Control method and device of vehicle door, vehicle and computer readable storage medium

Abstract

The application discloses a control method and device of a vehicle door, a vehicle and a computer readable storage medium. The method comprises the following steps: when the mechanical super lock of the vehicle door is locked, and it is determined that the micro switch of the vehicle door is triggered, it is judged whether the logic super lock in the vehicle controller is locked; if yes, the vehicle door is controlled to keep in a locked state; otherwise, the unlocking mode of the vehicle door is determined, and the state of the vehicle door is controlled according to the unlocking mode, wherein the unlocking mode comprises a single-pull unlocking mode and a double-pull unlocking mode. According to the application, when the mechanical super lock of the vehicle door is locked, the state of the vehicle door is controlled by determining whether the micro switch of the vehicle door is triggered and whether the logic super lock in the vehicle controller is locked, so that the unlocking function of the vehicle door is realized by using the logic super lock configuration without changing the original mechanical unlocking structure, and the safety and reliability of the vehicle are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, device, vehicle, and computer-readable storage medium for controlling vehicle doors. Background Technology

[0002] As vehicles become increasingly intelligent, the safety requirements for vehicles are also getting higher and higher. As an important functional accessory of the vehicle, the security of the locking and unlocking mechanism of the vehicle door is directly related to the life safety of the occupants.

[0003] However, traditional car door lock systems mainly rely on mechanical structures and usually only have one unlocking method. Their unlocking function is limited and lacks flexibility. They cannot realize the door unlocking method required by the user in actual situations, which leads to poor user experience and reduced user satisfaction. In addition, traditional car door lock systems lack intelligent judgment capabilities and cannot adjust the door unlocking status, resulting in low security. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, one objective of this invention is to propose a vehicle door control method that combines a mechanical superlock with a logic superlock. When the mechanical superlock is engaged, the method determines whether the door's microswitch is triggered and whether the logic superlock within the vehicle controller is engaged. Based on a predetermined unlocking mode, the method controls the door's state, thereby enabling multiple unlocking functions without altering the original mechanical unlocking structure. This reduces safety hazards caused by misoperation, improves unlocking flexibility, and ultimately enhances vehicle safety and reliability, as well as user satisfaction and experience.

[0005] Therefore, a second objective of the present invention is to provide a control device for a vehicle door.

[0006] Therefore, a third objective of the present invention is to provide a vehicle.

[0007] Therefore, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, an embodiment of the first aspect of the present invention discloses a method for controlling a vehicle door. The method includes: when the mechanical superlock of the vehicle door is locked and it is determined that the microswitch of the vehicle door is triggered, determining whether the logical superlock in the vehicle controller is locked; if so, controlling the vehicle door to remain locked; otherwise, determining the unlocking mode of the vehicle door and controlling the state of the vehicle door according to the unlocking mode, wherein the unlocking mode includes a single-pull unlocking mode and a double-pull unlocking mode.

[0009] According to the vehicle door control method of the present invention, by combining a mechanical superlock and a logic superlock, when the mechanical superlock of the vehicle door is locked, it can determine whether the microswitch of the vehicle door is triggered and whether the logic superlock in the vehicle controller is locked, and control the state of the vehicle door according to the determined unlocking mode. In this way, multiple unlocking functions of the vehicle door can be realized by using the logic superlock configuration without changing the original mechanical unlocking structure. This reduces the safety hazards caused by misoperation, improves the flexibility of unlocking, and thus improves the safety and reliability of the vehicle, as well as the user's satisfaction and experience. In addition, the door control method according to the above embodiments of the present invention may also have the following additional technical features: In some examples, controlling the state of the vehicle door according to the unlocking mode includes: if the unlocking mode is the single-pull unlocking mode, then controlling the door to unlock; if the unlocking mode is the double-pull unlocking mode, then obtaining the status information of the vehicle's central locking system; and controlling the state of the vehicle door according to the status information of the central locking system.

[0010] In some examples, the state of the vehicle door is controlled based on the state information of the central locking system, including: if the central locking system is unlocked, controlling the door to unlock; if the central locking system is locked, obtaining the state information of the micro switch; and controlling the state of the door based on the state information of the micro switch. It is understood that in the double-pull unlock mode, door unlocking depends not only on the door's own unlocking logic but also on the state of the vehicle's central locking system. This means that even if the door unlocking logic is triggered, if the central locking system is still locked, the door will not unlock immediately, thus adding extra security protection and improving the vehicle's safety and reliability.

[0011] In some examples, controlling the state of the car door based on the state information of the micro switch includes: determining whether the micro switch is triggered again within a first preset time; if so, controlling the car door to unlock; otherwise, controlling the car door to remain in the locked state.

[0012] In some examples, the method for controlling the car door further includes: when the mechanical superlock of the car door is locked and the micro switch of the car door is triggered, determining whether the micro switch is triggered again within a second preset time; if so, controlling the car door to unlock; otherwise, controlling the car door to remain in the locked state.

[0013] In some examples, determining that the microswitch of the car door is triggered includes: determining whether the pulling stroke of the inward door handle of the car door reaches a preset stroke threshold; if so, determining that the microswitch of the car door is triggered; otherwise, determining that the microswitch of the car door is not triggered.

[0014] In some examples, the method for controlling the vehicle door further includes: when a vehicle collision signal is received, controlling the mechanical superlock and the logical superlock to switch to the unlocked state.

[0015] To achieve the above objectives, a second aspect of the present invention discloses a vehicle door control device, comprising: a judgment module, configured to determine whether a logical superlock in the vehicle controller is locked when the mechanical superlock of the vehicle door is locked and the microswitch of the vehicle door is triggered; and a control module, configured to control the vehicle door to remain locked when the logical superlock is locked, or to control the state of the vehicle door according to an unlocking mode when the logical superlock is unlocked, wherein the unlocking mode includes a single-pull unlocking mode and a double-pull unlocking mode.

[0016] According to an embodiment of the present invention, the door control device combines a mechanical superlock with a logic superlock. When the mechanical superlock of the door is locked, it can determine whether the microswitch of the door is triggered and whether the logic superlock in the vehicle controller is locked, and control the state of the door according to the determined unlocking mode. This allows for multiple unlocking functions of the door to be achieved using the logic superlock configuration without changing the original mechanical unlocking structure. This reduces safety hazards caused by misoperation and improves the flexibility of unlocking, thereby improving the safety and reliability of the vehicle, as well as user satisfaction and experience.

[0017] To achieve the above objectives, a third aspect of the present invention discloses a vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores door control instructions executable by the at least one processor, and when the door control instructions are executed by the at least one processor, the at least one processor performs the door control method described in the first aspect of the present invention.

[0018] According to embodiments of the present invention, by combining a mechanical superlock with a logic superlock, when the mechanical superlock of the door is locked, the system can determine whether the microswitch of the door is triggered and whether the logic superlock in the vehicle controller is locked, and control the state of the door according to a predetermined unlocking mode. This allows for multiple unlocking functions of the door to be achieved using the logic superlock configuration without changing the original mechanical unlocking structure. This reduces safety hazards caused by misoperation, improves unlocking flexibility, and ultimately enhances vehicle safety and reliability, as well as user satisfaction and experience.

[0019] To achieve the above objectives, a fourth aspect of the present invention discloses a computer-readable storage medium storing a door control program thereon, wherein the door control program, when executed by a processor, implements the door control method as described in the first aspect of the present invention.

[0020] According to an embodiment of the present invention, when the control program for a vehicle door stored thereon is executed by a processor, it can determine whether the micro switch of the vehicle door is triggered and whether the logic superlock in the vehicle controller is locked when the mechanical superlock of the vehicle door is locked, and control the state of the vehicle door according to the determined unlocking mode. This enables multiple unlocking functions of the vehicle door to be implemented by using the logic superlock configuration without changing the original mechanical unlocking structure. This reduces the safety hazards caused by misoperation and improves the flexibility of unlocking, thereby improving the safety and reliability of the vehicle and the user's satisfaction and experience.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic flowchart of a door control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a door control device according to an embodiment of the present invention. Detailed Implementation

[0023] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0024] The following is for reference. Figures 1-2 This invention describes a method, apparatus, vehicle, and computer-readable storage medium for controlling vehicle doors according to embodiments of the present invention.

[0025] Figure 1 This is a schematic flowchart of a door control method according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps: Step S1: When the mechanical superlock of the car door is locked and it is determined that the micro switch of the car door is triggered, determine whether the logic superlock in the vehicle controller is locked.

[0026] Specifically, a mechanical superlock is installed inside the car door, including but not limited to a child lock. When the mechanical superlock of the car door is locked, the inward opening function of the car door is locked. The car door cannot be opened when the inward opening handle is pulled to the fully open position. At this time, it can be determined whether the micro switch of the car door is triggered. If so, it means that the user intends to open the car door. At this time, the state of the logic superlock in the vehicle controller can be determined, that is, whether the logic superlock is locked, and the state of the car door can be controlled according to the state of the logic superlock. Step S2: If yes, then keep the door locked; otherwise, determine the door unlocking mode and control the door state according to the unlocking mode. The unlocking modes include single-pull unlocking mode and double-pull unlocking mode.

[0027] Specifically, when it is determined that the logic superlock in the vehicle controller is locked, it indicates that the operation of the micro switch of the current door may be a false trigger. At this time, since both the mechanical superlock and the logic superlock are locked, the door can be kept locked, meaning that the door cannot be opened by mechanical unlocking or by electrolytic unlocking.

[0028] Furthermore, when the logic superlock within the vehicle controller is determined to be unlocked, it indicates that the user intends to open the door. At this point, the current unlocking mode of the door can be obtained, and the door's state can be controlled according to the unlocking mode. The unlocking modes include single-pull unlocking and double-pull unlocking. In essence, single-pull unlocking means the door will unlock when the inward door handle is pulled once, while double-pull unlocking means the door will unlock when the inward door handle is pulled twice consecutively within a short period.

[0029] In a specific embodiment, users can set and select the unlocking mode in the vehicle controller or related application according to their own needs and preferences, that is, the vehicle has an integrated unlocking mode selection module.

[0030] In summary, the door control method according to the embodiments of the present invention, by combining a mechanical superlock and a logic superlock, can determine whether the microswitch of the door is triggered and whether the logic superlock in the vehicle controller is locked when the mechanical superlock of the door is locked, and control the state of the door according to the determined unlocking mode. This achieves multiple unlocking functions of the door by using the logic superlock configuration without changing the original mechanical unlocking structure. It reduces the safety hazards caused by misoperation, improves the flexibility of unlocking, and thus improves the safety and reliability of the vehicle, as well as the user's satisfaction and experience.

[0031] In one embodiment of the present invention, controlling the state of the vehicle door according to the unlocking mode includes: if the unlocking mode is a single-pull unlocking mode, then controlling the vehicle door to unlock; if the unlocking mode is a double-pull unlocking mode, then obtaining the status information of the vehicle's central locking system; and controlling the state of the vehicle door according to the status information of the central locking system.

[0032] Specifically, when controlling the door status according to the unlocking mode, if the current unlocking mode is a single-pull unlocking mode, an unlocking command can be sent to the door lock actuator. After receiving the unlocking command, the door lock actuator can release the door lock, allowing the door to be opened. Furthermore, if the current unlocking mode is a double-pull unlocking mode, the status information of the vehicle's central locking system can be obtained, including whether the central locking system is locked or unlocked. Based on the obtained central locking status information, it can be determined whether the current door meets the unlocking conditions, and thus control the door status. In one embodiment of the present invention, controlling the state of the vehicle door according to the state information of the central locking system includes: if the central locking system is in an unlocked state, controlling the vehicle door to unlock; if the central locking system is in a locked state, obtaining the state information of the micro switch; and controlling the state of the vehicle door according to the state information of the micro switch.

[0033] Specifically, when controlling the door status based on the central locking system's status information, if the vehicle's central locking system is in the unlocked state, it means that all doors (or at least some doors) of the vehicle have been unlocked, allowing the user to enter and exit freely. In this case, if the inward door handle is pulled and the microswitch is triggered, the door can be directly unlocked and opened. Furthermore, if the vehicle's central locking system is in the locked state, it means that all doors are currently locked. In this case, if the inward door handle is pulled and the microswitch is triggered, the door will not unlock immediately. Instead, the system will further obtain the microswitch's status information and determine whether the door should be unlocked based on the microswitch's status information.

[0034] In one embodiment of the present invention, controlling the state of the car door according to the state information of the micro switch includes: determining whether the micro switch is triggered again within a first preset time; if so, controlling the car door to unlock; otherwise, controlling the car door to remain locked.

[0035] Specifically, when it is determined that the logic super lock in the vehicle controller is not locked and the central locking is locked, the status information of the micro switch can be continuously monitored. If the micro switch is triggered again within the first preset time, it means that the user's intention to open the door is genuine and valid. The vehicle controller can send an unlocking command to the door lock actuator to control the door to unlock and open the door. Furthermore, if the micro switch is not triggered again within the first preset time, it means that the user does not intend to open the door. The current triggering of the door's micro switch may be a false trigger. At this time, since the central locking is locked, all doors are currently locked and the doors will not be opened, i.e., the doors remain locked.

[0036] In a specific embodiment, the first preset time can be set according to the actual situation, including but not limited to 20 seconds.

[0037] In one embodiment of the present invention, when the mechanical superlock of the car door is locked and the micro switch of the car door is triggered, it is determined whether the micro switch is triggered again within a second preset time; if so, the car door is unlocked; otherwise, the car door is kept locked.

[0038] Specifically, when the mechanical superlock of the car door is locked, the inward opening function of the door is locked, and the door cannot be opened by pulling the inward opening handle to the fully open position. At this time, it can be determined whether the microswitch of the car door is triggered again within a second preset time. If so, it means that the user intends to open the car door. At this time, the vehicle controller can send an unlocking command to the door lock actuator to control the door to unlock and open the door. Furthermore, if the microswitch is not triggered within the second preset time, it means that the user does not intend to open the car door, and the current triggering of the microswitch of the car door may be a false trigger. At this time, because the mechanical superlock is locked, the inward opening function of the car door is locked, and the car door will not be opened, that is, the car door remains locked.

[0039] In one embodiment of the present invention, when it is determined that the micro switch of the car door is triggered, the method includes: determining whether the pulling stroke of the inward door handle of the car door reaches a preset stroke threshold; if so, it is determined that the micro switch of the car door is triggered; otherwise, it is determined that the micro switch of the car door is not triggered.

[0040] Specifically, a travel sensor or position sensor is integrated inside the car door. The vehicle controller can detect the movement distance or angle of the inward-opening door handle using the built-in travel sensor, thereby determining the pulling distance of the inward-opening door handle. This allows the controller to determine whether the microswitch of the door has been triggered. For example, when the inward-opening door handle is pulled, the vehicle controller can calculate its pulling distance in real time and compare it with a preset travel threshold. If the pulling distance of the inward-opening door handle reaches or exceeds the preset travel threshold, it can be determined that the microswitch has been triggered. If the pulling distance of the inward-opening door handle does not reach the preset travel threshold (e.g., only a slight touch and brief pull of the inward-opening door handle, or a small movement distance of the inward-opening door handle), it can be determined that the microswitch has not been triggered, and the door will remain locked.

[0041] In a specific embodiment, the preset travel threshold can be set according to the actual situation. If it is set too high, it may cause the user to need to pull the inward door handle of the car door to unlock the car door; if it is set too low, it may increase the risk of accidental triggering.

[0042] In one embodiment of the present invention, the method for controlling the vehicle door further includes: when a vehicle collision signal is received, controlling the mechanical superlock and the logical superlock to switch to the unlocked state.

[0043] Specifically, one or more collision sensors are integrated inside the vehicle. When a collision sensor detects a collision, it can send a collision signal to the vehicle controller. After receiving the collision signal, the vehicle controller can control the mechanical super lock and the logical super lock to unlock simultaneously. That is, under the current circumstances, the unlocking mode is no longer determined, and single-pull unlocking can be directly achieved, so as to ensure that the user can quickly avoid danger in an emergency, thereby improving the safety and reliability of the vehicle.

[0044] In summary, the door control method according to embodiments of the present invention, by combining a mechanical superlock and a logic superlock, allows for the determination of whether the door's microswitch is triggered and whether the logic superlock within the vehicle controller is locked when the mechanical superlock is engaged. Based on a predetermined unlocking mode, the door's state is controlled, thereby enabling multiple unlocking functions without altering the original mechanical unlocking structure. This reduces safety hazards caused by misoperation while improving unlocking flexibility, ultimately enhancing vehicle safety and reliability, as well as user satisfaction and experience. Furthermore, upon detecting a collision signal, both the mechanical and logic superlocks can be controlled to unlock simultaneously. In this situation, unlocking is no longer determined, and a single pull unlock can be directly implemented, ensuring that the user can quickly avoid danger in an emergency, further improving vehicle safety and reliability.

[0045] A further embodiment of the present invention also provides a door control device 100, such as... Figure 2 As shown, the door control device 100 includes a judgment module 110 and a control module 120, wherein, The judgment module 110 is used to determine whether the logic superlock in the vehicle controller is locked when the mechanical superlock of the door is locked and the micro switch of the door is triggered.

[0046] The control module 120 is used to control the door to remain locked when the logic superlock is locked, or to control the door state according to the unlocking mode when the logic superlock is unlocked, wherein the unlocking mode includes single-pull unlocking mode and double-pull unlocking mode.

[0047] In one embodiment of the present invention, when controlling the state of the car door according to the unlocking mode, the control module 120 is specifically used to: control the car door to unlock if the unlocking mode is a single-pull unlocking mode; obtain the central locking status information of the vehicle if the unlocking mode is a double-pull unlocking mode; and control the state of the car door according to the central locking status information.

[0048] In one embodiment of the present invention, when controlling the state of the vehicle door according to the state information of the central locking system, the control module 120 is specifically used to: control the vehicle door to unlock if the central locking system is in the unlocked state; obtain the state information of the micro switch if the central locking system is in the locked state; and control the state of the vehicle door according to the state information of the micro switch.

[0049] In one embodiment of the present invention, when controlling the state of the car door according to the state information of the micro switch, the control module 120 is specifically used to: determine whether the micro switch is triggered again within a first preset time; if so, control the car door to unlock; otherwise, control the car door to remain locked.

[0050] In one embodiment of the present invention, the control module 120 is further configured to: when the mechanical superlock of the car door is locked and the micro switch of the car door is triggered, determine whether the micro switch is triggered again within a second preset time; if so, control the car door to unlock; otherwise, control the car door to remain locked.

[0051] In one embodiment of the present invention, when it is determined that the micro switch of the car door is triggered, the determination module 110 is further configured to: determine whether the pulling stroke of the inward door handle of the car door reaches a preset stroke threshold; if so, determine that the micro switch of the car door is triggered; otherwise, determine that the micro switch of the car door is not triggered.

[0052] In one embodiment of the present invention, the control module 120 is further configured to: control the mechanical superlock and the logical superlock to switch to the unlocked state when a vehicle collision signal is received.

[0053] The door control device 100 according to an embodiment of the present invention combines a mechanical superlock and a logic superlock. When the mechanical superlock is engaged, it determines whether the door's microswitch is triggered and whether the logic superlock in the vehicle controller is engaged, and controls the door's state according to a predetermined unlocking mode. This allows for multiple door unlocking functions without altering the original mechanical unlocking structure, reducing safety hazards caused by misoperation and improving unlocking flexibility, thereby enhancing vehicle safety and reliability, as well as user satisfaction and experience. Furthermore, upon detecting a collision signal, both the mechanical superlock and the logic superlock can be controlled to unlock simultaneously. In this situation, unlocking is no longer determined, and a single pull unlock can be performed directly, ensuring that the user can quickly avoid danger in an emergency, further improving vehicle safety and reliability.

[0054] To achieve the above objectives, a third aspect of the present invention discloses a vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores door control instructions executable by the at least one processor, and when the door control instructions are executed by the at least one processor, the at least one processor performs the door control method of the first aspect of the present invention.

[0055] It should be noted that the specific implementation of the vehicle door control method is similar to that of the vehicle door control method in the first aspect embodiment of the present invention. Therefore, for a detailed exemplary description of the process of the vehicle door control, please refer to the relevant description of the vehicle door control method described above. To reduce redundancy, it will not be repeated here.

[0056] According to embodiments of the present invention, by combining a mechanical superlock with a logic superlock, when the mechanical superlock of the door is locked, the system determines whether the microswitch of the door is triggered and whether the logic superlock in the vehicle controller is locked. Based on a predetermined unlocking mode, the system controls the door's state, thereby enabling multiple door unlocking functions without altering the original mechanical unlocking structure. This reduces safety hazards caused by misoperation and improves unlocking flexibility, ultimately enhancing vehicle safety, reliability, user satisfaction, and experience. Furthermore, upon detecting a collision signal, both the mechanical and logic superlocks can be controlled to unlock simultaneously. In this situation, unlocking is no longer determined, and a single pull unlocks the door, ensuring the user can quickly avoid danger in an emergency, further improving vehicle safety and reliability.

[0057] A further embodiment of the present invention discloses a computer-readable storage medium storing a door control program thereon, which, when executed by a processor, implements the door control method as described in the first aspect embodiment of the present invention.

[0058] According to an embodiment of the present invention, when the control program for a vehicle door stored thereon is executed, it can determine whether the microswitch of the vehicle door is triggered and whether the logic superlock in the vehicle controller is locked when the mechanical superlock of the vehicle door is locked, and control the state of the vehicle door according to the determined unlocking mode. This allows for multiple unlocking functions of the vehicle door to be implemented using the logic superlock configuration without changing the original mechanical unlocking structure. This reduces safety hazards caused by misoperation and improves unlocking flexibility, thereby enhancing vehicle safety and reliability, as well as user satisfaction and experience. Furthermore, when a collision signal is detected, both the mechanical superlock and the logic superlock can be controlled to unlock simultaneously. That is, in the current situation, the unlocking mode is no longer determined, and single-pull unlocking can be directly achieved, ensuring that the user can quickly avoid danger in an emergency, thereby further improving vehicle safety and reliability.

[0059] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0060] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling a vehicle door, characterized in that, include: When the mechanical superlock of the vehicle door is locked, and it is determined that the microswitch of the vehicle door is triggered, it is determined whether the logic superlock in the vehicle controller is locked. If so, the door is kept locked; otherwise, the door's unlocking mode is determined, and the door's state is controlled according to the unlocking mode. The unlocking modes include single-pull unlocking mode and double-pull unlocking mode.

2. The door control method according to claim 1, characterized in that, Controlling the state of the car door according to the unlocking mode includes: If the unlocking mode is the single-pull unlocking mode, then control the door to unlock; If the unlocking mode is the double-pull unlocking mode, then obtain the status information of the vehicle's central locking system; The status of the vehicle door is controlled based on the status information of the central locking system.

3. The door control method according to claim 2, characterized in that, Controlling the state of the vehicle door based on the central locking status information includes: If the central locking system is in the unlocked state, then the door will be unlocked. If the central locking system is in a locked state, then obtain the status information of the micro switch; The state of the car door is controlled based on the state information of the micro switch.

4. The door control method according to claim 3, characterized in that, Controlling the state of the vehicle door based on the state information of the micro switch includes: Determine whether the micro switch is triggered again within a first preset time period; If yes, then the door is unlocked; otherwise, the door remains locked.

5. The door control method according to claim 1, characterized in that, Also includes: When the mechanical superlock of the car door is locked and the micro switch of the car door is triggered, determine whether the micro switch is triggered again within a second preset time. If yes, then the door is unlocked; otherwise, the door remains locked.

6. The door control method according to claim 1, characterized in that, When it is determined that the microswitch of the vehicle door has been triggered, the following is included: Determine whether the pulling stroke of the inner door handle of the vehicle door reaches a preset stroke threshold; If yes, then it is determined that the microswitch of the car door has been triggered; otherwise, it is determined that the microswitch of the car door has not been triggered.

7. The method for controlling a vehicle door according to any one of claims 1-6, characterized in that, Also includes: When a vehicle collision signal is received, the mechanical superlock and the logical superlock are controlled to switch to the unlocked state.

8. A control device for a vehicle door, characterized in that, include: The judgment module is used to determine whether the logic superlock in the vehicle controller is locked when the mechanical superlock of the vehicle door is locked and the micro switch of the vehicle door is triggered. The control module is used to control the door to remain locked when the logical superlock is locked, or to control the door's state according to the unlocking mode when the logical superlock is unlocked, wherein the unlocking mode includes a single-pull unlocking mode and a double-pull unlocking mode.

9. A vehicle, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores door control instructions that can be executed by the at least one processor. When the door control instructions are executed by the at least one processor, the at least one processor performs the door control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a door control program, which, when executed by a processor, implements the door control method as described in any one of claims 1-7.

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