Motion control method and device, electronic equipment, storage medium and vehicle

Abstract

The present disclosure relates to a motion control method and device, electronic equipment, storage medium and vehicle, and designs the technical field of vehicle control. The method comprises: in response to a motion instruction indicating that a first device of at least two movable devices moves to a first target position, obtaining position information of a second device of the at least two movable devices; determining a target interference interval based on the first target position; in the case that the position information of the second device falls into the target interference interval, determining a second target position based on the position information of the second device; the second target position is located outside the target interference interval; controlling the second device to move to the second target position, and controlling the first device to move to the first target position. The embodiments of the present disclosure can improve the intelligence of motion control and reduce the risk of collision.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and more particularly to a motion control method, device, electronic device, storage medium, and vehicle. Background Technology

[0002] In related technologies, to enhance the spatial experience of the vehicle cabin and facilitate passenger entry and exit, movable devices such as rotating seats and sliding doors may be installed within the vehicle cabin. When these movable parts move, interference may occur because other movable parts may be located along the movement path of the currently moving part.

[0003] Current anti-interference methods mainly rely on the user's active perception, which requires the user to manually control and stop the rotating seat or sliding door movement. This has a low level of intelligence and is prone to collision risks. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a motion control method, apparatus, electronic device, storage medium, and vehicle that can improve the intelligence of motion control and reduce collision risks.

[0005] In a first aspect, this disclosure provides a motion control method, the method comprising: In response to a motion command instructing a first device among at least two movable devices to move to a first target position, position information of the second device, the other of the at least two movable devices, is acquired; Determine the target interference interval based on the location of the first target; If the location information of the second device falls within the target interference zone, the location of the second target is determined based on the location information of the second device; the location of the second target is outside the target interference zone. Control the second device to move to the second target position, and control the first device to move to the first target position.

[0006] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Obtain the location status of the first and second devices; If the position state of the first device satisfies the first movement condition for moving the first device to the first target position, and the position state of the second device satisfies the second movement condition for moving the second device to the second target position, then control the second device to move to the second target position, and control the first device to move to the first target position. The method also includes: If the position of the first device does not meet the first motion condition, and / or the position of the second device does not meet the second motion condition, output the corresponding prompt message.

[0007] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Control the second device to start moving towards the second target position and start the timer; If the timing duration has not reached the first duration and the position information of the second device has left the target interference range, control the first device to move to the first target position; The method also includes: If the timing reaches the first duration and the position information of the second device still falls within the target interference range, stop controlling the first device to move towards the first target position and output the corresponding prompt information.

[0008] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: When the position status of the second device meets the second movement condition for moving the second device to the second target position, control the second device to start moving towards the second target position, start timing and acquire the status information of the second device; If the status information of the second device is in motion, update the location information of the second device; If the timing duration has not reached the first duration and the updated position information of the second device is outside the target interference range, the first device is controlled to move to the first target position; the first duration is longer than the second duration. The method also includes: If the timing duration reaches the first duration and the updated position information of the second device still falls within the target interference range, the motion command is blocked and the corresponding prompt message is output. Alternatively, if the timer reaches the second duration and the second device is in a static state, output the corresponding prompt message.

[0009] In some embodiments of this disclosure, optionally, determining the target interference interval based on the first target location includes: Obtain the location information of the first device; The target interference interval is determined based on the location information of the first device, the location of the first target, and a preset mapping table.

[0010] Optionally, in some embodiments of this disclosure, the method further includes: When the first device begins to move toward the first target position, the position information of the second device is updated; If the updated position information of the second device moves from outside the target interference range to inside the target interference range, the first device is controlled to stop moving and a corresponding prompt message is output.

[0011] In some embodiments of this disclosure, optionally, when the first device is a sliding door and the second device is a rotating seat, and the rotating seat includes foldable fittings, controlling the second device to move to a second target position and controlling the first device to move to a first target position includes: Get the folding status of foldable accessories; When the folded state is in the stowed state and the position information of the rotating seat is out of the target interference range, control the sliding door to move to the first target position.

[0012] Optionally, in some embodiments of this disclosure, determining the location of the second target based on the location information of the second device includes: The location of the second target is determined based on the location information of the second device and the mapping relationship between the location information and the target location.

[0013] Secondly, embodiments of this disclosure provide a motion control device, including: The acquisition module is configured to acquire the position information of the second device among the at least two movable devices in response to a motion command instructing the first device among at least two movable devices to move to a first target position; The determination module is used to determine the target interference interval based on the first target position; and, If the location information of the second device falls within the target interference zone, the location of the second target is determined based on the location information of the second device; the location of the second target is outside the target interference zone. The control module is used to control the second device to move to the second target position and to control the first device to move to the first target position.

[0014] Thirdly, embodiments of this disclosure provide an electronic device, including: Memory, processor, and computer programs; The computer program is stored in memory and configured to be executed by a processor to implement the motion control method provided in the first aspect.

[0015] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motion control method as provided in the first aspect.

[0016] Fifthly, embodiments of this disclosure provide a vehicle, including: Such as electronic equipment provided by a third party; and / or Such as the computer-readable storage medium provided in the fourth aspect.

[0017] The technical solution provided in this disclosure has the following advantages compared with the prior art: The motion control method, apparatus, electronic device, storage medium, and vehicle provided in this disclosure acquire the current position information of other second devices before controlling the movement of the first device among at least two moving devices. Based on the first target position indicated by the motion command, the method determines whether the second device is located within a target interference range that could affect the movement of the first device to the first target position. If the second device is located within the target interference range, it is controlled to move to a second target position before controlling the first device to move to the first target position. This means removing the second device from the target interference range that could interfere with the first device. Therefore, it can automatically avoid potential motion interference between different moving devices without user intervention. Thus, it improves the intelligence of motion control and reduces the risk of collisions. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 Flowcharts of motion control methods according to some embodiments of this disclosure are shown; Figure 2 A flowchart illustrating a method for determining a target interference interval according to some embodiments of this disclosure is shown; Figure 3 Flowcharts of motion control methods according to some embodiments of this disclosure are shown; Figure 4 A structural block diagram of a motion control device according to some embodiments of the present disclosure is shown. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0022] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0023] Before describing the embodiments of this disclosure in detail, the technical background involved in this disclosure will be described here so that those skilled in the art can have a clearer understanding of the embodiments of this disclosure.

[0024] In related technologies, for vehicles equipped with sliding doors and rotating seats, the rotating seats can achieve stepless rotation, thereby increasing cabin space and enabling convenient entry and exit, as well as parking and resting.

[0025] Since both sliding doors and rotating seats are movable devices, their positions and angles may change at any time. Therefore, when a rotating seat or sliding door moves, such as during a change in posture of a rotating seat, there is a risk of collision or interference between the seat or the passenger on it and the sliding door.

[0026] Currently, when a collision risk occurs, passengers need to manually control the seat to stop rotating. Therefore, it relies on the passenger's active attention and risk prediction, has a low level of intelligence, and is prone to collision risks.

[0027] To address the aforementioned problems, this disclosure provides a motion control method. Exemplarily, the motion control method is applied to a vehicle, where at least two movable devices are provided in the vehicle's cabin, including a first device and a second device. Exemplarily, one of the first device and the second device is a rotating seat, and the other is a sliding door.

[0028] Taking a rotating seat as the first device and a sliding door as the second device as an example, the embodiments of this disclosure will be described in detail below.

[0029] Figure 1 Flowcharts of motion control methods according to some embodiments of this disclosure are shown, such as Figure 1 As shown, the method includes: S102, in response to a motion command instructing the first device among at least two movable devices to move to a first target position, the position information of the second device among the at least two movable devices is obtained.

[0030] In this embodiment of the disclosure, a rotating seat is exemplaryly disposed on the interior floor of the vehicle cabin. The rotating seat is connected to the floor via a seat rotation mechanism, which is equipped with a rotary motor for driving the rotating seat to rotate about a vertical axis within an angle range of 0° to 180°.

[0031] The sliding door is located on the side of the vehicle and is connected to the side via a door sliding mechanism. This mechanism includes a door drive motor, which drives the sliding door to slide between a closed position and a fully open position along the vehicle's longitudinal direction. The position of the sliding door is expressed as an opening percentage, with the fully closed position corresponding to 100% and the fully open position corresponding to 0%.

[0032] At different angles, the swivel seat and the occupant it supports occupy different lateral spaces in the vehicle's width direction. When the sliding door is in a specific opening range, the inner surface of the sliding door is within the sweeping path of the swivel seat or its occupant in the vehicle's width direction. If the swivel seat then performs a rotation, the swivel seat or its occupant will collide and interfere with the sliding door.

[0033] For example, the control system that performs the motion control method includes a seat decision module, a seat control module, a sliding door decision module, a sliding door control module, and a display head unit (DHU).

[0034] The seat decision module and the sliding door decision module are deployed within the domain controller. The seat control module is deployed within the seat controller, which is connected to the domain controller via a communication bus. The sliding door control module is deployed within the sliding door controller, which is also connected to the domain controller via a communication bus. The display host unit is connected to the domain controller via a communication bus. The seat control module acquires the current angle of the rotating seat in real time using position sensors and reports it to the seat decision module via the communication bus. The sliding door control module acquires the current opening degree of the sliding door in real time using position sensors and reports it to the sliding door decision module via the communication bus.

[0035] When a user issues a motion command via the display host unit or physical buttons to rotate the seat to the first target position, the motion command is transmitted to the seat decision module. In response to the motion command, the seat decision module obtains the current opening information of the sliding door. This current opening information is provided by the sliding door decision module to the seat decision module via the communication bus.

[0036] S104, Determine the target interference interval based on the first target position.

[0037] In this embodiment of the disclosure, the seat decision module determines the target interference interval based on the first target position. The target interference interval is a continuous interval of the sliding door opening. If the sliding door is at any position within this opening interval, then during the entire movement of the rotating seat from the current angle to the first target position, the motion sweep path of the rotating seat or its occupant overlaps with the sliding door in the vehicle width direction.

[0038] For example, the seat decision module obtains the current angle and the first target angle of the rotating seat, and performs a lookup or linear interpolation calculation in a preset interference interval table based on the current angle and the first target angle to obtain the corresponding side sliding door interference opening calibration value. When the side sliding door opening is greater than the calibration value, the side sliding door is considered to be in the interference interval; when the side sliding door opening is less than the calibration value, the side sliding door is considered to be in the non-interference interval.

[0039] S106, if the position information of the second device falls within the target interference range, determine the position of the second target based on the position information of the second device.

[0040] The second target is located outside the target interference zone.

[0041] In this embodiment, the seat decision module determines whether the current opening degree of the sliding door falls within the target interference range. If the current opening degree of the sliding door falls within the target interference range, the seat decision module determines a second target position based on the current opening degree of the sliding door. The second target position is located outside the target interference range.

[0042] For example, the second target position is an opening value that is less than the lower limit of the target interference interval.

[0043] S108, control the second device to move to the second target position, and control the first device to move to the first target position.

[0044] In this embodiment, the seat decision module sends an opening request to the sliding door decision module, the opening request including a second target location. Upon receiving the opening request, the sliding door decision module determines whether the sliding door currently meets the pre-opening conditions. For example, pre-opening conditions may include the vehicle being stationary, the road slope being less than a set threshold, the sliding door being in electric mode, the charging port cover being closed, and the rear child lock being engaged. If any of the pre-opening conditions is not met, the sliding door decision module outputs a corresponding reminder message through the display host unit, guiding the user to process the message and try again.

[0045] If all preconditions for opening the door are met, the sliding door decision module determines the current state of the sliding door. If the sliding door is in the process of opening, the decision module will not reissue the opening command and will wait for the sliding door to move to the second target position on its own. If the sliding door is stationary, the decision module will directly issue the opening command to the control module.

[0046] After receiving the opening command, the sliding door control module controls the door drive motor to drive the sliding door towards the fully open position until it reaches the second target position. During this process, the sliding door control module monitors the opening degree of the sliding door in real time through a position sensor. When the sliding door reaches the second target position, the sliding door control module stops the door drive motor and feeds back the information that the sliding door has reached the second target position to the seat decision module through the sliding door decision module.

[0047] While sending an opening request to the sliding door decision module, the seat decision module continuously obtains real-time opening information of the sliding door through the sliding door decision module. When the sliding door opening reaches the second target position, that is, the non-interference position, the seat decision module determines whether the preconditions for seat rotation are met. For example, the preconditions for seat rotation include the vehicle being in P gear, the sliding door on the same side being in the non-interference range, no occupants occupying the seat on the same side, the refrigerator door being closed, no occupants occupying the seat on the opposite side and the sliding door on the opposite side being in the non-interference range, and the cup holder being folded down.

[0048] If all preconditions for seat rotation are met, the seat decision module sends a seat rotation command to the seat control module. Upon receiving the command, the seat control module controls the rotation motor to drive the seat to rotate from the current angle towards the first target position. Once the seat reaches the first target position, the seat control module stops the rotation motor and sends rotation completion information back to the seat decision module.

[0049] For a specific example, the user issues a command through the display unit to rotate the swivel seat from 90° to 0°. At this time, the sliding door is in the 100% open position, just after closing, meaning the sliding door is fully closed. The seat decision module obtains the current opening degree of the sliding door as 100%, and determines the sliding door interference opening calibration value to be 0% based on the target angle of 0°. That is, any opening degree greater than 0% is considered to be within the interference range. The current opening degree of the sliding door is 100% and falls within this interference range. The seat decision module determines the second target position as 0% opening, i.e., the fully open position, and sends an opening request to the sliding door decision module.

[0050] After the sliding door decision module determines that the preconditions for opening the door are met, it controls the sliding door to slide from the fully closed position to the fully open position. Once the sliding door reaches the 0% fully open position, the seat decision module sends a rotation command to the seat control module, causing the seat to rotate from 90° to 0°. Because the sliding door is fully open, the rotating seat maintains a safe clearance with the sliding door during rotation, preventing collisions or interference.

[0051] For a specific example, the user issues a command through the display host unit to rotate the swivel seat from 45° to 180°. At this time, the sliding door is at 50% opening. The seat decision module obtains the current opening of the sliding door as 50%, determines the sliding door interference opening calibration value to be 0% based on the target angle of 180°, and judges that the sliding door is in the interference range. The seat decision module sends an opening request to the sliding door decision module. After the sliding door moves to the fully open position, the seat decision module judges the preconditions for rotating other seats.

[0052] If an occupant occupies the seat on the same side, the seat occupancy sensor detects the occupancy signal and reports it to the seat decision module. If the seat decision module determines that the prerequisite of an occupant occupying the seat on the same side is not met, then the seat decision module does not issue a rotation command to the seat control module. Instead, it outputs a voice prompt and a pop-up prompt through the display host unit, with the prompt message "Please confirm that there is no occupant on the same side before trying again."

[0053] After seeing or hearing the reminder, the user confirms that the rear passengers have exited the vehicle and issues the rotation command again. At this time, the seat decision module re-executes the above judgment process. If the sliding door is fully open and there are no passengers occupying the same side, it issues a rotation command to the seat control module, rotating the seat from 45° to 180°.

[0054] This embodiment of the disclosure obtains the current position information of the other two second devices before controlling the first device to move, and determines whether the second devices are located within a target interference range that could affect the movement of the first device to the first target position according to the first target position indicated by the motion command. If the second device is located within the target interference range, it is controlled to move to a second target position before controlling the first device to move to the first target position, that is, the second device is moved away from the target interference range that could interfere with the first device. Therefore, it can automatically avoid motion interference that may occur between different movable devices, and no user intervention is required in the process. Therefore, it can improve the intelligence of motion control and reduce the risk of collision.

[0055] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Obtain the location status of the first and second devices; If the position state of the first device satisfies the first movement condition for moving the first device to the first target position, and the position state of the second device satisfies the second movement condition for moving the second device to the second target position, then control the second device to move to the second target position, and control the first device to move to the first target position. The method also includes: If the position of the first device does not meet the first motion condition, and / or the position of the second device does not meet the second motion condition, output the corresponding prompt message.

[0056] In this embodiment of the disclosure, the location status of the first device and the location status of the second device are acquired, respectively. The location status includes the current physical location of the device and its current state information. For example, the state information is used to characterize whether the device is currently in motion, stationary, or in a faulty state.

[0057] The control system determines whether the corresponding motion conditions are met by checking the position status. Motion control is only executed when the motion conditions are met; otherwise, a prompt message is output to the user to inform them of the reason why the control cannot be executed.

[0058] For example, taking the scenario of controlling the movement of a rotating seat and a sliding door as an example, the seat decision module obtains the position status of the rotating seat and the position status of the sliding door before issuing an opening request.

[0059] The position status of the swivel seat includes its current angle, whether it is in motion, and whether it is in a fault state. The motion of the swivel seat refers to the entire seat adjustment process performed by the swivel seat to achieve the target angle. This process includes the seat's rotation around the vertical axis, adjustment of the seat back angle, extension or retraction of the footrest, and forward and backward movement of the seat along the slide rail.

[0060] The position status of the sliding door includes its current opening degree, whether it is in motion, whether it is in a fault state, and whether it meets the pre-opening conditions. The seat decision module determines whether the position status of the rotating seat meets the first motion condition. The first motion condition includes that the rotating seat is not faulty, the difference between the current angle of the rotating seat and the first target angle is greater than a set threshold and the direction of the difference is clear, and the rotating seat is not currently in an interrupted state during scene movement. The seat decision module also determines whether the position status of the sliding door meets the second motion condition. The second motion condition includes that the sliding door is not faulty, the sliding door is not currently in an anti-pinch trigger state, and the sliding door meets all the pre-opening conditions.

[0061] If the position of the rotating seat meets the first motion condition and the position of the sliding door meets the second motion condition, the seat decision module executes the control process, that is, first sends an opening request to the sliding door decision module to control the sliding door to move to the second target position, and then sends a rotation command to the seat control module after the sliding door reaches the second target position to control the rotating seat to move to the first target position.

[0062] If the position of the rotating seat does not meet the first motion condition, or the position of the sliding door does not meet the second motion condition, or neither, the seat decision module will not execute the motion control process. Instead, it will send a corresponding prompt command to the display host unit based on the type of condition not met. Upon receiving the prompt command, the display host unit will output a pop-up text message on the central control display screen and a voice reminder through the speaker.

[0063] For example, when the vehicle is not stationary, the sliding door decision module determines that the vehicle stationary condition in the preconditions for opening the door is not met, and the second motion condition is also not met. The seat decision module sends a first prompt command to the display host unit. In response to this first prompt command, the display host unit displays a pop-up window with the text "Please stop the vehicle before use" on the screen, and simultaneously broadcasts the same prompt via voice. After the user hears or sees this prompt, the vehicle comes to a complete stop, at which point the sliding door's position is updated to meet the second motion condition. When the user issues another motion command, the seat decision module re-performs the above judgment, thus entering the normal control process.

[0064] For a specific example, when the road slope exceeds a set threshold, the sliding door decision module determines that the slope condition in the preconditions for opening the door is not met, and therefore the second motion condition is also not met. The seat decision module sends a second prompt command to the display host unit. In response to this second prompt command, the display host unit displays a pop-up window on the screen saying "Vehicle tilted, please manually open the door," and simultaneously broadcasts the same prompt. After seeing or hearing this prompt, the user understands that because the vehicle is currently on a slope, the electric sliding door cannot be safely opened, and the user can manually open the sliding door before operating the rotating seat. If the user cancels the rotating seat command, the entire control process terminates.

[0065] For example, when the sliding door is in manual mode, the sliding door decision module determines that the electric mode condition in the pre-opening conditions is not met, and the second motion condition is also not met. The seat decision module sends a third prompt command to the display host unit. In response to this third prompt command, the display host unit displays a pop-up window saying "Please switch to electric mode" on the screen, and simultaneously broadcasts a voice prompt saying "Please switch to electric mode." After the user switches the sliding door to electric mode according to this prompt, the sliding door's position status is updated to meet the second motion condition.

[0066] This embodiment of the disclosure performs a comprehensive condition judgment on the position status of the first and second devices before executing motion control. If the motion conditions are not met, the motion action is not executed, but a prompt message with the specific reason is output to the user. This allows the user to accurately know the reason why the motion cannot be executed and take targeted measures accordingly, thereby enhancing the user interaction experience.

[0067] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Control the second device to start moving towards the second target position and start the timer; If the timing duration has not reached the first duration and the position information of the second device has left the target interference range, control the first device to move to the first target position; The method also includes: If the timing reaches the first duration and the position information of the second device still falls within the target interference range, stop controlling the first device to move towards the first target position and output the corresponding prompt information.

[0068] In this embodiment of the disclosure, after determining that the second device needs to be moved to a second target position to avoid the first device, the control system executes a specific motion control process. This control process involves real-time monitoring of the movement of the second device and decision branches based on the monitoring results.

[0069] For example, taking the scenario of controlling the movement of a rotating seat and a sliding door as an example, after determining that the current opening degree of the sliding door falls within the target interference range, the seat decision module determines that the second target position is outside the target interference range and sends an opening request to the sliding door decision module to control the sliding door to start moving towards the second target position. At the same time, the seat decision module starts a timer to record the elapsed time from the moment the opening request is sent and determines whether the time elapsed has reached the first time duration.

[0070] For example, the first duration ranges from 25 seconds to 60 seconds. For example, the first duration is 40 seconds.

[0071] For example, the first duration is set according to the maximum time margin required for the sliding door to move from any position to the fully open position, which is used to limit the duration for which the system waits for the sliding door to complete the avoidance movement, and to prevent the system from waiting indefinitely.

[0072] During the timer's operation, the seat decision module continuously acquires real-time opening information of the sliding door from the sliding door decision module. The seat decision module compares the real-time opening of the sliding door with the target interference range to determine whether the real-time opening of the sliding door has moved out of the target interference range.

[0073] If, before the first timeout period has elapsed, the real-time opening of the sliding door has changed from within the target interference zone to outside the target interference zone (i.e., the real-time opening of the sliding door is less than the lower limit of the interference zone), the seat decision module determines that the sliding door has completed its avoidance maneuver. At this point, the seat decision module does not wait for the timer to reach the first timeout period and immediately sends a seat rotation command to the seat control module to control the rotating seat to move towards the first target position. The rotating seat begins its rotation until it reaches the first target position.

[0074] If, during the timer's timing, the real-time opening of the sliding door remains within the target interference range and fails to leave the target interference range within the first time interval, then when the timing reaches the first time interval, the seat decision module will stop controlling the rotating seat to move towards the first target position.

[0075] Since the rotating seat has not yet received a rotation command, the seat decision module directly terminates the subsequent rotation command issuance process. Simultaneously, the seat decision module sends a first timeout warning command to the display host unit. In response to this first timeout warning command, the display host unit displays a text pop-up window on the central control screen saying "Please return the seat to its original position or set the door to close manually," and outputs a corresponding voice reminder through the speaker.

[0076] After seeing or hearing this prompt, the user is informed that the sliding door failed to avoid the obstacle within the system's preset waiting time and requires manual intervention. For example, the user can manually open the sliding door to a non-interference position or cancel the current seat rotation request and rearrange the operation sequence.

[0077] For a specific example, the user issues a movement command via the display host unit to rotate the swivel seat from 90° to 0°. The sliding door is currently in the fully closed position, i.e., 100% open, and this opening falls within the target interference range.

[0078] The seat decision module determines the second target position as 0% opening, i.e., the fully open position, sends an opening request to the sliding door decision module, and starts a timer. The sliding door decision module then controls the sliding door to slide from the fully closed position toward the fully open position.

[0079] The actual time taken for the sliding door to move from 100% open to 0% fully open is approximately 4 seconds. When the sliding door reaches 0% opening, its real-time opening has already moved out of the target interference range. At this point, the timer duration is approximately 4 seconds, which is less than the initial 40 seconds. The seat decision module immediately sends a rotation command to the seat control module the instant it detects that the sliding door has moved out of the target interference range. The seat rotates from 90° to 0°, eventually reaching the target position.

[0080] For example, the user sends a movement command via the display host unit to rotate the swivel seat from 60° to 90°. The sliding door is currently at 80% opening, which falls within the target interference range. The seat decision module determines the second target position as 0% opening, sends an opening request to the sliding door decision module, and starts a timer.

[0081] At this point, the sliding door may be experiencing a mechanical jamming malfunction. After the door drive motor outputs torque, the sliding door fails to slide normally, and its real-time opening remains at 80%, failing to move out of the target interference range. The timer continues counting, and when the first countdown is completed, the real-time opening of the sliding door is still within the target interference range.

[0082] When the timing reaches the first 40 seconds, the seat decision module determines that the sliding door failed to complete the avoidance maneuver within the preset time. The seat decision module then stops the control process, does not issue a rotation command to the seat control module, and sends a first timeout warning command to the display host unit.

[0083] For example, the main unit displays a voice prompt and pop-up notification saying, "Please return the seat to its original position or set the door to close manually." Following this prompt, the user manually opens the sliding door to its fully open position and then issues another command to rotate the seat. At this point, the seat decision module detects that the sliding door opening is within the non-interference range and directly controls the seat to rotate to the target position.

[0084] This embodiment of the disclosure sets a first duration as the time limit for waiting for the avoidance to be completed. When the second device fails to complete the avoidance action within a reasonable time, the control process is automatically terminated and a clear prompt message is output to the user. This avoids the control process blockage caused by the system waiting indefinitely under equipment failure or abnormal operating conditions, and improves the robustness of the control system and the integrity of the user experience.

[0085] In some embodiments of this disclosure, optionally, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: When the position status of the second device meets the second movement condition for moving the second device to the second target position, control the second device to start moving towards the second target position, start timing and acquire the status information of the second device; If the status information of the second device is in motion, update the location information of the second device; If the timing duration has not reached the first duration and the updated position information of the second device is outside the target interference range, the first device is controlled to move to the first target position; the first duration is longer than the second duration. The method also includes: If the timing duration reaches the first duration and the updated position information of the second device still falls within the target interference range, the motion command is blocked and the corresponding prompt message is output. Alternatively, if the timer reaches the second duration and the second device is in a static state, output the corresponding prompt message.

[0086] In this embodiment of the disclosure, taking the scenario of controlling the movement of a rotating seat and a sliding door as an example, after determining that the current opening degree of the sliding door falls into the target interference range, the seat decision module determines a second target position located outside the target interference range.

[0087] The seat decision module first determines whether the position of the sliding door meets the second movement condition for moving the sliding door to the second target position. For example, the second movement condition includes that the sliding door is not faulty, the sliding door is not currently in the anti-pinch trigger state, and the sliding door meets all the pre-opening conditions.

[0088] If the second motion condition is met, the seat decision module sends an opening request to the sliding door decision module to control the sliding door to begin moving towards the second target position. Simultaneously, the seat decision module starts a timer to record the elapsed time since the opening request was sent.

[0089] The seat decision module obtains the sliding door's status information through the sliding door decision module. For example, the sliding door's status information is determined in real-time by the sliding door control module through the signal change rate of the position sensor, and then reported to the sliding door decision module via the communication bus.

[0090] For example, the status information of a sliding door includes a moving state and a stationary state. When the sliding door control module detects that the door drive motor is outputting torque and the position sensor signal is continuously changing, the sliding door's status information is identified as a moving state. When the door drive motor is not outputting torque and the position sensor signal remains unchanged, the sliding door's status information is identified as a stationary state.

[0091] After obtaining the status information of the sliding door, the seat decision module determines whether the sliding door is in motion. If the sliding door is in motion, the seat decision module continuously obtains the real-time opening information of the sliding door from the sliding door decision module to update the position information of the sliding door.

[0092] For example, the second duration ranges from 0.5s to 3s. For example, the second duration is 1s.

[0093] For example, the second duration is used to detect whether the sliding door fails to actually initiate movement after receiving the opening request.

[0094] Taking a first duration of 40 seconds and a second duration of 1 second as an example, after the seat decision module issues an opening request and starts the timer, if the sliding door is still stationary when the timer reaches 1 second of the second duration, the seat decision module determines that the sliding door has failed to respond to the opening request and move to the second target position.

[0095] At this point, a second startup failure prompt command is immediately sent to the display host unit. In response to this command, the display host unit displays a corresponding text pop-up on the central control screen and outputs a corresponding voice prompt through the speaker.

[0096] For example, when the sliding door is in the locked state after the anti-pinch trigger is activated, the sliding door control module cannot drive the sliding door to move after receiving the opening command, and the sliding door's status information remains stationary.

[0097] When the seat decision module detects that the sliding door is still stationary after 1 second of timing, it sends a second start failure prompt command to the display host unit. The display host unit then outputs a voice prompt and a pop-up reminder saying "Please manually open the door." After the user manually operates the sliding door according to the prompt, they can issue a rotation command again to continue the process.

[0098] For example, when the sliding door is temporarily unable to respond to drive commands due to motor overheat protection, the sliding door's status information also remains stationary. When the seat decision module detects that the sliding door is stationary after a 1-second timeout, it sends a second start failure prompt command to the display host unit. The display host unit then outputs the corresponding device abnormality prompt information, informing the user that the sliding door cannot move at present and suggesting waiting for a period of time before retrying or manual operation.

[0099] If the second device is in motion before the second timeout period, meaning the sliding door has successfully moved towards the second target position, then the timing continues. If the first 40-second timeout period has not yet been reached, the seat decision module continuously determines whether the updated real-time opening of the sliding door has moved out of the target interference range.

[0100] If the real-time opening degree of the sliding door changes from within the target interference range to outside the target interference range, the seat decision module immediately sends a seat rotation command to the seat control module to control the rotating seat to move towards the first target position. The rotating seat begins to perform the rotation action until it reaches the first target position.

[0101] If the sliding door's real-time opening degree remains within the target interference range after the initial 40-second timeout, the seat decision module determines that the sliding door failed to complete the avoidance maneuver within the preset time. At this point, the seat decision module blocks the user's motion commands, ceasing all subsequent seat rotation control actions, and sends a first timeout warning to the display host unit. In response to this first timeout warning, the display host unit displays a text pop-up on the central control screen stating "Please return to your seat or set the door to manual closing," and outputs a corresponding voice reminder through the speaker.

[0102] For a specific example, the user issues a movement command via the display host unit to rotate the swivel seat from 120° to 0°. The sliding door is currently at 60% opening, which falls within the target interference range. The seat decision module determines the second target position as 0% opening, sends an opening request to the sliding door decision module, starts a timer, and acquires the sliding door's status information. Upon receiving the opening command, the sliding door control module immediately drives the sliding door to begin sliding, and the position sensor signal continuously changes. When the timer reaches 0.5 seconds, the seat decision module acquires the sliding door's status information as being in motion, determining that the sliding door has successfully started. Subsequently, the seat decision module continuously acquires the real-time opening information of the sliding door, and when the sliding door opening reaches 0% and leaves the target interference range, it immediately controls the swivel seat to rotate to 0°. During this process, since the sliding door starts moving within 1 second, the system will not trigger a second-time start failure prompt.

[0103] For example, the user issues a command to rotate the seat from 30° to 90°. The sliding door is currently at 50% opening, which falls within the target interference range. The seat decision module issues an opening request and starts a timer.

[0104] If the sliding door is in the open position due to the charging port cover, the sliding door decision module determines that the preconditions for opening the door are not met, and therefore the sliding door control module does not drive the sliding door to move. If the seat decision module obtains that the sliding door is still stationary after 1 second of timing, it immediately stops waiting, does not control the rotating seat to rotate, and sends a second start-up failure prompt command to the display host unit.

[0105] For example, the main display unit outputs a voice prompt and a pop-up reminder saying "Please close the charging port cover." After seeing the reminder, the user closes the charging port cover and issues the rotation command again. At this point, the sliding door can respond normally to the opening request and start moving.

[0106] This embodiment sets a second duration as the time limit for detecting whether the second device has actually started moving. If the device fails to respond to the movement command, a prompt message is output to the user in advance, preventing the user from waiting for an extended period. If the movement has already been successfully started, the system continues to wait until the first duration to complete the avoidance maneuver. This balances rapid anomaly detection with reasonable waiting time for normal operation, thereby improving the responsiveness of the control system and the efficiency of user interaction.

[0107] In some embodiments of this disclosure, optionally, Figure 2 A flowchart illustrating a method for determining a target interference region according to some embodiments of this disclosure is shown, such as... Figure 2 As shown, the target interference interval is determined based on the first target position, including: S202, Obtain the location information of the first device; S204, determine the target interference interval based on the location information of the first device, the location of the first target, and a preset mapping table.

[0108] In this embodiment of the disclosure, taking, for example, a scenario of controlling the movement of a rotating seat and a sliding door, after responding to a user's instruction to move the rotating seat to a first target position, the seat decision module first obtains the current position information of the rotating seat through the seat control module. The current position information of the rotating seat is represented by an angle value, ranging from 0° to 180°, where 0° represents the rotating seat facing directly forward of the vehicle, and 180° represents the rotating seat facing directly rearward of the vehicle.

[0109] For example, the seat control module detects the current angle of the rotating seat in real time through an angle sensor installed on the seat rotation mechanism, and reports it to the seat decision module via a communication bus.

[0110] After obtaining the current position information of the rotating seat and the user-specified first target position, the seat decision module uses the current position information and the first target position as indexes to perform queries or interpolation calculations in a preset mapping table to determine the corresponding target interference interval. This mapping table is stored in the domain controller's non-volatile memory. Its row index is the current angle of the rotating seat, its column index is the target angle of the rotating seat, and the values ​​in the table entries are the side sliding door interference opening calibration values, expressed as percentages. The seat decision module uses the current position information as the row index and the first target position as the column index to look up the corresponding side sliding door interference opening calibration value in the mapping table.

[0111] For example, Table 1 below shows the mapping relationship table: Table 1

[0112] As shown in Table 1, the rows represent the current rotation angle of the seat, and the columns represent the target rotation angle of the seat. The values ​​obtained from the table based on the row and column coordinates are the calibration values ​​for judging the target interference range of the sliding door opening. If the sliding door opening is greater than the calibration value in the table, the sliding door is considered to be within the target interference range; if the sliding door opening is less than the standard value, the sliding door is considered to be outside the target interference range.

[0113] For example, during the process of the swivel seat rotating from the current angle to the target angle, if the motion sweep path of the swivel seat passes through the area near 90°, the sliding door needs to be opened to a large extent to avoid interference, so the calibration value is set to a small value. If the motion sweep path of the swivel seat is only close to the non-interference area near 0° or 180°, the sliding door only needs to be opened slightly to avoid interference, so the calibration value is set to a large value.

[0114] For example, when the current position angle of the swivel seat is on both sides of the target angle of 90°, meaning the swivel seat needs to cross 90°, the corresponding sliding door interference opening calibration value in the mapping table is 0%, indicating that the sliding door must be fully open to avoid interference. When the swivel seat rotates from 20° to 0°, the swivel seat only moves within the non-interference area close to 0°, and the corresponding sliding door interference opening calibration value is 30%, meaning the sliding door only needs to be opened to less than 30% to avoid interference.

[0115] In the mapping table, for current angle and target angle combinations not directly listed in the table, the seat decision module uses a linear interpolation method to calculate the corresponding side sliding door interference opening calibration value.

[0116] For example, when the current seat angle is 180°, the target angle is less than 90°. The seat rotation must pass through the 90° maximum interference zone, so the defined sliding door interference opening is relatively small. If rotating from an opening of 20° to 0°, it only passes through the 0° to 20° interval, so the defined sliding door interference opening is relatively large. The table uses a linear interpolation lookup method; for example, returning from 10° to 0°, the linear interpolation yields a sliding door interference opening of 35%.

[0117] This embodiment of the disclosure uses a preset mapping table combined with a linear interpolation method to determine the interference range of the sliding door for any combination of start and end angles of the rotating seat. This allows the interference judgment to cover all angle combinations of the rotating seat within the range of 0° to 180°, expanding the coverage of interference prevention. Simultaneously, by setting differentiated calibration values ​​during the actual vehicle calibration phase, the sliding door only needs to move to the minimum opening degree that just meets the avoidance requirements in different seat rotation scenarios, avoiding unnecessary full-opening movements of the sliding door, thereby reducing the sliding door's movement time and energy consumption.

[0118] In some embodiments of this disclosure, optionally, Figure 3Flowcharts of motion control methods according to some embodiments of this disclosure are shown, such as Figure 3 As shown, the method also includes: S302, when the first device is controlled to start moving towards the first target position, the position information of the second device is updated; S304, if the updated position information of the second device moves from outside the target interference range to inside the target interference range, control the first device to stop moving and output the corresponding prompt information.

[0119] In this embodiment of the disclosure, taking the scenario of controlling the movement of a rotating seat and a sliding door as an example, after the seat decision module issues a seat rotation command to the seat control module and controls the rotating seat to start rotating towards the first target position, it does not terminate the monitoring of the sliding door position information. The seat decision module continuously obtains the real-time opening information of the sliding door through the sliding door decision module to update the position information of the sliding door.

[0120] During the rotation of the rotating seat, the seat decision module compares the real-time opening of the sliding door obtained with the target interference range with each update to determine whether the real-time opening of the sliding door has changed from outside the target interference range to inside the target interference range.

[0121] If the sliding door has moved to the second target position through linkage control before the rotating seat starts to rotate, and the second target position is outside the target interference range, then the initial opening of the sliding door is in a non-interference state.

[0122] During the rotation of the rotating seat, if the sliding door begins to move in the closing direction due to the user's active operation or other control commands from the system, the real-time opening degree of the sliding door may gradually increase, changing from a smaller opening degree value outside the target interference range to an opening degree value greater than the calibrated value within the target interference range.

[0123] When the seat decision module detects that the real-time opening of the sliding door has moved from outside the target interference range to inside the target interference range, that is, when the opening of the sliding door changes from less than the lower limit of the interference range to greater than or equal to the lower limit, the seat decision module immediately sends a seat stop rotation command to the seat control module.

[0124] Upon receiving a stop rotation command, the seat control module controls the rotary motor to stop outputting torque, bringing the rotating seat to a stop at its current angle. Therefore, before the sliding door re-enters the interference zone but before it actually collides with the rotating seat, the movement of the rotating seat can be actively stopped, preventing an interference collision.

[0125] Simultaneously, the seat decision module sends an interference warning command to the display host unit. Responding to this command, the display host unit displays a text pop-up on the central control screen saying, "Please return the seat to its original position or set the door to manual closing," and outputs a corresponding voice prompt through the speaker. Upon hearing or seeing this prompt, the user is aware that the change in the sliding door's position poses an interference risk and needs to manually adjust the sliding door's position or cancel the current seat rotation.

[0126] For example, the user issues a motion command through the display host unit to rotate the swivel seat from 90° to 0°. The seat decision module detects that the sliding door is in the 100% fully closed position, which falls within the target interference range. Therefore, the seat decision module first controls the sliding door to open to the 0% fully open position.

[0127] After the sliding door reaches the fully open position, the seat decision module controls the rotating seat to begin rotating from 90° to 0°. During the rotation of the rotating seat, the user accidentally triggers the sliding door closing command via a physical button in the front row. The sliding door decision module responds to this closing command by sending a closing command to the sliding door control module, and the sliding door begins to slide from the 0% fully open position toward the closing direction.

[0128] The sliding door opening gradually increases from 0%. When the opening exceeds the lower limit of the target interference range, such as 30%, the seat decision module continuously monitors and detects that the updated real-time opening of 30% has fallen into the target interference range. At this time, the rotating seat has not yet rotated to the 0° target position, for example, the current angle is 45°, and it is still within the angle range where interference with the sliding door may occur.

[0129] At this point, the seat decision module immediately sends a stop rotation command to the seat control module, and the seat stops rotating at the 45° position. Simultaneously, the main unit displays a message: "Please return the seat to its original position or manually close the door." Based on this message, the user confirms that the issue was caused by the sliding door being accidentally triggered and closed. After manually opening the sliding door to the fully open position, the user sends the rotation command again, and the seat continues to rotate to the 0° target position.

[0130] This embodiment of the present disclosure continuously monitors the position information of the sliding door during the rotation of the rotating seat, and actively stops the rotation of the rotating seat when the sliding door re-enters the interference zone due to user misoperation or other system commands. This achieves full-time interference protection for the entire movement process and avoids the collision risk caused by the sliding door accidentally closing during rotation.

[0131] In some embodiments of this disclosure, optionally, when the first device is a sliding door and the second device is a rotating seat, and the rotating seat includes foldable fittings, controlling the second device to move to a second target position and controlling the first device to move to a first target position includes: Get the folding status of foldable accessories; When the folded state is in the stowed state and the position information of the rotating seat is out of the target interference range, control the sliding door to move to the first target position.

[0132] Optionally, in some embodiments of this disclosure, determining the location of the second target based on the location information of the second device includes: The location of the second target is determined based on the location information of the second device and the mapping relationship between the location information and the target location.

[0133] In this embodiment of the disclosure, exemplarily, when the first device is a sliding door and the second device is a rotating seat, the motion control method is applied to a scenario where the sliding door requests to close. The rotating seat includes a foldable accessory disposed on the rearward side of the seat back of the rotating seat. The foldable accessory is rotatable relative to the seat back between an unfolded state and a folded state. In the unfolded state, the foldable accessory extends from the seat back surface toward the rear of the vehicle, occupying additional lateral space in the vehicle width direction. In the folded state, the foldable accessory conforms to the seat back surface and does not increase the lateral dimension of the seat in the vehicle width direction.

[0134] For example, the foldable accessory includes a cup holder and a tray table. The cup holder is located in the lower area of ​​the seat back and is used to hold a cup. The tray table is located in the middle area of ​​the seat back and is used for rear passengers to place items. The cup holder and the tray table are each independently connected to the seat back via a pivot and are each equipped with a folding status sensor. The folding status sensor is used to detect whether the corresponding foldable accessory is currently in an unfolded or folded state.

[0135] When a user issues a motion command via the display host unit or physical buttons to instruct the sliding door to close to the first target position, the motion command is transmitted to the sliding door decision module. In response to the motion command, the sliding door decision module acquires the current angle information of the rotating seat and determines the target interference range based on the closing direction of the sliding door.

[0136] If the current angle of the swivel seat falls within the target interference range, the sliding door decision module determines a second target position, which is the non-interference angle of the swivel seat. The sliding door decision module sends a seat return request to the seat decision module, which then controls the swivel seat to move towards the second target position, so that the position information of the swivel seat is removed from the target interference range.

[0137] Before or during the movement of the rotating seat controlled by the seat decision module to move to the second target position, the sliding door decision module or the seat decision module obtains the folding state of the foldable accessory.

[0138] For example, the seat control module uses folding status sensors to detect in real time whether the cup holders and tabletops are in the unfolded or folded state, and reports the folding status information to the seat decision module via the communication bus. After sending a seat return request to the seat decision module, the sliding door decision module obtains the folding status information from the seat decision module.

[0139] When the position information of the rotating seat has moved out of the target interference range, that is, after the rotating seat has reached the second target position and the second target position is outside the target interference range, the sliding door decision module determines whether the folding state of the foldable accessory is the retracted state. If the foldable accessory is in the retracted state, the sliding door decision module determines that there are no additional interference obstacles on the closing path of the sliding door, and then sends a closing command to the sliding door control module to control the sliding door to move to the first target position.

[0140] If the foldable accessory is in the unfolded state, even if the angle of the rotating seat is within the non-interference range, the extra dimension of the unfolded foldable accessory extending in the vehicle width direction may still be located in the closing path of the sliding door, causing the foldable accessory to collide and interfere with the sliding door.

[0141] Therefore, when the sliding door decision module detects that the foldable component is in the unfolded state, it does not send a closing command to the sliding door control module, but instead sends a component interference warning command to the display host unit. In response to this interference warning command, the display host unit displays a corresponding text pop-up on the central control display screen and outputs a corresponding voice reminder through the speaker.

[0142] For example, when the cup holder is in the unfolded state, the display unit outputs a reminder message "Please retract the cup holder". When the tabletop is in the unfolded state, the display unit outputs a reminder message "Please retract the tabletop". When both the cup holder and the tabletop are in the unfolded state, the display unit outputs a combined reminder message "Please retract the cup holder and retract the tabletop".

[0143] After the user manually switches the unfolded foldable accessory to the stowed state according to the prompt, the folding status sensor detects the change and reports it to the seat decision module. The seat decision module then provides the updated folding status information to the sliding door decision module. The sliding door decision module again determines that the folding accessory is in the stowed state and then sends a closing command to the sliding door control module, controlling the sliding door to close to the first target position.

[0144] This embodiment of the present disclosure further determines the folding state of the foldable accessory after the seat angle position is out of the target interference range. When the foldable accessory is in the unfolded state, it prevents the sliding door from closing and outputs a clear prompt message to the user. This extends the anti-interference judgment of the sliding door from the angle position of the seat body to the unfolded state of the retractable accessory on the seat, thereby avoiding interference and collision between the cup holder or table and the sliding door in the unfolded state, and improving the safety of vehicle cabin motion control.

[0145] Optionally, in some embodiments of this disclosure, determining the location of the second target based on the location information of the second device includes: The location of the second target is determined based on the location information of the second device and the mapping relationship between the location information and the target location.

[0146] In this embodiment of the disclosure, when determining the location of the second target, the principle of proximity is adopted, that is, a location that is closest to the current location information of the second device and outside the target interference range is found as the location of the second target.

[0147] For example, taking a scenario of controlling the movement of a rotating seat and a sliding door as an example, when the user issues a movement command instructing the sliding door to close to a first target position, the first device is the sliding door, and the second device is the rotating seat. After determining that the current angle of the rotating seat falls within the target interference range, the sliding door decision module needs to determine the specific angle position to which the rotating seat should move to in order to escape the target interference range.

[0148] If the target interference range is between 5° and 175°, meaning the swivel seat angle is within this range, there is a risk of interference during the closing of the sliding door. The non-interference angles of the swivel seat are 0° and 180°, meaning the sliding door can only close safely when the swivel seat is at either 0° or 180°.

[0149] After obtaining the current position information of the rotating seat through the seat decision module, the side sliding door decision module determines the second target position based on the mapping relationship between the current position information and the preset non-interference target position.

[0150] For example, if the current angular position of the swivel seat is between 5° and 90°, the second target position is determined to be 0°. If the current angular position of the swivel seat is between 90° and 175°, the second target position is determined to be 180°.

[0151] When determining the second target position, the sliding door decision module reads the mapping relationship, compares the current angle of the rotating seat with the conditions in the mapping relationship, and selects the corresponding non-interference angle as the second target position.

[0152] For a specific example, the user issues a closing command to close the sliding door via the display host unit. The swivel seat is currently at a 45° angle. The sliding door decision module obtains the current angle of the swivel seat as 45° and determines the target interference range as 5° to 175° based on the closing direction of the sliding door.

[0153] The current angle of the rotating seat is 45°, which falls within the interference range of the target. Therefore, it is necessary to control the rotating seat to move to the second target position to escape the interference. The side sliding door decision module reads the mapping relationship and determines that the current angle of 45° is within the range of 5° to 90°. Based on the mapping relationship, the second target position is determined to be 0°.

[0154] The sliding door decision module sends a return-to-center request to the seat decision module, which includes a second target position of 0°. The seat decision module then sends a rotation command to the seat control module, which controls the rotation motor to drive the swivel seat to rotate from 45° to 0°.

[0155] The rotation path length of the rotating seat from 45° to 0° is 45°, which is the shortest path to reach the non-interference angle (0° or 180°) at that angle position. After the rotating seat reaches the 0° position, the sliding door decision module obtains that the rotating seat position information has left the target interference range, and then sends a closing command to the sliding door control module, and the sliding door closes.

[0156] This embodiment of the disclosure achieves the shortest possible movement path to leave the interference zone by returning to center, thereby reducing the time required for the seat to return to center and shortening the total time the user waits for the sliding door to close, thus improving the efficiency of the cabin equipment linkage control.

[0157] In some embodiments of this disclosure, a motion control device is also provided. Figure 4 Structural block diagrams of motion control devices according to some embodiments of the present disclosure are shown, such as... Figure 4 As shown, the motion control device 400 includes: an acquisition module 402, a determination module 404, and a control module 406.

[0158] The acquisition module 402 is used to acquire the position information of the second device among the at least two movable devices in response to a motion command that instructs the first device among at least two movable devices to move to a first target position; The determining module 404 is used to determine the target interference interval based on the first target position; and, if the position information of the second device falls within the target interference interval, to determine the second target position based on the position information of the second device; the second target position is located outside the target interference interval; The control module 406 is used to control the second device to move to the second target position and to control the first device to move to the first target position.

[0159] This embodiment of the disclosure obtains the current position information of the other two second devices before controlling the first device to move, and determines whether the second devices are located within a target interference range that could affect the movement of the first device to the first target position according to the first target position indicated by the motion command. If the second device is located within the target interference range, it is controlled to move to a second target position before controlling the first device to move to the first target position, that is, the second device is moved away from the target interference range that could interfere with the first device. Therefore, it can automatically avoid motion interference that may occur between different movable devices, and no user intervention is required in the process. Therefore, it can improve the intelligence of motion control and reduce the risk of collision.

[0160] In some embodiments of this disclosure, an electronic device is also provided, comprising: Memory, processor, and computer programs; The computer program is stored in memory and configured to be executed by a processor to implement the motion control method provided in the first aspect.

[0161] In some embodiments of this disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the motion control method provided in any of the above embodiments.

[0162] In some embodiments of this disclosure, a vehicle is also provided, comprising: The electronic device provided in any of the above embodiments; and / or The computer-readable storage medium provided in any of the above embodiments.

[0163] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0164] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motion control method, characterized in that, The method includes: In response to a motion command instructing a first device among at least two movable devices to move to a first target position, position information of the second device, one of the at least two movable devices, is acquired; Determine the target interference interval based on the first target location; If the location information of the second device falls within the target interference range, the location of the second target is determined based on the location information of the second device; the second target location is located outside the target interference range. Control the second device to move to the second target position, and control the first device to move to the first target position.

2. The method according to claim 1, characterized in that, The step of controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Obtain the location status of the first device and the second device; If the position state of the first device satisfies the first movement condition for moving the first device to the first target position, and the position state of the second device satisfies the second movement condition for moving the second device to the second target position, then control the second device to move to the second target position, and control the first device to move to the first target position. The method further includes: If the position of the first device does not meet the first motion condition, and / or the position of the second device does not meet the second motion condition, output the corresponding prompt information.

3. The method according to claim 1, characterized in that, The step of controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Control the second device to start moving towards the second target position and start the timer; If the timing duration has not reached the first duration and the position information of the second device has left the target interference range, the first device is controlled to move to the first target position; The method further includes: If the timing duration reaches the first duration and the position information of the second device still falls within the target interference range, the control of the first device to move towards the first target position is stopped, and a corresponding prompt message is output.

4. The method according to claim 1, characterized in that, The step of controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: When the position status of the second device meets the second movement condition for moving the second device to the second target position, control the second device to start moving towards the second target position, start timing and acquire the status information of the second device; If the status information of the second device indicates that it is in motion, update the location information of the second device; If the timing duration has not reached the first duration and the updated position information of the second device is outside the target interference range, the first device is controlled to move to the first target position; the first duration is greater than the second duration. The method further includes: If the timing duration reaches the first duration and the updated position information of the second device still falls within the target interference range, the motion command is blocked and a corresponding prompt message is output. Alternatively, if the timing reaches the second duration and the second device is in a static state, a corresponding prompt message may be output.

5. The method according to claim 1, characterized in that, Determining the target interference interval based on the first target position includes: Obtain the location information of the first device; The target interference interval is determined based on the location information of the first device, the location of the first target, and a preset mapping table.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the first device begins to move toward the first target location, the position information of the second device is updated; If the updated position information of the second device moves from outside the target interference range into the target interference range, the first device is controlled to stop moving, and a corresponding prompt message is output.

7. The method according to any one of claims 1 to 5, characterized in that, When the first device is a sliding door and the second device is a rotating seat, and the rotating seat includes foldable accessories, controlling the second device to move to the second target position and controlling the first device to move to the first target position includes: Obtain the folding state of the foldable accessory; When the folded state is the stowed state and the position information of the rotating seat is out of the target interference range, the sliding door is controlled to move to the first target position.

8. The method according to any one of claims 1 to 5, characterized in that, Determining the location of the second target based on the location information of the second device includes: The second target location is determined based on the location information of the second device and the mapping relationship between the location information and the target location.

9. A motion control device, characterized in that, include: The acquisition module is configured to acquire the position information of the second device among the at least two movable devices in response to a motion command instructing the first device among at least two movable devices to move to a first target position; The determination module is used to determine the target interference interval based on the first target position; as well as, If the location information of the second device falls within the target interference range, the location of the second target is determined based on the location information of the second device; the second target location is located outside the target interference range. The control module is used to control the second device to move to the second target position and to control the first device to move to the first target position.

10. An electronic device, characterized in that, include: Memory, processor, and computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-8.

12. A vehicle, characterized in that, include: The electronic device as claimed in claim 10; and / or The computer-readable storage medium as claimed in claim 11.

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