Method for controlling multi-leaf vehicle door

Abstract

The invention relates to a method for controlling a multi-leaf vehicle door comprising a first vehicle door and a second vehicle door which are pivotable relative to a vehicle body, the first vehicle door being partially stackable on the second vehicle door in order to close a vehicle body opening, characterized in that the method comprises: controlling the first vehicle door and the second vehicle door on the basis of predetermined geometric parameters and current angular positions of the two vehicle doors; first evaluation parameters used for representing the relative position relation of the free side edges of the two vehicle doors in the longitudinal direction of the vehicle are calculated; determining a pivoting time sequence of the two vehicle doors at least based on the first evaluation parameter and a to-be-executed vehicle door opening and closing instruction; and according to the determined pivoting time sequence, the first vehicle door and / or the second vehicle door are / is pivoted until the corresponding vehicle doors reach respective opening positions or closing positions. The method has the advantage that the collision risk of the two vehicle doors is prevented as soon as possible.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more particularly to a method for controlling multi-panel vehicle doors. The invention also relates to electronic devices, computer-readable media, and systems for controlling multi-panel vehicle doors. Background Technology

[0002] In modern vehicle design, door structures are becoming increasingly diverse. To meet the multiple needs of vehicle users in terms of loading, space utilization, safety, and aesthetics, multi-leaf doors are offered. Examples include tailgates consisting of independently opening upper and lower doors, also known as "double-door" tailgates, and "suicide doors" consisting of independently opening left and right doors. Both types of multi-leaf doors share the characteristic that, when closed, one door can partially overlap the other to seal the vehicle's opening.

[0003] Controlling multi-door vehicles presents the following technical challenges: during the simultaneous movement of two doors, mechanical interference or even collisions may occur in areas where their trajectories overlap. To avoid collisions, CN 104718095 B discloses a power-disconnected rear door system for vehicles. The core of this solution lies in pre-defining a fixed collision zone. If both doors stop within this collision zone during power-hinged movement, the control system will employ strategies such as reversing door movement or keeping them stationary to avoid a collision. The drawback of this solution is that its collision avoidance logic is only triggered under the condition that "both doors stop within the collision zone," making it a relatively passive "post-accident remediation" mechanism, lacking proactive prevention capabilities before a collision occurs.

[0004] Therefore, for multi-door vehicles, there is an urgent need for a control method that can prevent collision risks early. Summary of the Invention

[0005] In view of this, the present invention provides a method and electronic device for controlling multi-panel vehicle doors, and a computer-readable medium, which solves at least one of the above-mentioned defects.

[0006] To achieve the above objectives, according to one aspect of the present invention, a method for controlling a multi-panel vehicle door is provided, the multi-panel vehicle door including a first door and a second door pivotable relative to a vehicle body, wherein the first door can be partially stacked on the second door to close a vehicle body opening, characterized in that the method includes: Based on the predetermined geometric parameters of the two doors and their current angular positions, a first evaluation parameter is calculated to characterize the relative positional relationship of the free sides of the two doors in the longitudinal direction of the vehicle. The pivoting timing of the two doors is determined based at least on the first evaluation parameters and the door opening and closing commands to be executed; According to the determined pivoting sequence, the first door and / or the second door are pivoted until the two corresponding doors reach their respective open or closed positions.

[0007] The term "multi-leaf door" is understood to refer to a door design in which a single door is structurally divided into two sections: a first door and a second door, both of which can be opened independently. Multi-leaf doors include horizontally segmented tailgates, such as the "top-and-bottom" tailgates of SUVs, where the upper section (top door) opens upwards like a traditional tailgate, and the lower section (bottom door) opens downwards to form a flat loading platform or temporary seating area. Multi-leaf doors also include suicide tailgates, such as the "suicide door" tailgates of cargo vehicles, where the left and right halves open horizontally to opposite sides of the vehicle. In the case of multi-leaf doors, the first door can partially overlap the second door, particularly with its free side overlapping the free side of the second door, thereby closing body openings, such as luggage compartment openings or passenger access openings.

[0008] According to the usage specifications, to open a multi-panel vehicle door, firstly, the top-mounted door pivots outward, then the bottom-mounted door pivots outward until both doors reach the predetermined angle position, i.e., the open position. To close the multi-panel vehicle door, firstly, the second door pivots inward, then the first door pivots inward until both doors reach a 0-degree angle position, at which point the first door is stacked on top of the second door. The opening / closing triggering of the two doors can be controlled by a delay, i.e., an interval of several seconds, or one door can be fully opened / closed first, followed by the other door.

[0009] The term "predetermined geometric parameters of the two doors" is understood as parameters that describe the physical dimensions of the doors and their relationship to the vehicle body structure. These parameters are determined during the vehicle manufacturing stage and serve as the benchmark for subsequent dynamic evaluation.

[0010] The term "free side of a door" is understood to refer to the edge of the non-hinged side of each of the two doors.

[0011] The term "at least based on the first evaluation parameters and the door opening / closing command to be executed" is understood to mean that the relative positional relationship of the free sides of the two doors in the longitudinal direction of the vehicle and whether the command to be executed is to open one or two doors or to close one or two doors are necessary factors for determining the pivoting timing of the two doors, but does not exclude the inclusion of other factors, such as the projected distance between the free side of a door and its pivot axis in the longitudinal direction of the vehicle.

[0012] The term “pivoting sequence of two doors” is understood to include which door pivots first and under what conditions the other door begins to pivot, as well as under what circumstances one door pivots while the other does not.

[0013] Unlike existing technologies, this invention does not require waiting for both doors to fall into a predefined "collision zone." Instead, it relies on the positional relationship between the two doors—specifically, the relative positional relationship of their free sides in the longitudinal direction of the vehicle, and the opening / closing commands to be executed—to determine the pivoting sequence of the two doors in a way that prevents a collision as early as possible. At this point, one door may not have entered the "collision zone," or even both doors may not have entered the "collision zone." Therefore, the technical advantage of this invention lies in preventing the risk of collision between the two doors at an early stage.

[0014] In a preferred embodiment, the predetermined geometric parameters include: a first door length; a second door length; a first reference distance, i.e., the distance between the pivot axes of the two doors in the longitudinal direction of the vehicle, and a first evaluation parameter obtained by subtracting the second longitudinal distance from the first longitudinal distance, wherein the first longitudinal distance is the projected distance between the free side of the first door and its pivot axis in the longitudinal direction of the vehicle, and the second longitudinal distance is the projected distance between the free side of the second door and its pivot axis in the longitudinal direction of the vehicle; and a first judgment margin. The door length is the straight-line distance from the pivot axis to the free side of the door, and the first reference distance is the relative positional relationship between the pivot axes of the two doors; these are fixed structural parameters of the doors and can be obtained during the vehicle design phase. To calculate the first evaluation parameter used for dynamically determining collision risk, only the predetermined geometric parameters of the two doors (e.g., door lengths) and the current angular position are needed. This provides a simple way to calculate the evaluation parameter.

[0015] In a preferred embodiment, to determine the pivoting timing of the two doors, the type of their relative positional relationship is determined: a first type is defined as follows: the difference between a first evaluation parameter and a first decision margin is greater than a first reference distance; a second type is defined as the sum of the first evaluation parameter and the first decision margin is less than the first reference distance; and a third type is defined as the absolute value of the difference between the first evaluation parameter and the first reference distance is within the first decision margin. Considering the decision margin, the relative positional relationship of the doors is standardized into three types based on the comparison result of the first evaluation parameter and the first reference distance. This provides clear and unambiguous branch conditions for subsequent control logic.

[0016] In a preferred embodiment, determining the pivoting timing of at least one door includes: performing coordinated door timing control in response to a command to open or close both doors; and performing single-door timing control in response to a command to open or close only the second door. "Coordinated door timing control" is understood as control for a command to open or close both doors, where both doors move simultaneously; "single-door timing control" is understood as control for a command to open or close one door, where one door moves, and in certain situations, may involve simultaneous movement of both doors. This modularizes and streamlines the collision avoidance control process.

[0017] In a preferred embodiment, the dual-door coordinated timing control includes: determining a first target door that needs to be pivoted preferentially; initiating pivoting of the first target door; and, after at least one trigger condition is met, initiating pivoting of the other door, wherein the trigger condition depends on the state change of the first target door during pivoting. The dual-door coordinated timing control includes three common sub-steps: determining the priority door, the priority door moving first, and the other door moving after the trigger condition is met. This provides simple control logic for commands to open or close two doors.

[0018] In a preferred embodiment, the triggering condition is set to at least one of the following: the change in the projected distance between the free side of the first target door and its pivot axis in the longitudinal direction of the vehicle is greater than or equal to a preset target door change threshold; the pivoting duration of the first target door reaches a preset time threshold; or the first target door is fully open or fully closed. The target door change threshold is an inherently safe condition based on geometric position, ensuring that the target door has physically moved out of the potential collision zone. The time threshold provides a simpler safety condition, with a specific pivoting time corresponding to a specific change in door position. Fully open / closed provides the most conservative but absolutely safe option, meeting the highest safety level requirements. Thus, multiple, optional, and specific criteria are provided for the triggering conditions.

[0019] In a preferred embodiment, when the relative positional relationship is of type one, in response to a command to open both doors, the first target door is the first door; in response to a command to close both doors, the first target door is the second door. The control strategy of having the first door move first when opening and the second door move first when closing fully utilizes the characteristic that the interference of the two doors' movement paths is unidirectional under the type one relative positional relationship, directly controlling the non-interfering side to move first. Thus, an efficient avoidance strategy is provided with almost no impact on the ease of door operation.

[0020] In a preferred embodiment, when the relative positional relationship is of type two, in response to the command to open both doors, the first target door is the second door; in response to the command to close both doors, if the first door is within the unsafe zone where a collision between the two doors may occur, the first door is pivoted in the opening direction until it leaves the unsafe zone; if the first door is outside the unsafe zone where a collision between the two doors may occur, the first target door is the second door. The second door moves first when opening, and an "unsafe zone" (corresponding to the collision zone in CN 104718095 B) is introduced when closing. As a secondary judgment: if the first door is within this zone, the first door is first moved in the opposite direction (opening) to escape the risk zone, i.e., a proactive "open first, then close" corrective sub-process is executed. Thus, a reliable avoidance strategy is provided with minimal impact on the ease of door operation.

[0021] In a preferred embodiment, when the relative positional relationship is of type three, in response to an instruction to open both doors, the first target door is the first door; in response to an instruction to close both doors when the second longitudinal distance is greater than or equal to a preset no-collision-risk threshold or when the corner position of the first door is greater than or equal to a preset no-collision-risk corner position, the first target door is the second door. Preferably, if the second longitudinal distance is less than the preset no-collision-risk threshold or when the corner position of the first door is less than the preset no-collision-risk corner position, no response is given to the instruction to close both doors. Preferably, the second longitudinal distance being greater than or equal to the no-collision-risk condition means the second door is fully open. Type three relative positional relationships are generally considered an ambiguous state. By introducing a conservative additional condition (second longitudinal distance >= safety threshold or corner position of the first door >= safety threshold), a clear and safe decision-making basis is provided for this state. Thus, a robust avoidance strategy is provided.

[0022] In a preferred embodiment, when the relative positional relationship is of type one, in response to a command to open only the second door when the first door is outside the unsafe zone where a collision between the two doors could occur, the second door pivots in the opening direction; in response to a command to close only the second door, the second door pivots in the closing direction. Preferably, when the first door is within the unsafe zone where a collision between the two doors could occur, no response is given to the command to open the second door. When opening only the second door, the "unsafe zone" is introduced as a secondary consideration: the opening command is only executed if the first door is outside it, and it can be executed immediately when closing only the second door. Thus, an efficient avoidance strategy is provided with almost no impact on the ease of door operation.

[0023] In a preferred embodiment, when the relative positional relationship is type two, in response to a command to open only the second door, the second door pivots in the opening direction; in response to a command to close only the second door, if the first door is within a non-safe zone where a collision between the two doors could occur, the first door pivots in the opening direction until it leaves the non-safe zone; if the first door is outside the non-safe zone where a collision between the two doors could occur, the second door pivots in the closing direction. Opening only the second door can be executed immediately, while closing only the second door introduces a "non-safe zone" as a secondary judgment: if the first door is within it, the first door is first moved in the opposite direction (opening) to escape the risk zone, i.e., a proactive "open first, then close" corrective sub-process is executed. This provides a reliable avoidance strategy.

[0024] In a preferred embodiment, when the relative positional relationship is of type three, in response to an instruction to close only the second door when the second longitudinal distance is greater than or equal to a preset no-collision risk threshold or when the corner position of the first door is greater than or equal to a preset no-collision risk angle position, the second door is pivoted in the closing direction. Preferably, when the second longitudinal distance is less than the preset no-collision risk threshold or when the corner position of the first door is less than the preset no-collision risk angle position, no response is given to the instruction to close the second door. Preferably, the second longitudinal distance being greater than or equal to the preset no-collision risk threshold indicates that the second door is fully open. Type three relative positional relationships are generally considered an ambiguous state. By introducing a conservative additional condition (second longitudinal distance >= safety threshold or corner position of the first door >= safety threshold), a clear and safe decision-making basis is provided for this state. This provides a robust avoidance strategy.

[0025] According to another aspect of the present invention, an electronic device for controlling a multi-panel vehicle door is provided, comprising: One or more processors; Storage device for storing one or more programs. When one or more programs are executed by one or more processors, the one or more processors implement the method for controlling a multi-panel vehicle door according to the present invention.

[0026] According to another aspect of the invention, a computer-readable medium is provided having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for controlling a multi-panel vehicle door according to the invention.

[0027] According to another aspect of the invention, a system for controlling a multi-panel vehicle door is provided. The system controls a multi-panel vehicle door including a first door and a second door pivotable relative to a vehicle body, wherein the first door can partially overlap the second door to close a vehicle body opening, wherein the system includes: Door drive mechanism; Sensors used to determine the current angular position of the car door; and An electronic device according to the present invention.

[0028] The advantages or beneficial effects described in the method for controlling a multi-panel vehicle door according to the present invention also apply to electronic devices for controlling a multi-panel vehicle door according to the present invention, computer-readable media according to the present invention, and systems for controlling a multi-panel vehicle door.

[0029] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0030] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1 It is a very generalized side view of a multi-panel car door; Figure 2 A side view is shown when the relative positional relationship between the two doors is of type one; Figure 3 A side view is shown when the relative positional relationship between the two doors is of type two. Figure 4 The side view shows the situation when the relative positional relationship between the two doors is of type three. Detailed Implementation

[0031] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0032] Figure 1 This is a highly generalized side view of a multi-panel vehicle door. The multi-panel vehicle door includes a first door 1 and a second door 2. The first door 1 is mounted on the upper side of the body opening at the rear of the vehicle in a manner that allows it to pivot about a first pivot axis 11 extending in the lateral direction of the vehicle. The second door 2 is mounted on the lower side of the body opening at the rear of the vehicle in a manner that allows it to pivot about a second pivot axis 21 extending in the lateral direction of the vehicle.

[0033] As is known to those skilled in the art and not shown in the figures, the multi-panel vehicle door is equipped with: electronic equipment for controlling the door, which generates control commands based on a predetermined angular position and the current angular position of the door; a drive device, such as an electric motor, transmission mechanism, strut, etc., for pivoting the door according to the control commands of the electronic equipment; and an angular position sensor, such as a Hall sensor, for knowing the current angular position and sending it to the electronic equipment.

[0034] exist Figure 1 The pivot range of the two doors is shown by dashed arc segments. In the closed position, the first door 1 overlaps the free side 12 of the second door 2 with its free side 22 facing the second door, thereby closing the vehicle body opening. In the open position, the first door 1 is at its maximum outward pivot angle relative to the closed position, and the second door 2 is at its maximum outward pivot angle relative to the closed position. Figure 1 The example shows both doors in an intermediate position between the open and closed positions.

[0035] Figure 1 The multi-panel door shown is, for example, a "top-and-bottom door" as a tailgate for an SUV. It is not shown, but it is possible, that the multi-panel door could also be configured such that a first door 1 is mounted on the right side of the vehicle opening, a second door 2 is mounted on the left side of the vehicle opening, and a first pivot axis 11 and a second pivot axis 21 extend in the vehicle height direction. One example of this configuration is a "double-door" as a tailgate for a cargo transport vehicle.

[0036] The movement trajectories of the two doors overlap near the closed position, see [reference]. Figure 1 The area shown in the grid corresponds to the collision zone in CN 104718095 B. A collision may occur when both doors are simultaneously located within this area. To prevent collisions early, the present invention can break free from the constraints of this fixed "collision zone." Specifically, based on the positional relationship between the two doors, a collision risk can be determined early, and the doors can be controlled to perform evasive maneuvers.

[0037] Therefore, the present invention proposes the following multi-door control strategy: The length of the doors is determined. The length of the first door is the straight-line distance from the first pivot axis 11 to the free side 12, and the length of the second door is the straight-line distance from the second pivot axis 21 to the free side 22.

[0038] The distance between the first pivot axis 11 and the second pivot axis 21 in the longitudinal direction of the vehicle is known as the first reference distance D.

[0039] Based on the lengths of the two doors and the angular positions continuously obtained (e.g., via Hall sensors on the doors), the projected distances of the free side 12 and the first pivot axis 11 in the longitudinal direction of the vehicle, i.e., the first longitudinal distance D1, and the projected distances of the free side 22 and the second pivot axis 21 in the longitudinal direction of the vehicle, i.e., the second longitudinal distance D2, are calculated. The first evaluation parameter is the first longitudinal distance D1 minus the second longitudinal distance D2.

[0040] When the first evaluation parameter is less than the first reference distance D, the first door is identified as being inside the second door, i.e., a "bottom-over-top" situation (first type of relative positional relationship). When the first evaluation parameter is equal to the first reference distance D, the first door and the second door are identified as "intersecting" (third type of relative positional relationship). When the first evaluation parameter is greater than the first reference distance D, the first door is identified as being outside the second door, i.e., a "top-over-bottom" situation (second type of relative positional relationship).

[0041] Figure 2 , Figure 3 and Figure 4 A simplified diagram shows the side views illustrating the relative positions of the two doors in three different configurations. The configurations of the first and second doors are as follows: Figure 1 The figures shown are shown and reference numerals not involved in the following description are omitted.

[0042] exist Figure 2 Both diagrams show the "sky encompassing the earth" situation.

[0043] If a command to open both doors is received, at least one of the following three pivoting timing sequences can be set: In a pivoting sequence, the first door is first pivoted in the opening direction. When the change in the first longitudinal distance D1 is greater than or equal to a preset first door change threshold, the second door can then pivot in the opening direction until both doors are fully open. The first door change threshold depends on the door structure (e.g., the length of the first door, the length of the second door, and the first reference distance D) and is set such that when the change in the first longitudinal distance D1 reaches the first door change threshold, the first door will not intrude into the opening path of the second door.

[0044] In another pivoting sequence, the first door is first pivoted in the opening direction. Once the pivoting duration reaches a preset time threshold, the second door can then pivot in the opening direction until both doors are fully open. The time threshold is set to a fixed value, for example, within the range of 1 to 5 seconds, or is set such that when the duration of movement at a specified speed reaches the preset time threshold, the first door will not intrude into the opening path of the second door.

[0045] In another pivoting sequence, the first door is first pivoted in the opening direction until it is fully open, and then the second door is pivoted in the opening direction.

[0046] If a command to close both doors is received, at least one of the following two pivoting timing sequences can be set: In a pivoting sequence, the second door is first pivoted in the closing direction. Once the pivoting duration reaches a preset time threshold, the first door can then pivot in the closing direction until both doors are fully open. The time threshold is set to a fixed value, for example, within the range of 1 to 5 seconds, or is set such that when the duration of movement at a specified speed reaches the preset time threshold, the second door will not intrude into the closing path of the first door.

[0047] In another pivoting sequence, the second door is first pivoted toward the closing direction until it is fully closed, and then the first door is pivoted toward the closing direction.

[0048] If an instruction is received to close only the second door, the second door is pivoted in the closing direction until it is fully closed.

[0049] If a command is received to open only the second door, first determine if the first door is located in an unsafe zone (see...). Figure 1 Within the grid line area. If the first door is located outside the non-safe zone, such as... Figure 2 As shown in the image above, with no risk of collision, the second door pivots in the opening direction until it is fully open. If the first door is located within an unsafe zone, such as... Figure 2 As shown in the image below, there is a risk of collision, and the command will not be responded to.

[0050] Figure 3 Both diagrams illustrate the case of "underbite".

[0051] If a command to open both doors is received, at least one of the following three pivoting timing sequences can be set: In a pivoting sequence, the second door is first pivoted in the opening direction. When the change in the second longitudinal distance D2 is greater than or equal to a preset second door change threshold, the first door can then pivot in the opening direction until both doors are fully open. The second change threshold depends on the door structure and is set such that when the change in the second longitudinal distance D2 reaches the second change threshold, the second door will not intrude into the opening path of the first door.

[0052] In another pivoting sequence, the second door is first pivoted in the opening direction. Once the pivoting duration reaches a preset time threshold, the first door can then pivot in the opening direction until both doors are fully open. The time threshold is set to a fixed value, for example, within the range of 1 to 5 seconds, or is set such that when the duration of movement at a specified speed reaches the preset time threshold, the second door will not intrude into the opening path of the first door.

[0053] In another pivoting sequence, the second door is first pivoted in the opening direction until it is fully open, and then the first door is pivoted in the opening direction.

[0054] If a command to close both doors is received, first determine if the first door is in an unsafe zone (see...). Figure 1 Within the grid line area.

[0055] If the first door is outside the unsafe zone, such as Figure 3 As shown in the diagram above, with no risk of collision, the second door is pivoted in the closing direction until it is fully closed, and then the first door is pivoted in the closing direction.

[0056] If the first door is located within a non-safe zone, such as Figure 3 As shown in the diagram below, there is a collision risk. At least one of the following two pivoting sequences can be set: In one pivoting sequence, the first door is first pivoted in the opening direction. When the change in the first longitudinal distance D1 is greater than or equal to a preset threshold for the change in the first door, the second door can then pivot in the closing direction. In the other pivoting sequence, the first door is first pivoted in the opening direction. When the pivoting duration reaches a preset time threshold, the second door can then pivot in the closing direction, until both doors are fully open. Regardless of the pivoting sequence, the second door should only begin pivoting when the first door is outside the unsafe zone.

[0057] If an instruction is received to close only the second door, first determine if the first door is located in an unsafe zone (see...). Figure 1 Within the grid line area. If the first door is located outside the non-safe zone, such as... Figure 3 As shown in the diagram above, with no risk of collision, the second door pivots in the closing direction until it is fully closed. If the first door is located within an unsafe zone, such as... Figure 3As shown in the diagram below, there is a collision risk. At least one of the following two pivoting sequences can be set: In one pivoting sequence, the first door is first pivoted in the opening direction. When the change in the first longitudinal distance D1 is greater than or equal to a preset threshold, the second door can then pivot in the closing direction. In the other pivoting sequence, the first door is first pivoted in the opening direction. When the pivoting duration reaches a preset time threshold, the second door can then pivot in the closing direction, until both doors are fully open. Regardless of the pivoting sequence, the second door should only begin pivoting when the first door is outside the unsafe zone.

[0058] If an instruction is received to open only the second door, the second door is pivoted in the opening direction until it is fully open.

[0059] Figure 4 The two diagrams illustrate the critical situations beyond "sky encompassing earth" and "earth encompassing sky".

[0060] exist Figure 4 In the embodiment shown in the figure above, if a command to open both doors is received, at least one of the following three pivoting timing sequences can be set: In a pivoting sequence, the first door is first pivoted in the opening direction. When the change in the first longitudinal distance D1 is greater than or equal to the preset threshold for the change in the first door, the second door can be pivoted in the opening direction until both doors are fully open.

[0061] In another pivoting sequence, the first door is first pivoted in the opening direction. When the pivoting duration reaches a preset time threshold, the second door can be pivoted in the opening direction until both doors are fully open.

[0062] In another pivoting sequence, the first door is first pivoted in the opening direction until it is fully open, and then the second door is pivoted in the opening direction.

[0063] If a command to close both doors is received, the system first determines whether the current angular position of the first door is greater than or equal to the no-collision-risk angular position. The no-collision-risk angular position corresponds to the sum of the angular position α1 when the free sides of the two doors are just touching and the judgment margin offset. Figure 4 In the image above, the corner position of the first car door is exactly equal to α1 + offset. If the judgment result is yes, for example, the first car door is located at... Figure 4 As shown in the diagram above, pivot the second door in the closing direction until it is fully closed, then pivot the first door in the closing direction. If the result is negative, for example, if the first door is in the closing position... Figure 4 In the shaded area of ​​the image above, the instruction is not responded to.

[0064] If a command to close only the second door is received, the system first determines whether the current angular position of the first door is greater than or equal to the no-collision-risk angular position. If the result is yes, the second door is pivoted in the closing direction until it is fully closed. If the result is no, the system does not respond to the command.

[0065] The margin offset is determined based on the door structure and is set such that when the opening angle of the first door exceeds the angular position α1 by a certain amount, the distance between the first door and the second door is sufficient to ensure that the second door will not collide with the first door during the closing process.

[0066] exist Figure 4 In the embodiment shown in the figure below, if an instruction to open both doors is received, the pivot timing is set as in the previous embodiment.

[0067] If a command to close both doors is received, first determine if the second door is fully open. If the result is yes, for example, if the second door is fully open... Figure 4 As shown in the diagram below, pivot the second door in the closing direction until it is fully closed, then pivot the first door in the closing direction. If the result is negative, for example, if the second door is in the closing position... Figure 4 In the shaded area of ​​the image below, the command is not responded to.

[0068] If an alternative location is selected, first determine whether the second longitudinal distance D2 is greater than or equal to the no-collision risk threshold. If the result is yes, pivot the second door in the closing direction until it is fully closed, and then pivot the first door in the closing direction. If the result is no, do not respond to the instruction.

[0069] If a command to close only the second door is received, first determine if the second door is fully open. If the result is yes, then... Figure 4 As shown in the diagram below, the second door is pivoted in the closing direction until it is fully closed. If the result is negative, no response is given to this instruction.

[0070] Alternatively, first determine if the second longitudinal distance D2 is greater than or equal to a preset no-collision risk threshold. If the determination is yes, pivot the second door in the closing direction until it is fully closed. If the determination is no, do not respond to the instruction.

[0071] The no-collision risk threshold depends on the door structure and is set such that when the second longitudinal distance D2 reaches the no-collision risk threshold, the distance between the first door and the second door is sufficient to prevent the second door from colliding with the first door during closing.

[0072] Preferably, when comparing with a reference distance, a decision margin is additionally introduced to avoid misjudgment due to minor deviations.

[0073] Specifically, the comparison between the first evaluation parameter and the first reference distance D is based on the following rule: The condition “the first evaluation parameter is greater than the first reference distance D” must additionally satisfy the following: the first evaluation parameter minus the first decision margin is still greater than the first reference distance D, that is, D1-D2-first decision margin>D; The condition "the first evaluation parameter is less than the first reference distance D" must additionally satisfy the following: the first evaluation parameter plus the first decision margin is still less than the first reference distance D, i.e., D1-D2+first decision margin. <D; When the absolute value of the difference between the first evaluation parameter and the first reference distance D is within the first decision margin, that is, D - first decision margin ≤ D1 - D2 ≤ D + first decision margin, it will be regarded as the case of "the first evaluation parameter is equal to the first reference distance D", corresponding to the embodiment not shown above.

[0074] Optionally, the first decision margin is a constant value greater than zero and is set based on vehicle manufacturing tolerances, sensor accuracy, and computational errors of electronic devices. By introducing a decision margin, the decision logic can better adapt to real-world application scenarios, improving the reliability and robustness of collision avoidance control. Optionally, the first decision margin can be zero, meaning that no safety margin needs to be considered during the corresponding comparisons.

[0075] The aforementioned multi-door control strategy can also be used for "double doors," differing from the control strategy in "triple-door" systems only in that the first pivot axis 11 and the second pivot axis 21 extend in the vehicle height direction, thereby... Figures 2 to 4 This is equivalent to a top view in the case of "double doors".

[0076] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling a multi-leaf door, the multi-leaf door comprising a first door and a second door pivotable relative to a vehicle body, wherein, The first door can be partially stacked on the second door to close the vehicle body opening, characterized in that the method comprises: calculating a first evaluation parameter for representing a relative position relationship of free side edges of the two doors in a vehicle longitudinal direction, based on predetermined geometric parameters of the two doors and current angular positions; determining a pivoting timing of the two doors based on at least the first evaluation parameter and a door opening / closing instruction to be executed; pivoting the first door and / or the second door according to the determined pivoting timing until the respective door reaches a respective open position or a respective closed position.

2. The method according to claim 1, characterized in that the predetermined geometric parameters comprise: a first door length; a second door length; a first reference distance (D) being a distance between pivoting axes of the two doors in the vehicle longitudinal direction, and the first evaluation parameter is obtained by subtracting a second longitudinal distance (D2) from a first longitudinal distance (D1), wherein the first longitudinal distance (D1) is a projection distance of the free side edge of the first door from its pivoting axis in the vehicle longitudinal direction, the second longitudinal distance (D2) is a projection distance of the free side edge of the second door from its pivoting axis in the vehicle longitudinal direction; and a first determination margin.

3. The method according to claim 2, characterized in that in order to determine the pivoting timing of the two doors, a type of the relative position relationship is known: a difference between the first evaluation parameter and the first determination margin being greater than the first reference distance (D) corresponds to a first type, a sum of the first evaluation parameter and the first determination margin being less than the first reference distance (D) corresponds to a second type, and an absolute value of a difference between the first evaluation parameter and the first reference distance (D) being within the first determination margin corresponds to a third type.

4. The method according to claim 3, determining the pivoting timing of at least one door comprises: performing a double-door coordinated timing control in response to an instruction to open or close both doors; performing a single-door timing control in response to an instruction to open or close only the second door.

5. The method of claim 4, wherein, the double-door coordinated timing control comprises: determining a first target door of the two doors which needs to be pivoted preferentially; starting the first target door to pivot; starting the other door to pivot after at least one trigger condition is met, wherein the trigger condition depends on a state change of the first target door during pivoting.

6. The method according to claim 5, characterized in that the trigger condition is at least one of the following conditions: a change amount of a projection distance of the free side edge of the first target door from its pivoting axis in the vehicle longitudinal direction is greater than or equal to a preset target door change threshold value, a pivoting duration of the first target door reaches a preset time threshold value, the first target door is fully opened or fully closed.

7. The method according to claim 5 or 6, characterized in that, when the relative position relationship is the first type, in response to an instruction to open both doors, the first target door is the first door; in response to an instruction to close both doors, the first target door is the second door.

8. The method according to claim 5 or 6, characterized in that, when the relative position relationship is the second type, in response to an instruction to open both doors, the first target door being the second door; in response to an instruction to close both doors, if the first door is within a non-safe zone where collision between the two doors is possible, pivoting the first door in an opening direction until the first door leaves the non-safe zone, if the first door is outside the non-safe zone where collision between the two doors is possible, the first target door being the second door.

9. The method according to claim 5 or 6, characterized in that, when the relative position relationship is the third type, in response to an instruction to open both doors, the first target door being the first door; in response to an instruction to close both doors in a case where the second longitudinal distance (D2) is greater than or equal to a preset non-collision risk threshold or in a case where the angular position of the first door is greater than or equal to a preset non-collision risk angular position, the first target door being the second door.

10. The method of claim 9, wherein, in a case where the second longitudinal distance (D2) is less than the preset non-collision risk threshold or in a case where the angular position of the first door is less than the preset non-collision risk angular position, no response is made to the instruction to close both doors.

11. The method of claim 9, wherein the case where the second longitudinal distance (D2) is greater than or equal to a non-collision risk is a case where the second door is fully open.

12. The method of claim 4, wherein, when the relative position relationship is the first type, in response to an instruction to open only the second door in a case where the first door is outside a non-safe zone where collision between the two doors is possible, pivoting the second door in an opening direction; in response to an instruction to close only the second door, pivoting the second door in a closing direction.

13. The method of claim 12, wherein, in a case where the first door is within the non-safe zone where collision between the two doors is possible, no response is made to the instruction to open the second door.

14. The method of claim 4, wherein, when the relative position relationship is the second type, in response to an instruction to open only the second door, pivoting the second door in an opening direction; in response to an instruction to close only the second door, if the first door is within a non-safe zone where collision between the two doors is possible, pivoting the first door in an opening direction until the first door leaves the non-safe zone, if the first door is outside the non-safe zone where collision between the two doors is possible, pivoting the second door in a closing direction.

15. The method of claim 4, wherein, when the relative position relationship is the third type, in response to an instruction to close only the second door in a case where the second longitudinal distance (D2) is greater than or equal to a preset non-collision risk threshold or in a case where the angular position of the first door is greater than or equal to a preset non-collision risk angular position, pivoting the second door in a closing direction.

16. The method of claim 15, wherein, in a case where the second longitudinal distance (D2) is less than the preset non-collision risk threshold or in a case where the angular position of the first door is less than the preset non-collision risk angular position, no response is made to the instruction to close the second door.

17. The method of claim 15, wherein the case where the second longitudinal distance (D2) is greater than or equal to a preset non-collision risk threshold is a case where the second door is fully open.

18. An electronic device for controlling a multi-leaf door, characterized by comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, cause the one or more processors to carry out the method of any one of claims 1 to 17.

19. A computer readable medium having stored thereon a computer program, characterized in that, The computer program which, when executed by the processor, carries out the method of any one of claims 1 to 17.

20. A system for controlling a multi-part door, the system for controlling a multi-part door comprising a first door and a second door pivotable relative to a vehicle body, wherein, The first door can be partially stacked on the second door to close the body opening, characterized in that the system comprises: a door drive device; a sensor for ascertaining the current angular position of the two doors; and The electronic device of claim 18.

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