, remote control or other electric control method. The vehicle can perform normally, thereby restoring the convenience of the electric door function on the basis of ensuring the safety of the closing process, and ensuring that the user can subsequently smoothly electrically control the doors.

[0074] In the embodiment of the present application, after the induction result is that the first door and the second door are located in the non-safety area, and the active rotation function of the first door and the second door is disabled, 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 safety area, or the first door is located in the safety 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.

[0075] 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 electrically opening and closing the doors; when both doors are in the safe zone (i.e., the infrared blocking sensor is not blocked, the opening degree is large, and the collision zone is separated), the motion trajectories of the two doors do not cross and interfere, and at this time, the restoration function enables the user to flexibly control the opening and closing of the doors through electric instructions; and in the combination state that one door is in the safe zone and the other door is closed, the door in the safe zone has enough space to rotate electrically, and the closed door does not need to participate in the movement, and there is 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 control the collision risk, but also realizes flexible restoration of the function through dynamic state judgment, ensuring the safety while taking into account the convenience of vehicle use, so that the user can normally use the electric opening and closing function when the door is in a safe state.

[0076] 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 shown in Figure 8 The computer device includes one or more processors, a memory 20, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Various components are communicatively connected to each other by using different buses, and can be installed on a common mainboard or in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device, such as a display device coupled to the interface. In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memories, if needed. Similarly, multiple computer devices can be connected, each providing part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0077] The processor can be a central processor, a network processor, or a combination thereof. The processor 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 gate array, a general array logic, or any combination thereof.

[0078] The memory 20 stores instructions executable by the at least one processor, so that the at least one processor executes the method shown in the above embodiments.

[0079] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system and applications required by at least one function. The data storage area can store data created by the computer device according to the presentation of a small program landing page, and the like. In addition, the memory 20 can include a high-speed random access memory, and can also 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 optional embodiments, the memory 20 can optionally include a memory disposed remotely relative to the processor, 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.

[0080] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state disk. The memory 20 can also include a combination of the above-mentioned kinds of memories.

[0081] The computer device also includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0082] The embodiments of the present application also provide a computer readable storage medium. The above-mentioned method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium through network downloading 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-purpose 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, and the like. Further, the storage medium can also include a combination of the above-mentioned kinds 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 code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0083] 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 sensing device corresponding to the first door and a second sensing device corresponding to the second door; 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 and partially stacked on the second door by rotating to close the vehicle body; the first door and the second door define a closed position, a non-safe area where the first door and the second door can contact each other, and a safe area where the first door and the second door do not contact each other; the method comprises: obtaining sensing results of the first sensing device and the second sensing device; if the sensing results are that the first door and / or the second door are located in the safe area, the active rotation functions of the first door and the second door are 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, wherein after the active rotation functions of the first door and the second door are disabled, the vehicle does not execute the active rotation instruction of automatically opening and closing the door; if the sensing results are that the first door and the second door are located in the non-safe area, the active rotation functions of the first door and the second door are disabled.

2. The method of claim 1, wherein, The obtaining of the sensing results of the first sensing device and the second sensing device 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 sensing results of the first sensing device and the second sensing device are obtained in response to the detection instruction; 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: restoring the active rotation functions of the first door and the second door.

4. The method of claim 1, wherein, After the sensing results are that the first door and the second door are located in the non-safe area, the active rotation functions of the first door and the second door are disabled, the method further comprises: 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 area, or the first door is located in the safe area and the second door is located in the closed position, the active rotation functions of the first door and / or the second door are allowed to be restored.

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 rotationally connected to the vehicle body, a first sensing device corresponding to the first door and a second sensing device corresponding to the second door; the first driving device and the second driving device are connected to and used for driving 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, and the first door can cover and partially overlap the second door by rotating to close the vehicle body; the first door and the second door define a closed position, a non-safe 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 vehicle further comprises: a controller configured to acquire sensing results of the first sensing device and the second sensing device; the controller is configured to, if the sensing results indicate that the first door and / or the second door are located in the 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 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 an active rotation instruction for automatically opening or closing the door; the controller is configured to, if the sensing results indicate that the first door and the second door are located in the non-safe area, 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 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 controller is configured to, in response to the detection instruction, acquire the sensing results of the first sensing device and the second sensing device; or if the vehicle is not powered on, the controller is configured to not respond to the detection instruction.

7. The vehicle of claim 5, wherein 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 rotating from the current position until the closed position is reached, restore the active rotation function of the first door and the second door.

8. The vehicle of claim 5, wherein, the controller is configured to, after disabling the active rotation function of the first door and the second door if the sensing results indicate that the first door and the second door are located in the non-safe area, 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 safe area, or the first door is located in the safe area and the second door is located in the closed position.

9. An electronic device, comprising: comprise: a memory and a processor which are communicatively connected to each other, and the memory stores computer instructions; the processor executes the computer instructions to perform the method of any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium has stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 4.

Images