Vehicle control method and vehicle

Abstract

A vehicle control method and a vehicle. The control method comprises: in response to a collision signal indicating that a vehicle experiences a collision, controlling a door lock (20) of the vehicle to remain in a mechanical release position; in response to an electrical release requirement signal indicating that the door lock (20) is to be electrically released, controlling the door lock (20) to enter an electrical release position so as to electrically release the door lock (20); and after the door lock (20) has been electrically released, controlling the door lock (20) to reset to the mechanical release position.

Description

Vehicle control methods and vehicles Cross-reference to related applications

[0001] This application claims priority to Chinese patent application No. 202411403973.X, filed on October 09, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle control method and a vehicle. Background Technology

[0003] Vehicle door locks can generally be divided into two categories: mechanical door locks and electronic door locks. Mechanical door locks use mechanical structures for connection, while electronic door locks use electronic devices and circuits to open and close the door. Correspondingly, vehicle door locks generally have two opening methods: mechanical release and electric release. The door lock enters the electric release position or the mechanical release position according to the user's command. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0005] This application provides a vehicle control method and a vehicle.

[0006] This application provides a vehicle control method, comprising: in response to a collision signal indicating that a collision has occurred, controlling the vehicle's door lock to remain in a mechanically released position; in response to an electric release demand signal indicating an electric release door lock, controlling the door lock to enter an electric release position to electrically release the door lock; and after the electric release door lock is completed, controlling the door lock to reset to the mechanically released position.

[0007] In some embodiments, the vehicle includes a door controller, a door handle actuator, and an embedded door handle, the door handle actuator being electrically connected to the door controller and the door handle; the door controller controls the door handle actuator to actuate the door handle; the control method further includes: in response to a collision signal, sending a door handle actuation command to the door controller to control the door handle actuator to actuate the door handle; monitoring the current position of the door handle; stopping sending the door handle actuation command to the door controller if the current position of the door handle is a set deployment position; and continuing to send the door handle actuation command to the door controller if the current position of the door handle is not a set deployment position.

[0008] In some embodiments, sending a door handle ejection command to the door controller includes: sending a door handle ejection command to the door controller so that the door controller intermittently controls the door handle drive device to eject the door handle multiple times.

[0009] In some embodiments, the vehicle control method further includes: when sending a door handle ejection command to the door controller, sending a collision signal to the door controller, so that the door controller, if it does not receive a door handle ejection command and the current position of the door handle is not the set unfolding position, issues a self-drive signal for controlling the door handle drive device to drive the door handle to eject.

[0010] In some embodiments, the vehicle further includes a main power supply and an auxiliary power supply, both of which are connected to the door controller and the door handle drive, and the main power supply is used to supply power to the door controller and the door handle drive; the control method further includes: in response to a collision signal, controlling the main power supply to supply power to the door controller and the door handle drive; and when the power of the main power supply is lower than a set power, controlling the auxiliary power supply to supply power to the door controller and the door handle drive.

[0011] In some embodiments, the vehicle includes a door controller and a door lock motor, both of which are electrically connected to the door lock motor; the door controller is used to control the door lock motor to drive the door lock; the control method further includes: in response to a collision signal, sending an unlock command to the door controller to control the door lock motor to drive the door lock out of the locked state; monitoring the current state of the door lock; continuing to send the unlock command to the door controller when the current state of the door lock is locked; and stopping sending the unlock command to the door controller when the current state of the door lock is unlocked.

[0012] In some embodiments, sending an unlock command to the door controller includes: sending an unlock command to the door controller so that the door controller intermittently controls the door lock motor to drive the door lock out of the locked state multiple times.

[0013] In some embodiments, the vehicle includes a collision sensor for sensing whether a collision has occurred and generating a sensing signal, wherein the sensing signal includes a pulse width modulation (PWM) signal and a controller area network (CAN) signal; the control method further includes: acquiring the PWM signal and the CAN signal; and controlling the vehicle's door locks to remain in a mechanically released position in response to a collision signal indicating that a collision has occurred, including: controlling the vehicle's door locks to remain in the mechanically released position when either the PWM signal or the CAN signal includes the collision signal.

[0014] In some embodiments, the control method further includes: controlling the vehicle's door locks to remain in the electrically released position in the absence of a collision signal.

[0015] This application provides a vehicle, including a control system for implementing the aforementioned vehicle control method.

[0016] The vehicle control method and vehicle provided in this application automatically hold the vehicle's door locks in the mechanical release position upon receiving a collision signal indicating a collision, facilitating the user's mechanical release of the door locks. Upon receiving a signal instructing the user to electrically release the door locks, the system first electrically releases the door locks, and then automatically resets them to the mechanical release position. Thus, after a collision, except for electrical releases as instructed by the user, the vehicle's door locks remain in the mechanical release position. This helps prevent situations where the vehicle's power is depleted (battery low), preventing the user from being trapped inside the vehicle due to the door locks remaining in the electrically released position, thereby improving vehicle safety.

[0017] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the vehicle architecture provided in one embodiment of this application.

[0019] Figure 2 is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0020] Figure 3 is a flowchart illustrating a vehicle control method provided in another embodiment of this application.

[0021] Figure 4 is a schematic flowchart of a vehicle control method provided in another embodiment of this application.

[0022] Figure 5 is a flowchart illustrating a vehicle control method provided in another embodiment of this application.

[0023] Explanation of reference numerals in the attached drawings: 10: Control system; 20: Door lock; 30: Collision sensor; 40: Door controller; 50: Door handle drive device; 60: Door handle; 70: Door lock motor; 81: Main power supply; 82: Auxiliary power supply. Detailed Implementation

[0024] In related technologies, once a vehicle's door lock enters the electrically or mechanically released position according to a user command, it maintains that open mode until a user command indicating a switch to a different opening mode is received, thus adapting to the user's needs. However, in the event of a collision, the vehicle may malfunction or lose power. If the door lock remains in the electrically released position, it cannot be opened electrically or mechanically, potentially trapping the user inside the vehicle and posing a safety risk.

[0025] In view of this, embodiments of this application provide a vehicle control method and a vehicle to optimize vehicle safety performance.

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings.

[0027] Referring to Figure 1, this application embodiment provides a vehicle, including a control system 10 and a door lock 20. In some embodiments, the control system 10 is a vehicle controller. In other embodiments, the control system 10 may be other types of controllers.

[0028] In some embodiments, the vehicle further includes a collision sensor 30 connected to the control system 10 for sensing whether a collision has occurred. The collision sensor 30 generates a sensing signal and transmits the sensing signal to the control system 10. When a collision is detected, the sensing signal includes a collision signal.

[0029] In some embodiments, the vehicle includes a door controller 40, a door handle actuator 50, and a door handle 60. The door controller 40 is electrically connected to the control system 10. The door handle actuator 50 is electrically connected to both the door controller 40 and the door handle 60. In some embodiments, the door handle 60 is embedded, and the door controller 40 receives instructions from the control system 10 to control the door handle actuator 50 to eject or retract the door handle 60.

[0030] In some embodiments, the vehicle further includes a door lock motor 70 electrically connected to the door controller 40. The door lock motor 70 is also electrically connected to the door lock 20. The door controller 40 controls the door lock motor 70 to drive the door lock 20 into or out of a locked state.

[0031] In some embodiments, the vehicle includes a main power supply 81 and an auxiliary power supply 82, both of which are connected to the door controller 40 and the door handle drive device 50. Both the main power supply 81 and the auxiliary power supply 82 can supply power to the door controller 40 and the door handle drive device 50. Furthermore, both the main power supply 81 and the auxiliary power supply 82 are electrically connected to the control system 10, providing power to the control system 10. The main power supply 81 and the auxiliary power supply 82 are also electrically connected to the aforementioned collision sensor 30 and door lock motor 70, providing power to the collision sensor 30 and the door lock motor 70.

[0032] Referring to Figure 2, this application embodiment provides a vehicle control method applied to the aforementioned vehicle control system, the control method including steps S11 to S13.

[0033] In step S11, in response to a collision signal indicating that a vehicle collision has occurred, the vehicle door locks are controlled to remain in the mechanically released position.

[0034] The collision sensor detects whether a collision has occurred, generates a sensing signal, and sends it to the control system. When the collision sensor detects a collision, this sensing signal includes a collision signal. When the control system receives this collision signal, it indicates a collision has occurred, and automatically keeps the vehicle's door locks in the mechanically released position. The user can unlock the doors using the mechanical release mechanism. The process of the collision sensor sending the collision signal to the control system after detecting a collision continues for a set duration, ignoring status feedback. This improves the stability and continuity of the collision signal transmission, avoiding signal loss due to excessively short transmission times. For example, this set duration is 4 seconds.

[0035] In step S12, in response to the electric release request signal indicating that the electric release door lock is activated, the door lock is controlled to enter the electric release position to electrically release the door lock.

[0036] After holding the door lock in the mechanical release position, if the control system receives an electric release request signal indicating that the electric release door lock is in operation, it means that the signal transmission is normal and there is still power available for the electric release door lock. At this time, the door lock is controlled to enter the electric release position according to the user's needs, so that the user can release the door lock by electric release.

[0037] In step S13, after the electric release of the door lock is completed, the door lock is controlled to reset to the mechanical release position.

[0038] After the door lock is electrically released according to the user's needs, the door lock is controlled to return to the mechanical release position and remain in the mechanical release position.

[0039] The vehicle control method provided in this application automatically keeps the vehicle's door locks in the mechanical release position upon receiving a collision signal indicating a collision, facilitating the user's mechanical release operation. Upon receiving an electrical release request signal instructing the door locks to be electrically released, the door locks are first electrically released, and then automatically reset to the mechanical release position. Thus, after a collision, except for electrical releases as instructed by the user, the vehicle's door locks remain in the mechanical release position. This helps prevent situations where the vehicle's power is depleted (battery low), preventing the user from being trapped inside the vehicle due to the door locks remaining in the electrically released position, thereby improving vehicle safety.

[0040] In some embodiments, the sensing signals include pulse width modulation (PWM) signals and controller area network (CAN) signals. The control method further includes acquiring the PWM signal and the CAN signal. In response to a collision signal indicating a vehicle collision, controlling the vehicle's door locks to remain in the mechanically released position includes: controlling the vehicle's door locks to remain in the mechanically released position when either the PWM signal or the CAN signal includes the collision signal. Thus, transmitting the collision signal using both PWM and CAN signals provides backup and redundancy, which helps avoid collision signal transmission loss and improves the stability of collision signal transmission. Specifically, for the PWM signal, the collision sensor sends a first PWM signal when the vehicle is in a normal state, and a second PWM signal, different from the first PWM signal, when the vehicle is in a collision state. When the control system receives the second PWM signal, it determines that a vehicle collision has occurred. Correspondingly, a specific CAN signal is set to distinguish the collision signal from other signals.

[0041] In some embodiments, the control method further includes: maintaining the vehicle's door locks in the electrically released position when no collision signal is received. With the door locks always in the electrically released position, upon a user requesting unlocking, the control system receives the user's instruction, determines its validity, and forwards the control. The user can unlock the door using the internal or external electric unlock button or the internal emergency handle. In this case, the external handle cannot mechanically drive the door lock. This design minimizes the need for users to use electric unlocking, reducing mechanical operations and improving user comfort. Essentially, it changes the default holding position of the vehicle's door locks based on whether a collision signal is received. When a collision signal is received, the vehicle's door locks are maintained in the mechanically released position to ensure the reliability of the door lock operation in special circumstances, prioritizing safety. When no collision signal is received, the vehicle's door locks are maintained in the electrically released position to ensure the convenience of door lock operation under normal driving conditions, prioritizing user comfort. This allows for adjustment of the default holding position of the vehicle's door locks according to different vehicle conditions, meeting the user's current needs and optimizing the user experience.

[0042] In some embodiments, the vehicle includes a door controller, a door handle drive, and an embedded door handle. The door handle drive is electrically connected to the door controller. The door controller controls the door handle drive to extend the door handle. During normal vehicle operation, the embedded door handle is in the recessed position, where it is hidden and the user cannot directly operate it. After being driven by the door handle drive, the door handle opens to the extended position, allowing the user to directly operate it to open the door. Referring to Figure 3, the control method further includes steps S21 to S25.

[0043] In step S21, in response to the collision signal, a door handle ejection command is sent to the door controller to control the door handle drive device to eject the door handle.

[0044] In some embodiments, sending a door handle ejection command to the door controller includes: sending a door handle ejection command to the door controller so that the door controller intermittently controls the door handle drive device to eject the door handle multiple times.

[0045] Sending the door handle eject command to the door controller includes continuously sending the command for a first duration. For example, continuously sending the command for 10 seconds. This helps reduce the risk of command loss and improves the reliability of command transmission.

[0046] After receiving the pop-out command, the door controller intermittently and repeatedly controls the door handle drive device to pop out the door handle. Specifically, after receiving the pop-out command, the door controller intermittently and repeatedly sends pop-out drive commands to the door handle drive device. Specifically, the door controller continuously sends pop-out drive commands to the door handle drive device until the duration of continuous sending of the pop-out drive command reaches a first interval. After the first interval duration is reached, the door controller continues to send pop-out drive commands to the door handle drive device within the first interval, and this cycle repeats multiple times. For example, each continuous sending of the pop-out drive command to the door handle drive device lasts for 200ms, with an interval duration set between each two continuous sending of the pop-out drive command, such as 50ms, 100ms, or 1s. This periodic control of the door handle drive device to pop out the door handle helps avoid malfunctions caused by signal loss or interference, ensuring the door handle pops out normally. Furthermore, setting the interval duration prevents the door handle drive device from jamming due to receiving pop-out drive commands too frequently, which helps improve the service life of the door handle and the door handle drive device and reduces power consumption.

[0047] In step S22, the current position of the door handle is monitored.

[0048] In step S23, it is determined whether the current position of the door handle is the set unfolded position.

[0049] This setting can be configured to be positioned where the user can directly operate the door handle manually.

[0050] If the current position of the door handle is the set unfolded position, then proceed to step S24; otherwise, proceed to step S25.

[0051] In step S24, the sending of door handle ejection commands to the door controller is stopped.

[0052] In step S25, the door handle ejection command is sent to the door controller.

[0053] Since the door handle cannot be directly operated by the user when it is in the embedded position, upon receiving a collision signal, a door handle ejection command is automatically sent to the door controller to control the door handle drive mechanism to eject the door handle, allowing the user to open the door using the handle. Furthermore, considering that the vehicle may be damaged after a collision, the embedded door handle might fail to eject properly due to signal transmission impairment, preventing the door from opening normally. After sending the door handle ejection command to the door controller, the current position of the door handle is fed back in real time to determine whether the door handle has opened to the preset extended position. Stopping the sending of the door handle ejection command to the door controller only when the door handle has opened to the preset extended position helps reduce the risk of the door handle failing to eject properly.

[0054] In some embodiments, when the current position of the door handle is not the set unfolded position, the control method further includes: issuing a self-driving signal to control the door handle drive device to drive the door handle to unfold. This is equivalent to the door controller setting a self-driving program so that if the control system fails to control the door handle drive device to unfold the door handle, the door controller will automatically control the door handle drive device to unfold the door handle, which helps to further ensure the normal unfolding of the door handle.

[0055] In some embodiments, the control method further includes: when sending a door handle ejection command to the door controller, sending a collision signal to the door controller, so that if the door controller does not receive a door handle ejection command and the current position of the door handle is not the set unfolding position, it issues a self-drive signal to control the door handle drive device to drive the door handle ejection. That is, after receiving the collision signal, the control system sends a door handle ejection command and a collision signal to the door controller. If the door controller does not receive a door handle ejection command and the current position of the door handle is not the set unfolding position, the door controller directly sends a self-drive signal to drive the door handle ejection, which helps to ensure that the door handle ejects normally, thereby facilitating the user to open the door using the door handle.

[0056] In some embodiments, the vehicle further includes a main power supply and an auxiliary power supply, both connected to the door controller and the door handle actuator, with the main power supply providing power to the door controller and the door handle actuator. Specifically, both the main power supply and the auxiliary power supply are connected to the door controller and the door handle actuator. During normal vehicle use, the main power supply powers the door controller and the door handle actuator, while the auxiliary power supply is in a dormant or off state. The control method further includes: in response to a collision signal, controlling the main power supply to power the door controller and the door handle actuator; and when the main power supply's charge level is lower than a set charge level, controlling the auxiliary power supply to power the door controller and the door handle actuator. This avoids the risk of the door controller and door handle actuator malfunctioning due to vehicle power depletion (battery failure) after a collision, thus improving the reliability of vehicle door lock switch control.

[0057] In some embodiments, the vehicle includes a door controller and a door lock motor, both of which are electrically connected to the door lock motor; the door controller is used to control the door lock motor to drive the door lock. Referring to Figure 4, the control method further includes steps S31 to S35.

[0058] In step S31, in response to the collision signal, an unlocking command is sent to the door controller to control the door lock motor to drive the door lock out of the locked state.

[0059] In some embodiments, sending an unlock command to the door controller includes: sending an unlock command to the door controller so that the door controller intermittently controls the door lock motor to drive the door lock out of the locked state multiple times.

[0060] Specifically, during the second duration, unlocking commands are continuously sent to the door controller.

[0061] After receiving the unlock command, the door controller intermittently and repeatedly controls the door lock motor to drive the door lock out of the locked state. Specifically, after receiving the unlock command, the door controller intermittently and repeatedly sends unlock drive commands to the door lock motor to unlock the door. More specifically, the door controller continuously sends unlock drive commands to the door lock motor until the duration of continuously sending the unlock drive command reaches a second duration. When the duration of stopping sending the unlock drive command reaches the second interval duration, the door controller continues to send the unlock drive command to the door lock motor within the second duration, and this cycle repeats multiple times. For example, the door controller continuously sends unlock drive commands to the door lock motor for 200ms, pauses for 1 second, and then continuously sends the unlock drive command to the door lock motor for another 200ms. This helps reduce the risk of the door lock failing to unlock normally and improves the reliability of door lock unlocking. At the same time, setting the interval duration prevents the door lock motor from jamming due to receiving unlock drive commands too frequently, thus helping to extend the lifespan of the door lock motor.

[0062] In step S32, the current status of the door lock is monitored.

[0063] In some embodiments, monitoring of the current state of the door lock begins when the duration for which the door controller controls the door lock motor to drive the door lock out of the locked state reaches a third duration. Specifically, monitoring of the current state of the door lock begins only after the duration for which the door controller sends the unlock drive command to the door lock motor reaches a third duration. If the duration for which the door controller sends the unlock drive command to the door lock motor has not reached a third duration, the current state of the door lock is not monitored. This saves on monitoring and subsequent judgment processes, thus saving computing power and energy consumption. For example, since the process of the door controller sending the unlock drive command is cyclical, the third duration can be determined based on the cycle period, for example, the duration of three cycle periods. That is, monitoring of the current state of the door lock begins after the door controller sends the unlock drive command to the door lock motor three times in a row.

[0064] In step S33, it is determined whether the current state of the door lock is locked.

[0065] If the current state of the door lock is locked, proceed to step S34; if the current state of the door lock is not locked, proceed to step S35.

[0066] In step S34, the unlock command is sent to the door controller.

[0067] In step S35, the sending of unlock commands to the door controller is stopped.

[0068] During normal vehicle operation, to prevent accidental door opening, the door locks are typically locked by default and require unlocking before opening. Upon receiving a collision signal, indicating a collision has occurred, an unlock command is automatically sent to the door controller to facilitate door opening. This sends the door lock motor to unlock the door. Considering the potential damage to the vehicle during a collision, the door lock status is monitored after sending the unlock command, providing real-time feedback on the unlocking process. If the door lock fails to unlock successfully, an unlock command is sent back to the controller to continue pushing the lock open. This reduces the risk of the door lock failing to unlock properly, preventing the user from opening the door.

[0069] After the control system sends the aforementioned door handle ejection command and / or unlocking command to the door controller, if the control system restarts due to a voltage drop, the control system will automatically return to its original operating process after the restart and continue to send the door handle ejection command and / or unlocking command sent before the restart.

[0070] Referring to Figure 5, a more complete example of the vehicle control method is provided here. This control method includes steps S401 to S427.

[0071] In step S401, the collision sensor detects whether a collision has occurred and generates a collision signal when a collision is detected.

[0072] In step S411, the control system responds to the collision signal by keeping the vehicle's door locks in the mechanically released position.

[0073] In step S412, the control system responds to the signal indicating the electric release request of the electric release door lock by controlling the door lock to enter the electric release position to electrically release the door lock.

[0074] In step S413, after the electric release of the door lock is completed, the control system controls the door lock to reset to the mechanical release position.

[0075] In step S421, the control system responds to the collision signal by sending an unlock command to the door controller.

[0076] In step S422, the control system monitors the current state of the door lock. The current state includes locked and unlocked states.

[0077] In step S423, the control system determines whether the current state of the door lock is locked.

[0078] If yes, proceed to step S421; otherwise, proceed to step S424.

[0079] In step S424, the control system stops sending unlock commands to the door controller.

[0080] In step S425, the control system sends a door handle ejection command to the door controller to control the door handle drive device to eject the door handle.

[0081] In step S426, the control system determines whether the current position of the door handle is the set unfolded position.

[0082] If yes, proceed to step S427; otherwise, continue to step S425.

[0083] In step S427, the control system stops sending door handle ejection commands to the door controller.

[0084] In the description of this disclosure, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A method for controlling a vehicle, comprising: In response to a collision signal indicating that the vehicle has collided, the door lock (20) of the vehicle is controlled to remain in the mechanically released position; In response to an electrical release request signal indicating that the door lock (20) should be electrically released, the door lock (20) is controlled to enter the electrical release position to electrically release the door lock (20); After the door lock (20) is electrically released, the door lock (20) is controlled to reset to the mechanical release position.

2. The control method according to claim 1, wherein, The vehicle includes a door controller (40), a door handle drive (50), and an embedded door handle (60), wherein the door handle drive (50) is electrically connected to the door controller (40) and the door handle (60); The door controller (40) is used to control the door handle drive device (50) to drive the door handle (60) to pop out; the control method further includes: In response to the collision signal, a door handle ejection command is sent to the door controller (40) to control the door handle drive device (50) to drive the door handle (60) to eject; Monitor the current position of the door handle (60); If the current position of the door handle (60) is the set unfold position, stop sending the door handle pop-out command to the door controller (40); If the current position of the door handle (60) is not the set unfold position, the door handle pop-out command continues to be sent to the door controller (40).

3. The control method according to claim 2, wherein, Sending the door handle ejection command to the door controller (40) includes: Send the door handle pop-out command to the door controller (40) so that the door controller (40) intermittently controls the door handle drive device (50) to drive the door handle (60) to pop out multiple times.

4. The control method according to claim 2 or 3 further includes: When the door handle pop-out command is sent to the door controller (40), the collision signal is sent to the door controller (40) so that the door controller (40) issues a self-drive signal to control the door handle drive device (50) to drive the door handle (60) to pop out if it does not receive the door handle pop-out command and the current position of the door handle (60) is not the set unfolding position.

5. The control method according to any one of claims 2 to 4, wherein, The vehicle also includes a main power supply (81) and an auxiliary power supply (82), both of which are connected to the door controller (40) and the door handle drive device (50), and the main power supply (81) is used to supply power to the door controller (40) and the door handle drive device (50); the control method further includes: In response to the collision signal, the main power supply (81) is controlled to supply power to the door controller (40) and the door handle drive device (50); When the power of the main power supply (81) is lower than the set power, the auxiliary power supply (82) is controlled to supply power to the door controller (40) and the door handle drive device (50).

6. The control method according to any one of claims 1 to 5, wherein, The vehicle includes a door controller (40) and a door lock motor (70), both of which are electrically connected to the door lock motor (70). The door controller (40) is used to control the door lock motor (70) to drive the door lock (20); The control method further includes: In response to the collision signal, an unlocking command is sent to the door controller (40) to control the door lock motor (70) to drive the door lock (20) out of the locked state; Monitor the current status of the door lock (20); When the current state of the door lock (20) is the locked state, the unlock command continues to be sent to the door controller (40); When the current state of the door lock (20) is unlocked, the sending of the unlock command to the door controller (40) is stopped.

7. The control method according to claim 6, wherein, Sending the unlock command to the door controller (40) includes: Send the unlock command to the door controller (40) so that the door controller (40) intermittently controls the door lock motor (70) to drive the door lock (20) out of the locked state multiple times.

8. The control method according to any one of claims 1 to 7, wherein, The vehicle includes a collision sensor (30) for sensing whether the vehicle has collided and generating a sensing signal, wherein the sensing signal includes a pulse width modulation (PWM) signal and a controller area network (CAN) signal. The control method further includes: Obtain the PWM signal and the CAN signal; The step of controlling the door lock (20) of the vehicle to remain in the mechanically released position in response to a collision signal indicating that the vehicle has collided includes: When either the PWM signal or the CAN signal includes the collision signal, the door lock (20) is controlled to remain in the mechanical release position.

9. The control method according to any one of claims 1 to 8, further comprising: If no collision signal is received, the door lock (20) is controlled to remain in the electrically released position.

10. A vehicle, including a control system (10) for implementing a control method for the vehicle as claimed in any one of claims 1 to 9.

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