Control method and control device for an electrically operated side sliding door

Abstract

The application provides a control method and a control device of an electric sliding door, and relates to the technical field of intelligent vehicles. The method comprises the following steps: receiving risk information, which is used to indicate whether a vehicle has a risk of endangering the life safety of passengers; receiving working condition information of the electric sliding door, which comprises a position state and / or a motion state of a door body; and determining a first control instruction according to the risk information and the working condition information, wherein the first control instruction comprises a motion parameter and / or a power connection state of the electric sliding door. Based on the scheme, when the vehicle has a risk of endangering the life safety of passengers (for example, thermal runaway, fire, water immersion, etc.), the electric sliding door can be controlled to give passengers more time to escape.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle technology, and more specifically, to a control method and control device for an electric sliding door. Background Technology

[0002] The power batteries of new energy vehicles are prone to thermal runaway under conditions such as collisions and bottoming out. Once thermal runaway occurs, it is usually accompanied by the rapid spread of smoke and fire. In such situations, occupants have only seconds to minutes to escape. Existing thermal runaway response strategies for new energy vehicles typically include high-voltage cutoff, door unlocking, window lowering, and voice alarms.

[0003] Vehicles equipped with electric sliding door systems can also be fitted with mechanical handles, allowing occupants to manually open the doors in various scenarios, including thermal runaway. However, in emergencies, occupants, influenced by habit, often prioritize opening the electric sliding doors via the electric switch. Even if successfully opened, the current control strategies are relatively simplistic and cannot meet the specific requirements of extremely short escape windows in thermal runaway scenarios. Summary of the Invention

[0004] This application provides a control method and control device for an electric sliding door, which can provide occupants with more escape time by controlling the electric sliding door when there is a risk to the safety of the occupants' lives in a vehicle.

[0005] In a first aspect, a control method for an electric sliding door is provided, comprising: receiving risk information, the risk information indicating whether there is a risk to the life safety of the occupants of the vehicle; receiving operating condition information of the electric sliding door, the operating condition information including the position and / or motion state of the door body; and determining a first control command based on the risk information and the operating condition information, the first control command including the motion parameters and / or power connection state of the electric sliding door.

[0006] For example, the operating conditions of an electric sliding door may include: fully closed, fully open, hovering, open, and closed. The position state of the door may include: fully closed, fully open, and hovering, where the hovering state may also correspond to information about the door's hovering position. The movement state of the door may include: during opening and during closing, and these two states may also correspond to information about the door's movement speed.

[0007] For example, the motion parameters of an electric sliding door are physical quantities used to control its motion characteristics. These parameters may include the door's operating speed (e.g., speed curve), operating direction (opening or closing direction), and target position (e.g., fully open or a specific opening position). These parameters determine the speed, smoothness, and final stopping position of the electric sliding door.

[0008] For example, the power connection state of an electric sliding door refers to the establishment or disconnection of the power transmission relationship between the electric sliding door and the drive motor. It can include an engaged state and a disengaged state, and the switching between these two states can be achieved through a clutch between the two.

[0009] Based on the above technical solution, by combining risk information with the operating condition information of the electric sliding door to determine control commands, the electric sliding door can flexibly adjust its motion parameters and power connection status according to the current scenario requirements, taking into account both daily use and emergency escape needs. That is, when there is no risk to the safety of the occupants, the electric sliding door is controlled to run smoothly at a lower speed, improving ride comfort and reducing mechanical wear; when there is a risk to the safety of the occupants, the electric sliding door is controlled to run at a higher speed or release the clutch, prioritizing the rapid opening of the electric sliding door and / or eliminating motor resistance, so that the electric sliding door can be manually opened, thereby buying more escape time for the occupants.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, when risk information indicates that there is a risk to the safety of the occupants' lives, the first control command is used to control the electric sliding door to open at a first speed, which is greater than the second speed of the electric sliding door when there is no risk to the safety of the occupants' lives.

[0011] For example, the first speed and the second speed mentioned above can refer to the speed curve used to control the opening of the electric sliding door, such as first accelerating, then moving at a constant speed, and finally decelerating to 0; where the first speed is greater than the second speed means that the overall speed distribution of the first speed is higher than the overall speed distribution of the second speed.

[0012] For example, in order to further reduce the execution time of the electric sliding door opening operation, the speed curve corresponding to the first speed can omit the constant speed stage, and the overall speed curve shows a trend of first accelerating and then decelerating.

[0013] For example, the first and second speeds mentioned above can also be used to represent the average speed at which the door opens, or the expected speed.

[0014] Based on the above technical solution, when the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, increasing the opening speed of the electric sliding door can effectively increase the occupants' escape efficiency.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, when risk information indicates that there is a risk to the safety of the occupants' lives, a first control command is used to control the release of a clutch used to engage or disengage the drive motor from the electric sliding door.

[0016] Based on the above technical solution, when the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, the power connection between the drive motor and the sliding door is cut off by releasing the clutch, eliminating the motor resistance from hindering the movement of the door, so that the sliding door can be quickly pulled open under the action of external force, ensuring that the escape route is unobstructed.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, when the operating condition information of the electric sliding door is used to indicate any of the following situations, the first control command is used to control the electric sliding door to open at a first speed: the electric sliding door is in a closed state; or, the electric sliding door is in a hovered state; or, the electric sliding door is in a closing process; or, the electric sliding door is in an opening process, and the opening speed is a second speed.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, when the operating condition information of the electric sliding door is used to indicate either of the following situations, the first control command is used to control the clutch to release: the electric sliding door is in a hovering state; or the electric sliding door is in the process of closing.

[0019] Specifically, when the electric sliding door is in the opening process, directly increasing the speed to the aforementioned first speed can shorten the remaining opening time of the electric sliding door; when the electric sliding door is in the closing process, immediately stop the current action and open it in the opposite direction at a higher first speed, or directly release the clutch so that the electric sliding door can be opened quickly manually. Moreover, in an emergency, when a person sees the electric sliding door at least partially open, they will usually think of opening it manually first; when the electric sliding door is fully open, since the escape route has been established, it is sufficient to maintain the status quo; when the electric sliding door is in the hovering state, quickly opening the door at the aforementioned first speed or directly releasing the clutch can shorten the time to complete the electronic opening, or it can be opened quickly manually; when the electric sliding door is closed, opening it at a higher first speed can buy as much escape time as possible for the occupants.

[0020] Based on the above technical solution, when there is a risk to the safety of the occupants, the control command can be flexibly determined according to the current working condition of the electric sliding door: for fully closed, hovering, closing process or low-speed opening state, the door is driven to open at a first speed higher than the second speed (i.e., the normal speed). For specific working conditions such as hovering or closing process, the clutch can be directly released, so that the electric sliding door can be manually and quickly pulled open; thus, an escape route can be quickly established in various working conditions of the electric sliding door.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, a first instruction information is received, which is used to instruct the opening of the electric sliding door, and a first control command is determined based on the first instruction information, risk information, and operating condition information.

[0022] For example, the aforementioned first instruction information refers to the information generated and sent by the occupant through the electric switch of the electric sliding door. The electric switch can be a physical switch mounted on the vehicle, a virtual switch located on the central control screen, or a physical or virtual switch in a remote control device.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, when the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, the second instruction information, which is used to instruct the electric sliding door to be closed, is ignored.

[0024] The blocking of the second instruction information can take three forms: one is to ignore the second instruction information as mentioned above; another is to convert the second instruction information into the first instruction information; and the third is not to issue the second instruction information, because when there is a risk to the safety of the occupants' lives, opening the electric sliding door is the primary condition for escape.

[0025] Based on the above technical solution, when there is a risk to the safety of the occupants' lives in a vehicle, by blocking the command to close the electric sliding door, it is possible to effectively prevent the escape route from being accidentally closed due to misoperation or misjudgment, thereby ensuring that the electric sliding door is at least always open to ensure that the escape route is unobstructed.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, during the control of the electric sliding door, vehicle status information is acquired; based on the vehicle status information, it is determined whether motion protection conditions are met, the motion protection conditions being used to indicate the presence of factors that inhibit the opening of the electric sliding door; when the motion protection conditions are met, a second control command is determined, the second control command being used to control the release of the clutch.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned motion protection conditions include at least one of the following: the vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the window of the electric sliding door is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold, wherein the first instruction information is used to instruct the opening of the electric sliding door.

[0028] Based on the above technical solution, when there is a risk to the safety of the occupants' lives in the vehicle, once the motion protection conditions for triggering the active protection mechanism are met during the control of the electric sliding door, the clutch can be released to release the drive motor's drive constraint on the electric sliding door, so as to avoid delaying the escape opportunity due to active safety mechanisms such as speed limit, limit or anti-pinch retraction, and ensure that the occupants can open the electric sliding door more quickly to complete the escape.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned second control command is also used to instruct, before releasing the clutch, to control the electric sliding door to open at a first speed to the target opening range corresponding to the motion protection condition.

[0030] For example, different motion protection conditions can each correspond to a target opening range.

[0031] Based on the above technical solution, when there is a risk to the safety of the occupants' lives, the electric sliding door is first opened to the target opening range corresponding to the motion protection conditions at a first speed, and then the clutch is released. This ensures that an effective escape passage width is formed before the clutch is released, and avoids the door being stuck in a closed or slightly open state after the clutch is released directly, thus preventing the occupants from escaping.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned risk information includes fire risk information, which is used to indicate whether there is at least one of the following conditions: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or discovery of open flame, wherein the cabin includes the front cabin, rear cabin, and passenger cabin of the vehicle.

[0033] In conjunction with the first aspect, in some implementations of the first aspect, the aforementioned risk information also includes at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information.

[0034] Based on the above technical solutions, the risk information not only covers fire risks such as battery thermal runaway, excessive cabin temperature, excessive smoke concentration or open flame, but also scenarios such as vehicle collision, water immersion, abnormal temperature, abnormal air pressure or abnormal oxygen levels. This enables comprehensive perception of risks that endanger the lives of occupants and ensures that the sliding door can be triggered to open quickly in various emergency situations, thereby improving the reliability and applicability of occupant escape.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, when the risk information indicates that there is no risk to the safety of the occupants' lives, the aforementioned first control command is used to control the electric sliding door to open at a second speed. In conjunction with the first aspect, in some implementations of the first aspect, when the motion protection conditions are met, the aforementioned second control command is used to suppress the opening of the electric sliding door.

[0036] Based on the above technical solution, when there is no risk to the life safety of the occupants, the electric sliding door is controlled to open smoothly at the second speed, taking into account both ride comfort and equipment durability; if the motion protection conditions are met (such as the opening of the fuel filler cap), the second control command is used to suppress the opening of the sliding door or limit the opening degree to avoid collision interference or injury to the occupants, thus ensuring the safety of daily use.

[0037] Secondly, a control device is provided, comprising: a receiving unit for receiving risk information, the risk information indicating whether there is a risk to the life safety of the occupants of the vehicle; receiving operating condition information of an electric sliding door, the operating condition information including the position and / or motion state of the door; and a control unit for determining a first control command based on the risk information and the operating condition information, the first control command including the motion parameters and / or power connection status of the electric sliding door.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, when risk information indicates that there is a risk to the safety of the occupants' lives, the first control command is used to control the electric sliding door to open at a first speed, wherein the first speed is greater than the second speed of the electric sliding door when there is no risk to the safety of the occupants' lives.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, when risk information indicates that there is a risk to the safety of the occupants' lives, the aforementioned first control command is used to control the release of the clutch, which is used to engage or disengage the drive motor from the electric sliding door.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, when the operating condition information of the electric sliding door is used to indicate any of the following situations, the aforementioned first control command is used to control the electric sliding door to open at a first speed: the electric sliding door is in a closed state; or, the electric sliding door is in a hovered state; or, the electric sliding door is in a closing process; or, the electric sliding door is in an opening process, and the opening speed is a second speed.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, when the operating condition information of the electric sliding door is used to indicate either of the following situations, the first control command is used to control the clutch to release: the electric sliding door is in a hovering state; or, the electric sliding door is in the process of closing.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the receiving unit is further configured to: receive first indication information, which is used to indicate the opening of the electric sliding door; the control unit is specifically configured to: determine a first control command based on the first indication information, risk information, and operating condition information.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is further configured to: ignore the second indication information, which is used to instruct the electric sliding door to be closed, when the risk information indicates that there is a risk to the life safety of the occupants.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the control device may further include: an acquisition unit, configured to acquire vehicle status information when risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, and while the control unit is controlling the motion parameters of the electric sliding door; a determination unit, configured to determine, based on the vehicle status information, whether motion protection conditions are met, the motion protection conditions indicating the presence of factors that inhibit the opening of the electric sliding door; the control unit is further configured to determine a second control command when the motion protection conditions are met, the second control command being used to control the release of the clutch.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned motion protection conditions include at least one of the following: the vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the window of the electric sliding door is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold; wherein, the first instruction information is used to instruct the opening of the electric sliding door.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned second control command can also be used to instruct, before releasing the clutch, to control the electric sliding door to open at a first speed to the target opening range corresponding to the motion protection condition.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned risk information includes fire risk information, which is used to indicate whether there is at least one of the following: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or discovery of open flame, wherein the cabin includes the front cabin, rear cabin, and passenger cabin of the vehicle.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the aforementioned risk information also includes at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, when the risk information indicates that there is no risk to the safety of the occupants' lives, the aforementioned first control command is used to control the electric sliding door to open at a second speed; or when the motion protection conditions are met, the second control command is used to inhibit the opening of the electric sliding door.

[0050] Thirdly, a control device is provided, comprising a memory and a processor, the memory for storing a computer program and the processor for executing the computer program in the memory, such that the device can implement the method in any of the possible implementations of the first aspect described above.

[0051] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0052] Fifthly, a computer-readable storage medium is provided, which stores a computer program that, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.

[0053] In a sixth aspect, a chip is provided, the chip including circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0054] In a seventh aspect, a vehicle is provided, which is equipped with an electric sliding door and includes the control device described in any of the possible implementations of the second or third aspect above. Attached Figure Description

[0055] Figure 1 This is a functional block diagram of the vehicle 100 provided in an embodiment of this application; Figure 2 This is a schematic diagram of the architecture of a common electric sliding door system 200 at present. Figure 3 This is a flowchart illustrating a control method 300 proposed in an embodiment of this application; Figure 4 This is a business logic diagram of a control method proposed in an embodiment of this application; Figure 5 This is a business logic diagram of another control method proposed in the embodiments of this application; Figure 6 This is a schematic diagram of the operation process for implementing the active safety mechanism of an electric sliding door, applicable to the embodiments of this application; Figure 7 This is a business logic diagram of another control method proposed in the embodiments of this application; Figure 8 This is a schematic diagram of the architecture of a control system 800 proposed in an embodiment of this application; Figure 9 This is a schematic block diagram of a control device 900 proposed in an embodiment of this application; Figure 10 This is a schematic diagram of another control device 1000 provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0057] In the description of the embodiments in this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0058] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0059] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0060] Figure 1 This is a functional schematic diagram of the vehicle 100 provided in the embodiments of this application.

[0061] Vehicle 100 may include multiple subsystems, such as perception system 120 and computing platform 130. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include one or more components. In addition, each subsystem and component of vehicle 100 may be interconnected via wired or wireless means.

[0062] The perception system 120 may include several types of sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or another positioning system. The perception system 120 may include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0063] Some or all of the functions of vehicle 100 can be controlled by computing platform 130. Computing platform 130 may include processors 131 to 13n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor unit (MPU), graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 130 may also include a memory for storing instructions. Some or all of the processors 131 to 13n can call the instructions in the memory to implement the corresponding functions.

[0064] The computing platform 130 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the sensing system 120). In some embodiments, the computing platform 130 can be used to provide control over many aspects of the vehicle 100 and its subsystems.

[0065] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted as needed.

[0066] The method provided in this application can be applied to the field of intelligent driving. For example, the method provided in this application can be used in the application scenario of vehicle stability control. The vehicle 100 in this application can include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, vehicle 100 can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.; or vehicle 100 includes a mobile device, which can be: a robot, mobile medical equipment, or an experimental platform. This application does not specifically limit the type of vehicle.

[0067] The following uses vehicle 100 as an example of a new energy vehicle to illustrate the technical problems that this application needs to solve and the technical solutions adopted.

[0068] It should be noted that the intelligent driving (referred to as intelligent driving) mentioned above refers to a comprehensive system that enables vehicles to have environmental perception, decision-making and planning, and / or autonomous control capabilities through technologies such as artificial intelligence, sensor fusion processing, and network information collaboration. Its core goal is to ultimately achieve a gradual transformation from human driving to machine autonomous driving. The functions implemented mainly include, but are not limited to: adaptive cruise control (ACC), automatic emergency braking (AEB), automatic parking (AP), blind spot monitoring (BSM), front cross-traffic braking (FCTB), front cross-traffic alert (FCTA), rear crossing traffic braking (RCTB), rear crossing traffic alert (RCTA), forward collision warning (FCW), lane departure warning (LDW), lane keeping assist (LKA), rear collision warning (RCW), traffic sign recognition (TSR), traffic jam assist (TJA), and highway assist (HWA). It should be understood that the various functions mentioned above may have their own specific requirements and contents at different levels of autonomous driving (L0-L5). Among them, intelligent driving is a description that focuses on driving technology and functions, while autonomous driving is a description that focuses on driving capabilities; intelligent driving can include assisted driving, conditional autonomous driving, highly automated driving, and fully automated driving, etc.

[0069] The power batteries of new energy vehicles are prone to thermal runaway under conditions such as collisions, chassis bottoming out, and harsh operating conditions. Once thermal runaway occurs, it is usually accompanied by the rapid spread of smoke and fire. From the moment the lithium battery triggers thermal runaway to the point of combustion and even ignition of the entire vehicle, the time may only be a few minutes or even seconds, leaving extremely short escape windows for occupants. In this context, whether the vehicle doors can be opened quickly becomes one of the key factors determining the outcome of an accident.

[0070] Existing thermal runaway response strategies for new energy vehicles mainly cover multiple aspects such as electrical safety control, occupant escape assistance, and external warnings. For example, the vehicle immediately cuts off the high-voltage power supply; all doors automatically unlock and the door handles pop out; all doors and windows lower to maintain ventilation; graphic prompts are displayed on the instrument panel and large screen, while voice alarms such as "Please pull over and stay away from the vehicle" are issued inside the vehicle; hazard warning lights automatically turn on; the battery water pump starts to maintain water circulation cooling; non-critical loads (such as motors, air conditioning water pumps, electric fans, and air conditioning blowers) are actively shut down; in addition, the telematics box (TBOX) reports the status in real time and initiates emergency linkage, such as automatically alarming to request rescue.

[0071] With the increasing demand for passenger convenience and space utilization in multi-purpose vehicles (MPVs) and sportutility vehicles (SUVs), electric sliding doors have gradually become an important feature of these vehicles due to their advantages such as small lateral space occupation when opened, easy access to narrow parking spaces, and providing a spacious passage for passengers.

[0072] Figure 2 This is a schematic diagram of the architecture of a common electric sliding door system 200 at present.

[0073] refer to Figure 2 As shown, the electric sliding door system 200 typically includes a sliding door body 205, a drive motor 210, a guide rail mechanism 220, and a control module 230.

[0074] In the business logic of the electric sliding door system 200, the control module 230 is used to receive opening / closing commands from the door handle (or a switch or remote control located in another position), and drives the sliding door body 205 to move along the guide rail mechanism 220 via the drive motor 210 and clutch 240.

[0075] The control module 230 can output drive current to the drive motor 210, and the control module 230 can determine the rotation direction of the drive motor 210 (i.e., forward or reverse rotation) by controlling the direction of the current output to the drive motor 210 (i.e., positive or negative polarity), thereby controlling the movement direction of the sliding door 205 (i.e., opening or closing the door).

[0076] Since the business logic of the electric sliding door system 200 focuses on the convenience and safety of daily use, the control module 230 typically employs a preset speed curve control strategy. Simultaneously, the electric sliding door system 200 can also integrate an anti-pinch protection function. By monitoring the motor current or installing a pressure sensor, it immediately stops or reverses movement when the detected motion resistance exceeds a safety threshold, preventing injury to occupants. Furthermore, the electric sliding door system 200 is equipped with multiple active safety redundancy mechanisms, such as limiting the opening degree of the sliding door when the fuel filler cap / charging port cap / sliding door window is open, to ensure safe use under various operating conditions.

[0077] For vehicles including electric sliding door systems, mechanical handles can also be used as a redundant design. For example, in a thermal runaway scenario, occupants can manually pull the mechanical handle to open the electric sliding door, thus providing an escape route in such an event. This mechanical handle control and the aforementioned electric opening control are two parallel control schemes for the electric sliding door, and they do not interfere with each other.

[0078] However, in emergencies such as thermal runaway that endanger the lives of occupants, due to inertia, occupants often prioritize triggering the electric switch controlling the opening of the electric sliding door rather than actively pulling the mechanical handle. Even if the electric switch triggers the opening of the electric sliding door, the existing opening control strategy is relatively simple and cannot meet the special requirements of the extremely short escape window in thermal runaway scenarios. In the existing electric sliding door opening control strategy, regardless of the vehicle's operating condition, the opening or closing action of the electric sliding door is completed according to a preset speed curve. In addition to considering smooth movement, this control strategy also integrates functions such as anti-pinch protection to ensure occupant safety. However, this single control strategy has obvious limitations in emergency scenarios such as thermal runaway: on the one hand, the fixed speed curve cannot be dynamically adjusted according to the urgency of escape, resulting in a delayed opening response and wasting escape time; on the other hand, safety mechanisms such as anti-pinch protection may be triggered in an emergency, further prolonging the opening time and inhibiting the opening degree of the sliding door, thus wasting escape time and limiting escape routes.

[0079] In conclusion, existing electric sliding door control strategies are insufficient to meet occupant safety requirements under extremely short escape windows. Therefore, how to extend occupant escape time by controlling the electric sliding doors when the vehicle poses a risk to occupant life safety (such as thermal runaway, fire, flooding, etc.) is an urgent problem to be solved.

[0080] In view of this, this application proposes a control method for an electric sliding door. By differentiating the control of the electric sliding door under normal operating conditions and emergency abnormal operating conditions, it takes into account both the control smoothness of the electric sliding door under normal operating conditions and the response efficiency under emergency abnormal operating conditions.

[0081] Figure 3 This is a flowchart illustrating a control method 300 proposed in an embodiment of this application.

[0082] In some possible embodiments, the business logic of the control method 300 can be carried on the electric sliding door system 200; further, the control method 300 can be executed by the control module 230 in the electric sliding door system 200.

[0083] In some possible embodiments, the electric sliding door controlled by control method 300 can be a door mechanism for any enclosed space, such as a mechanical device, building, room, or vehicle. For ease of description, this application embodiment uses a vehicle as the main body mounted on the electric sliding door as an example to provide a detailed description of the control method 300 of this application embodiment.

[0084] refer to Figure 3 As shown, the control method 300 may include the following operations: S310: Receive risk information that indicates whether there is a risk to the life safety of the occupants of the vehicle.

[0085] In some possible embodiments, the aforementioned risk information can be actively acquired, or it can be actively sent by the risk information collection module and then passively received.

[0086] In some possible embodiments, the aforementioned risk information may include fire risk information, which is used to indicate whether there is at least one of the following: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or discovery of open flame, wherein the cabin includes the front cabin, rear cabin, and passenger compartment of the vehicle.

[0087] It should be noted that, in the embodiments of this application, "fire risk" refers to a state in which the vehicle may be or has already been in a fire hazard, including potential risk stages such as battery thermal runaway and excessive cabin temperature, which have not yet formed an open flame but have a high probability of ignition, as well as confirmed risk stages where smoke or open flames have been detected; the purpose of adopting this broad definition is to ensure that the vehicle can trigger an emergency escape response regardless of whether it is in the pre-fire stage or in the actual fire stage.

[0088] In some possible embodiments, the aforementioned fire risk information can be carried by fire risk monitoring signals, which include battery thermal runaway signals, cabin temperature exceeding the standard signals, smoke concentration exceeding the standard signals, or open flame signals; wherein, the battery thermal runaway signal is generated by the battery management system (BMS) based on battery state parameters, and the cabin temperature exceeding the standard signals, smoke concentration exceeding the standard signals, and open flame signals are generated by the vehicle temperature monitoring module based on environmental parameters.

[0089] In some possible embodiments, the fire risk monitoring signal can directly carry the battery status parameters and environmental parameters, and by analyzing these parameters, it can be determined whether there is a fire risk.

[0090] In some possible embodiments, the above-mentioned battery state parameters may include: battery surface temperature, temperature difference between the inside and outside of the battery, battery internal resistance, battery voltage and current, battery internal pressure, concentration of characteristic gases generated inside the battery or diffused outside the battery (such as carbon monoxide, carbon dioxide, hydrogen, methane, etc.), battery deformation, etc.

[0091] For example, when a battery meets the thermal runaway conditions, it can be determined that the current battery has experienced thermal runaway. These thermal runaway conditions include at least one of the following: The battery surface temperature is ≥140℃, or the temperature difference between the inside and outside of the battery is ≥10℃ and accompanied by a temperature rise rate of ≥1℃ / s; The battery internal resistance increases by ≥50% relative to the reference value, and the temperature rise rate is ≥1℃ / s; Battery voltage ≤ cutoff voltage, or voltage drop rate ≥ first preset threshold; The internal pressure of the battery is ≥0.5MPa, or the rate of pressure rise is ≥the second preset threshold. The characteristic gas concentration is ≥ the third preset threshold, or the gas generation rate is ≥ the fourth preset threshold; Battery deformation ≥ 5mm, etc.

[0092] The specific values ​​for the thresholds corresponding to the above parameters are merely examples; the calibrated values ​​will differ for batteries with different performance characteristics. Similarly, the first to fourth preset thresholds can also be calibrated based on battery performance.

[0093] In some possible embodiments, a multi-parameter fusion judgment strategy may also be adopted. For example, when the surface temperature of a single cell is ≥90°C and the internal resistance increases abnormally by more than 30%, or when the temperature is ≥55°C and the concentration of characteristic gas exceeds the standard, a comprehensive judgment is made that thermal runaway has occurred.

[0094] In some possible embodiments, when it is determined that the battery meets the conditions for thermal runaway, the fire risk monitoring signal includes the battery thermal runaway signal, thereby enabling the determination that the vehicle is currently at risk of fire.

[0095] In some possible embodiments, the above environmental parameters may include: front cabin temperature, rear cabin temperature, crew cabin temperature, smoke concentration, and infrared / ultraviolet light intensity, etc.

[0096] For example, when the environment meets the conditions for ignition, it can be determined that there is a risk of ignition. The conditions for ignition include at least one of the following: the temperature of the crew cabin is ≥60°C, or the temperature of the front cabin is ≥80°C, or the temperature of the rear cabin is ≥80°C, or the smoke concentration is ≥1000ppm, or the light shading rate is ≥5%, or the detected infrared / ultraviolet light intensity is ≥5% of the fifth preset threshold, or the light intensity change is ≥6% of the sixth preset threshold, etc.

[0097] The specific values ​​of the thresholds for the above parameters are only examples, and the actual values ​​can be determined based on calibration experiments.

[0098] In some possible embodiments, when it is determined that the environment meets at least one of the above-mentioned fire conditions, the fire risk monitoring signal shall include at least one of the following: a cabin temperature exceeding the standard signal, a smoke concentration exceeding the standard signal, or an open flame signal, so as to determine that the vehicle is currently at risk of fire.

[0099] In some possible embodiments, the aforementioned risk information may further include at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information. The emergency scenarios indicated by this risk information also involve a need to open the electric sliding door as quickly as possible.

[0100] S320: Receives operating information of the electric sliding door, including the door's position and / or movement status.

[0101] In some possible embodiments, similar to the risk information described above, the operating condition information can be actively acquired or passively received after being actively sent by a functional module for monitoring the operating condition information of electric sliding doors.

[0102] The position state of the door can include: fully closed, fully open, and hovered. The hovered state can also correspond to the hovering position of the door. The movement state of the door can include: during the opening process and during the closing process. These two states can also correspond to the speed information of the door movement.

[0103] In summary, the operating conditions of an electric sliding door can include: fully closed, fully open, hovering, open, and closed.

[0104] S330: Based on risk information and operating condition information, determine a first control command, which includes the motion parameters and / or power connection status of the electric sliding door.

[0105] The motion parameters of an electric sliding door are physical quantities used to control its motion characteristics. These parameters can include the door's operating speed (e.g., speed curve), operating direction (opening or closing), and target position (e.g., fully open or at a specific opening degree). These parameters determine the speed, smoothness, and final stopping position of the electric sliding door.

[0106] The power connection status of an electric sliding door refers to the establishment or disconnection of the power transmission relationship between the electric sliding door and the drive motor. This can include an engaged state (clutch closed, motor and electric sliding door mechanically connected, motor can drive the electric sliding door) and a disengaged state (clutch disengaged, motor and electric sliding door mechanically separated, electric sliding door can move freely under external force, motor resistance does not act on the electric sliding door). By controlling the power connection status, the electric drive mode and manual push-pull mode can be switched.

[0107] The reason why risk information and operating condition information need to be combined in the electric sliding door control method proposed in this application is that, based on whether the vehicle poses a risk to the safety of the occupants as indicated by the risk information, different control strategies can be adopted accordingly to achieve different control effects.

[0108] Based on the aforementioned control method 300, it is known that when the vehicle determines that there is a risk to the safety of the occupants, it can automatically trigger the control operation of the electric sliding door.

[0109] In some possible embodiments, the operation of controlling the electric sliding door can also be triggered based on the first instruction information input by the user. That is, the vehicle not only receives the risk information and operating condition information, but also receives the first instruction information, which is used to instruct the electric sliding door to be opened. Then, based on the first instruction information, risk information and operating condition information, the first control command is determined.

[0110] In some possible embodiments, the first indication information refers to that generated and sent by the occupant via the electric switch of the electric sliding door. The electric switch can be a physical switch mounted on the vehicle, a virtual switch located on the central control screen, or a physical or virtual switch in a remote control device.

[0111] Regarding the motion parameters of the electric sliding door in the first control command: In some possible embodiments, when the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, the aforementioned first control command can be used to control the electric sliding door to open at a first speed; or, when the risk information indicates that the vehicle does not pose a risk to the safety of the occupants' lives, the aforementioned first control command can be used to control the electric sliding door to open at a second speed.

[0112] The first speed is greater than the second speed of the electric sliding door when there is no risk to the safety of the occupants.

[0113] In some possible embodiments, the first speed and the second speed mentioned above may refer to the speed curve used to control the opening of the electric sliding door, such as first accelerating, then maintaining a constant speed, and finally decelerating to 0; wherein the first speed is greater than the second speed means that the overall speed distribution of the first speed is higher than the overall speed distribution of the second speed.

[0114] In some possible embodiments, in order to further reduce the execution time of the electric sliding door opening operation, the speed curve corresponding to the first speed can omit the constant speed stage, and the overall speed curve shows a trend of first accelerating and then decelerating.

[0115] In some possible embodiments, the first and second speeds described above can also be used to represent the average speed at which the door opens, or the expected speed.

[0116] When the risk information indicates that the vehicle does not pose a risk to the safety of the occupants, the vehicle is in normal operating condition. The control objective of the electric sliding door is to simultaneously complete the opening action of the electric sliding door and ensure both passenger comfort and operational safety. Based on this, the drive motor of the electric sliding door can be controlled to operate according to a preset speed curve (i.e., the second speed), such as through soft start, uniform low-speed operation, and soft stop stages. During the sliding process of the electric sliding door, inertial impact and noise during door movement are avoided, improving the passenger riding experience and minimizing wear on the related transmission mechanisms of the electric sliding door during this process.

[0117] When risk information indicates a potential danger to the lives of occupants, this is considered an emergency situation. The control objective of the electric sliding door is to increase occupant escape efficiency. Therefore, priority is given to ensuring the door's rapid response and opening. To achieve this, control parameters different from those under normal operating conditions can be used. For example, increasing the drive current or duty cycle of the drive motor allows the electric sliding door to operate at a higher initial speed, enabling it to open faster and facilitate occupant escape. Although such control actions may increase wear on the related transmission mechanisms of the electric sliding door, since a vehicle entering an emergency situation is a low-probability event and not the normal control strategy for the electric sliding door, the additional wear on the transmission mechanisms is limited throughout the entire lifespan of the electric sliding door.

[0118] Regarding the power connection status of the electric sliding door in the first control command: In some possible embodiments, when the risk information indicates that the vehicle poses a risk to the safety of the occupants, the first control command may be used to control the release of the clutch; or, when the risk information indicates that the vehicle does not pose a risk to the safety of the occupants, the first control command may not involve the control of the clutch's operating state.

[0119] The mechanism for clutch release can be found in subsequent embodiments and will not be elaborated here.

[0120] Therefore, this application embodiment designs the following three control strategies based on whether the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives: Strategy 1: When it is determined that the vehicle poses a risk to the safety of the occupants' lives, the control operation of quickly opening the electric sliding door is automatically triggered, prioritizing the escape time in extreme emergency situations; Strategy 2: Based on the first indication information used to indicate the opening of the electric sliding door, when it is determined that the vehicle poses a risk to the safety of the occupants' lives, the control operation of quickly opening the electric sliding door is further triggered, again prioritizing the escape time in extreme emergency situations; Strategy 3: Based on the first indication information used to indicate the opening of the electric sliding door, when it is determined that the vehicle does not pose a risk to the safety of the occupants' lives, the control operation of normally opening the electric sliding door is further triggered, prioritizing the comfort of daily use, equipment durability, and all-round safety protection.

[0121] Therefore, different control strategies can be adopted according to whether the vehicle poses a risk to the safety of the occupants, so as to achieve dynamic switching from "comfort and safety mode" to "emergency escape mode".

[0122] Based on the above control method 300, it can be seen that after the risk information changes from indicating that the vehicle poses a risk to the safety of the occupants’ lives to indicating that the vehicle does not pose a risk to the safety of the occupants’ lives, it can switch from “emergency escape mode” to “comfort and safety mode”. When the above first instruction information is received, it can respond to the first instruction information based on strategy 3.

[0123] Based on the above technical solution, by combining risk information with the operating condition information of the electric sliding door to determine control commands, the electric sliding door can flexibly adjust its motion parameters and power connection status according to the current scenario requirements, taking into account both daily use and emergency escape needs. That is, when there is no risk to the safety of the occupants, the electric sliding door is controlled to run smoothly at a lower speed, improving ride comfort and reducing mechanical wear; when there is a risk to the safety of the occupants, the electric sliding door is controlled to run at a higher speed or release the clutch, prioritizing the rapid opening of the electric sliding door and / or eliminating motor resistance, so that the electric sliding door can be manually opened, thereby buying more escape time for the occupants.

[0124] In some possible embodiments, the aforementioned first indication information can also be obtained in the following ways: In some possible embodiments, when the vehicle confirms that there is a risk to the life safety of the occupants based on the above risk information, it can determine whether to automatically generate the above first indication information in combination with the current motion condition of the vehicle. If the current motion condition of the vehicle is stationary or the speed is less than a specified threshold, the above first indication information can be automatically generated and sent to the control module for controlling the electric sliding door so that the control module receives the first indication information.

[0125] In some possible embodiments, considering that the probability of occupants misoperating in an emergency increases, it is possible that, in the event of a fire risk, a second instruction message is sent to the control module of the electric sliding door via the electric switch. This second instruction message instructs the electric sliding door to close. Therefore, if a risk to the occupants' lives is determined to exist, upon receiving the second instruction message, it can be converted into a first instruction message, thereby obtaining the first instruction message. Based on this, it is possible to effectively prevent the electric sliding door from being accidentally closed due to panicked misoperation by occupants, ensuring the unobstructed escape route.

[0126] Figure 4 This is a business logic diagram of a control method proposed in an embodiment of this application.

[0127] Based on the foregoing embodiments, the operating conditions of an electric sliding door can include: fully closed, fully open, hovering, open, and closed. Therefore, when there is no risk to the safety of the occupants, the business logic of the control method proposed in this application embodiment refers to... Figure 4 As shown: When the electric sliding door is in the opening state (i.e., in the process of opening), the corresponding control action may include controlling the electric sliding door to maintain the current state until the opening operation is completed. Alternatively, when the electric sliding door is in the closing state (i.e., in the process of closing), the corresponding control action may include stopping the closing action and opening the door at the second speed mentioned above. Alternatively, when the electric sliding door is in a fully open operating condition, the corresponding control action may include maintaining the current operating condition. Alternatively, when the electric sliding door is in a hovering state, the corresponding control action may include opening the door at the aforementioned second speed; Alternatively, when the electric sliding door is in a fully closed state, the corresponding control action may include opening the door at the aforementioned second speed.

[0128] The aforementioned control actions are executed based on the aforementioned first control command.

[0129] Specifically, when the electric sliding door is in the opening position, it maintains its current movement and opens at a relatively gentle initial speed to avoid the jerking sensation caused by sudden speed changes; when the electric sliding door is in the closing position, it first stops and then opens at a relatively gentle initial speed to ensure a smooth transition in the direction of movement and prevent mechanical shock; when the electric sliding door is fully open, it maintains its current position to avoid unnecessary energy consumption; when the electric sliding door is in the hovering or fully closed position, it opens at the initial speed to balance comfort and equipment durability protection.

[0130] Figure 5 This is a business logic diagram of another control method proposed in the embodiments of this application.

[0131] When a vehicle poses a risk to the safety of its occupants, the business logic reference of the control method proposed in this application embodiment is as follows: Figure 5 As shown: When the electric sliding door is in the opening state (i.e., in the process of opening, and the opening speed is the second speed mentioned above), the corresponding control action may include increasing the opening speed to the first speed mentioned above. Alternatively, when the electric sliding door is in the closing state (i.e., in the process of closing), the corresponding control action may include stopping the closing action and opening the door at the first speed mentioned above or releasing the clutch. Alternatively, when the electric sliding door is in a fully open operating condition, the corresponding control action may include controlling the electric sliding door to maintain the current operating condition. Alternatively, when the electric sliding door is in a hovering state, the corresponding control action may include opening the door at the first speed or releasing the clutch. Alternatively, when the electric sliding door is in a fully closed state, the corresponding control action may include opening the door at the aforementioned first speed.

[0132] Specifically, when the electric sliding door is in the opening process, directly increasing the speed to the aforementioned first speed can shorten the remaining opening time of the electric sliding door; when the electric sliding door is in the closing process, immediately stop the current action and open it in the opposite direction at a higher first speed, or directly release the clutch so that the electric sliding door can be opened quickly manually. Moreover, in an emergency, when a person sees the electric sliding door at least partially open, they will usually think of opening it manually first; when the electric sliding door is fully open, since the escape route has been established, it is sufficient to maintain the status quo; when the electric sliding door is in the hovering state, quickly opening the door at the aforementioned first speed or directly releasing the clutch can shorten the time to complete the electronic opening, or it can be opened quickly manually; when the electric sliding door is closed, opening it at a higher first speed can buy as much escape time as possible for the occupants.

[0133] In some possible embodiments, when the electric sliding door is malfunctioning, it means that the electric sliding door cannot be opened by the drive motor. In this case, the clutch can be released so that the occupants can try to open the electric sliding door manually.

[0134] In some possible embodiments, if a risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, and a second instruction is received that instructs the electric sliding door to be closed, the second instruction can be blocked.

[0135] The blocking of the second instruction information can take three forms: ignoring the second instruction information, converting the second instruction information into the first instruction information, or not issuing the second instruction information at all. This is because, when the vehicle poses a risk to the safety of the occupants, opening the electric sliding door is the primary condition for escape. Therefore, in emergency abnormal situations, blocking the command to close the electric sliding door can effectively prevent accidental closure of the escape route due to misoperation or misjudgment, thus ensuring that the electric sliding door remains open at least continuously to guarantee an unobstructed escape route.

[0136] In some possible embodiments, to prevent the electric sliding door from colliding with or being crushed by other objects during operation, some vehicle models also include an active safety mechanism in their electric sliding door control strategy. This active safety mechanism is as follows: Figure 6 This is a schematic diagram of the operation process for implementing the active safety mechanism of an electric sliding door, applicable to the embodiments of this application.

[0137] refer to Figure 6 As shown, the operation process includes: S610: Obtain vehicle status information.

[0138] S620: Based on the vehicle status information, determine whether the motion protection conditions are met. These conditions indicate the presence of factors that inhibit the opening of the electric sliding door. If met, proceed to S630; otherwise, proceed to S640.

[0139] S630: Determine a second control command, which is used to inhibit the opening of the electric sliding door or to control the release of the clutch.

[0140] S640: Controls the electric sliding door to maintain its current operating condition.

[0141] Whether the second control command is used to inhibit the opening of the electric sliding door or to control the clutch release depends on whether it is determined that there is a risk to the life safety of the occupants before controlling the electric sliding door. If there is, the second control command is used to control the clutch release; if not, the second control command is used to inhibit the opening of the electric sliding door. This mechanism can also be integrated into the aforementioned embodiments. Figure 4 In the business logic shown, and Figure 5 In the business logic shown.

[0142] In some possible embodiments, the above-mentioned motion protection conditions include: the vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the window of the electric sliding door is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold.

[0143] In some possible embodiments, the operation of inhibiting the opening of the electric sliding door indicated by the second control command above may include the following operations: When the vehicle's fuel filler cap is open, in order to prevent the electric sliding door from colliding with the fuel filler cap or fuel nozzle when it opens, the electric sliding door located on the side of the fuel filler cap will stop opening and come to a complete stop when it has opened to a set distance from the fuel filler cap (the specific value depends on different vehicle models). Similarly, when the vehicle's charging port cover is open, in order to avoid collisions with the charging port cover or the charging gun, the electric sliding door on the side of the charging port will stop opening and come to a stop when it reaches a set distance from the charging port cover (the specific value depends on different models). When the window of the electric sliding door is open, in order to prevent occupants from leaning over the window and being injured while the electric sliding door is moving, the electric sliding door will stop opening and brake when it reaches a set opening degree (which can be calibrated); when the absolute value of the rear wheel steering angle of the vehicle is greater than or equal to the angle threshold (such as the rear wheel steering angle exceeding the set angle range, which can be calibrated), the electric sliding door will stop opening and brake when it reaches a set opening degree (which can be calibrated) to prevent occupants from falling out of the vehicle when it sideslips.

[0144] The mechanism described above for preventing the electric sliding door from opening can also be called an obstacle avoidance protection mechanism.

[0145] During the electric opening of the electric sliding door, if the resistance encountered by the door exceeds a resistance threshold (such as when it is clamped onto an obstacle; this resistance threshold can be calibrated), the opening action can be stopped immediately. Furthermore, the door can be controlled to reverse a certain distance. If, during the reverse movement, the resistance again exceeds the resistance threshold, the clutch between the door and the drive motor is released, preventing injury to occupants or damage to any clamped obstacles. This mechanism for preventing the electric sliding door from opening can also be called an anti-pinch protection mechanism.

[0146] Furthermore, upon receiving multiple consecutive first instruction messages, blocking the input instruction messages within a specified time period effectively locks the electric sliding door, preventing malicious repeated opening and closing that could lead to overheating or mechanical damage to the door's transmission mechanism. This mechanism for preventing the electric sliding door from opening can also be called an anti-tampering mechanism.

[0147] However, when there is a risk to the safety of the occupants, the aforementioned active safety mechanism to prevent the electric sliding door from opening is clearly contrary to the needs of emergency situations. Therefore, in this case, the second control command is used to control the clutch release. Based on this, the electric sliding door can be freely pulled by the occupants.

[0148] When the electric sliding door meets the above-mentioned motion protection conditions, it usually means that the electric sliding door has opened to a certain degree. At this time, if the clutch is released, even if the electric sliding door does not open further automatically, based on human inertia, the occupants will usually escape through the opening provided by the electric sliding door, or directly pull the electric sliding door manually to further increase the opening of the electric sliding door so that the occupants can escape.

[0149] Based on the above technical solution, when there is a risk to the safety of the occupants' lives in the vehicle, once the motion protection conditions for triggering the active protection mechanism are met during the control of the electric sliding door, the clutch can be released to release the drive motor's drive constraint on the electric sliding door, so as to avoid delaying the escape opportunity due to active safety mechanisms such as speed limit, limit or anti-pinch retraction, and ensure that the occupants can open the electric sliding door more quickly to complete the escape.

[0150] In some possible embodiments, based on the foregoing embodiments, different motion protection conditions can each correspond to a target opening range, such as the aforementioned set distance from the fuel filler cap, the set distance from the charging port cap, and various set opening degrees. Therefore, when the vehicle poses a risk to the safety of the occupants, and it is determined that the electric sliding door meets the aforementioned motion protection conditions during control, then before releasing the clutch, the electric sliding door can be opened to the target opening range corresponding to the currently met motion protection conditions at the aforementioned first speed. That is, the electric sliding door is first controlled to open to the target opening range, and then the clutch is released. Based on this, by opening the electric sliding door to the target opening range (such as the set distance from the fuel filler cap, the set distance from the charging port cap, etc.), an effective escape route width is ensured before releasing the clutch, avoiding obstruction of occupant escape due to the electric sliding door remaining in a closed or slightly open state after directly releasing the clutch.

[0151] In summary, the embodiments of this application provide a detailed business logic illustration for situations where a vehicle poses a risk to the life safety of its occupants.

[0152] Figure 7 This is a business logic diagram of another control method proposed in the embodiments of this application.

[0153] refer to Figure 7 As shown, when it is determined that there is a risk to the life safety of the occupants of the vehicle, the current operating condition of the electric sliding door can be identified first, and then the corresponding emergency control logic can be executed according to different operating conditions: When the electric sliding door is in the process of electric opening (i.e., the opening condition, and currently running at the second speed), the corresponding control action may include increasing the opening speed to the first speed to achieve emergency electric opening; if the anti-pinch protection or avoidance protection mechanism is triggered during the opening process (i.e. the motion protection conditions are met), the clutch is immediately released, and no secondary anti-pinch judgment or avoidance restriction is performed, so that the electric sliding door can be quickly opened by human power.

[0154] The electric shut-off command can also be disabled during the above operations.

[0155] When the electric sliding door is in the process of electric closing (i.e., closing condition), the corresponding control actions may include immediately stopping the current electric closing action; releasing the clutch to cut off the power connection between the motor and the electric sliding door; or controlling the motor to reverse and drive the electric sliding door to move in the opening direction to ensure that the escape route is quickly established, during which the electric closing command (i.e., the second indication information) is blocked.

[0156] When the electric sliding door is in the fully open state (i.e., fully open working condition), the corresponding control actions may include blocking the electric closing command of the electric sliding door to prevent accidental closure of the escape route due to occupant misoperation or system misjudgment, and to ensure that the sliding door remains open.

[0157] When the electric sliding door is in a hovering state (i.e., hovering condition), the corresponding control actions may include disabling the electric closing command of the electric sliding door; controlling the sliding door to continue moving in the opening direction at a first speed; or releasing the clutch to separate the drive unit from the electric sliding door, so that the electric sliding door is in a freely movable state, which is convenient for passengers to push and pull manually, during which the electric closing command is disabled.

[0158] When the electric sliding door is in a fully closed state (i.e., fully closed working condition), the corresponding control actions may include controlling the electric sliding door to open rapidly at a first speed; during the opening process, if the avoidance protection is triggered, the clutch is immediately released; if the anti-pinch protection is triggered, the clutch is also immediately released, and no secondary anti-pinch judgment is performed; if multiple electric button signals are received continuously (i.e., multiple first indication messages are received), the action of rapidly opening the electric sliding door is maintained, or the clutch is released when the electric sliding door reaches a certain target opening degree, so that the electric sliding door can be moved freely; wherein, before performing the above-mentioned clutch release action, the electric sliding door can be controlled to reach the specified opening degree first.

[0159] The electric shut-off command can also be disabled during the above operations.

[0160] Furthermore, this application provides a control system capable of implementing the control method 300 proposed in this application, which can replace the aforementioned control system. Figure 2 The control module in the electric sliding door system 200 shown enables the electric sliding door system 200 to implement the relevant business logic of the control method 300 described above.

[0161] Figure 8 This is a schematic diagram of the architecture of a control system 800 proposed in an embodiment of this application.

[0162] refer to Figure 8As shown, the control system 800 may include: a vehicle intranet unit (VIU) 810, a BMS 820, and a passenger side door module (PSDM) 830.

[0163] The BMS 820 is used to monitor battery status data in real time, including battery temperature, internal resistance, voltage and current, internal pressure and characteristic gas concentration. When thermal runaway is detected, it outputs a thermal runaway signal to the PSDM 830.

[0164] In some possible embodiments, the temperature monitoring function of the control system 800 can be extended to the vehicle-wide level, covering not only the battery pack but also areas such as the front and rear compartments and passenger compartments through relevant sensors deployed throughout the vehicle, to achieve comprehensive perception of the vehicle's fire risk. These sensors include: temperature sensors (such as thermistors, thermocouples, or infrared sensors) for detecting interior temperature; smoke sensors (such as photoelectric smoke sensors) for identifying the presence of dense smoke; and flame sensors (such as infrared, ultraviolet, infrared-ultraviolet composite, or visual sensors) for identifying the presence of flames.

[0165] The VIU 810 can be used to send a first instruction message (for instructing the opening of the electric sliding door) or a second instruction message (for instructing the closing of the electric sliding door) to the PSDM 830, and provide the operating status information of the electric sliding door (such as fully closed, in the process of opening, in the process of closing, hovering or fully open) and vehicle status information (such as the status of the fuel filler cap and the charging port cap, the rear wheel steering angle, etc.).

[0166] Taking fire risk as an example, the PSDM 830 can determine whether there is a risk to the safety of the occupants' lives based on whether it receives a thermal runaway signal from the BMS 820 (as part of the risk information), and determine a first control command by combining the first / second indication information from the VIU 810 and the operating condition information of the electric sliding door. The first control command includes the motion parameters of the electric sliding door (such as running speed and direction) and / or the power connection status (clutch engagement or disengagement).

[0167] For example, when it is determined that there is no risk to the safety of the occupants' lives, the PSDM 830 can determine a first control command including a first motion parameter (such as a lower door opening speed) to ensure passenger comfort; when it is determined that there is a risk to the safety of the occupants' lives, the PSDM 830 can determine a first control command including a second motion parameter (such as a higher door opening speed) and / or a clutch release state to prioritize escape efficiency.

[0168] Furthermore, during the process of controlling the electric sliding door to perform corresponding actions, the PSDM 830 dynamically determines whether to restrict the opening of the electric sliding door or release the clutch based on whether the motion protection conditions are met during the movement of the electric sliding door and whether there is a risk to the safety of the occupants: when there is no risk to the safety of the occupants and the motion protection conditions are met, the opening is restricted to avoid interference; when there is a risk to the safety of the occupants and the motion protection conditions are met, the clutch is released to eliminate motor resistance and ensure that the escape route is unobstructed.

[0169] Furthermore, embodiments of this application also provide a control device for implementing any of the above control methods, the control device including a unit (or means) for implementing any of the above control methods.

[0170] Figure 9 This is a schematic block diagram of a control device 900 according to an embodiment of this application. The control device 900 can be used to implement the control method 300 according to an embodiment of this application.

[0171] refer to Figure 9 As shown, the control device 900 may include: The receiving unit 910 is used to receive risk information, which indicates whether there is a risk to the life safety of the occupants of the vehicle; and to receive the operating status information of the electric sliding door, which includes the position and / or movement status of the door. The control unit 920 is used to determine a first control command based on risk information and operating condition information, the first control command including the motion parameters and / or power connection status of the electric sliding door.

[0172] In some possible embodiments, when risk information indicates that there is a risk to the safety of the occupants, a first control command is used to control the electric sliding door to open at a first speed, wherein the first speed is greater than a second speed of the electric sliding door when there is no risk to the safety of the occupants.

[0173] In some possible embodiments, when risk information indicates that there is a risk to the safety of the occupants, the first control command is used to control the release of the clutch, which is used to engage or disengage the drive motor from the electric sliding door.

[0174] In some possible embodiments, when the operating condition information of the electric sliding door is used to indicate any of the following situations, the first control command is used to control the electric sliding door to open at a first speed: the electric sliding door is in a closed state; or, the electric sliding door is in a hovered state; or, the electric sliding door is in the process of closing; or, the electric sliding door is in the process of opening, and the opening speed is a second speed.

[0175] In some possible embodiments, when the operating condition information of the electric sliding door is used to indicate either of the following conditions, the first control command is used to control the clutch to release: the electric sliding door is in a hovering state; or the electric sliding door is in the process of closing.

[0176] In some possible embodiments, the receiving unit 910 is further configured to receive first indication information, which is used to instruct the opening of the electric sliding door; the control unit 920 is specifically configured to: determine the first control command based on the first indication information, risk information and operating condition information.

[0177] In some possible embodiments, the control unit 920 is also configured to: ignore second indication information, which is used to instruct the electric sliding door to be closed, when the risk information indicates that there is a risk to the safety of the occupants' lives in the vehicle.

[0178] In some possible embodiments, the control device 900 may further include: an acquisition unit 930, configured to acquire vehicle status information when risk information indicates that the vehicle poses a risk to the safety of the occupants, and while the control unit is controlling the motion parameters of the electric sliding door; a determination unit 940, configured to determine, based on the vehicle status information, whether motion protection conditions are met, the motion protection conditions indicating the presence of factors that inhibit the opening of the electric sliding door; and the control unit 920, configured to determine a second control command when the motion protection conditions are met, the second control command being used to control the release of the clutch.

[0179] In some possible embodiments, the above-mentioned motion protection conditions include at least one of the following: the vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the window of the electric sliding door is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold.

[0180] In some possible embodiments, the aforementioned second control command can also be used to instruct the electric sliding door to open at a first speed to the target opening range corresponding to the motion protection condition before releasing the clutch.

[0181] In some possible embodiments, the aforementioned risk information includes fire risk information, which is used to indicate whether there is at least one of the following: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or discovery of open flame, wherein the cabin includes the front cabin, rear cabin, and passenger cabin of the vehicle.

[0182] In some possible embodiments, the aforementioned risk information may further include at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information.

[0183] In some possible embodiments, when the risk information indicates that there is no risk to the safety of the occupants, the first control command is used to control the electric sliding door to open at a second speed; or when the motion protection conditions are met, the second control command is used to inhibit the opening of the electric sliding door.

[0184] Figure 10 This is a schematic diagram of another control device 1000 provided in an embodiment of this application.

[0185] The device 1000 includes a memory 1010, a processor 1020, and a communication interface 1030. The memory 1010, processor 1020, and communication interface 1030 are connected via an internal connection path. The memory 1010 stores instructions, and the processor 1020 executes the instructions stored in the memory 1010 to control the communication interface 1030 to acquire information, thereby enabling the device 1000 to implement the aforementioned control method. Optionally, the memory 1010 can be coupled to the processor 1020 via an interface, or it can be integrated with the processor 1020.

[0186] It should be noted that the communication interface 1030 described above uses a transceiver device, such as, but not limited to, a transceiver. The communication interface 1030 may also include an input / output interface.

[0187] The processor 1020 stores one or more computer programs, which include instructions. When the instructions are executed by the processor 1020, the control device 1000 performs the control methods described in the above embodiments.

[0188] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 1020 or by instructions in software form. The method disclosed in the embodiments of this application can be directly implemented by the hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 1010, and the processor 1020 reads the information in memory 1010 and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0189] As one possible implementation, the control device 1000 can be a physical device. For example, the control device 1000 may include one or more of the following modules: central processing unit, microprocessor, application-specific integrated circuit, field-programmable gate array, complex programmable logic device (CPLD), coprocessor (assisting the central processing unit in completing corresponding processing and applications), microcontroller unit (MCU), domain controller (DC), vehicle domain controller (VDC), electronic control unit (ECU), cockpit domain controller (CDC), vehicle integration unit (VIU), vehicle control unit (VCU), motor control unit (MCU), etc. Furthermore, the control device 1000 includes at least one processor integrated in the form of a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors may be different.

[0190] Optionally, the control device 1000 can be located in Figure 1 Of the 100 vehicles in the list.

[0191] Optionally, the control device 1000 can be Figure 1 The computing platform 130 in the vehicle.

[0192] This application also provides a computer-readable storage medium storing program code that, when run on a computer, causes the computer to perform any of the methods described in the above embodiments.

[0193] This application also provides a computer program product, which includes a computer program that, when run, causes a computer to perform any of the methods described in the above embodiments.

[0194] This application also provides a chip, including: a circuit for performing any of the methods in the above embodiments.

[0195] This application embodiment also provides a vehicle equipped with an electric sliding door, the vehicle including as follows: Figure 9 or Figure 10 Any of the control devices shown, or including such Figure 8 The control system shown.

[0196] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0197] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0198] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0199] 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 this embodiment according to actual needs.

[0200] In addition, 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.

[0201] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0202] It should be noted that the personal information and data processing (e.g., collection, storage, use, processing, transmission, provision and disclosure) involved in this application that are protected by the laws and regulations of the relevant countries and regions comply with the relevant laws and regulations of the relevant countries and regions.

[0203] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an electric sliding door, characterized in that, The control method includes: Receive risk information, which is used to indicate whether the vehicle poses a risk to the life safety of the occupants; Receive the operating status information of the electric sliding door, the operating status information including the position status and / or movement status of the door body; Based on the risk information and the operating condition information, a first control command is determined, which includes the motion parameters and / or power connection status of the electric sliding door.

2. The control method according to claim 1, characterized in that, When the risk information indicates that the vehicle poses a risk to the safety of the occupants, the first control command is used to control the electric sliding door to open at a first speed, which is greater than the second speed of the electric sliding door when the vehicle does not pose a risk to the safety of the occupants.

3. The control method according to claim 1, characterized in that, When the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, the first control command is used to control the release of the clutch, which is used to engage or disengage the drive motor from the electric sliding door.

4. The control method according to claim 2, characterized in that, When the operating status information of the electric sliding door indicates any of the following conditions, the first control command is used to control the electric sliding door to open at a first speed: The electric sliding door is in a closed state; or... The electric sliding door is in a suspended state; or... The electric sliding door is in the closing process; or... The electric sliding door is in the process of opening, and the opening speed is the second speed.

5. The control method according to claim 3, characterized in that, When the operating status information of the electric sliding door indicates any of the following conditions, the first control command is used to control the clutch to release: The electric sliding door is in a suspended state; or... The electric sliding door is in the closing process.

6. The control method according to any one of claims 1 to 5, characterized in that, The control method further includes: receiving first instruction information, wherein the first instruction information is used to instruct the opening of the electric sliding door; The step of determining the first control command based on the risk information and the operating condition information includes: determining the first control command based on the first indication information, the risk information, and the operating condition information.

7. The control method according to any one of claims 1 to 6, characterized in that, The control method further includes: If the risk information indicates that the vehicle poses a risk to the safety of the occupants, the second indication information, which is used to instruct the electric sliding door to be closed, shall be ignored.

8. The control method according to claim 2 or 4, characterized in that, During the control of the electric sliding door, the control method further includes: Obtain vehicle status information; Based on the vehicle status information, it is determined whether the motion protection conditions are met. The motion protection conditions are used to indicate that there are currently factors that inhibit the opening of the electric sliding door. When the motion protection conditions are met, a second control command is determined. The second control command is used to control the clutch to release, and the clutch is used to engage or disengage the drive motor from the electric sliding door.

9. The control method according to claim 8, characterized in that, The motion protection conditions include at least one of the following: The vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the electric sliding door window is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold. The first instruction information is used to instruct the opening of the electric sliding door.

10. The control method according to claim 8 or 9, characterized in that, The second control command is also used to instruct the electric sliding door to open at the first speed to the target opening range corresponding to the motion protection condition before the clutch is released.

11. The control method according to any one of claims 1 to 10, characterized in that, The risk information includes fire risk information, which is used to indicate whether there is at least one of the following situations: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or open flame. The cabin includes the front cabin, rear cabin, and passenger cabin of the vehicle.

12. The control method according to claim 11, characterized in that, The risk information also includes at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information.

13. The control method according to claim 8, characterized in that, When the risk information indicates that the vehicle does not pose a risk to the safety of the occupants, the first control command is used to control the electric sliding door to open at the second speed; or, when the motion protection condition is met, the second control command is used to inhibit the opening of the electric sliding door.

14. A control device, characterized in that, include: A receiving unit is used to receive risk information, which is used to indicate whether the vehicle poses a risk to the life safety of the occupants. Receive operating condition information of the electric sliding door, the operating condition information including the position and / or movement status of the door body; The control unit is used to determine a first control command based on the risk information and the operating condition information, wherein the first control command includes the motion parameters and / or power connection status of the electric sliding door.

15. The control device according to claim 14, characterized in that, When the risk information indicates that the vehicle poses a risk to the safety of the occupants, the first control command is used to control the electric sliding door to open at a first speed, which is greater than the second speed of the electric sliding door when the vehicle does not pose a risk to the safety of the occupants.

16. The control device according to claim 14, characterized in that, When the risk information indicates that the vehicle poses a risk to the safety of the occupants' lives, the first control command is used to control the release of the clutch, which is used to engage or disengage the drive motor from the electric sliding door.

17. The control device according to claim 15, characterized in that, When the operating status information of the electric sliding door indicates any of the following conditions, the first control command is used to control the electric sliding door to open at the first speed: The electric sliding door is in a closed state; or... The electric sliding door is in a suspended state; or... The electric sliding door is in the closing process; or... The electric sliding door is in the process of opening, and the opening speed is the second speed.

18. The control device according to claim 16, characterized in that, When the operating status information of the electric sliding door indicates any of the following conditions, the first control command is used to control the clutch to release: The electric sliding door is in a suspended state; or... The electric sliding door is in the closing process.

19. The control device according to any one of claims 14 to 18, characterized in that, The receiving unit is further configured to: receive first indication information, the first indication information being used to indicate the opening of the electric sliding door; The control unit is specifically used to: determine the first control command based on the first indication information, the risk information, and the operating condition information.

20. The control device according to any one of claims 14 to 19, characterized in that, The control unit is also used for: If the risk information indicates that the vehicle poses a risk to the safety of the occupants, the second indication information, which is used to instruct the electric sliding door to be closed, shall be ignored.

21. The control device according to claim 15 or 17, characterized in that, The control device further includes: The acquisition unit is used to acquire vehicle status information when the risk information indicates that the vehicle poses a risk to the life safety of the occupants, and while the control unit is controlling the motion parameters of the electric sliding door; The determining unit is used to determine whether the motion protection conditions are met based on the vehicle status information. The motion protection conditions are used to indicate that there are factors that inhibit the opening of the electric sliding door. The control unit is further configured to determine a second control command when the motion protection condition is met, the second control command being configured to control the clutch to release, the clutch being configured to engage or disengage the drive motor from the electric sliding door.

22. The control device according to claim 21, characterized in that, The motion protection conditions include at least one of the following: The vehicle's fuel filler cap is open, the vehicle's charging port cap is open, the electric sliding door window is open, the absolute value of the vehicle's rear wheel steering angle is greater than or equal to a first threshold, the resistance experienced by the electric sliding door during movement is greater than or equal to a second threshold, or the number of times the first instruction information is continuously received is greater than or equal to a third threshold. The first instruction information is used to instruct the opening of the electric sliding door.

23. The control device according to claim 21 or 22, characterized in that, The second control command is also used to instruct the electric sliding door to open at the first speed to the target opening range corresponding to the motion protection condition before the clutch is released.

24. The control device according to any one of claims 14 to 23, characterized in that, The risk information includes fire risk information, which is used to indicate whether there is at least one of the following situations: battery thermal runaway, excessive cabin temperature, excessive smoke concentration, or open flame. The cabin includes the front cabin, rear cabin, and passenger cabin of the vehicle.

25. The control device according to claim 24, characterized in that, The risk information also includes at least one of the following: vehicle collision information, vehicle water immersion information, abnormal temperature information, abnormal air pressure information, or abnormal oxygen level information.

26. The control device according to claim 21, characterized in that, When the risk information indicates that the vehicle does not pose a risk to the safety of the occupants, the first control command is used to control the electric sliding door to open at the second speed; or when the motion protection condition is met, the second control command is used to inhibit the opening of the electric sliding door.

27. A control device, characterized in that, At least one processor coupled to at least one memory, the at least one processor being configured to execute a computer program or instructions stored in the at least one memory to cause the device to perform the control method as described in any one of claims 1 to 13.

28. A vehicle, characterized in that, The vehicle is equipped with an electric sliding door and includes a control device as described in any one of claims 14 to 27.

29. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the control method as described in any one of claims 1 to 13.

30. A computer program product, characterized in that, It includes instructions that, when executed by a processor, cause the control method as described in any one of claims 1 to 13 to be performed.

31. A chip, characterized in that, The chip includes a circuit for performing the control method as described in any one of claims 1 to 13.

Images