Vehicle control method, vehicle, computer device, and storage medium

Abstract

The present application relates to a vehicle control method, a vehicle, a computer device, and a storage medium. The vehicle comprises a vehicle body, a first door, and a second door. The first door and the second door are rotatably connected to the vehicle body and are capable of actively and passively rotating relative to the vehicle body, and the first door is capable of rotating to cover and partially overlap the second door, thereby closing the vehicle body. The method comprises: during the rotation of the first door and / or the second door, acquiring passive rotation data generated by the first door and / or the second door; detecting whether the passive rotation data of the first door and / or the second door matches preset abnormal rotation data or not; and if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, disabling the active rotation function of the first door and the second door.

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. 202510482047.4, 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] In the design of modern vehicles, especially those with specially structured rear doors (such as entry and exit doors), the safe operation of the rear doors is crucial. During daily use, users frequently open and close the rear doors, which involves controlling door movement. With the development of vehicle technology, the demand for intelligent door control is constantly increasing.

[0004] Currently, the automatic tailgate closing function of vehicles faces the following problem: When the automatic opening function is activated, vibrations caused by vigorous activity of occupants or deformation of the vehicle body structure due to the loading of heavy objects can alter the position of the upper and lower tailgate doors. Based on the current judgment logic, these changes caused by normal environmental factors are misinterpreted as abnormal operations, and the electric function of the doors is disabled. While this design ensures safety, its inability to accurately distinguish between normal environmental disturbances and genuine abnormal operations significantly impacts the user experience. Summary of the Invention

[0005] In view of the above, embodiments of this application provide a vehicle control method, a vehicle, a computer device, and a storage medium.

[0006] 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 are capable of actively and passively rotating relative to the body. The first door, by rotating, can cover and partially overlap the second door to close the body. The method includes: acquiring passive rotation data generated by the first door and / or the second door during rotation; detecting whether the passive rotation data of the first door and / or the second door matches preset abnormal rotation data; and disabling the active rotation function of the first door and the second door if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0007] In some embodiments of this application, the step of detecting whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data includes: obtaining the real-time position of the first door and / or the second door when the passive rotation data is generated; obtaining the preset abnormal rotation data corresponding to the real-time position; and detecting whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0008] In some embodiments of this application, obtaining the preset abnormal rotation data corresponding to the real-time position includes: determining the opening degree of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; comparing the opening degree with various preset opening degree ranges to obtain a target opening degree range into which the opening degree falls; obtaining the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data; and using the preset abnormal rotation data corresponding to the target opening degree range as the preset abnormal rotation data corresponding to the real-time position.

[0009] In some embodiments of this application, both the first door and the second door are provided with at least two preset opening ranges; within different preset opening ranges corresponding to the first door, the preset abnormal rotation data includes a set time range for determining whether the first door has experienced abnormal movement and a corresponding rotation change amount, wherein the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range; and / or, within different preset opening ranges corresponding to the second door, the preset abnormal rotation data includes a set time range for determining whether the second door has experienced abnormal movement and a corresponding rotation change amount, wherein the size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation change amounts corresponding to each preset opening range may be the same or different.

[0010] In some embodiments of this application, the mapping relationship between the preset opening range of the first car door and preset abnormal rotation data includes: a preset opening range of 80%-100%, corresponding to preset abnormal rotation data where the opening change of the first car door exceeds 20% within 300ms; a preset opening range of 60%-80%, corresponding to preset abnormal rotation data where the opening change of the first car door exceeds 20% within 500ms; a preset opening range of 60%-40%, corresponding to preset abnormal rotation data where the opening change of the first car door exceeds 10% within 1s; and a preset opening range of 40%-20%, corresponding to... The preset abnormal rotation data are: the opening degree of the first door changes by more than 10% within 2 seconds; when the preset opening degree range is below 20%, the corresponding preset abnormal rotation data is: the opening degree of the first door changes by more than 5% within 2 seconds; the mapping relationship between the preset opening degree range of the second door and the preset abnormal rotation data includes: the preset opening degree range of 50%-100% corresponds to the preset abnormal rotation data of: the opening degree of the second door changes by more than 10% within 500ms; the preset opening degree range of 0%-50% corresponds to the preset abnormal rotation data of: the opening degree of the second door changes by more than 10% within 300ms.

[0011] In some embodiments of this application, the passive rotation data includes at least one of: door rotation speed, rotation acceleration, door rotation distance, change in door opening within a set time range, change in door rotation speed within a set time range, or change in displacement of a fixed point on the door within a set time range; the preset abnormal rotation data includes at least one of: preset door rotation speed, preset rotation acceleration, preset door 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.

[0012] In some embodiments of this application, the passive rotation data includes at least one of the following: the change in door opening within a set time range, the change in door rotation speed within a set time range, or the change in displacement of a fixed point on the door within a set time range; the preset abnormal rotation data includes at least one of the following: a preset change in door opening within a set time range, a preset change in door rotation speed within a set time range, or a preset change in displacement of a fixed point on the door within a set time range.

[0013] In some embodiments of this application, after disabling the active rotation function of the first and second doors, the method further includes: if the first door is in a closed position or in a safe zone, and / or the second door is in a closed position or in the safe zone, then allowing the active rotation function of the first and / or second doors to be restored.

[0014] In some embodiments of this application, the method further includes: detecting whether the positions of the first door and / or the second door are lost during the rotation of the first door and / or the second door; if the position of either the first door or the second door is lost, then disabling the active rotation function of the first door and the second door.

[0015] In some embodiments of this application, after disabling the active rotation function of the first and second doors, the method further includes: controlling the second door to rotate to a closed position, and allowing the active rotation function of the first and / or second doors to be restored when the second door rotates to the closed position.

[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 vehicle 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 vehicle body by controlling the first drive unit and the second drive unit, respectively. The vehicle also includes a sensor communicatively connected to the controller. The sensor is configured to acquire passive rotation data generated by the first door and / or the second door during the rotation of the first door and / or the second door. The controller is configured to: detect whether the passive rotation data of the first door and / or the second door matches preset abnormal rotation data; if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then disable the active rotation function of the first door and the second door.

[0018] In some embodiments of this application, the controller is configured to: acquire the real-time position of the first door and / or the second door when the passive rotation data is generated; acquire preset abnormal rotation data corresponding to the real-time position; and detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0019] In some embodiments of this application, the controller is configured to: determine the opening degree of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; compare the opening degree with various preset opening degree ranges to obtain the target opening degree range into which the opening degree falls; and obtain the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and preset abnormal rotation data.

[0020] In some embodiments of this application, the controller is configured to: after disabling the active rotation function of the first door and the second door, if the first door is in a closed position or in a safe zone, and / or the second door is in a closed position or in the safe zone, then allow the active rotation function of the first door and / or the second door to be restored.

[0021] In some embodiments of this application, the controller is configured to: detect whether the positions of the first door and / or the second door are lost during the rotation of the first door and / or the second door; if the position of either the first door or the second door is lost, then disable the active rotation function of the first door and the second door.

[0022] 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.

[0023] 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.

[0024] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment.

[0025] 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

[0026] 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.

[0027] Figure 1 is a structural schematic diagram of a vehicle according to some embodiments of this application;

[0028] Figure 2 is a schematic diagram of a car door closing according to some embodiments of this application;

[0029] Figure 3 is a schematic diagram of different opening ranges of the vehicle door according to some embodiments of this application;

[0030] Figure 4 is a schematic flowchart of a vehicle control method according to some embodiments of this application;

[0031] Figure 5 is a flowchart illustrating another vehicle control method according to some embodiments of this application;

[0032] Figure 6 is a schematic flowchart of another vehicle control method according to some embodiments of this application;

[0033] Figure 7 is a schematic diagram of the door rotation position according to some embodiments of this application;

[0034] Figure 8 is a schematic diagram of the door rotation position according to some embodiments of this application;

[0035] Figure 9 is a schematic diagram of the door rotation position according to some embodiments of this application;

[0036] Figure 10 is a schematic flowchart of another vehicle control method according to some embodiments of this application;

[0037] Figure 11 is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0038] 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.

[0039] According to the embodiments of this application, a vehicle control method and a vehicle are provided to solve the problem that the prior art cannot effectively identify changes and abnormal operations caused by normal environmental factors such as the activities of people in the vehicle and the loading of heavy objects, thus frequently misjudging and disabling the electric function of the vehicle doors.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] As shown in Figure 2, the first door 11 and the second door 12 define the closed position, which can be understood as follows: during the closing process, the first door rotates around its connection point with the vehicle body, eventually covering the second door and partially overlapping it, thus forming a complete closed structure that isolates the interior of the vehicle body from the external environment.

[0044] In this embodiment of the application, the vehicle further includes a sensor 16 communicatively connected to the controller, the sensor 16 being used to acquire passive rotation data generated by the first door 11 and / or the second door 12 during the rotation of the first door 11 and / or the second door 12.

[0045] It should be noted that sensor 16 is communicatively connected to controller 13, acquiring the real-time position of the doors during the rotation of the first door 11 and / or the second door 12. While acquiring the real-time position, sensor 16 also collects data such as changes in door opening degree, changes in door rotation speed, and changes in displacement of a point on the door within a set time range. These data reflect unexpected rotation of the doors due to external forces or other factors.

[0046] The change in door opening angle refers to the magnitude of change in the door's angle within a set time range. The change in door rotation speed refers to the magnitude of change in the door's rotation speed within a set time range. The change in displacement of a fixed point on the door refers to the actual spatial movement of a selected fixed point on the door within a set time range. All three parameters directly reflect the actual rotation of the door during this time period. Taking the change in door opening angle as an example, if the door changes from 30% to 40% within a set time range, the change in opening angle is 10%.

[0047] The controller 13 is used to detect whether the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data; if the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data, the active rotation function of the first door 11 and the second door 12 is disabled. The passive rotation data includes at least one of the following: door rotation speed, rotation acceleration, door rotation distance, change in door opening within a set time range, change in door rotation speed within a set time range, or change in displacement of a fixed point on the door within a set time range.

[0048] The preset abnormal rotation data includes at least one of the following: preset door rotation speed, preset rotation acceleration, preset door 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.

[0049] It should be noted that the controller 13 specifically determines the opening degree of the first door 11 and / or the second door 12 based on the real-time position, the maximum opening position of the first door 11 and / or the maximum opening position of the second door 12; compares the determined opening degree with each preset opening degree range to obtain the target opening degree range into which the opening degree falls; and obtains the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and the preset abnormal rotation data.

[0050] It should be noted that both the first door and the second door are equipped with at least two preset opening ranges.

[0051] Within different preset opening ranges corresponding to the first door, the preset abnormal rotation data includes a set time range for determining whether the first door has experienced abnormal movement and the corresponding rotation change amount. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range. And / or, within different preset opening ranges corresponding to the second door, the preset abnormal rotation data includes a set time range for determining whether the second door has experienced abnormal movement and the corresponding rotation change amount. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation change amounts corresponding to each preset opening range may be the same or different.

[0052] First, determine the first angle when the first door is rotated to its real-time position, and the first maximum opening angle corresponding to the first door's maximum opening position. The opening degree of the first door is obtained based on the ratio of the first angle to the first maximum opening angle. Similarly, determine the second angle when the second door is rotated to its real-time position, and the second maximum opening angle corresponding to the second door's maximum opening position. The opening degree of the second door is obtained based on the ratio of the second angle to the second maximum opening angle.

[0053] Secondly, multiple pre-stored preset opening ranges are retrieved. For example, for the first door, there might be "above 80%", "60%-80%", or "60%-40%", while for the second door, there might be "above 50%" or "below 50%". These ranges are pre-set based on factors such as vehicle size and safety requirements. For example, as shown in Figure 3, for the first door, the preset opening range and corresponding preset abnormal rotation data can be set as follows.

[0054] ① When the preset opening range of the car door is 80%-100%, the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first car door exceeds 20%.

[0055] ② When the preset opening range of the car door is 60%-80%, the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first car door exceeds 20%.

[0056] ③ When the preset opening range of the car door is 40%-60%, the corresponding preset abnormal rotation data is: the opening change of the first car door exceeds 10% within 1 second.

[0057] ④ When the preset opening range of the car door is 40%-20%, the corresponding preset abnormal rotation data is: the opening change of the first car door exceeds 10% within 2 seconds.

[0058] ⑤ When the preset opening range of the car door is 0%-20%, the corresponding preset abnormal rotation data is: the opening change of the first car door exceeds 5% within 2 seconds.

[0059] For the second door, the preset opening range and corresponding preset abnormal rotation data can be set as follows.

[0060] ① When the preset opening range of the car door is above 50%, the corresponding preset abnormal rotation data is: the opening change of the second car door exceeds 10% within 500ms.

[0061] ② When the preset opening range of the car door is below 50%, the corresponding preset abnormal rotation data is: the opening change of the second car door exceeds 10% within 300ms.

[0062] Then, the controller compares the calculated door opening with these preset opening ranges one by one. For example, if the calculated opening of the first door is 70%, it will compare 70% with each preset opening range to determine if it falls within the target opening range of "60%-80%". It then acquires the preset abnormal rotation data corresponding to the target opening range.

[0063] Because a pre-established mapping relationship exists between preset opening ranges and preset abnormal rotation data, once the target opening range is determined, the controller retrieves the preset abnormal rotation data corresponding to that target opening range based on this mapping relationship. For example, if the target opening range is "60%-80%", the controller retrieves the data showing "opening change exceeding 20% ​​within 500ms" from the corresponding storage location as the relevant preset abnormal rotation data. The controller then sets the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the current real-time position of the door.

[0064] Understandably, abnormal door movement refers to the first and second doors rotating within a specific preset opening range in a manner that does not conform to pre-defined normal movement standards. Specifically, based on the matching result between the door opening and the preset opening range, each target opening range corresponds to specific preset abnormal rotation data, such as the door opening change exceeding a certain proportion over different time periods. When the actual door rotation meets these preset abnormal rotation data conditions, the door is considered to have experienced abnormal movement. For example, if the door opening change exceeds the allowable range within a specified time, it indicates an abnormal opening and closing, such as unexpected shaking, abnormal pushing or pulling by external force, or a deviation from normal movement.

[0065] Finally, the controller 13 receives the passive rotation data transmitted by the sensor 16 and compares it with the preset abnormal rotation data corresponding to the real-time position. If the controller 13 detects that the passive rotation data of the first door 11 and / or the second door 12 matches the preset abnormal rotation data, it indicates that the door rotation has abnormal movement. At this time, the controller 13 will issue a command to disable the active rotation function of the first door 11 and the second door 12, causing the doors to stop active movement and achieving effective control of the active door rotation function.

[0066] In this embodiment, when the first and / or second doors actively rotate, the real-time position and passive rotation data of the first and / or second doors are first acquired. Then, the passive rotation data is matched with preset abnormal rotation data corresponding to the real-time position, improving the accuracy of the judgment. If the door position change is caused by normal environmental factors, the passive rotation data and the preset abnormal rotation data will usually not match, thus avoiding false judgments. Only when the door exhibits genuine abnormal movement, and the passive rotation data matches the preset abnormal rotation data, will the active rotation function be disabled. This accurately distinguishes between normal and abnormal situations, avoiding unnecessary misjudgments caused by normal environmental interference and ensuring the stable operation of the doors.

[0067] In this embodiment of the application, the controller 13 is further configured to, after disabling the active rotation function of the first door 11 and the second door 12, allow the active rotation function of the first door 11 and / or the second door 12 to be restored if the first door 11 is in a closed position or in a safe zone, and / or the second door 12 is in a closed position or in a safe zone.

[0068] Specifically, if the first door 11 is in the closed position or in the safe zone, and / or the second door 12 is in the safe zone or in the closed position, it indicates that at least one door is in a safe state. In this case, the controller considers that the door state has met the conditions for resuming active rotation function, so it will issue a command to allow the resumption of active rotation function of the first door 11 and / or the second door 12. For example, when the second door 12 is already closed (in the closed position), even if the first door 11 may still be in the safe zone but not fully closed, the controller will still allow both doors to regain the ability to rotate actively.

[0069] In this embodiment of the application, the controller 13 is further configured to detect whether the positions of the first door 11 and / or the second door 12 are lost during the process of actively rotating the first door 11 and / or the second door 12 to the real-time position; if the position of either the first door 11 or the second door 12 is lost, the active rotation function of the first door 11 and the second door 12 is disabled.

[0070] Specifically, this application pre-sets a standard for judging the loss of door position. For example, during the process of the door actively rotating to the real-time position, if the position change is found to be 0 in multiple consecutive (let's say 5) readings of position data, or if the position change shows an abnormal value that does not conform to the normal movement logic of the door (such as the position suddenly moving back significantly during normal opening), then it is determined that the position has been lost.

[0071] The controller 13 judges the position changes obtained from the analysis according to the set judgment criteria. If either the first door 11 or the second door 12 is found to meet the position loss judgment criteria, for example, if the first door is detected to have no position change for 5 consecutive times while it should be continuously open, then the controller 13 determines that the first door has lost its position.

[0072] When the controller 13 determines that either the first door 11 or the second door 12 has lost its position, it sends a disable command to the first drive unit and the second drive unit, which respectively control the active rotation of the first and second doors. Upon receiving the disable command, the first drive unit and the second drive unit stop supplying power to the doors or sending control signals, thereby stopping both the first door 11 and the second door 12 from actively rotating, thus disabling the active rotation function and avoiding safety issues such as door collisions or damage that may result from lost position.

[0073] In this embodiment of the application, the controller is further configured to control the second door to rotate to the closed position after disabling the active rotation function of the first door and the second door, and to allow the active rotation function of the first door and / or the second door to be restored when the second door rotates to the closed position.

[0074] Specifically, the controller sends a rotation command to the second drive unit corresponding to the second door. This command includes parameters such as the direction of rotation (e.g., counterclockwise) and speed. After receiving the command, the second drive unit will control the second door as required, causing the second door to begin rotating towards the closed position.

[0075] During the rotation of the second door, the controller continuously receives real-time position information of the second door from the sensors. Then, it obtains the pre-set conditions for determining whether the second door has reached the closed position. For example, when the position sensor detects that the deviation between the position of the second door and the preset closed position is within the allowable error range (such as less than a certain angle value or distance value), it determines that the second door has reached the closed position.

[0076] The controller judges the real-time position information of the second door based on the set judgment criteria. When it is determined that the second door has rotated to the closed position, the controller sends a command to the first and second drive devices corresponding to the first and second doors, respectively, to allow the resumption of active rotation function. This restores the active rotation function of the first and / or second doors.

[0077] In this embodiment, during the process of the first and / or second doors actively rotating to their real-time positions, the system continuously monitors whether the door positions are lost, ensuring precise control over the door movement. If either the first or second door loses its position, its active rotation function is disabled, effectively preventing door collisions due to position loss and improving safety during door use. After disabling the active rotation function, the second door is controlled to rotate to the closed position, providing an orderly transition for resuming normal operation. Once the second door reaches the closed position, the active rotation function of the first and / or second doors is then allowed to resume. This provides time for door recalibration and ensures that the doors are in a safe and effectively controllable state when resuming operation, avoiding potential dangers caused by blindly resuming functions under abnormal circumstances.

[0078] In this embodiment of the application, the first door and the second door are applied to the rear door, side door or sliding door of the vehicle.

[0079] 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 their location, rotation is achieved through the coordinated operation of a controller, a first drive unit, and a second drive unit. During rotation, sensors acquire passive rotation data, which the controller then matches with preset abnormal rotation data. If a match is found, the active rotation function of both doors is disabled.

[0080] 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.

[0081] Step S101: During the rotation of the first door and / or the second door, acquire the passive rotation data generated by the first door and / or the second door.

[0082] In this embodiment of the application, the real-time position of the first door and / or the second door can be obtained in the following ways during the rotation of the first door and / or the second door.

[0083] ① When using angle as the form of expression, the angle of rotation of the car door relative to the fully closed position is measured. For example, the angle is 0° when the car door is fully closed. If the angle of the car door is measured to be 30° at a certain moment, then this 30° is the real-time position of the car door at that moment.

[0084] ② If coordinates are used as the representation, a specific coordinate system must first be determined. This coordinate system can be two-dimensional or three-dimensional. Then, a fixed point is selected on the car door, such as a corner point on the edge of the door. Then, by measuring the coordinate values ​​of this point in the specific coordinate system, it is presented as (x,y) in the two-dimensional coordinate system and as (x,y,z) in the three-dimensional coordinate system. These coordinate values ​​accurately determine the real-time position of the car door in space.

[0085] Meanwhile, the sensor is also responsible for acquiring passive rotation data generated by the real-time position of the first and / or second doors. This passive rotation data includes the change in door opening within a set time range. Specifically, taking a set time range with a time accuracy of 1 second as an example, if the door opening changes from an initial 30% to 35%, the sensor uses its internal computational logic and data storage mechanism to record this 5% change in opening and transmit it to the controller.

[0086] Step S102: Detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0087] In this embodiment, sensors are used to detect the position of fixed points on the first and / or second doors in real time. Within a set time range, the actual displacement change is calculated by measuring the initial and final positions of these points, thereby obtaining passive rotation data. Simultaneously, based on a pre-set door motion condition model and considering the current real-time stage of the door (e.g., initial opening, middle opening, near full opening, etc.), the preset displacement change of this point on the door within the set time range corresponding to that stage is directly retrieved from the database as preset abnormal rotation data. Finally, the actual displacement change in the passive rotation data is compared with the preset displacement change in the preset abnormal rotation data to determine if they match.

[0088] Step S103: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then the active rotation function of the first door and the second door is disabled.

[0089] In this embodiment, if the controller detects that the passive rotation data of the first and / or second doors matches preset abnormal rotation data, it indicates that the door's movement state is abnormal. At this time, the controller sends disable commands to the first and second drive devices that control the active rotation of the first and second doors, respectively. These commands cause the first and second drive devices to stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first and second doors.

[0090] The method provided in this application, when the first and / or second doors actively rotate, first acquires the passive rotation data of the first and / or second doors. Then, it matches and detects the passive rotation data with preset abnormal rotation data, improving the accuracy of the judgment. If the door position change is caused by normal environmental factors, the passive rotation data and the preset abnormal rotation data will usually not match, thus avoiding false judgments. Only when the door exhibits genuine abnormal movement, and the passive rotation data matches the preset abnormal rotation data, will the active rotation function be disabled. This accurately distinguishes between normal and abnormal situations, avoiding unnecessary false judgments caused by normal environmental interference and ensuring the stable operation of the doors.

[0091] 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.

[0092] Step S201: During the rotation of the first door and / or the second door, acquire the passive rotation data generated by the first door and / or the second door.

[0093] In this embodiment of the application, during the rotation of the first door and / or the second door, the sensor will monitor the passive rotation data generated by the first door and / or the second door in real time. The passive rotation data includes at least one of the following: door rotation speed, rotation acceleration, door rotation distance, change in door opening within a set time range, change in door rotation speed within a set time range, or change in displacement of a fixed point on the door within a set time range; and transmit the passive rotation data to the controller.

[0094] It should be noted that the change in opening degree refers to the magnitude of change in the degree to which the door opens within a set time range. The change in door rotation speed refers to the magnitude of change in the door rotation speed within a set time range. The change in displacement of a point on the door refers to the actual change in spatial position of a selected fixed point on the door within a set time range. All three parameters can intuitively reflect the actual rotation of the door during this time period.

[0095] Step S202: Obtain the real-time position when the first door and / or the second door generate passive rotation data.

[0096] In this embodiment, the sensor maintains a communication connection with the controller, enabling it to transmit the door's position information to the controller in real time. For example, the sensor detects the door's rotation angle and sends it to the controller as real-time position data.

[0097] Step S203: Obtain the preset abnormal rotation data corresponding to the real-time position.

[0098] In this embodiment of the application, obtaining preset abnormal rotation data corresponding to the real-time position includes the following steps A1-A4.

[0099] Step A1: Determine the opening degree of the first door and / or the second door based on the real-time location, the maximum opening position of the first door and / or the maximum opening position of the second door.

[0100] In this embodiment, a first angle is determined when the first door is rotated to its real-time position, and a first maximum opening angle is determined corresponding to the first door's maximum opening position. The opening degree of the first door is obtained based on the ratio of the first angle to the first maximum opening angle. Similarly, a second angle is determined when the second door is rotated to its real-time position, and a second maximum opening angle is determined corresponding to the second door's maximum opening position. The opening degree of the second door is obtained based on the ratio of the second angle to the second maximum opening angle.

[0101] Step A2: Compare the opening with each preset opening range to obtain the target opening range into which the opening falls.

[0102] In this embodiment, multiple preset opening ranges are pre-set. For example, for the first door, there are opening ranges such as "above 80%", "60%-80%", and "40%-60%", and for the second door, there are two opening ranges: "above 50%" and "below 50%". The controller compares the calculated opening of the first and / or second doors with these preset opening ranges one by one. For example, if the calculated opening of the first door is 75%, the controller compares 75% with each preset range to determine that it falls within the target opening range of "60%-80%". The same operation process is applied to the second door, finding the target opening range it falls into through comparison.

[0103] Step A3: Based on the mapping relationship between the preset opening range and the preset abnormal rotation data, obtain the preset abnormal rotation data corresponding to the target opening range. The preset abnormal rotation data is used to determine whether the first door and the second door have abnormal movement within the corresponding preset opening range.

[0104] In this embodiment, a mapping relationship between a preset opening range and preset abnormal rotation data is established in advance. That is, different preset opening ranges correspond to different preset abnormal rotation data, which are used to determine whether the door has abnormal movement within the corresponding opening range.

[0105] The preset abnormal rotation data includes at least one of the following: preset door rotation speed, preset rotation acceleration, preset door 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.

[0106] Once the target opening range of the first and / or second doors is determined, the controller acquires the preset abnormal rotation data corresponding to the target opening range based on this mapping relationship. For example, if the target opening range is "60%-80%", and the preset abnormal rotation data corresponding to this range is "the opening change exceeds 20% within 500ms", the controller will acquire this data, which will serve as the basis for subsequent judgments on whether the doors are moving abnormally.

[0107] 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, the preset abnormal rotation data includes a set time range for determining whether the first door has experienced abnormal movement and the corresponding 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 set time range corresponding to the preset opening 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 rotation change corresponding to the preset opening range (e.g., 10%, 20%, 30%).

[0108] Within different preset opening ranges corresponding to the second door, the preset abnormal rotation data includes a set time range and the corresponding rotation change amount used to determine whether the second door has experienced abnormal movement. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation change amount corresponding to each preset opening range may be the same or different.

[0109] As an example, the mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes: a preset opening range of 80%-100%, corresponding to preset abnormal rotation data where the opening change of the first door exceeds 20% within 300ms; a preset opening range of 60%-80%, corresponding to preset abnormal rotation data where the opening change of the first door exceeds 20% within 500ms; a preset opening range of 40%-60%, corresponding to preset abnormal rotation data where the opening change of the first door exceeds 10% within 1s; a preset opening range of 40%-20%, corresponding to preset abnormal rotation data where the opening change of the first door exceeds 10% within 2s; and a preset opening range of 0%-20%, corresponding to preset abnormal rotation data where the opening change of the first door exceeds 5% within 2s.

[0110] As an example, the mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: the preset opening range of 50%-100% corresponds to the preset abnormal rotation data of the second door opening change exceeding 10% within 500ms; the preset opening range of 0%-50% corresponds to the preset abnormal rotation data of the second door opening change exceeding 8% within 300ms.

[0111] Alternatively, the mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: a preset opening range of 50%-100%, corresponding to the preset abnormal rotation data of: the opening change of the second door exceeding 10% within 500ms; a preset opening range of 0%-50%, corresponding to the preset abnormal rotation data of: the opening change of the second door exceeding 10% within 300ms.

[0112] Based on the above embodiments, it can be determined that the amount of rotation change corresponding to each preset opening range of the second door can be the same or different.

[0113] Step A4: Use the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the real-time position.

[0114] In this embodiment, the controller sets the preset abnormal rotation data corresponding to the target opening range as the preset abnormal rotation data corresponding to the real-time position of the first door and / or the second door. In subsequent judgment processes, this preset abnormal rotation data is used as a reference standard to determine whether the door's movement at the current real-time position is normal, providing specific comparative data for detecting whether abnormal door movement has occurred.

[0115] Step S204: Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

[0116] In this embodiment, after acquiring the passive rotation data of the first and / or second doors and the preset abnormal rotation data corresponding to the real-time position, the controller performs a detailed comparative analysis of these two sets of data. For example, if the preset abnormal rotation data corresponding to the real-time position specifies that the opening change cannot exceed 15% within 300ms, and the actual acquired passive rotation data of the first door shows that its opening change reaches 18% within 300ms, then it indicates that the passive rotation data of the first door matches the preset abnormal rotation data; otherwise, if it is within the specified range, it is considered to be mismatched.

[0117] Step S205: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then the active rotation function of the first door and the second door is disabled.

[0118] In this embodiment, if the controller detects that the passive rotation data of the first and / or second doors matches preset abnormal rotation data, it indicates that the door's movement state is abnormal. At this time, the controller sends disable commands to the first and second drive devices that control the active rotation of the first and second doors, respectively. These commands cause the first and second drive devices to stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first and second doors.

[0119] This application first acquires the real-time position and passive rotation data of the car door. Then, based on the real-time position and maximum opening position, the door opening degree is determined and compared with a preset opening degree range. This accurately locks the target opening degree range, and then obtains the corresponding preset abnormal rotation data according to the mapping relationship, providing a more accurate standard for judging door movement. In the process of detecting whether the passive rotation data matches the preset abnormal rotation data, the accuracy of the judgment is improved because targeted preset abnormal rotation data are set for different opening degree ranges. Changes in door position caused by normal environmental factors often result in passive rotation data that does not match the preset abnormal rotation data for the corresponding opening degree range, thus preventing misjudgment. Only when the door exhibits truly abnormal movement will the two match and the active rotation function be disabled, thereby distinguishing between normal and abnormal situations. This effectively avoids unnecessary misjudgments caused by normal environmental interference and reduces the trouble caused by functional misjudgments.

[0120] This embodiment provides a vehicle control method. 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.

[0121] Step S301: During the rotation of the first door and / or the second door, acquire the passive rotation data generated by the first door and / or the second door.

[0122] In this embodiment, during the active rotation of the first and / or second doors, the door rotation process is detected using various methods. For example, a sensor measures the change in door opening degree within a set time interval, such as every 2 seconds. If the opening degree changes from 20% to 25%, this 5% change is recorded as passive rotation data and transmitted to the vehicle controller. Alternatively, a speed sensor monitors the door rotation speed in real time. Within a set time range, such as from the 1st to the 5th second, the sensor records the initial door rotation speed at the beginning of the time period and the final rotation speed at the end. By calculating the difference between the final speed and the initial speed, the actual change in door rotation speed during this period is obtained as passive rotation data.

[0123] Step S302: Detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data.

[0124] In this embodiment, based on the real-time position of the car door, preset abnormal rotation data corresponding to that position is retrieved from a pre-established database. For different real-time positions of the car door, the database contains preset variation ranges of the door's rotation speed within the same set time range. These preset variation ranges are reasonable ranges set comprehensively based on factors such as the car door's design parameters, normal operating conditions, and safety standards.

[0125] Finally, the acquired passive rotation data (actual speed change range) is compared with the preset abnormal rotation data (preset speed change range). If the actual speed change range is within the preset range, the two are determined to be mismatched, indicating that the door rotation is normal; if the actual speed change range exceeds the preset range, the two are determined to be matched, meaning that the door rotation may be abnormal.

[0126] Step S303: If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then the active rotation function of the first door and the second door is disabled.

[0127] In this embodiment, if the controller detects that the passive rotation data of the first and / or second doors matches preset abnormal rotation data, it indicates that the door's movement state is abnormal. At this time, the controller sends disable commands to the first and second drive devices that control the active rotation of the first and second doors, respectively. These commands cause the first and second drive devices to stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first and second doors.

[0128] Step S304: If the first door is in the closed position or in the safe zone, and / or the second door is in the closed position or in the safe zone, then the active rotation function of the first door and / or the second door is allowed to be restored.

[0129] In this embodiment, the positions of the first and second doors are determined in real time. If the first door is detected to be in a closed position (i.e., fully closed) or within a safe zone; and simultaneously, or if the second door is also in a closed position or within a safe zone (where the safe zone includes the maximum open position), then the doors are considered to have returned to a safe state. The controller sends a recovery signal to the first and second drive devices that control the active rotation of the first and second doors, respectively. Upon receiving the signal, the first and second drive devices restart power supply and control signal transmission, thereby restoring the active rotation function of the first and / or second doors.

[0130] It should be noted that during the rotation of the first and second doors relative to the vehicle body, different zones will be formed 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 rotation. Within the safe zone, the rotation paths of the doors are staggered and do not intersect; the two doors will not come into contact regardless of their rotation. The safe zone includes the maximum opening positions of both the first and second doors.

[0131] The safe zone refers to the area where the two car doors will not touch each other when they are rotating. Because the movement trajectory and angle of the doors constantly change during rotation, an unsafe zone is formed when their trajectories overlap or tend to approach each other at a certain stage. Within this zone, there is a chance that the first and second doors will come into contact.

[0132] As an example, both the first and second doors are in the closed position, indicating a safe state. Alternatively, both the first and second doors are within the safe zone, also considered safe. The first and second doors being within the safe zone can include several scenarios: as shown in Figure 7, both doors are in their maximum open position; as shown in Figure 8, the first door is in its maximum open position, and the second door is in any position within the safe zone other than the maximum open position; or, as shown in Figure 9, the second door is in the closed position, and the first door is in any position within the safe zone. In these scenarios, the controller sends a recovery signal to the corresponding first and second drive units of the first and second doors.

[0133] In this embodiment of the application, after the active rotation function of both the first and second doors is disabled, the positions of the first and second doors are detected. If the first door is in the closed position or in the safe zone, and / or the second door also meets the same conditions, the active rotation function is allowed to be restored. This not only provides convenience for the reuse of the doors in a safe state, but also allows for the flexible restoration of the normal function of the doors while ensuring safety.

[0134] This embodiment provides a vehicle control method. Figure 10 is a flowchart of a vehicle control method according to an embodiment of this application. As shown in Figure 10, the process includes the following steps.

[0135] Step S401: During the rotation of the first door and / or the second door, detect whether the position of the first door and the second door is lost.

[0136] In this embodiment, multiple sensors are used to detect the door position during the rotation of the first and / or second doors. When an angle sensor is used, it monitors the rotation angle of the door relative to its fully closed position and compares the real-time angle data with previously recorded angle data. If the angle data shows abnormal jumps or interruptions, it indicates a possible loss of position.

[0137] If a coordinate positioning device is used, the coordinates of fixed points on the car door in the established coordinate system are measured in real time. If the measured coordinate values ​​suddenly change abnormally, such as exceeding the range of movement of the car door, or if the coordinate data cannot be obtained normally, it is determined that the position is lost.

[0138] The controller will simultaneously monitor the first and second doors to determine if a position loss has occurred.

[0139] Step S402: If either the first door or the second door loses its position, then the active rotation function of the first door and the second door is disabled.

[0140] In this embodiment, when a position loss is detected in either the first door or the second door, it means that the door's movement state is no longer accurately monitored and controlled, potentially posing a safety hazard. At this time, the controller sends disable commands to the first and second drive devices that control the active rotation of the first and second doors, respectively. These commands cause the first and second drive devices to stop supplying power to the doors or sending control signals, thereby disabling the active rotation function of the first and second doors.

[0141] In this embodiment of the application, after disabling the active rotation function of the first door and the second door, the method further includes: controlling the second door to rotate to the closed position, and allowing the active rotation function of the first door and / or the second door to be restored when the second door rotates to the closed position.

[0142] Specifically, the main controller sends a command to the second drive unit that controls the rotation of the second door. The second drive unit then drives the second door to the closed position according to the command. During rotation, the position of the second door is continuously monitored. When the second door reaches the closed position, it indicates that the second door is in a safe and controllable state. At this point, the controller sends a recovery signal to both the first and second drive units that control the active rotation of the first and second doors. The recovery signal causes the first and second drive units to supply power to the door or send control signals, thereby restoring the active rotation function of the first and / or second doors.

[0143] In this embodiment, during the process of the first and / or second doors actively rotating to their real-time positions, the system continuously monitors whether the door positions are lost, ensuring precise control over the door movement. If either the first or second door loses its position, its active rotation function is disabled, effectively preventing door collisions due to position loss and improving safety during door use. After disabling the active rotation function, the second door is controlled to rotate to the closed position, providing an orderly transition for resuming normal operation. Once the second door reaches the closed position, the active rotation function of the first and / or second doors is then allowed to resume. This provides time for door recalibration and ensures that the doors are in a safe and effectively controllable state when resuming operation, avoiding potential dangers caused by blindly resuming functions under abnormal circumstances.

[0144] In this embodiment of the application, the first door and the second door are applied to the rear door, side door or sliding door of the vehicle.

[0145] 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 their location, rotation is achieved through the coordinated operation of a controller, a first drive unit, and a second drive unit. During rotation, sensors acquire passive rotation data, which the controller then matches with preset abnormal rotation data. If a match is found, the active rotation function of both doors is disabled.

[0146] Please refer to Figure 11, which is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application. As shown in Figure 11, the computer device includes: one or more processors 110, a memory 120, 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).

[0147] Processor 110 may be a central processing unit, a network processor, or a combination thereof. Processor 110 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 (CLP), a field-programmable gate array (FPGA), a general-purpose array logic (GPRS), or any combination thereof.

[0148] The memory 120 stores instructions executable by at least one processor 110 to cause the at least one processor 110 to perform the method shown in the above embodiments.

[0149] The memory 120 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 by the use of the computer device based on the display of a mini-program landing page. Furthermore, the memory 120 may include high-speed random access memory and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. In some alternative embodiments, the memory 120 may optionally include memory remotely located relative to the processor 110, 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.

[0150] The memory 120 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 120 may also include combinations of the above types of memory.

[0151] The computer device also includes a communication interface 130 for communicating with other devices or communication networks.

[0152] 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.

[0153] 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 both are capable of actively and passively rotating relative to the body, the first door being able to cover and partially overlap the second door to close the body by rotation, the method comprising: During the rotation of the first door and / or the second door, passive rotation data generated by the first door and / or the second door is acquired; Detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; If the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then the active rotation function of the first door and the second door is disabled.

2. The method of claim 1, wherein, The step of detecting whether the passive rotation data of the first door and / or the second door matches preset abnormal rotation data includes: Obtain the real-time position of the first door and / or the second door when the passive rotation data is generated; Obtain the preset abnormal rotation data corresponding to the real-time position; Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

3. The method of claim 2, wherein, The step of obtaining the preset abnormal rotation data corresponding to the real-time position includes: Based on the real-time location, the maximum opening position of the first door and / or the maximum opening position of the second door, the opening degree of the first door and / or the second door is determined; The opening degree is compared with each preset opening degree range to obtain the target opening degree range into which the opening degree falls; Based on the mapping relationship between the preset opening range and the preset abnormal rotation data, the preset abnormal rotation data corresponding to the target opening range is obtained; The preset abnormal rotation data corresponding to the target opening range is used as the preset abnormal rotation data corresponding to the real-time position.

4. The method of claim 3, wherein, Both the first door and the second door are provided with at least two preset opening ranges; Within different preset opening ranges corresponding to the first car door, the preset abnormal rotation data includes a set time range and a corresponding rotation change amount used to determine whether the first car door has experienced abnormal movement. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the size of the preset opening range is directly proportional to the size of the rotation change amount corresponding to the preset opening range. And / or, Within different preset opening ranges corresponding to the second door, the preset abnormal rotation data includes a set time range and a corresponding rotation change amount used to determine whether the second door has experienced abnormal movement. The size of the preset opening range is inversely proportional to the size of the set time range corresponding to the preset opening range, and the rotation change amount corresponding to each preset opening range may be the same or different.

5. The method of claim 3, wherein, The mapping relationship between the preset opening range of the first door and the preset abnormal rotation data includes: The preset opening range is 80%-100%, and the corresponding preset abnormal rotation data is: within 300ms, the opening change of the first door exceeds 20%; The preset opening range is 60%-80%, and the corresponding preset abnormal rotation data is: within 500ms, the opening change of the first door exceeds 20%; The preset opening range is 40%-60%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 1 second; The preset opening range is 20%-40%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 10% within 2 seconds; The preset opening range is 0%-20%, and the corresponding preset abnormal rotation data is: the opening change of the first door exceeds 5% within 2 seconds; And / or, The mapping relationship between the preset opening range of the second door and the preset abnormal rotation data includes: The preset opening range is 50%-100%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 500ms; The preset opening range is 0%-50%, and the corresponding preset abnormal rotation data is: the opening change of the second door exceeds 10% within 300ms.

6. The method of claim 1, wherein, The passive rotation data includes at least one of the following: door rotation speed, rotation acceleration, door rotation distance, change in door opening within a set time range, change in door rotation speed within a set time range, or change in displacement of a fixed point on the door within a set time range. The preset abnormal rotation data includes at least one of the following: preset door rotation speed, preset rotation acceleration, preset door 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.

7. The method of any one of claims 1-6, wherein, After disabling the active rotation function of the first and second doors, the method further includes: If the first door is in the closed position or in the safe zone, and / or the second door is in the closed position or in the safe zone, then the active rotation function of the first door and / or the second door is allowed to be restored.

8. The method of any one of claims 1-7, wherein, The method further includes: During the rotation of the first door and / or the second door, detect whether the position of the first door and the second door is lost; If either the first door or the second door loses its position, the active rotation function of both the first door and the second door will be disabled.

9. The method of any one of claims 1-8, wherein, After disabling the active rotation function of the first and second doors, the method further includes: Control the second door to rotate to the closed position, and when the second door rotates to the closed position, allow the active rotation function of the first door and / or the second door to be restored.

10. The method of 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 vehicle also includes sensors that are communicatively connected to the controller, the sensors being configured to acquire passive rotation data generated by the first door and / or the second door during the rotation of the first door and / or the second door; The controller is configured to: detect whether the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data; if the passive rotation data of the first door and / or the second door matches the preset abnormal rotation data, then disable the active rotation function of the first door and the second door.

12. The vehicle of claim 11, wherein, The controller is configured to: acquire the real-time position of the first door and / or the second door when the passive rotation data is generated; acquire preset abnormal rotation data corresponding to the real-time position; Detect whether the passive rotation data of the real-time position matches the preset abnormal rotation data corresponding to the real-time position.

13. The vehicle of claim 12, wherein, The controller is configured to: determine the opening degree of the first door and / or the second door based on the real-time position, the maximum opening position of the first door and / or the maximum opening position of the second door; compare the opening degree with various preset opening degree ranges to obtain the target opening degree range into which the opening degree falls; and obtain the preset abnormal rotation data corresponding to the target opening degree range based on the mapping relationship between the preset opening degree range and preset abnormal rotation data.

14. The vehicle of any one of claims 11-13, wherein, The controller is configured to allow the restoration of the active rotation function of the first and / or second doors after disabling the active rotation function of 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 closed position or in the safe zone.

15. The vehicle of any one of claims 11-14, wherein, The controller is configured to detect whether the positions of the first door and / or the second door are lost during the rotation of the first door and / or the second door; if the position of either the first door or the second door is lost, the active rotation function of the first door and the second door is disabled.

16. The vehicle of any one of claims 11-15, wherein, The first door and the second door are used as the rear door, side door or sliding door of the vehicle.

17. 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.

18. A computer readable storage medium having stored thereon computer instructions configured to cause a computer to perform the method of any one of claims 1-10.

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