Vehicle control method, and vehicle, computer device and storage medium
Patent Information
- Application Number
- PCT/CN2026/084278
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-04-17
- Filing Date
- 2026-03-18
- Publication Date
- 2026-10-22
Smart Images
Figure CN2026084278_22102026_PF_FP_ABST
Abstract
Description
A vehicle control method, a vehicle, a computer device, and a storage medium. Cross-reference to related applications
[0001] This application claims priority to Chinese patent application No. 202510482049.3, filed on April 17, 2025, 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 control, specifically to a vehicle control method, a vehicle, a computer device, and a storage medium. Background Technology
[0003] With the development of automotive intelligence, various types of electric doors, such as electric side-opening double doors, electric sliding double doors, electric side-opening and sliding hybrid double doors, and electric tailgates, are becoming increasingly common in vehicles. The prerequisite for these electric doors to operate automatically is accurate position information and that their automatic operation function is not inhibited.
[0004] However, at present, when the electric gate loses its position or its automatic operation function is suppressed, it can only be learned and calibrated by manually pulling the electric gate. This manual calibration learning process is not only complicated to operate, but also prone to calibration errors, which makes it impossible for the electric gate to quickly restore its normal automatic operation function. Summary of the Invention
[0005] 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.
[0006] This application provides a vehicle control method, a vehicle, a computer device, and a storage medium.
[0007] In a first aspect, embodiments of this application provide a vehicle control method. The vehicle includes a body, a first door, and a second door. Both the first door and the second door are rotatably connected to the body and can actively and passively rotate relative to the body. The first door, by rotating, can cover and partially overlap the second door to close the body. The method includes: generating a door calibration command when the active rotation function of the first door and the second door is disabled; responding to the door calibration command, obtaining the reason for disabling the active rotation function of the first door and the second door; detecting the door position of the corresponding door among the first door and the second door according to the reason for disabling; and performing a door calibration operation according to the door calibration strategy corresponding to the door position.
[0008] In some embodiments of this application, the step of detecting the door position of the corresponding door among the first and second doors according to the reason for disabling includes: if the reason for disabling is abnormal movement of the first door and / or the second door, then detecting the first position of the first door and the second position of the second door, and determining the door position by analyzing the first position and the second position, wherein the abnormal movement is determined based on passive rotation data generated by the first door and / or the second door during rotation; or, if the reason for disabling is loss of position of the first door and / or the second door, then detecting the door position of the second door.
[0009] In some embodiments of this application, the step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: if the reason for the disablement is that the first door and / or the second door has abnormal movement, and the door position is that the distance between the first position and the closed position is less than the distance between the second position and the closed position, then the second door and the first door are sequentially controlled to rotate to the corresponding preset maximum opening position; when the second door and the first door are both in the corresponding preset maximum opening position, the second door and the first door are sequentially controlled to rotate to the closed position.
[0010] In some embodiments of this application, the step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: if the reason for the disablement is that the first door and / or the second door has abnormal movement, and the door position is any position other than the closed position for the first position and the closed position for the second position, then control the first door to rotate to the closed position.
[0011] In some embodiments of this application, the step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: if the reason for the disablement is that the first door and / or the second door has abnormal movement, and the door position is that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are sequentially controlled to rotate to the corresponding preset maximum opening position; when the first door and the second door are both in the corresponding preset maximum opening position, the second door and the first door are sequentially controlled to rotate to the closed position.
[0012] In some embodiments of this application, the step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: if the reason for the disablement is that the first door and / or the second door has lost its position, and the door position is that the second door is in the closed position, then control the first door to rotate to the closed position.
[0013] In some embodiments of this application, the step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: if the reason for the disablement is that the first door and / or the second door has lost its position, and the door position is that the second door is in any position other than the closed position, simultaneously control the first door and the second door to rotate to the corresponding maximum stall position at a preset rotation speed; when the first door and the second door are both in the corresponding maximum stall position, sequentially control the second door and the first door to rotate to the closed position.
[0014] In some embodiments of this application, generating the door calibration command includes: generating the door calibration command based on the trigger operation in response to detecting a trigger operation applied to a control button, wherein the control button is installed in the vehicle or in a key corresponding to the vehicle; or, generating the door calibration command based on the door calibration request in response to receiving a door calibration request sent by a client associated with the vehicle.
[0015] In some embodiments of this application, after performing a door calibration operation according to a door calibration strategy corresponding to the door position, the method further includes: restoring the active rotation function of the first door and / or the second door.
[0016] In some embodiments of this application, the first door and the second door are applied to the rear door, side door, or sliding door of the vehicle.
[0017] 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 can 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 can cover and partially overlap the second door to close the body by rotating. The controller is configured to: acquire a door calibration command when the active rotation function of the first door and the second door is disabled; in response to the door calibration command, acquire the reason for the disabling of the active rotation function of the first door and the second door; detect the door position of the corresponding door among the first door and the second door according to the reason for disabling; and perform a door calibration operation according to the door calibration strategy corresponding to the door position.
[0018] In some embodiments of this application, the first door and the second door are applied to the rear door, side door, or sliding door of the vehicle.
[0019] Thirdly, embodiments of this application provide a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method described in the first aspect or any corresponding embodiment.
[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions configured to cause a computer to perform 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 embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of 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 a car door closing according to some embodiments of this application;
[0025] Figure 3 is a schematic diagram of a vehicle door in its maximum open position according to some embodiments of this application;
[0026] Figure 4 is a schematic flowchart of a vehicle control method according to some embodiments of this application;
[0027] Figure 5 is a flowchart illustrating another vehicle control method according to some embodiments of this application;
[0028] Figure 6 is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation
[0029] 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. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0030] According to the embodiments of this application, a vehicle control method and a vehicle are provided to solve the problem that currently, when an electric door loses its position or its automatic operation function is suppressed, it can only be calibrated and learned through complex and error-prone manual operations, making it difficult to quickly restore the normal automatic operation function.
[0031] It should be noted that the steps described in the embodiments of this application and the flowcharts in the accompanying drawings can be executed, for example, in a computer system including a set of computer-executable instructions. Although a logical order is shown in the flowcharts, in some cases, the described steps may be performed in a different logical order.
[0032] This application provides a vehicle, as shown in FIG1, which includes a vehicle body 10, a first door 11, a second door 12, a controller 13, a first drive unit 14, and a second drive unit 15. The first drive unit 14 and the second drive unit 15 are respectively connected to the first door 11 and the second door 12, and 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.
[0033] 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.
[0034] As shown in Figure 2, the closed position defined 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, during the rotation of the first and second doors relative to the vehicle body, different areas are formed based on their motion trajectories and spatial relationships, such as the aforementioned non-safety zone where there is a probability of contact between them and the safe zone where they will not contact each other. Figure 3 shows the positional relationship of the first and second doors when they are rotated to their maximum open positions.
[0035] In this embodiment, the controller 13 is configured to: generate a door calibration command when the active rotation function of the first door and the second door is disabled; respond to the door calibration command and obtain the reason for the disabling of the active rotation function of the first door and the second door; detect the door position of the corresponding door in the first door and the second door according to the reason for disabling; and perform a door calibration operation according to the door calibration strategy corresponding to the door position.
[0036] In this embodiment, the controller 13 is specifically configured to: generate a door calibration command based on the trigger operation in response to detecting a trigger operation applied to the control button, wherein the control button is installed in the vehicle or in the key corresponding to the vehicle; or, generate a door calibration command based on the door calibration request in response to receiving a door calibration request sent by the client associated with the vehicle.
[0037] In this embodiment of the application, the controller 13 is specifically configured as follows: if the reason for disabling is abnormal movement of the first door and / or the second door, the controller detects the first position of the first door and the second position of the second door, and determines the door position by analyzing the first and second positions. The abnormal movement is determined based on the passive rotation data generated by the first door and / or the second door during rotation. Alternatively, if the reason for disabling is loss of position of the first door and / or the second door, the controller detects the door position of the second door.
[0038] In this embodiment, the controller 13 is specifically configured as follows: if the reason for disabling is that the first door and / or the second door moves abnormally, and the door position is such that the distance between the first position and the closed position is less than the distance between the second position and the closed position, then the second door and the first door are sequentially controlled to rotate to the corresponding preset maximum opening position; when both the second door and the first door are in the corresponding preset maximum opening position, the second door and the first door are sequentially controlled to rotate to the closed position.
[0039] In this embodiment of the application, the controller 13 is specifically configured as follows: if the reason for disabling is that the first door and / or the second door moves abnormally, and the door position is that the first position is any position other than the closed position, and the second position is the closed position, then the controller controls the first door to rotate to the closed position.
[0040] In this embodiment, the controller 13 is specifically configured as follows: if the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are sequentially controlled to rotate to the corresponding preset maximum opening position; when both the first door and the second door are in the corresponding preset maximum opening position, the second door and the first door are sequentially controlled to rotate to the closed position.
[0041] In this embodiment, the controller 13 is specifically configured such that if the reason for disabling is that the first door and / or the second door has lost its position, and the door position is that the second door is in the closed position, then the controller controls the first door to rotate to the closed position.
[0042] In this embodiment, the controller 13 is specifically configured as follows: if the reason for disabling is that the first door and / or the second door has lost its position, and the door position is that the second door is in any position other than the closed position, the controller simultaneously controls the first door and the second door to rotate to the corresponding maximum stall position at a preset rotation speed; when the first door and the second door are both in the corresponding maximum stall position, the controller sequentially controls the second door and the first door to rotate to the closed position.
[0043] In the embodiments of this application, the first door and the second door are applied to the rear door, side door or sliding door of the vehicle.
[0044] It should be noted that the first and second doors can be flexibly applied to different parts of the vehicle. They can function as rear doors, opening vertically or in opposite directions. They can also be used as side doors, such as power sliding side doors, facilitating passenger entry and exit. Furthermore, they can be used as sliding doors. Regardless of the application, when the active rotation function of the first and second doors is disabled, a door calibration command is generated. The command retrieves the reason for the disabling, detects the corresponding door position based on the reason, and executes calibration according to the calibration strategy corresponding to the door position, thereby ensuring the safety of subsequent door operation.
[0045] In this embodiment, the controller 13 is also configured to restore the active rotation function of the first door and the second door.
[0046] This embodiment provides a vehicle control method. Figure 4 is a flowchart of a vehicle control method according to an embodiment of this application. As shown in Figure 4, the process includes the following steps.
[0047] Step S101: When the active rotation function of the first and second doors is disabled, a door calibration command is generated.
[0048] In this embodiment, various reasons (such as abnormal door movement, door position loss, mechanical failure, etc.) may disable the active rotation function of the first and second doors, thus preventing the automatic door operation function from functioning properly. In this situation, the vehicle enters a state of waiting for door calibration instructions in order to perform subsequent door calibration operations.
[0049] In this embodiment of the application, generating a door calibration instruction includes the following steps A1-A2.
[0050] Step A1: Detect the trigger operation applied to the control button.
[0051] Specifically, the control buttons can be installed in specific locations on the vehicle, such as the center console, door trim panels, or tailgate—positions easily accessible to the driver or passengers. This allows occupants inside the vehicle to easily locate and operate the button when the door malfunctions. Alternatively, the control buttons can be installed on the corresponding vehicle key. Even when outside the vehicle, occupants can trigger the door calibration process by pressing a button on the key.
[0052] Control buttons installed on a vehicle are typically connected to the vehicle's controller. When a button is pressed, it generates a change in electrical signal, which is detected by the controller. The controller uses an internal algorithm to identify this signal and determine whether it is a valid door calibration command trigger operation.
[0053] When a control button on the key is pressed, the key's internal circuitry converts this action into a specific radio signal (e.g., using Bluetooth, RFID, or other wireless communication technologies) and sends it out. The corresponding wireless receiver on the vehicle (such as an antenna and receiver) receives this signal and transmits it to the vehicle's controller for processing. The controller then uses relevant algorithms to determine whether the signal is a valid door calibration command.
[0054] Step A2: In response to the detection of a trigger operation on the control button, a door calibration command is generated based on the trigger operation, wherein the control button is installed in the vehicle or in the key corresponding to the vehicle.
[0055] Specifically, when a valid trigger operation from a control button (whether on the vehicle or the key) is detected, the controller generates a door calibration command.
[0056] Step S102: Respond to the door calibration command and obtain the reason why the active rotation function of the first and second doors is disabled.
[0057] In this embodiment, after a door calibration command is generated, the system responds by querying the reasons why the active rotation functions of the first and second doors are disabled. Reasons for disabling include, but are not limited to: abnormal movement of the first and / or second doors, loss of position of the first and / or second doors, or mechanical malfunction of the doors.
[0058] In this embodiment of the application, the process for determining when the first door and / or the second door undergoes abnormal movement is as follows: During the rotation of the first door and / or the second door, the passive rotation data generated by the door is acquired in real time using the sensor 16. The passive rotation data includes, but is not limited to, at least one of the following: door rotation speed, rotation acceleration, rotation distance, change in door opening within a set time range, change in rotation speed, or change in displacement of a fixed point on the door.
[0059] Next, the real-time position of the first door and / or the second door that is currently generating passive rotation data is obtained. Based on the mapping relationship between the preset opening range and the preset abnormal rotation data, the corresponding preset abnormal rotation data is determined according to the preset opening range in which the real-time position falls.
[0060] It should be noted that this mapping relationship represents the correspondence between different preset opening ranges and different preset abnormal rotation data. This preset abnormal rotation data is used to determine whether the door's movement within the corresponding opening range is abnormal. The preset abnormal rotation data includes at least one of the following: preset door rotation speed, preset rotation acceleration, preset rotation distance, preset change in door opening within a set time range, preset change in door rotation speed within a set time range, or preset change in displacement of a fixed point on the door within a set time range. Once the target opening range within which the first and / or second door openings fall is determined, the controller obtains the preset abnormal rotation data corresponding to the target opening range based on this mapping relationship. For example, if the target opening range is determined to be "60%-80%", and the corresponding preset abnormal rotation data is "the opening change exceeds 20% within 500ms", the controller will determine whether the door is moving abnormally based on the above data.
[0061] It should be noted that both the first and second doors are equipped with at least two preset opening ranges. Within different preset opening ranges corresponding to the first door, preset abnormal rotation data identifies abnormal movement of the first door by setting a time range and the amount of rotation change. The size of the preset opening range (e.g., 40%-60%, 60%-80%, 80%-100%) is inversely proportional to the size of the corresponding set time range (e.g., 1s, 500ms, 300ms), and the size of the preset opening range (e.g., 40%-60%, 60%-80%, 80%-100%) is directly proportional to the size of the corresponding rotation change (e.g., 10%, 20%, 30%). Within different preset opening ranges corresponding to the second door, preset abnormal rotation data identifies abnormal movement of the second door by setting a time range and the amount of rotation change. The size of the preset opening range is inversely proportional to the size of the corresponding set time range, and the rotation change amounts corresponding to each preset opening range can be the same or different.
[0062] The acquired passive rotation data is then compared with preset abnormal rotation data to determine if they match. If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, it indicates that the door's movement state is abnormal. At this time, the controller will send a disable command to the drive device that controls the active rotation of the first and second doors, respectively, so that the drive device stops supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first and second doors.
[0063] In this embodiment of the application, the process for determining the position loss of the first door and / or the second door is as follows.
[0064] During the active rotation of the first and / or second doors to their real-time positions, multiple sensors are used to determine if a position has been lost. When using an angle sensor, the rotation angle of the door relative to its fully closed position is continuously monitored, and the real-time angle data is compared with historical data. If there is an abnormal jump or interruption in the angle data, it is determined that a position loss may have occurred. When using a coordinate positioning device, the coordinate values of fixed points on the door in a specific coordinate system are measured in real time. Once the coordinate values show abnormal sudden changes (such as exceeding the door's range of motion) or the data cannot be obtained normally, it is determined that a position has been lost.
[0065] When a loss of position is detected in either the first or second door, it means that the door's movement is no longer accurately monitored and controlled, potentially posing a safety hazard. In this situation, the controller sends disable commands to the first and second drive units that control the active rotation of the first and second doors, respectively. These commands cause the first and second drive units to stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of both doors.
[0066] Step S103: Detect the door position of the corresponding door in the first and second doors based on the reason for disabling.
[0067] In this embodiment of the application, the detection of the door position of the corresponding door in the first door and the second door according to the reason for disabling includes: if the reason for disabling is that the first door and / or the second door has abnormal movement, then the first position of the first door and the second position of the second door are detected, and the first position and the second position are analyzed to determine the door position. The abnormal movement is determined based on the passive rotation data generated by the first door and / or the second door during the rotation process.
[0068] Specifically, the first door's position is acquired in real time using a position sensor (such as a Hall effect sensor) installed on the first door, while the second door's position is acquired using a position sensor installed on the second door. After acquiring these two position information, the first and second positions are analyzed to determine, for example, whether the first and second doors are open, closed, or partially open, and their relative positional relationship. By comprehensively analyzing this position information, the door's position is determined.
[0069] Step S104: Perform door calibration operation according to the door calibration strategy corresponding to the door position.
[0070] In this embodiment of the application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position, including the following steps B1-B2.
[0071] Step B1: If the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is less than the distance between the second position and the closed position, then control the second door and the first door to rotate to the corresponding preset maximum opening position in sequence.
[0072] Specifically, the first position can be the current position of a fixed point on the first door (e.g., a point set at the edge of the door). The distance between the first position and the closed position is the distance from this fixed point to the position that point should be when the door is fully closed. Similarly, the second position is the current position of a fixed point on the second door. The distance between the second position and the closed position is the distance from this fixed point to the position that the second door will be when it is closed.
[0073] When the active rotation function of the first and / or second doors is disabled due to abnormal movement (determined based on passive rotation data generated during door rotation), and measurement and comparison show that the distance between the first position and the closed position is less than the distance between the second position and the closed position, the following operations will be performed in chronological order: First, the controller sends a control command to the second drive unit of the second door, which controls the second door to rotate in the opening direction until it reaches the preset maximum opening position and stops. Next, after the second door stops at the preset maximum opening position, the controller sends a control command to the first drive unit of the first door, which controls the first door to rotate in the opening direction until it reaches the corresponding preset maximum opening position and stops.
[0074] Step B2: When both the second door and the first door are in their respective preset maximum opening positions, control the second door and the first door to rotate to the closed position in sequence.
[0075] Specifically, when both the first and second doors are in their respective preset maximum opening positions, they will close sequentially according to a time sequence: First, the controller sends a control command to the second drive unit of the second door, which then controls the second door to rotate in the closing direction, continuously monitoring its position until it reaches the closed position, that is, the fixed point on the second door moves to the position it should be when the door is fully closed. Then, after the second door closes, the controller sends a control command to the first drive unit of the first door, which then controls the first door to rotate in the closing direction, similarly continuously monitoring its position during the movement, until the fixed point on the first door moves to the position it should be when the first door is fully closed, at which point the first door also closes.
[0076] It's important to note that the preset maximum opening position can be set by the user or by the vehicle manufacturer. Specifically, it can be a position set by the user based on their own needs and preferences, allowing the door to open to its maximum extent. For example, if a user feels that a specific angle is most suitable for certain scenarios, they can set that angle as the maximum opening position. On the other hand, it could also be a safe opening position set by the automaker after considering factors such as safety, vehicle design, and functionality. In this position, the door can meet the needs of passengers getting in and out of the vehicle or retrieving items, while minimizing the risk of collisions due to excessive door opening angles.
[0077] In this embodiment, when the active rotation function of the first and / or second doors is disabled due to abnormal movement, the doors are sequentially controlled to rotate to a preset maximum opening position based on the distance relationship between the fixed points on the first and second doors and the closed position, and then orderly controlled back to the closed position. This process can effectively solve the problem of door position disorder caused by abnormal movement, allowing the two doors to rotate to the preset maximum opening position sequentially, facilitating the recalibration of position information. At the same time, based on the structural characteristics of the doors stacked to enclose the vehicle body, the operation sequence of opening the second door first and then the first door can avoid collisions caused by positional conflicts between the doors.
[0078] In this embodiment of the application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position, including: if the reason for disabling is that the first door and / or the second door has abnormal movement, and the door position is that the first position is any position other than the closed position, and the second position is the closed position, then the first door is controlled to rotate to the closed position.
[0079] Specifically, when the active rotation function of the first and / or second doors is disabled, and the reason for the disabling is that they have experienced abnormal movement, if it is found that the fixed point on the first door is in any position other than where it should be when the door is fully closed, while the fixed point on the second door is in the position it should be in when the door is fully closed, the controller sends a control command to the first drive device of the first door. The first drive device then controls the first door to rotate in the closing direction. During the rotation, the position information of the fixed point on the first door is continuously monitored, and the rotation state is adjusted in real time according to the position feedback, until the fixed point on the first door moves to the position it should be in when the door is fully closed, that is, the first door is finally in a fully closed state, thus completing the operation.
[0080] This application embodiment addresses the situation where abnormal movement disables the active rotation function, and the first door is not closed while the second door is closed. It operates only on the unclosed first door, avoiding interference with the normally closed second door and reducing unnecessary mechanical wear. By monitoring and dynamically adjusting the position of the first door's fixed point in real time, it can be quickly calibrated to a closed state.
[0081] In this embodiment of the application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position, including the following steps C1-C2.
[0082] Step C1: If the reason for disabling is abnormal movement of the first door and / or the second door, and the door position is such that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then control the first door and the second door to rotate to the corresponding preset maximum opening position in sequence.
[0083] Specifically, when the active rotation function of the first and / or second doors is disabled, and the reason for the disabling is that they have abnormal movement, and it is found that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, the operation begins in chronological order: the controller sends a control command to the first drive device of the first door, which controls the first door to rotate along a predetermined path until it reaches the preset maximum opening position; after the first door stops at this position, the controller sends a control command to the second drive device of the second door, which controls the second door to also rotate to the corresponding preset maximum opening position.
[0084] Step C2: When both the first door and the second door are in their respective preset maximum opening positions, control the second door and the first door to rotate to the closed position in sequence.
[0085] Specifically, once the first and second doors are both in their respective preset maximum opening positions, the doors are closed sequentially: First, the controller sends a control command to the second drive unit of the second door, which controls the second door to rotate in the closing direction, moving it along a predetermined trajectory. During the movement, the position information is monitored in real time, and the rotation state is adjusted according to the feedback until the fixed point on the second door reaches the position it should be when the door is fully closed, thus achieving full closure of the second door. After the second door is successfully closed, the controller sends a control command to the first drive unit of the first door, which controls the first door to rotate in the closing direction, similarly adjusting according to real-time position feedback until the fixed point on the first door also reaches the position it should be when the door is fully closed.
[0086] This application provides differentiated calibration strategies for different situations where the active rotation function of a car door is disabled due to abnormal movement. Based on the distance relationship between the two doors and their closed positions, the opening sequence of the doors is precisely controlled, prioritizing the opening of doors farther from the closed position or those in abnormal positions to avoid interference between doors and ensure a safe and orderly opening process. The doors are then rotated to a preset maximum opening position to facilitate the reacquisition of accurate position information. Subsequent door closures are controlled sequentially to ensure the accuracy and stability of the calibration operation. Compared to traditional manual calibration, this solution requires no manual intervention, automatically identifies and handles door abnormalities, improves calibration efficiency, quickly restores the normal automatic operation function of the doors, reduces operational complexity and error probability, and optimizes the user experience.
[0087] This embodiment provides a vehicle control method. Figure 5 is a flowchart of a vehicle control method according to an embodiment of this application. As shown in Figure 5, the process includes the following steps.
[0088] Step S201: When the active rotation function of the first and second doors is disabled, a door calibration command is generated.
[0089] In this embodiment of the application, generating a door calibration instruction includes the following steps D1-D2.
[0090] Step D1: Receive a door calibration request sent by the client associated with the vehicle.
[0091] Specifically, the vehicle and the client establish a connection via a wireless network. The client (such as a mobile app) has a dedicated entry point for door calibration requests. After the user triggers a door calibration request on the client, the client encodes the request information and encapsulates it into a data packet of a specific format using a network protocol before sending the packet over the network. The vehicle's communication module continuously monitors network signals. Once it receives a data packet containing the door calibration request, it parses and verifies it to confirm the request's legitimacy and completeness, thus completing the reception of the door calibration request.
[0092] Step D2: In response to receiving a door calibration request sent by the client associated with the vehicle, generate a door calibration command based on the door calibration request.
[0093] Specifically, after generating a door calibration request, the request information is analyzed to extract key instruction parameters, which are then converted into door calibration instructions that can be recognized and executed by the vehicle's interior.
[0094] Step S202: Respond to the door calibration command and obtain the reason why the active rotation function of the first and second doors is disabled.
[0095] In this embodiment, after generating the door calibration command, the system queries the reasons why the active rotation function of the first and second doors is disabled. Reasons for disabling include, but are not limited to: abnormal movement of the first and / or second doors, loss of position of the first and / or second doors, or mechanical malfunction of the doors, etc.
[0096] It should be noted that during the rotation of the first and / or second doors, the passive rotation data they generate (i.e., rotation-related data not generated by the active drive of the doors) is acquired in real time. When these data are detected, if the passive rotation data of the first and / or second doors matches the corresponding abnormal rotation data, it indicates that the first and / or second doors have undergone abnormal movement. At this time, the active rotation function of the first and second doors will be disabled simultaneously.
[0097] Position loss refers to the inability to accurately obtain the actual position information of a vehicle door during normal operation. Specifically, position sensors installed on the doors acquire real-time position information and compare it with historical position data and expected positions. When the system detects a discrepancy between the current and expected positions of the doors, and after multiple tests or specific judgment logic confirms that the actual position information of the doors cannot be accurately obtained—that is, when the information fed back by the position sensors does not match the actual state of the doors—it is determined that the first and / or second doors have experienced position loss.
[0098] Step S203: Detect the door position of the corresponding door in the first and second doors according to the reason for disabling.
[0099] In this embodiment of the application, the detection of the door position of the corresponding door in the first door and the second door according to the reason for disabling includes: if the reason for disabling is that the first door and / or the second door has lost its position, then the detection of the door position of the second door.
[0100] Specifically, when it is determined that the reason for disabling the active rotation function is that the first door and / or the second door has lost its position, the position of the second door will be detected, the position information of a specific fixed point on the second door and the relationship between that position and the closed position of the door will be obtained, and other relevant data will be obtained to clarify the position of the second door.
[0101] Step S204: Perform door calibration operation according to the door calibration strategy corresponding to the door position.
[0102] In this embodiment of the application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position, including: if the reason for disabling is that the first door and / or the second door has lost its position, and the door position is that the second door is in the closed position, then the first door is controlled to rotate to the closed position.
[0103] Specifically, when it is confirmed that the active rotation function of the first and / or second doors is disabled due to position loss, and the door position sensor detects that the second door is in the closed position (i.e., the fixed point on the second door has reached the corresponding position when the door is fully closed), the system immediately sends a command to the drive motor of the first door. Upon receiving the command, the motor operates, driving the first door to rotate in the closing direction. During this process, the position sensor collects the position data of the first door's fixed point in real time and feeds it back to the system. Based on the feedback, the system dynamically adjusts the motor's operating parameters to ensure precise movement of the first door until its fixed point reaches the closed position.
[0104] In this embodiment of the application, the door calibration operation is performed according to the door calibration strategy corresponding to the door position, including the following steps E1-E2.
[0105] Step E1: If the reason for disabling is that the first door and / or the second door has lost its position, and the door position is that the second door is in any position other than the closed position, then control both the first door and the second door to rotate to the corresponding maximum stall position at a preset rotation speed.
[0106] Specifically, when it is determined that the reason for the disabled active rotation function of the first and / or second doors is a loss of position, and the position sensor (such as a Hall sensor) installed on the door detects that the second door is in any position other than the closed position, the calibration operation is initiated.
[0107] The controller first sends a control command to the first drive unit of the first door. According to the predetermined logic, the drive unit controls the first door to rotate towards its maximum blocking position at a preset rotation speed. During the rotation, the controller continuously monitors the position of the first door to ensure that the first door accurately reaches the maximum blocking position and stops at a stable preset speed. At the same time, the controller sends a control command to the second drive unit of the second door. The second drive unit also drives the second door to rotate towards its maximum blocking position at a preset rotation speed according to the predetermined logic. During this process, the controller continuously monitors the position of the second door to ensure that the second door also accurately reaches the maximum blocking position.
[0108] As an example, the controller simultaneously sends control commands to the first drive unit of the first door and the second drive unit of the second door. Following predetermined logic, the first drive unit controls the first door to rotate towards its maximum stall position at a preset rotation speed of 15° per second. During rotation, it continuously receives position information from Hall sensors and adjusts the motor's operating state in real time to ensure the first door accurately and stably reaches the maximum stall position and stops. Simultaneously, the second drive unit also follows predetermined logic, driving the second door, which is in a half-open state, to rotate towards its maximum stall position at the same preset rotation speed of 15° per second. By continuously monitoring the door position data from the Hall sensors, it precisely adjusts the motor, ensuring the second door also successfully reaches its maximum stall position, thus completing the calibration of both doors.
[0109] It should be noted that the maximum stall position refers to the position where, during the door calibration operation, the door cannot continue to rotate due to mechanical limitations or resistance while the door drive device is continuously operating and driving the door to rotate. The maximum stall position is greater than or equal to the preset maximum opening position in the aforementioned embodiments. Simultaneously, both the first and second doors are equipped with anti-collision components, such as rubber strips, on their edges. Therefore, in the event of position loss, when both doors are rotated simultaneously, even if the two doors accidentally come into contact, the anti-collision components can absorb the impact force through their elastic deformation, acting as a buffer to prevent direct collision between the door's metal components and effectively preventing scratches, dents, and other damage to the doors.
[0110] In this embodiment, synchronous operation avoids time differences caused by the sequential adjustment of the two doors, reducing the possibility of safety risks due to position loss. Furthermore, unified control at a preset speed ensures stable movement of both doors, allowing them to accurately reach their maximum blocking position and quickly calibrate even in the event of position loss.
[0111] Step E2: When both the first and second doors are in their respective maximum stall positions, control the second and first doors to rotate to the closed position in sequence.
[0112] Specifically, when both the first and second doors are in their respective maximum stall positions, the door closing operation begins. First, the controller sends a control command to the second drive unit of the second door, which controls the second door to rotate in the closing direction, moving it along a predetermined trajectory. During the movement, the position information is monitored in real time, and the rotation state is adjusted according to the feedback until the fixed point on the second door reaches the position it should be when the door is fully closed, thus achieving full closure of the second door. After the second door is successfully closed, the controller sends a control command to the first drive unit of the first door, which controls the first door to rotate in the closing direction, also adjusting according to real-time position feedback until the first door rotates to the closed position.
[0113] This application provides a precise calibration strategy for different scenarios where the automatic door's rotation function is disabled due to lost position information. When the second door is closed, only the first door is controlled to close, avoiding unnecessary operation on the normal doors. When the second door is not closed, both doors are first rotated sequentially to their maximum stall position to reacquire accurate position information, providing a reliable basis for calibration. Then, the doors are controlled to close in an orderly manner to ensure accurate calibration. Compared to traditional manual calibration, this solution eliminates the need for manual pulling, automatically identifying the door status and performing calibration. This avoids complex operations and error-prone issues, significantly improving calibration efficiency and quickly restoring the automatic door to normal operation. This effectively ensures the stability and convenience of door use, enhancing the user experience.
[0114] In this embodiment of the application, after performing the door calibration operation according to the door calibration strategy corresponding to the door position, the method further includes: restoring the active rotation function of the first door and / or the second door.
[0115] In this embodiment, after performing the door calibration operation according to the door calibration strategy corresponding to the door position, the controller sends a recovery signal to the first drive device and the second drive device that control the first door and the second door to rotate actively, respectively. After receiving the signal, the first drive device and the second drive device will restart the power supply and control signal transmission, thereby restoring the active rotation function of the first door and the second door.
[0116] In this embodiment of the application, the first door and the second door can be applied to the rear door, side door or sliding door of the vehicle.
[0117] It should be noted that the first and second doors can be flexibly applied to different parts of the vehicle. They can function as rear doors, opening vertically or in opposite directions. The first and second doors can also be used as side doors, such as power sliding side doors, facilitating passenger entry and exit. They can also be used as sliding doors. Regardless of the application, when the active rotation function of the first and second doors is disabled, a door calibration command can be generated. The command retrieves the reason for the disabling, detects the corresponding door position based on the reason, and executes calibration according to the calibration strategy corresponding to the door position, thereby ensuring the safety of subsequent door operation.
[0118] Please refer to Figure 6, which is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application. As shown in Figure 6, the computer device includes: one or more processors 610, a memory 620, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various 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 or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).
[0119] The processor 610 may be a central processing unit, a network processor, or a combination thereof. The processor 610 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.
[0120] The memory 620 stores instructions executable by at least one processor 610 to cause the at least one processor 610 to perform the method shown in the above embodiments.
[0121] The memory 620 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 620 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 620 may optionally include memory remotely located relative to the processor 610, and these remote memories may 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.
[0122] The memory 620 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 620 may also include a combination of the above types of memory.
[0123] The computer device also includes a communication interface 630 for communicating with other devices or communication networks.
[0124] This application also provides a 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 subsequently 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.
[0125] 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 spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.
Claims
1. A vehicle control method, the vehicle comprising a body, a first door, and a second door; the first door and the second door are both rotatably connected to the body and are capable of actively and passively rotating relative to the body, wherein the first door, by rotation, can cover and partially overlap the second door to close the body, the method comprising: When the active rotation function of the first and second doors is disabled, a door calibration command is generated; In response to the door calibration command, obtain the reason why the active rotation function of the first door and the second door is disabled; The door position of the corresponding door in the first and second doors is detected based on the stated reason for disabling. The door calibration operation is performed according to the door calibration strategy corresponding to the door position.
2. The method of claim 1, wherein, The step of detecting the door position of the corresponding door in the first and second doors based on the disabled reason includes: If the reason for the disablement is abnormal movement of the first door and / or the second door, then the first position of the first door and the second position of the second door are detected, and the door position is determined by analyzing the first position and the second position. The abnormal movement is determined based on passive rotation data generated by the first door and / or the second door during rotation; or... If the reason for the disablement is that the first door and / or the second door has lost its position, then the position of the second door is detected.
3. The method of claim 2, wherein, The step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: If the reason for disabling is that the first door and / or the second door moves abnormally, and the door position is such that the distance between the first position and the closed position is less than the distance between the second position and the closed position, then the second door and the first door are sequentially controlled to rotate to the corresponding preset maximum opening position. When both the second door and the first door are in their respective preset maximum opening positions, the second door and the first door are sequentially controlled to rotate to the closed position.
4. The method of claim 2, wherein, The step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: If the reason for the disablement is that the first door and / or the second door moves abnormally, and the door position is any position other than the closed position for the first position and the closed position for the second position, then control the first door to rotate to the closed position.
5. The method of claim 2, wherein, The step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: If the reason for disabling is that the first door and / or the second door moves abnormally, and the door position is such that the distance between the first position and the closed position is greater than the distance between the second position and the closed position, then the first door and the second door are sequentially controlled to rotate to the corresponding preset maximum opening position. When both the first door and the second door are in their respective preset maximum opening positions, the second door and the first door are sequentially controlled to rotate to the closed position.
6. The method of claim 2, wherein, The step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: If the reason for the disablement is that the first door and / or the second door has lost its position, and the door position is that the second door is in the closed position, then the first door is controlled to rotate to the closed position.
7. The method of claim 2, wherein, The step of performing door calibration operation according to the door calibration strategy corresponding to the door position includes: If the reason for the disablement is that the first door and / or the second door has lost its position, and the door position is that the second door is in any position other than the closed position, then the first door and the second door are controlled to rotate to the corresponding maximum stall position at a preset rotation speed. When both the first door and the second door are in their respective maximum stall positions, the second door and the first door are sequentially controlled to rotate to the closed position.
8. The method of any one of claims 1-7, wherein, The generation of door calibration instructions includes: In response to detecting a trigger operation applied to a control button, a door calibration command is generated based on the trigger operation, wherein the control button is installed in the vehicle or in a key corresponding to the vehicle; or, In response to receiving a door calibration request sent by the client associated with the vehicle, a door calibration instruction is generated based on the door calibration request.
9. The method according to any one of claims 1-8, wherein, After performing door calibration operations according to the door calibration strategy corresponding to the door position, the method further includes: Restore the active rotation function of the first door and / or the second door.
10. The method according to any one of claims 1-9, wherein, The first door and the second door are used as the rear door, side door or sliding door of the vehicle.
11. 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 capable of driving the first door and the second door to rotate relative to the body by controlling the first drive unit and the second drive unit; wherein the first door, by rotating, can cover and partially overlap the second door to close the body; wherein... The controller is configured to: acquire a door calibration command when the active rotation function of the first door and the second door is disabled; respond to the door calibration command to acquire the reason for disabling the active rotation function of the first door and the second door; detect the door position of the corresponding door among the first door and the second door according to the reason for disabling; and perform a door calibration operation according to the door calibration strategy corresponding to the door position.
12. The vehicle according to claim 11, wherein, The first door and the second door are used as the rear door, side door or sliding door of the vehicle.
13. A computer device, comprising: A memory and a processor, wherein the memory stores computer instructions, and the processor executes the computer instructions to perform the method according to any one of claims 1-10.
14. A computer-readable storage medium storing computer instructions configured to cause a computer to perform the method of any one of claims 1-10.