Vehicle control method, computer device, medium, program product, and vehicle
Patent Information
- Application Number
- PCT/CN2026/085093
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-21
- Filing Date
- 2026-03-23
- Publication Date
- 2026-09-24
Smart Images
Figure CN2026085093_24092026_PF_FP_ABST
Abstract
Description
Vehicle control methods, computer equipment, media, software products, and vehicles Cross-references to related applications
[0001] This application claims priority to Chinese patent application No. 202510344373.9, filed on March 21, 2025, and Chinese patent application No. 202510745302.X, also filed on March 21, 2025. Chinese patent application No. 202510745302.X is a divisional application of Chinese patent application No. 202510344373.9. The full text of both applications is incorporated herein by reference. Technical Field
[0002] This application relates to, but is not limited to, the field of intelligent vehicle control, specifically to a vehicle control method, computer equipment, storage medium, program product, and vehicle. Background Technology
[0003] With the development of vehicle technology, the demand for intelligent control of vehicle doors is constantly increasing. In modern vehicles, especially those with special tailgate structures (such as split-type tailgates), the safe operation of tailgates is of paramount importance. 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, a computer device, a storage medium, a program product, and a vehicle.
[0006] In a first aspect, embodiments of this application provide a vehicle control method, the vehicle including a body and a first door and a second door rotatably connected to the body; the first door and the second door are configured to be able to actively or passively rotate relative to the body, the first door being configured to cover and partially overlap the second door to close the body by rotation, and the first door and the second door defining a closed position, a non-safe zone where there is a probability of contact between them, and a safe zone where there is no contact between them. The method includes: acquiring the passive rotation amount of the first door and / or the second door; allowing the first door and / or the second door to perform active rotation functions when the passive rotation amount of the first door and / or the second door is not zero and the first door meets a preset condition; wherein, the preset condition includes a first preset condition or a second preset condition, the first preset condition being that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition being that the angle corresponding to the release position of the first door is within the angle subset range of the safe zone; disabling the active rotation function of the first door and / or the second door when the passive rotation amount of the first door and / or the second door is not zero and the first door does not meet the preset condition.
[0007] In some embodiments of this application, after both the first and second doors' active rotation functions are disabled, if the first door is in the closed position or in the safe zone, and / or the second door is in the safe zone or in the closed position, the active rotation functions of the first and second doors are allowed to be restored; if both the first and second doors' active rotation functions are disabled, if both the first and second doors are in the unsafe zone, the active rotation functions of the first and second doors remain disabled.
[0008] In some embodiments of this application, the lower limit of the angle subset range of the safety zone is preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening degree of the first door.
[0009] In some embodiments of this application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°.
[0010] In some embodiments of this application, the preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1.
[0011] In some embodiments of this application, the first door performs a memory function of the maximum opening angle of the door within a preset time period, including: the first door reaches a preset maximum opening angle within the preset time period.
[0012] Secondly, embodiments of this application provide a vehicle, including a body, a first door, a second door, a controller, a first drive unit, and a second drive unit. The first drive unit and the second drive unit are respectively connected to the first door and the second door, and the controller is communicatively connected to the first drive unit and the second drive unit. The controller is configured to drive the first door and the second door to rotate relative to the body by controlling the first drive unit and the second drive unit, respectively. The first door is configured to cover and partially overlap the second door to close the body by rotation. The first door and the second door define a closed position, a non-safe area where there is a probability of contact between them, and a safe area where they will not contact each other. The vehicle also includes sensors communicatively connected to the controller, and the sensors are configured... To obtain the passive rotation amount of the first door and / or the second door; the controller is configured to allow the first door and / or the second door to perform active rotation function when the passive rotation amount of the first door and / or the second door is not zero and the first door meets a preset condition; wherein, the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset range of the safe zone; the controller is further configured to disable the active rotation function of the first door and / or the second door when the passive rotation amount of the first door and / or the second door is not zero and the first door does not meet the preset condition.
[0013] In some embodiments of this application, the controller is further configured to, after disabling the active rotation function of both the first door and the second door, allow the restoration of the active rotation function of the first door and the second door when the first door is in the closed position or in the safe zone, and / or the second door is in the safe zone or in the closed position; the controller is further configured to, after disabling the active rotation function of both the first door and the second door, continue to disable the active rotation function of both the first door and the second door when both the first door and the second door are in the unsafe zone.
[0014] In some embodiments of this application, the lower limit of the angle subset range of the safety zone is preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening degree of the first door.
[0015] In some embodiments of this application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°.
[0016] In some embodiments of this application, the preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1.
[0017] In some embodiments of this application, the first door performs a memory function of the maximum opening angle of the door within a preset time period, including: the first door reaches a preset maximum opening angle within the preset time period.
[0018] Thirdly, embodiments of this application provide a computer device, including: at least one processor; at least one memory communicatively connected to the at least one processor, wherein the at least one memory stores computer-executable instructions, and the at least one processor is configured to read the computer-executable instructions from the at least one memory and execute the computer-executable instructions to perform the method of the first aspect or any corresponding embodiment described above.
[0019] Fourthly, embodiments of this application provide a non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by at least one processor, perform the method described in the first aspect or any corresponding embodiment.
[0020] Fifthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by at least one processor, performs the method described in the first aspect or any corresponding embodiment.
[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Other aspects will become clear after reading and understanding the accompanying drawings and detailed description. Attached Figure Description
[0022] To more clearly illustrate the technical solutions in the specific or optional embodiments of this application, the accompanying drawings used in the description of the specific or optional embodiments will be briefly introduced below. The accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0023] Figure 1 is a structural schematic diagram of a vehicle according to some embodiments of this application.
[0024] Figure 2 is a schematic diagram of the physical structure of the first and second doors fully opened according to some embodiments of this application.
[0025] Figure 3 is a schematic diagram of the physical structure of the first and second doors in the closed position according to some embodiments of this application.
[0026] Figure 4 is a schematic diagram of the first door performing the memory function of the maximum opening angle according to some embodiments of this application.
[0027] Figure 5 is a schematic diagram showing that the release position of the first door according to some embodiments of this application is within a subset of the angles of the safe zone.
[0028] Figure 6 is a flowchart of a vehicle control method according to an embodiment of this application.
[0029] Figure 7 is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0031] It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown here.
[0032] During daily vehicle use, users frequently open and close the tailgate, which involves tailgate movement control. Due to the spatial proximity of the upper and lower tailgates and the complexity of their electric operation, there is a risk of collision between the upper and lower tailgates. In existing vehicles, when a user slightly moves (e.g., gently pulls) the upper and lower tailgates, both tailgates lock and lose their electric function, requiring a power-on operation to restore their electric function. This can lead to a poor user experience, for example, when setting the tailgate to its maximum opening angle.
[0033] In view of this, embodiments of this application provide a vehicle control method, computer device, storage medium, program product, and vehicle to solve the problem that when a user operates the tailgate, a slight change in position causes the tailgate to lock and lose its electric function.
[0034] This application provides a vehicle, as shown in FIG1, including a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive unit 14, and a second drive unit 15. The first door 11 and the second door 12 are both rotatably connected to the vehicle body 10. The first drive unit 14 and the second drive unit 15 are respectively connected to the first door 11 and the second door 12. The controller 13 is communicatively connected to both the first drive unit 14 and the second drive unit 15. The controller 13 can drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first drive unit 14 and the second drive unit 15. The first door 11, by rotating, can cover and partially overlap the second door 12 to close the vehicle body 10. The first door 11 and the second door 12 define a closed position, a non-safe zone where there is a probability of contact between them, and a safe zone where they will not contact each other. FIG2 shows a schematic diagram of the structure where the first door 11 and the second door 12 are fully open. FIG3 shows a schematic diagram of the structure where the first door 11 and the second door 12 are in the closed position.
[0035] In this embodiment, the first door 11 can be the upper tailgate and the second door 12 can be the lower tailgate, but this embodiment is not limited to this.
[0036] In this embodiment, the first and second doors have two movement modes: active rotation and passive rotation. Active rotation refers to the door's ability to rotate purposefully via its own power drive device (such as a motor) according to instructions from the vehicle control system or user operation, thereby completing the opening or closing action. Passive rotation refers to the door's rotation caused by external forces applied by factors other than the vehicle control system. These external forces may come from various situations, such as the user manually pushing the door, the door encountering an obstacle during movement, or the door being subjected to force due to an external impact on the vehicle.
[0037] The definition of the closed position by the first door 11 and the second door 12 can be understood as follows: during the closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping it, thus forming a complete closed structure that isolates the interior of the vehicle body from the external environment. Furthermore, as the first door 11 and the second door 12 rotate relative to the vehicle body 10, they form different areas based on their movement trajectories and spatial relationships. The non-safe zone refers to the area where the first and second doors may come into contact during door rotation, usually due to changes in the door's movement trajectory and angle. The safe zone refers to the area where the first and second doors will not come into contact during door rotation.
[0038] In this embodiment of the application, the vehicle also includes a sensor 16 communicatively connected to the controller 13, the sensor 16 being used to acquire the passive rotation amount of the first door and / or the second door.
[0039] If the passive rotation amount of the corresponding first door and / or second door is not zero, and the first door meets the preset conditions, then both the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset of the safe zone.
[0040] Specifically, sensor 16 (using a Hall element in the motor) monitors the passive rotation of the first door 11 and / or the second door 12 in real time. Passive rotation is the change in rotation of the door caused by external forces (such as manual pushing or pulling by the user, collision with external objects, etc., forces not actively applied by the vehicle's own drive system). When the first door 11 and / or the second door 12 are passively rotated due to external factors, the Hall element connected to the door drive device senses the change in motor rotation and feeds back the relevant electrical signal to the controller 13.
[0041] When the passive rotation amount of the corresponding first door and / or second door detected by sensor 16 is not zero, it indicates that the door has been subjected to external interference. However, the active rotation function will not be immediately disabled at this time. Instead, it will be further determined whether the first door meets the preset conditions. If it does, both the first door and the second door are allowed to perform the active rotation function.
[0042] There are two preset conditions. As shown in Figure 4, the first preset condition is that the first door has performed the memory function of the maximum opening angle within a preset time. For example, if the owner previously set a maximum opening angle, and within the preset time range, when the door is passively rotated by an external force, if the condition of this memory function is met (i.e., the door opens to (e.g., greater than or equal to) the maximum opening angle set by the owner), it indicates that this passive rotation may be within the expected range of normal operation, so both doors are allowed to resume active rotation. In this embodiment, the door opening angle can refer to the angle between the door and the height direction of the vehicle.
[0043] As shown in Figure 5, the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset of the safe zone. The safe zone is a pre-defined area to ensure the safe rotation of the door, and the angle subset is a refined range of this safe zone in the angular dimension. When the first door is passively rotated by an external force, and the angle corresponding to its final release position is within the angle subset of this safe zone, it indicates that the door's position is safe and also meets the condition for allowing both doors to perform active rotation functions.
[0044] In this embodiment, the controller disables the active rotation function of both the first and second doors when the passive rotation amount of the corresponding first and / or second doors is not zero and the first door does not meet a preset condition. Disabling the active rotation function of the first and second doors in this embodiment can be understood as follows: after disabling the active rotation function of the doors, the controller will not respond to active control commands triggered by the user for these two doors, such as commands to open or close the doors issued by the user via buttons or remote control. At this time, the movement of the doors is determined solely by passive forces applied from the outside, completely losing the ability to execute active commands to rotate the doors through the drive device. This effectively avoids potential safety risks or mechanical failures caused by executing active control commands when the passive rotation amount of the doors is not zero and the first door does not meet the preset condition.
[0045] It should be noted that when the passive rotation amount of the corresponding first door and / or second door obtained by the controller is not zero, it indicates that the door has been subjected to external interference and has been passively rotated. At this time, the controller will not immediately decide to disable the active rotation function, but will further evaluate the state of the first door to determine whether it meets the preset conditions. If, after judgment, the first door does not meet these preset conditions, such as the first door not executing the memory function of the maximum opening angle of the door within the preset time (if the preset conditions include this content), and the angle corresponding to the release position of the first door is not within the angle subset of the safe zone (again, if the preset conditions include this requirement), etc., as long as all these preset conditions are not met, the controller will issue an instruction to disable the active rotation function of both the first and second doors.
[0046] This ensures that the vehicle will not actively rotate the door when it is unstable or in a potentially dangerous situation, thus avoiding problems such as door collisions and damage that may occur due to simultaneous active and passive rotation, and ensuring the safety of the door.
[0047] In some embodiments of this application, the controller is further configured to allow the restoration of the active rotation functions of the first and second doors after both doors have been disabled, if the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position.
[0048] The controller is also configured to continue disabling the active rotation functions of both the first and second doors if both doors are located in an unsafe area after the active rotation functions of both doors have been disabled.
[0049] Specifically, when the situation occurs where "the first door is in the closed position or in the safe zone, and / or the second door is in the safe zone or in the closed position," it indicates that at least one door is in a safe state (the closed position can be understood as completely closed, a safe state; the safe zone is a pre-defined area where the door will not pose a safety hazard). In this case, the controller considers the door state to have met the conditions for resuming active rotation function, so it will issue a command to allow the resumption of active rotation function for both the first and second doors. For example, if the first door is already closed (in the closed position), even if the second door may still be in the safe zone but not completely closed, the controller will still allow both doors to regain their active rotation capability, so the user can once again control the opening and closing of the doors through the vehicle's active system.
[0050] On the other hand, when both the first and second doors are located in an unsafe zone, it indicates that both doors are in unsafe zones (i.e., not in a safe location, potentially posing a risk of collision with surrounding objects), and the combination of their positions presents a potential risk. In this case, the controller considers the current door state unsuitable for resuming the active rotation function and therefore continues to disable the active rotation function for both doors. However, this application's embodiments are not limited to this. For example, when the first door is in an unsafe zone, and the second door is in a closed position, due to the unsafe state of the first door, to avoid potential dangers, the controller may also prevent both doors from resuming the active rotation function until the door positions change and the conditions for resumption are met.
[0051] Through such logical judgment and control operations, the controller in this application embodiment can flexibly decide whether to restore or continue to disable the active rotation function based on the actual position and state of the door, thereby effectively ensuring the safety and reliability of the door system.
[0052] In this embodiment, the lower limit of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening of the first door.
[0053] Specifically, a settings interface can be provided for users, allowing them to pre-set the lower limit of the safe zone angle subset range according to their own needs and habits. For example, considering the parking environment or personal usage preferences, users can set the lower limit to 30 degrees, meaning that the safe zone can only be entered when the opening angle of the first door is greater than or equal to 30 degrees.
[0054] Alternatively, the lower limit can be determined by learning and analyzing users' long-term operating habits. For example, after repeatedly recording the angle at which users open and close the first car door, it is found that users generally open the door at an angle greater than 25 degrees each time. In this case, 25 degrees would be used as the lower limit determined based on user operating habits. As for the upper limit of the safe zone angle subset, the maximum opening degree of the first car door will be automatically obtained. This maximum opening degree is determined by the vehicle's mechanical structure and design. For example, if the first car door can be opened to a maximum of 78 degrees, then 78 degrees will become the upper limit of the angle subset.
[0055] As an example, each time a user operates the first car door, a series of key information is recorded, including the start and end times of door opening, real-time angle changes during the opening process, and the final angle upon completion. This data is stored in real-time in a dedicated data repository. Over time, the data repository accumulates a large amount of user operation data. At this point, the algorithm's analysis phase begins, and data mining algorithms process the massive amount of data in the repository. First, the user operation data is sorted chronologically. Then, the minimum door opening angle for each operation is calculated, and these minimum values are arranged in ascending order. Next, statistical analysis methods, such as calculating the median and mode, are used to determine an angle value that represents the user's common operating habits. If the data follows a normal distribution, the median can be used as a reference for the lower limit; if there is a clear mode cluster, the angle corresponding to the mode may be more suitable. Finally, considering factors such as the vehicle's usage scenario, safety factors, and user experience, the calculated angle value is fine-tuned to determine the final lower limit.
[0056] In some embodiments of this application, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1, for example, N can be an integer greater than 1.
[0057] The lower limit of the safe zone's angle subset is set at 60°, meaning that a vehicle can only enter the safe zone's angle subset when the first door's opening angle reaches or exceeds 60°. The upper limit of the angle subset is 78°, meaning that the entire safe zone's angle subset applies up to 78° when the first door's opening angle is maximized.
[0058] The preset time refers to the Nth second after the passive rotation of the first and / or second door becomes zero. N can be an integer greater than 1. For example, if N is 3, the preset time is within 3 seconds after the door's passive rotation stops. Within this preset time, based on the door's angular position and the safe angle subset range of 60° to 78°, further judgment is made as to whether certain specific control conditions are met, such as whether to allow the resumption of active rotation function.
[0059] The solution provided in this application is applied to both stationary and moving scenarios of the car door. By acquiring the passive rotation amount of the first and / or second car door to monitor the door status in real time, regardless of whether the car door is stationary or moving, as long as the passive rotation amount is not zero, it indicates that the car door has been affected by external force and has rotated. At this time, combined with whether the first car door meets the preset conditions (executes the maximum opening angle memory function of the car door or the release position is within the safe zone angle subset), it is determined whether to allow or disable the active rotation function of the two car doors. When stationary, it can avoid danger caused by misoperation due to external force, and when moving, it can promptly avoid abnormal external force interference and prevent the car door from going out of control.
[0060] This embodiment provides a vehicle control method. The vehicle includes a body and a first door and a second door rotatably connected to the body. Both the first door and the second door are capable of actively or passively rotating relative to the body. The first door, by rotating, can cover and partially overlap the second door to close the body. The first door and the second door define a closed position, a non-safe zone where they may come into contact with each other, and a safe zone where they will not come into contact with each other. Figure 6 is a flowchart of a vehicle control method according to an embodiment of this application. As shown in Figure 6, the process includes the following steps S101 to S103.
[0061] In step S101, the passive rotation amount of the first door and / or the second door is obtained.
[0062] In this embodiment, the vehicle is equipped with specialized sensors, such as Hall effect sensors, which are strategically positioned at key points where the first and second doors connect to the vehicle body. These sensors are connected to the vehicle's controller via communication lines. When a door is passively rotated due to external forces (such as manual pushing or pulling by a user, or impact from an object), the sensing element inside the sensor undergoes corresponding physical changes as the relative position of the door and surrounding components changes. For example, the Hall element generates an electrical signal due to changes in the magnetic field. These changing signals are transmitted to the controller in real time. The controller analyzes and processes the signals, converting them into specific numerical values to accurately obtain the passive rotation amount of the first and / or second doors.
[0063] In step S102, if the passive rotation amount of the corresponding first door and / or second door is not zero, and the first door meets the preset conditions, both the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset of the safe zone.
[0064] In this embodiment, after the controller detects that the passive rotation amount of the first door and / or the second door is not zero, it immediately determines whether the first door meets a preset condition. For the first preset condition, the system pre-records the maximum door opening angle set by the user or the vehicle's default setting, and sets a preset time (e.g., within the Nth second after the passive rotation amount of the door becomes 0, where N is an integer greater than 1). When the door passively rotates, the controller monitors whether the first door has executed its memory function within the preset time, i.e., whether it has reached the pre-recorded maximum opening angle. If this condition is met, the first door is considered to meet the first preset condition. For the second preset condition, the system has pre-defined a subset of angles for the safe zone (with a lower limit of 60° and an upper limit of 78°). When the first door stops passively rotating, the controller obtains the angle information of its release position and compares it with the subset of angles for the safe zone. If the angle corresponding to the release position of the first door is within this range, the first door is considered to meet the second preset condition. As long as the first door meets either the first preset condition or the second preset condition, the controller will issue a command to allow the first and second doors to perform active rotation functions, such as automatic door opening and closing.
[0065] In step S103, if the passive rotation amount of the corresponding first door and / or second door is not zero, and the first door does not meet the preset conditions, then the active rotation function of the first door and the second door is disabled.
[0066] In this embodiment, after the controller detects that the passive rotation amount of the first door and / or the second door is not zero, it determines whether the first door meets the preset conditions. Following the aforementioned method of determining the first and second preset conditions, if the first door neither executes the memory function for the maximum opening angle within the preset time nor has the angle corresponding to its release position fall within the safe zone's angle subset—that is, if none of the preset conditions are met—the controller will quickly issue a disable command. This command is transmitted to the drive devices of the first and second doors via a communication line. Upon receiving the command, the drive devices immediately cut off the power supply to the active rotation function, thereby disabling the active rotation function of the first and second doors. This prevents door collisions or other problems caused by active rotation operations when the door status is unstable or there are safety hazards.
[0067] In this embodiment, disabling the active rotation function of the first and second doors can be understood as follows: after disabling the active rotation function of the doors, the controller will not respond to active control commands triggered by the user for these two doors, such as commands to open or close the doors issued by the user via buttons, remote control, etc. The controller will not execute these commands. At this time, the movement of the doors is determined only by the passive force applied by the outside, and the ability to rotate the doors by executing active commands through the drive device is completely lost. This effectively avoids safety risks or mechanical failures that may be caused by executing active control commands when the passive rotation amount of the doors is not zero and the first door does not meet the preset conditions.
[0068] This application does not rely solely on minor changes in the door's position to make judgments, but rather uses the amount of passive rotation of the door as a crucial initial condition. When a non-zero passive rotation is detected, the door state is not directly altered; instead, a further determination is made as to whether the first door meets preset conditions. Only when the first door fulfills the preset conditions—either by performing the maximum opening angle memory function within a preset time, or by the angle corresponding to its release position being within a subset of the safe angle range—will the first and second doors be allowed to perform active rotation. This means that even if a slight positional change triggers passive rotation, as long as the first door meets the preset conditions, the door will not arbitrarily lock and lose its electric function, effectively preventing door malfunctions caused by unintentional minor user operations.
[0069] In some embodiments of this application, after disabling the active rotation function of both the first and second doors, if the first door is in a closed position or in a safe zone, and / or the second door is in a safe zone or in a closed position, then the active rotation function of both the first and second doors is allowed to be restored; after disabling the active rotation function of both the first and second doors, if the first door is in a non-safe zone and the second door is in a non-safe zone, then the active rotation function of both the first and second doors remains disabled.
[0070] When the vehicle system disables the active rotation function of the first and second doors, it continuously monitors the door positions. If the first door is in the closed position, it means the door is fully closed and in a safe and stable state; or the first door is in a safe zone, indicating that its position will not pose a safety risk such as collision with the surrounding environment. Similarly, if the second door is in a safe zone or in the closed position, it is also a safe state. As long as the above conditions of "the first door being in the closed position or in the safe zone, and / or the second door being in the safe zone or in the closed position" are met, the vehicle's control system will determine that the current door state is suitable for restoring the active rotation function, and then issue a command to allow the first and second doors to regain the ability to actively rotate, so that the user can once again operate the door opening and closing through the vehicle's active control methods.
[0071] After disabling the active rotation function of the first and second doors, the vehicle system constantly monitors changes in door positions. If both the first and second doors are in an unsafe zone, the vehicle control system considers the overall state of the doors to still pose a safety hazard. As long as the condition of "both the first and second doors being in unsafe zones" is met, the control system will continue to disable the active rotation function of both doors to prevent damage or other safety accidents caused by active rotation, until the door positions change and the conditions for resuming the active rotation function are met. However, the embodiments of this application are not limited to this. For example, if at least one of the first and second doors is in an unsafe zone, the door in the unsafe zone may collide with surrounding objects, resulting in a dangerous situation. Even if the other door is in the closed position, the vehicle control system will consider the overall state of the doors to still pose a safety hazard. Therefore, as long as the condition that "at least one of the first door and the second door is located in a non-safe zone" is met, the vehicle control system will continue to maintain the disabled state of the active rotation function of the first and second doors, so as to avoid door damage or other safety accidents caused by active rotation, until the door position changes and the conditions for allowing the active rotation function to be restored are met.
[0072] In this embodiment, the lower limit of the angle subset range of the safety zone is an angle preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening of the first door.
[0073] It's important to note that, firstly, in the vehicle system's settings interface, users can manually input an angle value as a lower limit based on their needs and actual usage scenarios, thus completing the pre-setting. Simultaneously, the system activates a data collection function, recording and storing relevant data such as the door opening angle in the database each time the user operates the first door. Over time, once sufficient data has accumulated, the system uses data analysis algorithms, such as calculating the median, mode, or mean of these opening angle data, to reflect user operating habits and determine a lower limit value based on those habits. If the user has pre-set a lower limit value, that value is used first; otherwise, the value determined based on operating habits is used. For the upper limit of the angle subset, the system directly obtains the maximum opening degree of the first door in the vehicle design, which is determined by the door's mechanical structure and design parameters. Finally, combining the determined lower limit value and maximum opening degree as the upper limit value, the range of the safe zone's angle subset is defined.
[0074] In this embodiment, the lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°. The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1, for example, N can be an integer greater than 1.
[0075] The lower limit of the safe zone's angle subset is set at 60°, meaning that a vehicle can only enter the safe zone's angle subset when the first door's opening angle reaches or exceeds 60°. The upper limit of the angle subset is 78°, meaning that the entire safe zone's angle subset applies up to 78° when the first door's opening angle is maximized.
[0076] The preset time refers to the Nth second after the passive rotation of the first and / or second door becomes zero. Here, N is an integer greater than 1. For example, when N is 3, the preset time is within 3 seconds after the door's passive rotation stops. Within this preset time, based on the door's angular position and the safe angle subset range of 60° to 78°, further judgment is made as to whether certain specific control conditions are met, such as whether to allow the resumption of active rotation function.
[0077] The control method provided in this application is applied to both stationary and moving scenarios of the car door. Because the door status is monitored in real time by acquiring the passive rotation amount of the first and / or second doors, regardless of whether the door is stationary or moving, as long as the passive rotation amount is not zero, it means that the door is affected by an external force and rotates. At this time, combined with whether the first door meets the preset conditions (executes the maximum opening angle memory function of the door or the release position is within the safe zone angle subset), it is determined whether to allow or disable the active rotation function of the two doors. When stationary, it can avoid danger caused by misoperation due to external force, and when moving, it can respond to abnormal external force interference in a timely manner to prevent the door from going out of control.
[0078] Please refer to Figure 7, which is a schematic diagram of the structure of a computer device provided in an embodiment of this application. As shown in Figure 7, the computer device includes: one or more processors 40, one or more memories 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The components communicate with each other using different buses and can be installed on a common motherboard or otherwise as needed. The processor can process instructions executed within the computer device, including instructions stored in memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, multiple processors and / or multiple buses can be used with multiple memories if needed. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).
[0079] Processor 40 may be a central processing unit, a network processor, or a combination thereof. Processor 40 may further include hardware chips. These hardware chips may be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The programmable logic devices may be complex programmable logic devices (CLPs), field-programmable gate arrays (FPGAs), general-purpose array logic (GDAs), or any combination thereof.
[0080] The memory 20 stores instructions executable by at least one processor 40 to cause the at least one processor 40 to implement the method shown in the above embodiments when executing the instructions.
[0081] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 40, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0082] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.
[0083] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.
[0084] This application also provides a non-transitory computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.
[0085] This application does not rely solely on minor changes in the door's position to make judgments, but rather uses the amount of passive rotation of the door as a crucial initial condition. When a non-zero passive rotation is detected, the door state is not directly altered; instead, a further determination is made as to whether the first door meets preset conditions. Only when the first door fulfills the preset condition of remembering the maximum opening angle within a preset time, or when the angle corresponding to the first door's release position is within a subset of the safe angle range, will the first and second doors be allowed to perform active rotation. This means that even if a slight positional change triggers passive rotation, as long as the first door meets the preset conditions, the door will not arbitrarily lock and lose its electric function, effectively preventing door malfunctions caused by unintentional minor user operations.
[0086] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A vehicle control method, wherein, The vehicle includes a body and a first door and a second door rotatably connected to the body; both the first door and the second door are configured to rotate actively or passively relative to the body, the first door being configured to cover and partially overlap the second door to close the body by rotation, and the first door and the second door defining a closed position, a non-safe zone where there is a probability of contact between them, and a safe zone where there is no contact between them; the method includes: Obtain the passive rotation amount of the first door and / or the second door; When the passive rotation amount of the first door and / or the second door is not zero, and the first door meets the preset conditions, the first door and the second door are allowed to perform the active rotation function; wherein, the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset of the safe zone; If the passive rotation amount of the first door and / or the second door is not zero, and the first door does not meet the preset conditions, the active rotation function of the first door and the second door shall be disabled.
2. The method according to claim 1, wherein, After disabling the active rotation function of both the first and second doors, the active rotation function of the first and second doors may be restored when the first door is in the closed position or in the safe zone, and / or the second door is in the safe zone or in the closed position. After disabling the active rotation function of both the first and second doors, if both the first and second doors are located in the unsafe zone, the active rotation function of both doors shall continue to be disabled.
3. The method according to claim 1 or 2, wherein, The lower limit of the angle subset range of the safe zone is preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening of the first door.
4. The method according to any one of claims 1 to 3, wherein, The lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°.
5. The method according to any one of claims 1 to 4, wherein, The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1.
6. The method according to any one of claims 1 to 5, wherein, The first door performs a memory function for the maximum opening angle of the door within a preset time period, including: The first door reaches the preset maximum opening angle within the preset time.
7. A vehicle, comprising a body, a first door, a second door, a controller, a first drive unit, and a second drive unit, wherein the first drive unit and the second drive unit are respectively connected to the first door and the second door, and the controller is communicatively connected to both the first drive unit and the second drive unit; the controller is configured to drive the first door and the second door to rotate relative to the body by controlling the first drive unit and the second drive unit; the first door is configured to, by rotation, cover and partially overlap the second door to close the body; the first door and the second door define a closed position, a non-safe zone where there is a probability of contact between them, and a safe zone where there is no contact between them; wherein... The vehicle also includes sensors communicatively connected to the controller, the sensors being configured to acquire the amount of passive rotation of the first door and / or the second door; The controller is configured to allow the first door and / or the second door to perform active rotation functions when the passive rotation amount of the first door and / or the second door is not zero and the first door meets preset conditions; wherein, the preset conditions include a first preset condition or a second preset condition, the first preset condition is that the first door has performed the memory function of the maximum opening angle of the door within a preset time, and the second preset condition is that the angle corresponding to the release position of the first door is within the angle subset of the safe zone; The controller is further configured to disable the active rotation function of the first door and the second door when the passive rotation amount of the first door and / or the second door is not zero and the first door does not meet the preset condition.
8. The vehicle according to claim 7, wherein, The controller is also configured to allow the restoration of the active rotation function of the first door and the second door after both the active rotation function of the first door and the second door is disabled, provided that the first door is in the closed position or in the safe zone, and / or the second door is in the safe zone or in the closed position. The controller is further configured to, after disabling the active rotation function of both the first door and the second door, continue to disable the active rotation function of both the first door and the second door when both are located in the unsafe zone.
9. The vehicle according to claim 7 or 8, wherein, The lower limit of the angle subset range of the safe zone is preset by the user or determined according to the user's operating habits, and the upper limit of the angle subset range is the maximum opening of the first door.
10. The vehicle according to any one of claims 7 to 9, wherein, The lower limit of the angle subset range is 60°, and the upper limit of the angle subset range is 78°.
11. The vehicle according to any one of claims 7 to 10, wherein, The preset time is within the Nth second after the passive rotation amount of the first door and / or the second door becomes 0, where N is greater than 1.
12. The vehicle according to any one of claims 7 to 11, wherein, The first door performs a memory function for the maximum opening angle of the door within a preset time period, including: The first door reaches the preset maximum opening angle within the preset time.
13. A computer device, comprising: At least one processor; At least one memory communicatively connected to the at least one processor, the at least one memory storing computer-executable instructions, the at least one processor being configured to read the computer-executable instructions from the at least one memory and execute the computer-executable instructions to perform the method of any one of claims 1 to 6.
14. A non-transitory computer-readable storage medium, wherein, The non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by at least one processor, perform the method of any one of claims 1 to 6.
15. A computer program product comprising a computer program that, when executed by at least one processor, implements the method as described in any one of claims 1 to 6.