Vehicle control method and vehicle

Abstract

The present application relates to the field of vehicle control, in particular to a vehicle control method and vehicle. The present application adopts reverse electromotive force as the core detection index, and the reverse electromotive force directly reflects the speed and motion state of the motor. Compared with the traditional current detection, the sensitivity to load fluctuation can better reflect the real physical operating characteristics of the vehicle door. Secondly, the scheme does not use a single general standard, but analyzes whether the real-time state data hits the corresponding target abnormal detection condition, and dynamically matches the specific threshold under different working conditions. In this way, atypical resistance changes caused by activities of people inside the vehicle or loading of heavy objects can be identified, that is, only when the change mode of the reverse electromotive force meets the abnormal condition, it is determined as a fault. Thus, the normal situation and the abnormal situation can be accurately distinguished, and unnecessary misjudgment caused by normal environmental interference is avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically to a vehicle control method and a vehicle. Background Technology

[0002] In modern vehicle design, especially for vehicles with specially designed rear doors (such as entry and exit doors), the safe operation of the rear doors is crucial. During daily use, users frequently open and close the rear doors, which involves controlling door movement. With advancements in vehicle technology, the demand for intelligent door control continues to increase.

[0003] Currently, the automatic tailgate closing function of vehicles faces the following problem: When the automatic opening function is activated, vibrations caused by vigorous activity of occupants or deformation of the vehicle structure due to the loading of heavy objects, which may alter the position of the upper and lower tailgate doors, the current judgment logic misinterprets these changes caused by normal environmental factors as abnormal operations and disables the electric door function. While this design ensures safety, its inability to accurately distinguish between normal environmental disturbances and genuine abnormal operations negatively impacts the user experience. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle control method and a vehicle to solve the problem that the prior art cannot effectively identify changes and abnormal operations caused by normal environmental factors such as the activities of people inside the vehicle and the loading of heavy objects, thus frequently misjudging and disabling the electric function of the vehicle doors.

[0005] In a first aspect, embodiments of the present invention provide a vehicle control method, the method comprising: During the rotation of the first door and / or the second door, real-time status data of the back electromotive force generated by the first door and / or the second door during the rotation are acquired. Analyze whether the real-time state data of the back electromotive force matches the corresponding target anomaly detection conditions; If the real-time status data of the back electromotive force matches the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled.

[0006] Furthermore, acquiring real-time status data of the back electromotive force generated by the first door and / or the second door during rotation includes: Obtain the real-time position of the first door and / or the second door during rotation; The real-time status data of the back electromotive force generated by the first door and / or the second door during rotation is detected based on the real-time position.

[0007] Furthermore, the step of detecting real-time state data of the back electromotive force generated by the first door and / or the second door during rotation based on the real-time position includes: Based on the real-time location, the maximum opening position of the first door and / or the maximum opening position of the second door, the opening degree of the first door and / or the second door is determined; The opening degree is compared with each opening degree range to obtain the target opening degree range into which the opening degree falls; Detect the voltage signal of the back electromotive force generated by the drive motor corresponding to the first door and / or the second door; The voltage signal is filtered according to the filtering duration corresponding to the target opening range to obtain the filtered voltage signal. The voltage direction and voltage value of the back electromotive force are determined based on the filtered voltage signal, and the voltage direction and voltage value are used as the real-time status data of the back electromotive force.

[0008] Furthermore, the analysis of whether the real-time state data of the back electromotive force hits the corresponding target anomaly detection condition includes: Based on the second mapping relationship between the opening range and the anomaly detection conditions, the target anomaly detection conditions corresponding to the target opening range are obtained. The anomaly detection conditions include voltage direction judgment logic, multiple voltage intervals, and a duration threshold corresponding to each voltage interval. The first detection result is obtained by detecting whether the voltage direction in the real-time status data is consistent with the movement direction of the corresponding door. The system detects whether the voltage value in the real-time status data falls into at least one voltage range in the target anomaly detection conditions. If the voltage value falls into the voltage range, the system detects whether the duration corresponding to the voltage value reaches the corresponding duration threshold to obtain a second detection result. Based on the first detection result and / or the second detection result, determine whether the real-time status data matches the corresponding target anomaly detection condition.

[0009] Furthermore, the multiple voltage ranges included in different anomaly detection conditions are the same, and the duration threshold corresponding to the voltage range decreases as the opening range decreases.

[0010] Furthermore, determining whether the real-time status data matches the corresponding target anomaly detection condition based on the first detection result and / or the second detection result includes: If the first detection result indicates that the voltage direction is inconsistent with the movement direction of the corresponding door, and / or the second detection result indicates that the duration corresponding to the voltage value reaches the corresponding duration threshold, then the target anomaly detection condition is determined to have been met; or... If the first detection result is that the voltage direction is consistent with the movement direction of the corresponding door, and the second detection result is that the duration corresponding to the voltage value does not reach the corresponding duration threshold, then it is determined that the target abnormal detection condition has not been hit.

[0011] Furthermore, if the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the first door matches the corresponding target anomaly detection condition, then the relative positional relationship between the first door and the second door is detected. If the relative positional relationship is such that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the first door is disabled. Alternatively, if the relative positional relationship is such that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation function of the first door is disabled, or the active rotation functions of both the first door and the second door are disabled.

[0012] Furthermore, if the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the second door matches the corresponding target anomaly detection condition, then the relative positional relationship between the first door and the second door is detected. If the relative positional relationship is such that the distance between the second door and the closed position is less than or equal to the distance between the first door and the closed position, then the active rotation function of the second door is disabled, or the active rotation functions of both the first door and the second door are disabled. Alternatively, if the relative positional relationship is such that the distance between the second door and the closed position is greater than the distance between the first door and the closed position, then the active rotation function of the first door and the second door is disabled.

[0013] Furthermore, if the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the first door and the second door matches the corresponding target anomaly detection condition, then the active rotation function of the first door and the second door is disabled.

[0014] Secondly, embodiments of the present invention provide a vehicle, including a vehicle body, a first door and / or a second door, and a controller. The controller is configured to acquire real-time state data of the back electromotive force generated by the first door and / or the second door during rotation; analyze whether the real-time state data of the back electromotive force hits a corresponding target anomaly detection condition; and if the real-time state data of the back electromotive force hits the corresponding target anomaly detection condition, disable the active rotation function of the first door and / or the second door.

[0015] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0016] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0017] This application and its solution employ back electromotive force (EMF) as the core detection indicator. The back EMF directly reflects the motor's speed and motion state, and compared to traditional current detection, its sensitivity to load fluctuations better reflects the true physical operating characteristics of the vehicle door. Secondly, the solution does not use a single universal standard, but rather analyzes real-time status data to determine if it matches the corresponding target anomaly detection conditions, dynamically matching specific thresholds under different operating conditions. This allows for the identification of atypical resistance changes caused by occupant activity or the loading of heavy objects; only when the back EMF change pattern meets the abnormal conditions is a fault identified. This accurately distinguishes between normal and abnormal situations, avoiding unnecessary misjudgments caused by interference from the normal environment. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the structure of a vehicle according to some embodiments of the present invention; Figure 2 This is a schematic diagram of a car door closing according to some embodiments of the present invention; Figure 3 This is a schematic flowchart of a vehicle control method according to some embodiments of the present invention; Figure 4 This is a schematic flowchart of a vehicle control method according to some embodiments of the present invention; Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] According to embodiments of the present invention, a vehicle control method and a vehicle are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0022] This application provides a vehicle, including a vehicle body, a first door and / or a second door, and a controller. The controller is used to acquire real-time status data of the back electromotive force generated by the first door and / or the second door during rotation; analyze whether the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition; and if the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition, disable the active rotation function of the first door and / or the second door.

[0023] Understandably, the vehicle comprises a body, automatically opening and closing doors, and a controller. The first and second doors can be common single-door structures found on vehicles, such as sliding doors or tailgates; that is, the first door can be used alone as a tailgate, or the second door can be used alone as a sliding door. During the rotation of a single door, the controller acquires real-time data on the back electromotive force generated by the door's drive motor to determine if preset anomaly detection conditions are met. If an anomaly is detected, the controller disables the active rotation function of the single door, stopping the automatic opening or closing action, thereby preventing dangerous situations such as door collisions or jamming.

[0024] This application provides a vehicle, such as... Figure 1 As shown, the vehicle includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive unit 14, and a second drive unit 15. The first drive unit 14 and the second drive unit 15 are respectively connected to the first door 11 and the second door 12. The controller 13 is communicatively connected to the first drive unit 14 and the second drive unit 15. The controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive unit 14 and the second drive unit 15. The first door 11 can cover and partially overlap the second door 12 to close the vehicle body 10 by rotating.

[0025] In this embodiment, the first and second doors have two movement modes: active rotation and passive rotation. Active rotation refers to the door's ability to rotate purposefully via its own power drive device (such as a motor) according to instructions from the vehicle control system or user operation, thereby completing the opening or closing action. Passive rotation refers to the door's rotation caused by external forces applied by factors other than the vehicle control system. These external forces may come from various situations, such as the user manually pushing the door, the door encountering an obstacle during movement, or the door being subjected to force due to an external impact on the vehicle.

[0026] like Figure 2 As shown, the first door 11 and the second door 12 define the closed position, which can be understood as follows: during the closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping it, thus forming a complete closed structure that isolates the interior of the vehicle body from the external environment.

[0027] In the embodiments of this application, the controller is specifically used to acquire the real-time position of the first door and / or the second door during the rotation process; and to detect the real-time state data of the back electromotive force generated by the first door and / or the second door during the rotation process based on the real-time position.

[0028] In this embodiment, the controller is specifically configured to: determine the opening degree of the first and / or second doors based on the real-time position, the maximum opening position of the first door, and / or the maximum opening position of the second door; compare the opening degree with various opening degree ranges to obtain the target opening degree range into which the opening degree falls; detect the voltage signal of the back electromotive force generated by the drive motor corresponding to the first and / or second doors; filter the voltage signal according to the filtering time corresponding to the target opening degree range to obtain the filtered voltage signal; determine the voltage direction and voltage value of the back electromotive force based on the filtered voltage signal, and use the voltage direction and voltage value as the real-time status data of the back electromotive force.

[0029] In this embodiment, the controller is specifically configured to obtain target anomaly detection conditions corresponding to the target opening range based on a second mapping relationship between the opening range and the anomaly detection conditions. The anomaly detection conditions include voltage direction judgment logic, multiple voltage intervals, and a duration threshold corresponding to each voltage interval. The controller detects whether the voltage direction in the real-time status data is consistent with the movement direction of the corresponding door, obtaining a first detection result. It then detects whether the voltage value in the real-time status data falls into at least one voltage interval of the target anomaly detection conditions. If the voltage value falls into a voltage interval, it detects whether the duration corresponding to the voltage value reaches the corresponding duration threshold, obtaining a second detection result. Based on the first detection result and / or the second detection result, it determines whether the real-time status data matches the corresponding target anomaly detection condition.

[0030] In the embodiments of this application, the multiple voltage ranges included in different anomaly detection conditions are the same, and the duration threshold corresponding to the voltage range decreases as the opening range decreases.

[0031] In the embodiments of this application, the controller is specifically configured to determine that the target abnormality detection condition has been hit if the first detection result is that the voltage direction is inconsistent with the movement direction of the corresponding door, and / or the second detection result is that the duration corresponding to the voltage value reaches the corresponding duration threshold; or, if the first detection result is that the voltage direction is consistent with the movement direction of the corresponding door, and the second detection result is that the duration corresponding to the voltage value has not reached the corresponding duration threshold, then the target abnormality detection condition has not been hit.

[0032] In this embodiment, the controller is specifically configured to detect the rotation direction and relative position of the first and second doors if the real-time state data of the back electromotive force generated by the first door hits the corresponding target anomaly detection condition. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative position is such that the distance between the first and closed doors is less than or equal to the distance between the second and closed doors, the active rotation function of the first door is disabled. Alternatively, if all rotation directions are the opening direction and the relative position is such that the distance between the first and closed doors is greater than the distance between the second and closed doors, the active rotation function of both the first and second doors is disabled. Or, if the rotation direction is the closing direction and the relative position is such that the distance between the first and closed doors is less than or equal to the distance between the second and closed doors, the active rotation function of both the first and second doors is disabled. Alternatively, if all rotation directions are the closing direction and the relative position is such that the distance between the first and closed doors is greater than the distance between the second and closed doors, the active rotation function of the first door is disabled.

[0033] In this embodiment, the controller is specifically configured to detect the rotation direction and relative position of the first and second doors if the real-time state data of the back electromotive force generated by the second door matches the corresponding target anomaly detection condition. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative position is such that the distance between the first and second doors is less than or equal to the distance between the second and second doors, then the active rotation function of the first and second doors is disabled. Alternatively, if the rotation direction is always the opening direction and the relative position is such that the distance between the first and second doors is greater than the distance between the second and second doors, then the active rotation function of the second door is disabled. Or, if the rotation direction is always the closing direction and the relative position is such that the distance between the first and second doors is less than or equal to the distance between the second and second doors, then the active rotation function of the second door is disabled. Or, if the rotation direction is always the closing direction and the relative position is such that the distance between the first and second doors is greater than the distance between the second and second doors, then the active rotation function of the first and second doors is disabled.

[0034] In this embodiment of the application, the controller is specifically used to disable the active rotation function of the first and second doors if the real-time status data of the back electromotive force generated by the first and second doors hit the corresponding target anomaly detection conditions. The first door can cover and partially overlap the second door to close the vehicle body by rotating.

[0035] In the embodiments of this application, the first door and the second door are applied to the rear door of the vehicle, or to the side door of the vehicle, or to the sliding door of the vehicle.

[0036] This embodiment provides a vehicle control method. The vehicle includes a body and a first door and a second door rotatably connected to the body. Both the first door and the second door are capable of actively and passively rotating relative to the body. The first door, through rotation, can cover and partially overlap the second door to close the body. Figure 3 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S101: During the rotation of the first door and / or the second door, acquire real-time status data of the back electromotive force generated by the first door and / or the second door during the rotation.

[0037] In this embodiment of the application, acquiring real-time state data of the back electromotive force generated during the rotation of the first door and / or the second door includes: Step A1: Obtain the real-time position of the first door and / or the second door during the rotation process.

[0038] Specifically, during the rotation of the first and / or second doors, the position detection components (Hall sensors, etc.) mounted on the doors are continuously invoked to capture the current physical position parameters of the doors in real time. These parameters are presented in the form of pulse signals, angle values, or linear displacement values, reflecting the real-time coordinates of the doors in the rotation trajectory. For example, when the first door rotates from the closed state to the open state, the position sensor will output continuous position data synchronously with the mechanical movement of the door.

[0039] Step A2: Detect the real-time status data of the back electromotive force generated by the first door and / or the second door during rotation based on the real-time position.

[0040] In this embodiment of the application, the real-time state data of the back electromotive force generated by the first door and / or the second door during rotation, detected by real-time position detection, includes: Step A201: Determine the opening degree of the first door and / or the second door based on the real-time location, the maximum opening position of the first door and / or the maximum opening position of the second door.

[0041] The system acquires the real-time position of either the first or second door during its movement. Simultaneously, it calls pre-set maximum opening position parameters for both the first and second doors. Combining the real-time position with the corresponding maximum opening position, it performs a calculation using the logic of (current real-time position ÷ maximum opening position) × 100%. The result is then expressed as a percentage as the current opening degree of the corresponding door, thus quantifying the degree of door opening. This calculation method converts physical displacement into a standardized numerical value. For example, if the maximum opening displacement of the first door is 50cm and the real-time position is 40cm, the calculated opening degree is 80%.

[0042] Step A202: Compare the opening degree with each opening degree range to obtain the target opening degree range into which the opening degree falls.

[0043] The calculated door opening percentage is compared one by one with several preset opening ranges, including intervals such as 80~100%, 60~80%, and 40~60%. The target opening range to which the current opening belongs is determined through numerical matching. After determining the target opening range, based on the first mapping relationship between the pre-established opening range and the detection strategy, namely the opening range-detection strategy mapping table, the detection strategy corresponding to the target opening range is extracted. This detection strategy includes key parameters such as filtering time, voltage threshold, and duration threshold. For example, when the opening is in the 80~100% range, the corresponding detection strategy is a filtering time of 50ms, a voltage threshold of 3±1V, and a duration of 1000ms.

[0044] Step A203: Detect the voltage signal of the back electromotive force generated by the drive motor corresponding to the first door and / or the second door.

[0045] When the first or second door rotates, the rotor of the drive motor rotates synchronously with the door's mechanical structure. During rotation, the rotor continuously cuts the magnetic field lines of the stator, thereby generating an induced electromotive force (EMF) inside the motor, i.e., a back EMF. This EMF is presented as a voltage signal at the motor terminals. By connecting a voltage sampling module in series in the motor power supply circuit, including hardware structures such as a differential amplifier and an ADC sampling circuit, the analog voltage signal at the motor terminals is continuously captured and acquired at a preset sampling frequency, such as 1kHz. The analog voltage signal is then converted into a digital voltage signal, achieving real-time, continuous, and stable acquisition of the back EMF voltage signal, ensuring a complete record of the voltage signal's change process.

[0046] Step A204: Filter the voltage signal according to the filtering time corresponding to the target opening range to obtain the filtered voltage signal.

[0047] The matching filter duration is retrieved from the detection strategy corresponding to the target opening range. Different opening ranges correspond to different filter durations; for example, 50ms corresponds to an opening range of 80-100%, and 100ms corresponds to an opening range of 40-60%. Based on this filter duration, the corresponding filtering logic is executed. Hardware filtering integrates the voltage signal using an RC filter circuit to smooth the signal fluctuations within the set duration. Software filtering, based on a sliding window algorithm, selects multiple sets of continuously acquired voltage sampling data within the filter duration. Interference is suppressed by calculating the average or median value, eliminating instantaneous spikes, glitches, and other noise signals, thus improving the stability and accuracy of the voltage signal. Finally, a filtered voltage signal that accurately reflects the true trend of the back electromotive force change and is free from significant interference is obtained.

[0048] Step A205: Determine the voltage direction and voltage value of the back electromotive force based on the filtered voltage signal, and use the voltage direction and voltage value as the real-time status data of the back electromotive force.

[0049] The filtered voltage signal is compared with a preset zero-potential reference to determine the voltage polarity. If the signal level is higher than the zero-potential reference, it is determined to be a positive voltage, corresponding to the door rotating normally in the commanded direction. If the signal level is lower than the zero-potential reference, it is determined to be a reverse voltage, corresponding to the door's actual movement direction being inconsistent with the commanded direction. Simultaneously, the specific amplitude of the filtered voltage signal is read and matched with a preset voltage threshold range in the detection strategy, such as 3±1V or 6±1.5V, to determine the effective voltage value. The determined voltage direction is combined with the read voltage amplitude to form complete real-time reverse electromotive force status data.

[0050] Step S102: Analyze whether the real-time state data of the back electromotive force matches the corresponding target anomaly detection conditions.

[0051] In this embodiment of the application, analyzing whether the real-time state data of the back electromotive force hits the corresponding target anomaly detection condition includes: Step B1: Based on the second mapping relationship between the opening range and the anomaly detection conditions, obtain the target anomaly detection conditions corresponding to the target opening range. The anomaly detection conditions include voltage direction judgment logic, multiple voltage intervals, and a duration threshold corresponding to each voltage interval. The multiple voltage intervals included in different anomaly detection conditions are the same, and the duration threshold corresponding to the voltage interval decreases as the opening range decreases.

[0052] Specifically, the system calls the second mapping table of "Opening Range - Anomaly Detection Conditions" pre-existing in the control module, and extracts the corresponding target anomaly detection conditions based on the determined target opening range. These conditions contain three core elements: first, voltage direction judgment logic (i.e., the actual movement direction of the door must be consistent with the command direction); second, multiple fixed voltage ranges (such as 3±1V, 6±1.5V, etc., the voltage ranges corresponding to different opening ranges are unified); and third, the duration threshold corresponding to each voltage range (this threshold shortens as the opening range decreases, for example, 3±1V corresponds to 1000ms at 80~100% opening, and the same voltage range corresponds to 700ms at 40~60% opening).

[0053] Step B2: Detect whether the voltage direction in the real-time status data is consistent with the movement direction of the corresponding door to obtain the first detection result.

[0054] The system extracts the voltage direction (forward or reverse) of the back electromotive force from real-time status data, then retrieves the current door's command movement direction (e.g., "open door" corresponds to a forward voltage), and compares the two: if the voltage direction matches the command movement direction (e.g., the voltage is forward when the door is commanded to open), the first detection result is "consistent"; if the voltage direction does not match the command movement direction (e.g., the voltage is reverse when the door is commanded to open), the first detection result is "inconsistent". Simultaneously, the system incorporates filtering logic from the target detection strategy (e.g., 50ms or 100ms filtering) to verify the direction signal, avoiding misjudgments caused by transient interference. For example, when the door is in the 80-100% opening range, if a reverse voltage direction is detected and persists for more than 50ms of filtering time, the first detection result is "inconsistent".

[0055] Step B3: Detect whether the voltage value in the real-time status data falls into at least one voltage range in the target anomaly detection conditions. If the voltage value falls into the voltage range, detect whether the duration corresponding to the voltage value reaches the corresponding duration threshold to obtain the second detection result.

[0056] The back electromotive force voltage value is extracted from real-time status data and compared one by one with multiple fixed voltage ranges in the target anomaly detection conditions. If the voltage value falls into a certain range (e.g., 3±1V), a duration timer is started. Then, the duration of the voltage value within that range is detected and compared with the duration threshold corresponding to that voltage range in the target anomaly detection conditions. For example, when the car door is in the 60~80% opening range, if the voltage value falls into the 6±1.5V range, its duration is timed. If it reaches the threshold of 800ms, the second detection result is anomaly; if it does not reach the threshold or the voltage value does not fall into any range, the second detection result is normal.

[0057] Step B4: Based on the first detection result and / or the second detection result, determine whether the real-time status data matches the corresponding target anomaly detection condition.

[0058] In this embodiment of the application, determining whether the real-time status data hits the corresponding target anomaly detection condition based on the first detection result and / or the second detection result includes: if the first detection result is that the voltage direction is inconsistent with the movement direction of the corresponding door, and / or the second detection result is that the duration corresponding to the voltage value reaches the corresponding duration threshold, then it is determined that the target anomaly detection condition has been hit; or, if the first detection result is that the voltage direction is consistent with the movement direction of the corresponding door, and the second detection result is that the duration corresponding to the voltage value has not reached the corresponding duration threshold, then it is determined that the target anomaly detection condition has not been hit.

[0059] As an example, taking the first door being in the 80-100% opening range: When performing a closing action (corresponding to a positive voltage direction), if the voltage direction in the real-time status data is reversed, the first detection result is "inconsistent," and regardless of the second detection result, the target anomaly detection condition will be directly determined. If the voltage direction is positive, but the voltage value falls within the 3±1V range and the duration reaches the corresponding 1000ms threshold (the second detection result is abnormal), the anomaly condition will also be determined. However, if the voltage direction is positive and the voltage value falls within the 3±1V range but the duration is only 800ms (not reaching the 1000ms threshold), it indicates that the first detection result is consistent, and the second detection result is normal, ultimately determining that the target anomaly detection condition has not been hit.

[0060] It should be noted that several different preset opening ranges correspond to different detection strategies and abnormal hit conditions, as follows: for the first door, there are "above 80%", "60%-80%", "60%-40%", etc. These ranges are preset based on factors such as vehicle size and safety requirements. For example, for the first door: ① When the preset opening range of the car door is 80%-100%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 1000ms.

[0061] Voltage range (6±1.5) — duration threshold 800ms.

[0062] Voltage range (9±2) — duration threshold 600ms.

[0063] Voltage range (12±2) — duration threshold 400ms.

[0064] Voltage range (15±2) — duration threshold 300ms.

[0065] ② When the preset opening range of the car door is 60%-80%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 1000ms.

[0066] Voltage range (6±1.5) — duration threshold 800ms.

[0067] Voltage range (9±2) — duration threshold 600ms.

[0068] Voltage range (12±2) — duration threshold 400ms.

[0069] Voltage range (15±2) — duration threshold 300ms.

[0070] ③ When the preset opening range of the car door is 40%-60%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 100ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 700ms.

[0071] Voltage range (6±1.5) — duration threshold 500ms.

[0072] Voltage range (9±2) — duration threshold 300ms.

[0073] Voltage range (12±2) — duration threshold 200ms.

[0074] Voltage range (15±2) — duration threshold 100ms.

[0075] ④ When the preset opening range of the car door is between 40% and 20%, determine whether the voltage direction is consistent with the direction of door movement. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 500ms.

[0076] Voltage range (6±1.5) — duration threshold 300ms.

[0077] Voltage range (9±2) — duration threshold 200ms.

[0078] Voltage range (12±2) — duration threshold 100ms.

[0079] Voltage range (15±2) — duration threshold 100ms.

[0080] ⑤ When the preset opening range of the car door is 0%-20%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 100ms.

[0081] Voltage range (6±1.5) — duration threshold 100ms.

[0082] Voltage range (9±2) — duration threshold 100ms.

[0083] Voltage range (12±2) — duration threshold 100ms.

[0084] Voltage range (15±2) — duration threshold 100ms.

[0085] Regarding the second door: ① When the preset opening range of the car door is 80%-100%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 700ms.

[0086] Voltage range (6±1.5) — duration threshold 600ms.

[0087] Voltage range (9±2) — duration threshold 500ms.

[0088] Voltage range (12±2) — duration threshold 400ms.

[0089] Voltage range (15±2) — duration threshold 300ms.

[0090] ② When the preset opening range of the car door is 60%-80%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 600ms.

[0091] Voltage range (6±1.5) — duration threshold 500ms.

[0092] Voltage range (9±2) — duration threshold 400ms.

[0093] Voltage range (12±2) — duration threshold 300ms.

[0094] Voltage range (15±2) — duration threshold 200ms.

[0095] ③ When the preset opening range of the car door is 40%-60%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 100ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 500ms.

[0096] Voltage range (6±1.5) — duration threshold 400ms.

[0097] Voltage range (9±2) — duration threshold 300ms.

[0098] Voltage range (12±2) — duration threshold 200ms.

[0099] Voltage range (15±2) — duration threshold 100ms.

[0100] ④ When the preset opening range of the car door is between 20% and 40%, determine whether the voltage direction is consistent with the direction of door movement. The filtering time is 50ms. The voltage range and the corresponding duration threshold for the voltage range include: Voltage range (3±1) — duration threshold 400ms.

[0101] Voltage range (6±1.5) — duration threshold 300ms.

[0102] Voltage range (9±2) — duration threshold 200ms.

[0103] Voltage range (12±2) — duration threshold 100ms.

[0104] Voltage range (15±2) — duration threshold 100ms.

[0105] ⑤ When the preset opening range of the car door is 0%-20%, determine whether the voltage direction is consistent with the door movement direction. The filtering time is 50ms. The voltage range and the corresponding duration threshold of the voltage range include: Voltage range (3±1) — duration threshold 100ms.

[0106] Voltage range (6±1.5) — duration threshold 100ms.

[0107] Voltage range (9±2) — duration threshold 100ms.

[0108] Voltage range (12±2) — duration threshold 100ms.

[0109] Voltage range (15±2) — duration threshold 100ms.

[0110] It should be noted that the range of (3±1)V is 2V to 4V, and the range of (6±1.5)V is 4.5V to 7.5V, with an interval of 4V to 4.5V between them. The reason for this design in the embodiments of this application is that errors are inevitable in the voltage sampling and detection process. In order to avoid misjudgment of voltage values ​​across ranges due to errors, the detected voltage values ​​are rounded to integers when the values ​​are actually obtained. For example, a detected voltage value of 4.2V will be rounded to 4V and placed in the (3±1)V range, and a detected voltage value of 4.6V will be rounded to 5V and placed in the (6±1.5)V range. By rounding, the misjudgment problem at the junction of the ranges is avoided, ensuring that the voltage value can accurately match the corresponding detection range and duration threshold.

[0111] The specific voltage range and duration threshold combinations set for different opening ranges mentioned above are merely illustrative examples and do not constitute a limitation on this solution. In fact, this solution can also set the duration threshold corresponding to the voltage range to decrease as the opening range decreases. For example, a longer duration threshold can be used in the large opening range (e.g., 80%~100%) to adapt to the characteristics of low speed or mechanical engagement stages, while the duration threshold can be shortened accordingly in the medium and low opening range (e.g., 40%~60% or 0%~20%) to achieve rapid response and accurate protection during high-speed operation or when approaching the limit position. Through this dynamically adjusted threshold strategy, the abnormal detection needs of the entire door travel can be more comprehensively and flexibly covered.

[0112] Step S103: If the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled.

[0113] In this embodiment, if the door performs an opening action, but the voltage direction of the back electromotive force is detected to be negative (opposite to the actual direction of movement), i.e., the first detection result is inconsistent, and / or the detected voltage value is stable in the range of 6±1.5V and the duration reaches the 800ms threshold corresponding to this range, i.e., the second detection result is abnormal. This means that the real-time status data of the back electromotive force hits the corresponding target abnormal detection condition. At this time, the safety protection mechanism is triggered, forcibly cutting off the drive motors corresponding to the first and second doors, disabling the active rotation function of the first and second doors, and stopping all current electric operations.

[0114] In this embodiment of the application, if the sliding door, tailgate, etc. of the vehicle are single-door structures, that is, including a first door or a second door, if the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled. This can be understood as: if the real-time status data of the back electromotive force of the first door or the second door hits the corresponding target anomaly detection condition, the active rotation function of the first door or the second door is directly disabled.

[0115] To illustrate, let's take a sliding door as an example: A sliding door is a single-door structure, corresponding only to the first door. During the automatic opening or closing of this door, the real-time status data of the back electromotive force of the drive motor is continuously collected. When this data meets the preset target anomaly detection conditions, such as the voltage direction being opposite to the command direction or the voltage amplitude exceeding the set threshold range, the active rotation function of the first door will be directly disabled, and the automatic opening or closing action will stop. Similarly, if the tail door corresponds to the second door, when its real-time back electromotive force status data hits the target anomaly detection conditions, the active rotation function of the second door will also be directly disabled. That is, in a single-door structure, if the back electromotive force status of a door is abnormal, the automatic rotation function of that door will be disabled.

[0116] In one embodiment of this application, if the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the first door matches the corresponding target anomaly detection condition, the rotation direction and relative position relationship of the first and second doors are detected. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative position relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, the active rotation function of the first door is disabled. Or, if the rotation direction is the opening direction and the relative position relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, the active rotation function of both the first and second doors is disabled.

[0117] Understandably, taking the first and second doors of a car that can overlap and partially overlap to close the car body as an example, when both doors move in the opening direction, if the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, it means that there is a risk of collision with the first door during the opening process. In this case, simply disabling the active rotation function of the first door can avoid the collision without affecting the normal use of the second door.

[0118] If the distance from the first door to the closed position is greater than the distance from the second door to the closed position, it means that both doors are open normally. If both doors are in the collision zone at this time, if only the first door is disabled, the second door will still collide with it if it continues to open. Therefore, it is necessary to disable the active rotation function of both the first and second doors to avoid mutual interference and collision.

[0119] Alternatively, if the rotation direction is the closing direction and the relative positional relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the first door and the second door is disabled; or, if the rotation direction is the closing direction and the relative positional relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation function of the first door is disabled.

[0120] Understandably, taking the first and second doors of a car body that overlap and partially overlap to close the car body as an example, when both doors move in the closing direction, if the distance of the first door from the closed position is less than or equal to the distance of the second door from the closed position, if only the first door is disabled, the second door will collide with it as it continues to close. Therefore, it is necessary to disable the active rotation function of both the first and second doors.

[0121] If the distance between the first door and the closed position is greater than the distance between the second door and the closed position, it means that both doors are closed normally at this time. At the same time, the first door has met the target abnormality detection condition. Therefore, it is only necessary to disable the active rotation function of the first door, and the second door can continue to rotate to the closed position.

[0122] In another embodiment of this application, if the real-time state data of the back electromotive force hits the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the second door matches the corresponding target anomaly detection condition, the rotation direction and relative position relationship of the first and second doors are detected. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative position relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, the active rotation function of the first and second doors is disabled. Alternatively, if the rotation direction is the opening direction and the relative position relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, the active rotation function of the second door is disabled.

[0123] Understandably, for a structure where the first door can cover and partially overlap the second door to close the vehicle body, when the real-time status data of the second door's back electromotive force meets the target anomaly detection conditions, the rotation direction and relative position of the two doors will be detected first. If both doors move in the opening direction, and the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, only the second door will be disabled. If the first door continues to open, there will be a collision risk. Therefore, it is necessary to disable the active rotation function of both the first and second doors simultaneously.

[0124] If both doors move in the opening direction, and the distance between the first door and the closed position is greater than the distance between the second door and the closed position, disabling the active rotation function of the second door will not pose a collision risk. Therefore, it is sufficient to disable only the active rotation function of the second door.

[0125] Alternatively, if the rotation direction is always the closing direction and the relative positional relationship is such that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the second door is disabled; or, if the rotation direction is always the closing direction and the relative positional relationship is such that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation function of both the first and second doors is disabled.

[0126] Understandably, for a vehicle body structure where the first door can cover and partially overlap the second door, if the second door experiences an abnormal reverse electromotive force, and both doors move in the closing direction, and the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, there is no risk of collision between them. In this case, it is only necessary to disable the active rotation function of the second door.

[0127] If both doors move in the closing direction, and the distance between the first door and the closed position is greater than the distance between the second door and the closed position, disabling the active rotation function of the second door in this situation would pose a collision risk. Therefore, it is necessary to disable the active rotation functions of both the first and second doors simultaneously to ensure that the two stacked doors do not collide with each other during the closing process.

[0128] In another embodiment of this application, if the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition, the active rotation function of the first door and / or the second door is disabled, including: if the real-time status data of the back electromotive force generated by the first door and the second door hits the corresponding target anomaly detection condition, the active rotation function of the first door and the second door is disabled, wherein the first door can cover and partially overlap the second door to close the vehicle body by rotating.

[0129] It should be noted that for a double-door structure where the first door can be rotated to cover and partially overlap the second door to close the vehicle body, when the real-time status data of the back electromotive force generated by the first and second doors both hit the corresponding target anomaly detection conditions, it indicates that the drive motors of both doors are experiencing motion abnormalities. At this time, there is a risk of loss of control, mutual interference, and squeezing collisions during the opening or closing of the two doors. Since the two doors are stacked and coordinated, any abnormality in either door may lead to a collision. Therefore, the active rotation function of the first and second doors will be directly disabled simultaneously, stopping the automatic opening or closing of the two doors to avoid collisions between the two abnormal doors during the stacking movement.

[0130] In this embodiment of the application, after disabling the active rotation function of both the first and second doors, as follows: Figure 4 As shown, the method also includes: Step S201: If a recovery command for the active rotation function of the first and second doors is detected, the drive motors of the first and / or second doors are controlled to output drive current in a preset safe direction, and the real-time voltage of the back electromotive force generated by the drive motors is detected.

[0131] In this embodiment, when a user-input command for restoring the active rotation function of the first and second doors is detected (e.g., via vehicle central control screen operation, physical reset button trigger, or remote diagnostic command), the door control unit will not completely remove all restrictions and restore the normal high-speed operation mode, but will first enter the "stuck detection mode".

[0132] In this mode, the drive motors controlling the first and / or second doors output drive current in a preset safe direction. The "preset safe direction" can be understood as a direction set away from interference areas on the vehicle body or to de-lamination (such as the door opening direction), ensuring that even in the event of an accident during detection, it minimizes the risk of crushing injuries to passengers / objects or secondary mechanical damage to the vehicle body structure. The drive current is typically a low-duty-cycle, short-pulse exploratory current, with its output power and torque strictly limited within safe limits. It is only sufficient to drive the motor to idle or overcome slight friction, but insufficient to cause destructive consequences in the event of severe jamming. Simultaneously, the voltage sampling module synchronously and at high frequency detects the real-time voltage of the back electromotive force generated by the drive motor under this exploratory drive.

[0133] Step S202: Determine whether the drive motor is stuck based on the voltage trend of the real-time voltage.

[0134] In this embodiment of the application, determining whether the drive motor is stuck based on the voltage trend of the real-time voltage includes: if the voltage trend of the real-time voltage is rising and reaches the electric rotation determination threshold, then it is determined that the drive motor is not stuck; if the voltage trend of the real-time voltage is maintained within a preset range at zero, then it is determined that the drive motor is stuck.

[0135] When the drive motor receives a trial drive current output in the preset safe direction, if the door's mechanical transmission system is smooth and unobstructed, the motor rotor will overcome static friction and begin to rotate. As the rotational speed increases, the rotor cuts the magnetic field lines faster, and a back electromotive force voltage is generated and rises rapidly. During the detection process, the slope and absolute value of this voltage value are monitored in real time. Once a significant upward trend in the voltage value is detected, and it reaches the preset "electric rotation judgment threshold" within a specified response time (this threshold is usually set slightly higher than the system noise floor and line voltage drop, for example, 1.5V), it can be determined that the motor has successfully started and entered normal operation. This result directly reflects that the mechanical structure of the first and second doors is not jammed, the transmission path is unobstructed, and therefore it is determined that the drive motor has not experienced any jamming and possesses the physical conditions to resume active rotation.

[0136] When the drive motor is powered on, if the car door is jammed by a foreign object, the locking mechanism fails to release, or mechanical interference occurs, the motor rotor will be unable to rotate (i.e., it will be in a stalled state). At this time, although current is input, because the rotor is stationary, it cannot cut magnetic lines of force to generate an induced electromotive force. The voltage across the motor will primarily manifest as a contact voltage drop or a slight zero-point drift, with extremely weak values ​​hovering around zero volts. Through continuous monitoring using a high-precision voltage sampling module, if the real-time voltage, after the drive current output, not only fails to rise but also remains within a very small preset range near zero (e.g., -0.5V to +0.5V), and the voltage trend line is flat or shows no significant fluctuations, it is determined that the motor has failed to generate an effective back electromotive force. This electrical characteristic directly corresponds to a mechanical "zero speed," thus confirming that the drive motor is stalled.

[0137] In step S203, if the drive motor becomes stuck, the active rotation function of the first and second doors will continue to be disabled.

[0138] In this embodiment, if the drive motor is determined to be stuck, it indicates that there is an obstacle in the mechanical movement path of the first or second door. If the active rotation function is forcibly restored at this time, it may cause the drive motor to overheat and burn out, the transmission gears to break, the door structure to deform, or even cause serious mechanical crushing injury to people in the vicinity at the moment of restoration. At this time, protection logic needs to be executed to continue to maintain and strengthen the disabled state of the active rotation function of the first and second doors.

[0139] It should be noted that in this situation, although the user issues a recovery command, the drive motors of the first and second doors will refuse to execute any requests for automatic door opening and closing until the fault is resolved. This physically cuts off the motor's power output circuit and maintains the electronic locking signal. Simultaneously, corresponding fault indication mechanisms will be triggered, such as displaying a "Door Stuck" alarm message on the instrument panel, illuminating a malfunction indicator light, or sounding a buzzer alarm, to clearly inform the driver or maintenance personnel of the current abnormal state and prompt them to intervene manually (such as clearing obstacles or checking the mechanical structure). The disabled state will only be lifted after the stuck fault is completely resolved and passes the next self-test.

[0140] In this embodiment of the application, the method further includes: if the drive motor does not jam, then restoring the active rotation function of the first door and the second door.

[0141] It should be noted that the back electromotive force, as an electrical signal for motor operation, can provide feedback on voltage changes at the instant when abnormal mechanical movement of the door occurs (such as stall or directional deviation), without waiting for the mechanical position to accumulate. The response speed is much faster than detection schemes for mechanical quantities such as rotational changes, thus shortening the lag time for abnormality determination. At the same time, it can effectively identify hidden jamming when the motor is energized but the door is not moving (at this time, the back electromotive force is abnormal but there is no rotational change). Detection schemes for mechanical quantities such as rotational changes may miss such cases because they do not detect position changes. Furthermore, this application, through multi-dimensional determination of voltage direction and amplitude, can more accurately distinguish between normal load fluctuations and real faults, reducing the probability of misjudgment.

[0142] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0143] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0144] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0145] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0146] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0147] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0148] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0149] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: During the rotation of the first door and / or the second door, real-time status data of the back electromotive force generated by the first door and / or the second door during the rotation are acquired. Analyze whether the real-time state data of the back electromotive force matches the corresponding target anomaly detection conditions; If the real-time status data of the back electromotive force matches the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled.

2. The method according to claim 1, characterized in that, The step of acquiring real-time status data of the back electromotive force generated during the rotation of the first door and / or the second door includes: Obtain the real-time position of the first door and / or the second door during rotation; The real-time status data of the back electromotive force generated by the first door and / or the second door during rotation is detected based on the real-time position.

3. The method according to claim 2, characterized in that, The real-time status data of detecting the back electromotive force generated by the first door and / or the second door during rotation based on the real-time position includes: Based on the real-time location, the maximum opening position of the first door and / or the maximum opening position of the second door, the opening degree of the first door and / or the second door is determined; The opening degree is compared with each opening degree range to obtain the target opening degree range into which the opening degree falls; Detect the voltage signal of the back electromotive force generated by the drive motor corresponding to the first door and / or the second door; The voltage signal is filtered according to the filtering duration corresponding to the target opening range to obtain the filtered voltage signal. The voltage direction and voltage value of the back electromotive force are determined based on the filtered voltage signal, and the voltage direction and voltage value are used as the real-time status data of the back electromotive force.

4. The method according to claim 3, characterized in that, The analysis of whether the real-time state data of the back electromotive force meets the corresponding target anomaly detection conditions includes: Based on the second mapping relationship between the opening range and the anomaly detection conditions, the target anomaly detection conditions corresponding to the target opening range are obtained. The anomaly detection conditions include voltage direction judgment logic, multiple voltage intervals, and a duration threshold corresponding to each voltage interval. The first detection result is obtained by detecting whether the voltage direction in the real-time status data is consistent with the movement direction of the corresponding door. The system detects whether the voltage value in the real-time status data falls into at least one voltage range in the target anomaly detection conditions. If the voltage value falls into the voltage range, the system detects whether the duration corresponding to the voltage value reaches the corresponding duration threshold to obtain a second detection result. Based on the first detection result and / or the second detection result, determine whether the real-time status data matches the corresponding target anomaly detection condition.

5. The method according to claim 1 or 4, characterized in that, The same voltage range is included in different anomaly detection conditions, and the duration threshold corresponding to the voltage range decreases as the opening range decreases.

6. The method according to claim 4, characterized in that, The step of determining whether the real-time status data matches the corresponding target anomaly detection condition based on the first detection result and / or the second detection result includes: If the first detection result indicates that the voltage direction is inconsistent with the movement direction of the corresponding door, and / or the second detection result indicates that the duration corresponding to the voltage value reaches the corresponding duration threshold, then the target anomaly detection condition is determined to have been met; or... If the first detection result is that the voltage direction is consistent with the movement direction of the corresponding door, and the second detection result is that the duration corresponding to the voltage value does not reach the corresponding duration threshold, then it is determined that the target abnormal detection condition has not been hit.

7. The method according to claim 1, characterized in that, If the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the first door hits the corresponding target anomaly detection condition, the rotation direction and relative position relationship between the first door and the second door are detected. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative positional relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the first door is disabled; or, if the rotation direction is the opening direction and the relative positional relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation functions of both the first door and the second door are disabled. Alternatively, if the rotation direction is the closing direction and the relative positional relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the first door and the second door is disabled; or, if the rotation direction is the closing direction and the relative positional relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation function of the first door is disabled.

8. The method according to claim 1, characterized in that, If the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the second door hits the corresponding target anomaly detection condition, the rotation direction and relative position relationship between the first door and the second door are detected. The first door can cover and partially overlap the second door to close the vehicle body by rotating. If the rotation direction is the opening direction and the relative positional relationship is that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the first door and the second door is disabled; or, if the rotation direction is the opening direction and the relative positional relationship is that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation function of the second door is disabled. Alternatively, if all rotation directions are the closing direction and the relative positional relationship is such that the distance between the first door and the closed position is less than or equal to the distance between the second door and the closed position, then the active rotation function of the second door is disabled; or, if all rotation directions are the closing direction and the relative positional relationship is such that the distance between the first door and the closed position is greater than the distance between the second door and the closed position, then the active rotation functions of both the first door and the second door are disabled.

9. The method according to claim 1, characterized in that, If the real-time state data of the back electromotive force matches the corresponding target anomaly detection condition, then the active rotation function of the first door and / or the second door is disabled, including: If the real-time status data of the back electromotive force generated by the first door and the second door hits the corresponding target anomaly detection condition, the active rotation function of the first door and the second door is disabled. The first door can cover and partially overlap the second door to close the vehicle body by rotating.

10. A vehicle, comprising a body, a first door and / or a second door, and a controller, characterized in that, The controller is configured to acquire real-time status data of the back electromotive force generated by the first door and / or the second door during the rotation process; analyze whether the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition; if the real-time status data of the back electromotive force hits the corresponding target anomaly detection condition, then disable the active rotation function of the first door and / or the second door.

Images