Vehicle door locking control method and device and vehicle

Abstract

The invention provides a vehicle door locking control method and device and a vehicle, relates to the technical field of vehicle electronic control and is applied to the vehicle, the vehicle at least comprises a first electric door and a second electric door which are used for forming a whole, and the first electric door and the second electric door are configured to independently rotate around a rotating shaft to be opened or closed. The method comprises the steps that when a second electric door hovers to a preset position, a first electric door opening signal is responded, and a first electric door is controlled to rotate towards the second electric door; when the first electrically operated gate is in the pull-in angle interval, the first electrically operated gate is driven according to a first preset voltage until the second electrically operated gate and the first electrically operated gate meet mechanical locking conditions, and a locking signal is generated; and in response to a locking signal, the first electrically operated gate and the second electrically operated gate are combined into a whole, and the locked electrically operated gate is wholly suspended to a preset angle so as to meet the dynamic control requirement of the opening state of the electrically operated gate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle electronic control, in particular to a vehicle door locking control method and device and vehicle. BACKGROUND

[0002] With the continuous improvement of the intelligence and convenience requirements of vehicles, electric vehicle doors, as one of the important configurations of modern vehicles, have been widely used in various vehicles. In the related technology, the electric vehicle door can realize the automatic opening and closing of the vehicle door through a motor driving system, which significantly improves the operation convenience and use experience of the user.

[0003] When a vehicle has at least two electrically interlockable electric vehicle doors, how to meet the dynamic control requirements under this door configuration is a technical problem. SUMMARY

[0004] The problem solved by the present application is how to meet the dynamic control requirements of the electric vehicle door in the open state.

[0005] To solve the above problems, the present application provides a vehicle door locking control method, device and vehicle.

[0006] In a first aspect, the present application provides a vehicle door locking control method applied to a vehicle, wherein the vehicle includes at least a first electric door and a second electric door for forming an integral whole, and the first electric door and the second electric door are configured to independently rotate around a rotation axis to open or close, and the method comprises: When the second electric door hovers to a preset position, in response to a first electric door opening signal, the first electric door is controlled to rotate towards the second electric door; When the first electric door is in a closing angle interval, the first electric door is driven according to a first preset voltage until the second electric door and the first electric door meet a mechanical interlocking condition, and an interlocking signal is generated; In response to the interlocking signal, the first electric door and the second electric door are combined into an integral whole, and the locked electric door integral is hovered to a preset angle.

[0007] Optionally, in response to the interlocking signal, the first electric door and the second electric door are combined into an integral whole, and the locked electric door integral is hovered to a preset angle, comprising: In response to the interlocking signal, a first energy consumption braking signal is generated, and the driving signal to the second electric door is cut off, wherein the first energy consumption braking signal is used to control the first electric door to perform energy consumption braking; Under the energy consumption braking, the first electric door and the second electric door are combined into an integral whole.

[0008] Optionally, the first electric door and the second electric door are locked by an electric suction door lock; the combination of the first electric door and the second electric door into a whole under the energy-saving braking further includes: The electric suction door lock engages the first electric door and the second electric door until a full lock signal is triggered, thus combining the first electric door and the second electric door into a single unit.

[0009] Optionally, the first electric door and the second electric door are respectively provided with a locking tongue and a latch that cooperate with each other; the mechanical locking condition includes that the locking tongue and the latch are locked together, and the locking duration exceeds a first preset duration.

[0010] Optionally, before controlling the first electric door to rotate towards the second electric door in response to the first electric door opening signal when the second electric door is hovered at a preset position, the method further includes: Control the first electric door to rotate to the fully open position; The first Hall effect number of the first electric door when it is fully open is determined based on the fully open position.

[0011] Optionally, after determining the first Hall number of the first electric door when it is fully open based on the fully open position, the method further includes: The attraction angle range is determined based on the first Hall number and the preset bias Hall number.

[0012] Optionally, when the first electric door is in the closing angle range, driving the first electric door according to a first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generating a locking signal includes: According to the second preset voltage, the second electric door is driven in the direction of movement of the first electric door until the second electric door and the first electric door meet the mechanical locking condition.

[0013] Optionally, driving the second electric door in the direction of movement of the first electric door according to the second preset voltage until the second electric door and the first electric door satisfy the mechanical locking condition includes: When the speed of the second electric door is greater than the third preset speed, a second energy-consuming braking signal is generated until the second electric door and the first electric door meet the mechanical locking condition.

[0014] Secondly, this application provides a door locking control device for a vehicle, the vehicle including at least a first electric door and a second electric door forming a whole, the first electric door and the second electric door being configured to independently rotate about a rotation axis to open or close, the device comprising: The starting module is used to control the first electric door to rotate toward the second electric door in response to the first electric door opening signal when the second electric door is hovered at a preset position. The locking module is used to drive the first electric door according to a first preset voltage when the first electric door is in the suction angle range, until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. The combination module is used to combine the first electric door and the second electric door into a whole in response to the locking signal, and to suspend the locked electric door as a whole at a preset angle.

[0015] Thirdly, this application provides a vehicle including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the door locking control method as described in the first aspect when executing the computer program.

[0016] The beneficial effects of the door locking control method of this application are: The two electric doors rotate independently and can perform step-by-step or coordinated actions upon receiving an opening command. When the second electric door hovers at a preset position and responds to the opening signal of the first electric door, an air-locking logic is triggered. When the first electric door rotates towards the second electric door and is within the engagement angle range, a first preset voltage drives the first electric door to move towards the second electric door to appropriately decelerate the rotation speed and maintain sufficient kinetic energy to overcome the sealing reaction force generated when the first and second electric doors lock, thus ensuring door locking. The initial mechanical locking of the first and second electric doors and the determination of mechanical locking conditions ensure the physical stability of the electric doors in the hovering state. After the physical locking conditions are met, the two are combined into a single electric door assembly, which is then hovered in the air at a preset angle. This allows vehicles with electric door layouts to lock all electric doors together after each door is opened, and also provides the ability to close the entire electric door assembly at once, meeting the dynamic control requirements of the electric door in the open state. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the door locking control method according to an embodiment of this application; Figure 2 This is a control block diagram of the door control module POT / body domain control rear domain ZCT according to an embodiment of this application; Figure 3 This is an example diagram showing the suction angle range of an embodiment of this application; Figure 4 This is an example diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application are described in detail below with reference to the accompanying drawings. Although some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the accompanying drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0019] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first," "second," etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0023] To address the problems existing in the aforementioned related technologies, this embodiment provides a door locking control method, device, and vehicle.

[0024] like Figure 1 As shown in the illustration, this application provides a door locking control method applied to a vehicle. The vehicle includes at least a first electric door and a second electric door forming a whole. The first electric door and the second electric door are configured to independently rotate around a rotation axis to open or close. The method includes: Step S100: When the second electric door is hovered at a preset position, in response to the first electric door opening signal, the first electric door is controlled to rotate toward the second electric door.

[0025] In this embodiment, the vehicle includes at least two electric doors, each capable of rotating independently around its own axis. When both the first and second electric doors are closed, the second electric door and the first electric door are combined into a single unit. When a user needs to open either electric door, they can trigger the corresponding open button to generate an open signal, which drives the motor to rotate the corresponding electric door. In a specific scenario, if a user opens the second electric door but finds that its opening is insufficient and needs to further open the first electric door, they trigger the open button for the first electric door, generating an open signal to rotate it. In this case, if the vehicle's electric door control logic is the single-electric-door control logic found in related technical solutions, the user must manually close the first and second electric doors sequentially by triggering their close buttons according to their layout. This operation is redundant and time-consuming.

[0026] Based on this, this application embodiment sets up a triggering scenario applicable to electric tailgates located at the rear of a vehicle. In this scenario, a door locking control method is triggered to lock the two electric tailgates in mid-air when one electric tailgate is open and the other electric tailgate is opened. When closing is required, the electric doors close simultaneously, reducing user operation redundancy and waiting time. The electric tailgate and electric tailgate correspond to the first electric door and the second electric door.

[0027] Optionally, the rotation axes of the first electric door and the second electric door are coaxial.

[0028] In one embodiment, the preset position includes the maximum opening position or a closing angle range. When the second electric door is open and hovering in the maximum opening position or a closing angle range suitable for closing, if the first electric door is opened by the user, the first electric door is controlled to rotate towards the second electric door, triggering the door locking control method.

[0029] In this embodiment, the relative positional relationship between the first electric door and the second electric door is as follows: the second electric door can be opened independently without interference, and the opening angle of the first electric door must be within the opening angle of the second electric door. That is, the first electric door is the "mother door" relative to the second electric door, and the second electric door is the "child door." In other embodiments, the mother-child relationship between the first and second electric doors can be interchanged, or the first and second electric doors can be opened independently at any angle, and there is no mother-child relationship.

[0030] Step S200: When the first electric door is in the closing angle range, drive the first electric door according to the first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal.

[0031] In one embodiment, such as Figure 3 As shown, the first and second electric doors are each equipped with a corresponding Hall sensor to read their opening angles and monitor the position information of the first electric door in real time. Outside the closing angle range, the rotation speed and driving voltage of the first electric door are the normal operating speed and driving voltage. When the first electric door rotates into the closing angle range, its rotation speed is appropriately reduced, i.e., driven by a first preset voltage, to appropriately reduce the impact force when the first and second electric doors lock together, while ensuring sufficient kinetic energy to overcome the sealing reaction force from the sealing strip and the force exerted by the first electric door on the second electric door. When the second and first electric doors mechanically lock together, a locking signal is generated to indicate that they are initially locked in their physical structure.

[0032] Optionally, after driving the first electric door according to the first preset voltage, the method further includes: When the speed of the first electric door is greater than the first preset speed, a first energy-consuming braking signal is generated to perform energy-consuming braking on the first electric door until the speed of the first electric door is less than or equal to the fourth preset speed.

[0033] When the speed of the first electric door is less than the second preset speed, a step voltage is generated to drive the first electric door to accelerate until the speed of the first electric door is greater than or equal to the fourth preset speed, wherein the first preset speed is greater than the fourth preset speed is greater than the second preset speed.

[0034] In one embodiment, regenerative braking refers to the process where, during the operation of the electric door, when deceleration or stopping is required, the motor windings of the drive motor actually switch to generator mode. The kinetic energy of the electric door is converted into electrical energy, which is then dissipated as heat through the braking resistor, thereby achieving a smooth and controllable braking effect. Specifically, when the door enters the regenerative braking stage, the controller cuts off the power supply to the motor and connects the motor windings to the braking resistor. At this time, the door continues to drive the motor rotor to rotate due to inertia, causing the motor to transform into a generator. The generated current flows through the braking resistor, and the electrical energy is converted into heat. This process generates a reverse electromagnetic torque, effectively hindering the continued movement of the door.

[0035] In one embodiment, the operating speed of the electric gate may differ even when the same driving voltage is applied, depending on changes in the parking environment. For example, if the vehicle is parked on an uphill or downhill section, the actual speed of the second electric gate during opening or closing will differ from the speed when the vehicle is parked on a level surface due to the influence of gravity. It may slow down uphill due to increased resistance and speed up downhill due to the assist effect. Therefore, a speed threshold is introduced. When the speed of the first electric gate is greater than a first preset speed, energy-consuming braking is applied to the first electric gate. When the speed of the first electric gate is less than a second preset speed, to ensure successful locking of the first and second electric gates, the first electric gate is accelerated by a step voltage.

[0036] Optionally, the step voltage value can be set according to different electric gates. The fourth preset speed is the average of the first preset speed and the second preset speed.

[0037] In one embodiment, the step voltage is set to 0.5V / 100ms, that is, it increases by 0.5V every 100 milliseconds.

[0038] In step S300, in response to the locking signal, the first electric door and the second electric door are combined into a whole, and the locked electric door is suspended at a preset angle.

[0039] After generating the locking signal, the first electric door and the second electric door are further combined, for example, by locking the locking structure between them, or by performing other combination actions, until they are combined into a whole. At this time, the two are combined in the air, and the locked electric door is suspended or rotated to a preset angle.

[0040] In one embodiment, the preset angle includes the maximum angle at which the electric door can be hovered or other manually set angles. After being assembled as a whole and hovering at the preset angle, in response to a user's closing signal, the drive motor drives the electric door to rotate to the closed state.

[0041] In one embodiment, such as Figure 2 As shown, the door control module POT / body domain controller ZCT represents the controller that controls the door drive mechanism. The first electric door includes a large door drive with a pedometer, and the second electric door includes a small door drive with a pedometer. POT / ZCT receives position information from the large door drive (i.e., the first electric door drive) in the first electric door and the small door drive (i.e., the second electric door drive) in the second electric door. After analysis and judgment, it outputs control signals to control the operation of the large door drive and the small door drive; the small door drive is responsible for driving the second electric door and also has a pedometer device such as a Hall sensor, which can provide real-time feedback on its own position; the large door drive is responsible for driving the first electric door and also has a pedometer device such as a Hall sensor, which can provide real-time feedback on its own position.

[0042] In this embodiment, the two electric doors rotate independently. Upon receiving an opening command, they can perform step-by-step or coordinated actions. When the second electric door hovers at a preset position and responds to the opening signal of the first electric door, an air-locking logic is triggered. When the first electric door rotates towards the second electric door and is within the engagement angle range, a first preset voltage drives the first electric door to move towards the second electric door to appropriately decelerate the rotation speed and maintain sufficient kinetic energy to overcome the sealing reaction force generated when the first and second electric doors lock, thus ensuring the door lock. The preliminary mechanical locking of the first and second electric doors and the determination of the mechanical locking conditions can ensure the physical stability of the electric doors in the hovering state. After the physical locking conditions are met, the two are combined into a whole, and the locked electric door whole is hovered in the air at a preset angle. This allows vehicles with at least two interlockable electric doors to lock each other together after opening the electric doors separately, and also provides the ability to close the entire electric door at once.

[0043] Optionally, the step of combining the first electric door and the second electric door into a single unit in response to the locking signal, and suspending the locked electric door unit at a preset angle, includes: In response to the locking signal, a first energy-consuming braking signal is generated, and the drive signal to the second electric door is cut off, wherein the first energy-consuming braking signal is used to control the first electric door to perform energy-consuming braking.

[0044] Under the energy-saving braking, the first electric door and the second electric door are combined into a single unit.

[0045] When the electric suction door lock mechanism detects that the mechanical locking condition is met, it generates a first energy-consuming braking signal according to preset logic. This signal is output to the drive device of the first electric door through a voltage regulation module, causing it to enter an energy-consuming braking state. Simultaneously, the drive signal of the second electric door is cut off, stopping its motor power supply. The second electric door maintains its current position due to inertia, awaiting physical engagement with the first electric door. In the energy-consuming braking state, the first electric door consumes kinetic energy through a braking resistor to maintain its angular stability. Due to the constraint of the mechanical locking structure, the first and second electric doors combine into a single unit. The position feedback of both electric doors is continuously monitored, and after confirming the combined state, the entire electric door is suspended at a preset angle.

[0046] By consuming the kinetic energy of the first electric door through resistance, the door body is prevented from shifting due to inertia, thus improving the stability of the assembly process. The cut-off of the drive signal ensures that the second electric door is no longer disturbed by external driving forces after mechanical locking, thereby enhancing the physical reliability of the door assembly. Through the synergistic effect of the first energy-consuming braking and mechanical locking, the entire electric door can be stably hovered at a preset angle, reducing the complexity of subsequent operations.

[0047] Optionally, the first electric door and the second electric door are locked by an electric suction door lock; the combination of the first electric door and the second electric door into a whole under the energy-saving braking further includes: The electric suction door lock engages the first electric door and the second electric door until a full lock signal is triggered, thus combining the first electric door and the second electric door into a single unit.

[0048] In one embodiment, the first and second electric doors are further secured by an electric suction door lock. When a first energy-consuming braking signal is generated, the electromagnetic device of the electric suction door lock is activated, applying a suction force to the first and second electric doors. The suction action of the electric suction door lock is achieved through the magnetic attraction between the electromagnet and the metal insert, causing the two electric doors to gradually come together within a preset angle range. During the suction process, the mechanical structure of the electric suction door lock gradually closes. When the two electric doors are fully joined, an embedded sensor detects complete contact between the metal insert and the electromagnet, triggering a full lock signal. The full lock signal is fed back by a Hall sensor or pressure switch, indicating that the physical locking state has been achieved. After generating the full lock signal, the physical locking relationship between the first and second electric doors is confirmed, maintaining the energy-consuming braking state to prevent door displacement. The two electric doors, due to the locking action of the electric suction door lock, combine into a single electric door unit and hover at a preset angle until a closing command is received.

[0049] Optionally, the first electric door and the second electric door are respectively provided with a locking tongue and a latch that cooperate with each other; the mechanical locking condition includes that the locking tongue and the latch are locked together, and the locking duration exceeds a first preset duration.

[0050] In one embodiment, when the mechanical structures of the second electric door and the first electric door are locked together for a period of time exceeding a first preset duration, it indicates that the first and second electric doors are initially engaged. Only when the locking state remains stable within the first preset duration is the mechanical locking confirmed as complete, and the subsequent locking process begins.

[0051] Optionally, the first preset duration can be determined according to the actual situation. For example, setting the first preset duration to 100ms can accurately assist in determining the initial combination of the two without affecting the smoothness of the function.

[0052] Optionally, before controlling the first electric door to rotate towards the second electric door in response to the first electric door opening signal when the second electric door is hovered at a preset position, the method further includes: Control the first electric door to rotate to the fully open position; The first Hall effect number of the first electric door when it is fully open is determined based on the fully open position.

[0053] Because each vehicle's electric door has manufacturing tolerances or assembly errors, its opening and closing angles vary slightly. When each vehicle's electric door is opened for the first time, a self-learning process is performed, that is, the first and second electric doors are controlled to the maximum opening degree, and the Hall number corresponding to the maximum opening degree is recorded. The first Hall number when the first electric door is fully open is recorded as A, and the second Hall number when the second electric door is fully open is a.

[0054] Optionally, after determining the first Hall number of the first electric door when it is fully open based on the fully open position, the method further includes: The attraction angle range is determined based on the first Hall number and the preset bias Hall number.

[0055] The bias Hall number X represents a pre-calibrated bias value used in conjunction with the first Hall number to establish a suitable suspended closing angle for the first and second electric doors when opening. If the bias value is too large, step S200 may be initiated prematurely, resulting in poor locking performance when the first and second electric doors are engaged. If the bias value is too small, the first electric door may decelerate too late, resulting in poor deceleration and excessive impact force on the second electric door, potentially damaging it. The engagement angle range is represented as (AX, A).

[0056] Optionally, when the first electric door is in the closing angle range, driving the first electric door according to a first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generating a locking signal includes: According to the second preset voltage, the second electric door is driven in the direction of movement of the first electric door until the second electric door and the first electric door meet the mechanical locking condition.

[0057] After the first electric door enters the closing angle range, the first and second electric doors begin a locking process. The first electric door is driven by a first preset voltage, while the second electric door is driven in the same direction by a second preset voltage, until they lock together and meet the mechanical locking conditions. For example, in a scenario where the second electric door is opened first, followed by the first electric door, the first electric door rotates in the opening direction in response to the opening signal. After the first electric door enters the closing angle range, the first electric door is driven by the first preset voltage to rotate at a speed suitable for engagement. Simultaneously, the second electric door is driven in the opening direction by the second preset voltage, causing it to rotate in the same direction. However, the rotation speed of the second electric door is much slower than that of the first electric door, and their simultaneous rotation in the same direction improves the smoothness of the locking process. In this embodiment, the voltage value of the second preset voltage is lower than the voltage value of the first preset voltage, aiming to ensure that the second and first electric doors move in the same direction. If the second preset voltage is too high, the speed difference and kinetic energy difference between the first and second electric doors during locking will be too small, making it impossible to overcome the sealing reaction force and causing locking failure; if the second preset voltage is too low, the second electric door will be subjected to excessive impact force.

[0058] Optionally, driving the second electric door in the direction of movement of the first electric door according to the second preset voltage until the second electric door and the first electric door satisfy the mechanical locking condition includes: When the speed of the second electric door is greater than the third preset speed, a second energy-consuming braking signal is generated until the second electric door and the first electric door meet the mechanical locking condition.

[0059] When the parking environment changes, the operating speed of the electric gate may differ even when the same driving voltage is applied. For example, if the vehicle is parked on an uphill or downhill slope, the actual speed of the second electric gate during opening or closing will differ from the speed when the vehicle is parked on a level surface due to the influence of gravity. It may slow down uphill due to increased resistance, and speed up downhill due to the assist effect. Therefore, a speed threshold is introduced. When the speed of the second electric gate exceeds a third preset speed, a second energy-consuming braking signal is generated to decelerate the second electric gate and prevent it from rotating too quickly and failing to lock.

[0060] This application provides a door locking control device applied to a vehicle, the vehicle including at least a first electric door and a second electric door forming a whole, the first electric door and the second electric door being configured to independently rotate around a rotation axis to open or close, the device including: The starting module is used to control the first electric door to rotate toward the second electric door in response to the first electric door opening signal when the second electric door is hovered at a preset position. The locking module is used to drive the first electric door according to a first preset voltage when the first electric door is in the suction angle range, until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. The combination module is used to combine the first electric door and the second electric door into a whole in response to the locking signal, and to suspend the locked electric door as a whole at a preset angle.

[0061] like Figure 4 As shown in the embodiment of this application, a vehicle 400 includes a memory 410 and a processor 420; the memory 410 is used to store a computer program; the processor 420 is used to implement the door locking control method described above when the computer program is executed.

[0062] Alternatively, a vehicle 400 includes a memory 410 and a processor 420 coupled to the memory 410; the memory 410 is configured to store a computer program; the processor 420 is configured to perform the following operations when the computer program is executed: Applied to a vehicle, the vehicle including at least a first electric door and a second electric door as a whole, the first electric door and the second electric door being configured to independently rotate about a rotation axis to open or close, the method comprising: When the second electric door is hovered at a preset position, in response to the opening signal of the first electric door, the first electric door is controlled to rotate toward the second electric door; When the first electric door is in the closing angle range, the first electric door is driven according to the first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. In response to the locking signal, the first electric door and the second electric door are combined into a whole, and the locked electric door is suspended at a preset angle.

[0063] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the door locking control method described above.

[0064] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: Applied to a vehicle, the vehicle including at least a first electric door and a second electric door as a whole, the first electric door and the second electric door being configured to independently rotate about a rotation axis to open or close, the method comprising: When the second electric door is hovered at a preset position, in response to the opening signal of the first electric door, the first electric door is controlled to rotate toward the second electric door; When the first electric door is in the closing angle range, the first electric door is driven according to the first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. In response to the locking signal, the first electric door and the second electric door are combined into a whole, and the locked electric door is suspended at a preset angle.

[0065] Vehicle 400, which can serve as a server or client in this application, is described below as an example of an electronic device that can be applied to various aspects of this application. Electronic device 400 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 400 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0066] Electronic devices include a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0067] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0068] Although the above disclosure is provided, the scope of protection of this application is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this application, and all such changes and modifications will fall within the scope of protection of this application.

Claims

1. A door locking control method, characterized in that, Applied to a vehicle, the vehicle including at least a first electric door and a second electric door as a whole, the first electric door and the second electric door being configured to independently rotate about a rotation axis to open or close, the method comprising: When the second electric door is hovered at a preset position, in response to the opening signal of the first electric door, the first electric door is controlled to rotate toward the second electric door; When the first electric door is in the closing angle range, the first electric door is driven according to the first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. In response to the locking signal, the first electric door and the second electric door are combined into a whole, and the locked electric door is suspended at a preset angle.

2. The door locking control method according to claim 1, characterized in that, The step of responding to the locking signal by combining the first electric door and the second electric door into a whole, and suspending the locked electric door at a preset angle includes: In response to the locking signal, a first energy-consuming braking signal is generated, and the drive signal to the second electric door is cut off, wherein the first energy-consuming braking signal is used to control the first electric door to perform energy-consuming braking; Under the energy-saving braking, the first electric door and the second electric door are combined into a single unit.

3. The door locking control method according to claim 2, characterized in that, The first electric door and the second electric door are locked by an electric suction door lock; the combination of the first electric door and the second electric door into a whole under the energy-consuming braking further includes: The electric suction door lock engages the first electric door and the second electric door until a full lock signal is triggered, thus combining the first electric door and the second electric door into a single unit.

4. The door locking control method according to any one of claims 1-3, characterized in that, The first electric door and the second electric door are respectively provided with a locking tongue and a latch that cooperate with each other; the mechanical locking condition includes that the locking tongue and the latch are locked together and the locking duration exceeds a first preset duration.

5. The door locking control method according to any one of claims 1-3, characterized in that, Before controlling the first electric door to rotate toward the second electric door in response to the first electric door opening signal when the second electric door is hovered at a preset position, the method further includes: Control the first electric door to rotate to the fully open position; The first Hall effect number of the first electric door when it is fully open is determined based on the fully open position.

6. The door locking control method according to claim 5, characterized in that, After determining the first Hall effect value of the first electric door when it is fully open based on the fully open position, the method further includes: The attraction angle range is determined based on the first Hall number and the preset bias Hall number.

7. The door locking control method according to any one of claims 1-3, characterized in that, When the first electric door is in the closing angle range, driving the first electric door according to the first preset voltage until the second electric door and the first electric door meet the mechanical locking conditions, generating a locking signal includes: According to the second preset voltage, the second electric door is driven in the direction of movement of the first electric door until the second electric door and the first electric door meet the mechanical locking condition.

8. The door locking control method according to claim 7, characterized in that, The step of driving the second electric door in the direction of movement of the first electric door according to the second preset voltage until the second electric door and the first electric door satisfy the mechanical locking condition includes: When the speed of the second electric door is greater than the third preset speed, a second energy-consuming braking signal is generated until the second electric door and the first electric door meet the mechanical locking condition.

9. A vehicle door locking control device, characterized in that, Applied to a vehicle, the vehicle including at least a first and a second electric door as a whole, the first and second electric doors being configured to independently rotate about a rotation axis to open or close, the device comprising: The starting module is used to control the first electric door to rotate toward the second electric door in response to the opening signal of the first electric door when the second electric door is hovered at a preset position. The locking module is used to drive the first electric door according to a first preset voltage when the first electric door is in the suction angle range, until the second electric door and the first electric door meet the mechanical locking conditions and generate a locking signal. The combination module is used to combine the first electric door and the second electric door into a whole in response to the locking signal, and to suspend the locked electric door as a whole at a preset angle.

10. A vehicle, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the door locking control method as described in any one of claims 1-8 when executing the computer program.

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