CN120425975A - Vehicle control method, vehicle, electronic equipment and storage medium - Google Patents
Vehicle control method, vehicle, electronic equipment and storage mediumInfo
- Publication number
- CN120425975A CN120425975A CN202510745302.XA CN202510745302A CN120425975A CN 120425975 A CN120425975 A CN 120425975A CN 202510745302 A CN202510745302 A CN 202510745302A CN 120425975 A CN120425975 A CN 120425975A
- Authority
- CN
- China
- Prior art keywords
- door
- vehicle
- angle
- preset condition
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
- E05Y2900/532—Back doors or end doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The application relates to the field of intelligent control of vehicles, in particular to a vehicle control method, a vehicle, electronic equipment and a storage medium. The application does not make a judgment only according to the small variation of the position of the vehicle door, but takes the passive rotation amount of the vehicle door as a key initial condition. When the passive rotation amount is detected to be not zero, the state of the vehicle door is not directly changed, and whether the first vehicle door meets the preset condition is further judged. The first door and the second door are allowed to perform the active turning function only if the first door satisfies a predetermined condition that the memory function of the maximum opening angle of the door is performed within a predetermined time or the release position thereof is within an angular subset range of the safety zone. This means that even if there is a slight positional change that causes a passive rotation amount, the back door will not be arbitrarily locked and lose the electric function as long as the first door does not satisfy the preset condition, thereby effectively avoiding the abnormal function of the door due to the unintended fine operation of the user.
Description
The application discloses a divisional application of a patent application of vehicle control method, device, electronic equipment and storage medium, which is filed on the application date of 2025, 3 and 21, and the application number of a parent application patent is 2025103443739.
Technical Field
The invention relates to the field of intelligent control of vehicles, in particular to a vehicle control method, a vehicle, electronic equipment and a storage medium.
Background
In modern vehicle designs, particularly vehicles having specially constructed rear doors (such as upper and lower door designs), safe operation of the rear doors is critical. In the daily use of a vehicle, a user frequently performs an opening and closing operation of a rear door, which involves displacement control of the door. With the development of vehicle technology, the demand for intelligent control of vehicle doors is continuously increasing. There is a risk of collision due to the spatial proximity of the upper and lower doors and the complexity of the motorized operation.
In the existing vehicles, when a user slightly moves (e.g. lightly pulls) the upper and lower doors of the vehicle, the two doors are locked and lose the electric function, and the electric power can be recovered after the re-electric operation is needed. Thus, the user can bring bad experience in the process of normally setting the maximum opening of the vehicle door.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a vehicle control method, a vehicle, an electronic device, and a storage medium, so as to solve the problem that when a user operates a vehicle door, a back door is locked and loses an electric function due to a slight position change.
In a first aspect, an embodiment of the present invention provides a vehicle control method, where the vehicle includes a vehicle body, and a first door and a second door both rotatably connected to the vehicle body, the first door and the second door are both capable of actively and passively rotating relative to the vehicle body, the first door can be covered and partially laminated to the second door by rotation to close the vehicle body, the first door and the second door define a closed position, an unsafe zone where the first door and the second door may contact each other, and a safe zone where the first door and the second door may not contact each other, and the method includes:
Acquiring the passive rotation quantity of the first door and/or the second door;
if the obtained passive rotation amount corresponding to the first door and/or the second door is not zero, and the first door and the second door are allowed to execute the active rotation function when the first door meets the preset condition;
And if the obtained passive rotation quantity corresponding to the first door and/or the second door is not zero, and the first door does not meet the preset condition, disabling the active rotation functions of the first door and the second door, wherein the preset condition comprises a first preset condition or a second preset condition, the first preset condition is that the memory function of the maximum opening angle of the first door is executed in preset time, and the second preset condition is that the release position of the first door is located in the angle subset range of the safety zone.
Further, the lower limit value of the angle subset range of the safety zone is an angle preset by a user or is determined according to the operation habit of the user, and the upper limit value of the angle subset range is the maximum opening of the first vehicle door.
Further, the lower limit value of the angle subset range is 60 °, and the upper limit value of the angle subset range is 78 °.
Further, the preset time is within an nth second after the passive rotation amount of the first door and/or the second door becomes 0, wherein N is an integer greater than 1.
In a second aspect, the embodiment of the invention provides a vehicle, which comprises a vehicle body, a first vehicle door, a second vehicle door, a controller, a first driving device and a second driving device, wherein the first driving device and the second driving device are respectively connected with the first vehicle door and the second vehicle door, the controller is respectively connected with the first driving device and the second driving device in a communication way, the controller can respectively drive the first vehicle door and the second vehicle door to rotate relative to the vehicle body by controlling the first driving device and the second driving device, the first vehicle door can be covered and partially overlapped with the second vehicle door by rotating so as to seal the vehicle body, and the first vehicle door define a closed position, a non-safety zone with contact probability and a safety zone without contact;
The vehicle further comprises a sensor communicatively connected to the controller, the sensor for acquiring a passive rotation amount of the first door and/or the second door;
if the obtained passive rotation amount corresponding to the first door and/or the second door is not zero, and the first door and the second door are allowed to execute the active rotation function when the first door meets the preset condition;
The controller is configured to disable active rotation functions of the first door and the second door when the obtained passive rotation amounts corresponding to the first door and/or the second door are not zero and the first door does not meet a preset condition, where the preset condition includes a first preset condition or a second preset condition, the first preset condition is that the memory function of a maximum opening angle of the first door is executed in a preset time, and the second preset condition is that a release position of the first door is located in an angle subset range of the safety zone.
Further, the lower limit value of the angle subset range of the safety zone is an angle preset by a user or is determined according to the operation habit of the user, and the upper limit value of the angle subset range is the maximum opening of the first vehicle door.
Further, the lower limit value of the angle subset range is 60 °, and the upper limit value of the angle subset range is 78 °.
Further, the preset time is within an nth second after the passive rotation amount of the first door and/or the second door becomes 0, wherein N is an integer greater than 1.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory and the processor are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the method of the first aspect or any implementation manner corresponding to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or any of its corresponding embodiments.
The application does not make a judgment only according to the small variation of the position of the vehicle door, but takes the passive rotation amount of the vehicle door as a key initial condition. When the passive rotation amount is detected to be not zero, the state of the vehicle door is not directly changed, and whether the first vehicle door meets the preset condition is further judged. The first door and the second door are allowed to perform the active turning function only if the first door satisfies a predetermined condition that the memory function of the maximum opening angle of the door is performed within a predetermined time or the release position thereof is within an angular subset range of the safety zone. This means that even if there is a slight positional change that causes a passive rotation amount, the back door will not be arbitrarily locked and lose the electric function as long as the first door does not satisfy the preset condition, thereby effectively avoiding the abnormal function of the door due to the unintended fine operation of the user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle according to some embodiments of the invention;
FIG. 2 is a schematic physical structure of a first door and a second door fully open according to some embodiments of the invention;
FIG. 3 is a physical schematic illustration of a first door and a second door in a closed position according to some embodiments of the invention;
FIG. 4 is a schematic illustration of a first door performing a memory function of a maximum opening angle in accordance with some embodiments of the present invention;
FIG. 5 is a schematic illustration of a release position of a first door within a subset of angles of a safety zone in accordance with some embodiments of the invention;
FIG. 6 is a flow chart of a vehicle control method according to an embodiment of the invention;
fig. 7 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to an embodiment of the present invention, there is provided a vehicle control method, a vehicle, an electronic apparatus, and a storage medium, it is to be noted that the steps shown in the flowcharts of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in an order different from that herein.
The embodiment of the application provides a vehicle, as shown in fig. 1, comprising a vehicle body 10, a first door 11, a second door 12, a controller 13, a first driving device 14 and a second driving device 15, wherein the first driving device 14 and the second driving device 15 are respectively connected with the first door 11 and the second door 12, the controller 13 is respectively connected with the first driving device 14 and the second driving device 15 in a communication way, the controller 13 can respectively drive the first door 11 and the second door 12 to rotate relative to the vehicle body 10 by controlling the first driving device 14 and the second driving device 15, the first door 11 can cover and partially laminate the second door 12 by rotating so as to seal the vehicle body 10, and the first door 11 and the second door 12 define a closed position, a non-safety area with contact probability and a safety area without contact. As shown in fig. 2, the first door and the second door are fully open. As shown in fig. 3, the first door and the second door are schematically shown in a closed position.
In an embodiment of the application, the first door and the second door have both active rotation and passive rotation modes of motion. The active rotation means that the door can be purposefully rotated by a power driving device (such as a motor, etc.) equipped with the door according to an instruction of a vehicle control system or an operation of a user, thereby completing a door opening or closing operation. Passive rotation refers to rotation of the door when subjected to forces exerted by an external non-vehicle control system, which may be from a variety of situations, such as a user manually pushing the door by force, the door encountering an obstacle during movement, the vehicle being subject to external impacts resulting in the door being stressed, etc.
The first door 11 and the second door 12 defining a closed position is understood to mean that the first door is able to cover the second door by pivoting about its point of attachment to the vehicle body during closure of the door and to overlap the second door in part, thereby forming a complete enclosure that isolates the interior of the vehicle body from the environment. In addition, the first door and the second door form different areas according to the movement track and the spatial position relation of the first door and the second door in the process of rotating relative to the vehicle body. The unsafe zone refers to a zone where the first door and the second door may contact each other during rotation of the doors, which is generally caused by a movement trace and an angle change of the doors, etc. The safety area is an area where two doors do not contact each other when the doors are rotated.
In the presently disclosed embodiment, the vehicle further includes a sensor 16 communicatively coupled to the controller 13, the sensor 16 being configured to obtain the amount of passive rotation of the first door and/or the second door.
And if the obtained passive rotation quantity of the corresponding first door and/or second door is not zero, and the first door and the second door are allowed to execute the active rotation function when the first door meets the preset condition, wherein the preset condition comprises a first preset condition or a second preset condition, the first preset condition is that the first door executes the memory function of the maximum opening angle of the door within the preset time, and the second preset condition is that the release position of the first door is positioned in the angle subset range of the safety zone.
Specifically, the sensor 16 (using a hall element in the motor) monitors the amount of passive rotation of the first door 11 and/or the second door 12 in real time. The passive rotation amount is the rotation variation amount of the vehicle door caused by the action of external force (such as the force applied by the driving system of the vehicle, such as manual push-pull of a user, collision of an external object, and the like). When the first door 11 and/or the second door 12 are/is passively rotated by external factors, a hall element connected to the door driving device senses a rotation change of the motor and feeds back the related electric signal to the controller 13.
When the passive rotation amount of the corresponding first door and/or second door acquired by the sensor 16 is not zero, it indicates that the door is interfered by external force. However, the active turning function is not immediately disabled at this time, and it is further determined whether the first door satisfies the preset condition. If so, both the first door and the second door are allowed to perform an active turning function.
There are two preset conditions. As shown in fig. 4, the first preset condition is that the first door performs a memory function of a maximum door opening angle within a preset time. For example, the vehicle owner has previously set a maximum opening angle, and in a preset time range, after the vehicle door is passively rotated by an external force, if the condition of the memory function is met, it is indicated that the passive rotation may be within the normal operation expectation, so that the two vehicle doors are allowed to resume active rotation.
As shown in fig. 5, the second preset condition is that the release position of the first door is within the angular subset of the safe zone. The safety zone is a preset area range for guaranteeing the rotation safety of the vehicle door, and the angle subset is a refined range of the safety zone in the angle dimension. When the release position of the first door which is finally stopped after the first door is passively rotated by external force is within the range of the angle subset of the safety zone, the position of the first door is safe, and the condition for allowing the two doors to execute the active rotation function is also met.
In the embodiment of the application, the controller is used for disabling the active rotation function of the first door and the second door when the acquired passive rotation quantity of the corresponding first door and/or second door is not zero and the first door does not meet the preset condition. The active rotation functions of the first door and the second door are disabled, and it is understood that after the active rotation functions of the doors are disabled, the controller does not respond to active control instructions triggered by a user for the two doors, for example, instructions sent by the user through a key, a remote control mode, etc., and the controller does not execute any instruction. At this time, the movement of the door is determined only by the externally applied force of the actuated motion, and the ability of the driving device to perform the active command to rotate is completely lost. Therefore, the problems of safety risk or mechanical failure and the like possibly caused by executing the active control instruction under the condition that the passive rotation quantity of the vehicle door is not zero and the first vehicle door does not meet the preset condition can be effectively avoided.
When the passive rotation amount of the corresponding first door and/or second door obtained by the controller is not zero, it indicates that the door has been interfered by external force and has been passively rotated. At this time, the controller does not immediately make a decision to disable the active turning function, but further evaluates the state of the first door to determine whether it satisfies the preset condition. If it is determined that the first door does not satisfy the preset conditions, such as that the first door does not perform the memory function of the maximum opening angle of the door within the preset time (if the preset conditions include this content), or that the release position of the first door is not within the angular subset range of the safety zone (also if the preset conditions include this requirement), and so on, the controller issues an instruction as long as any one of the preset conditions is not satisfied, while disabling the active turning functions of the first door and the second door.
Therefore, the vehicle can not actively rotate the vehicle door under the condition that the vehicle door is unstable or potential safety hazards exist, so that the problems of collision, damage and the like of the vehicle door, which are possibly caused by simultaneous active rotation and passive rotation, are avoided, and the safety of the vehicle door is ensured.
The controller is further configured to allow the active turning functions of the first door and the second door to be restored if the first door is located in the closed position or in the safe zone and/or the second door is located in the safe zone or in the closed position after both the active turning functions of the first door and the second door are disabled.
And the controller is further used for continuously disabling the active rotation functions of the first door and the second door if the first door is positioned in the unsafe zone or the closed position and the second door is positioned in the closed position or the unsafe zone after the active rotation functions of the first door and the second door are disabled.
In particular, the case of a first door in the closed position or in the safety zone and/or a second door in the safety zone or in the closed position means that at least one door is in a safety condition (the closed position is understood to be a completely closed condition; the safety zone is a predetermined zone in which no safety hazard is created by the door). In this case, the controller considers that the state of the door has reached the condition where the active turning function can be restored, so that a command is issued to allow the active turning functions of the first door and the second door to be restored. For example, when the first door has been closed (in the closed position), the controller may allow both doors to be re-actively rotated even though the second door may be still in the safe zone but not fully closed, so that the user may again control the opening and closing of the doors via the vehicle's active system.
On the other hand, when the situation "the first door is in the unsafe zone or in the closed position, and the second door is in the closed position or in the unsafe zone" occurs, it is stated that at least one door is in the unsafe zone (i.e., not in the safe zone, there may be a risk of collision with surrounding objects, etc.), or there is a potential risk of a combination of the position states of the two doors. In this case, the controller may consider the current door state as not yet suitable for restoring the active turning function, and thus may continue to maintain the disabled state of the first door and the second door active turning function. For example, the first door is in an unsafe zone and the second door, while in a closed position, is not allowed to resume the active turning function by the controller in order to avoid possible hazards due to the unsafe condition of the first door until the change in the position of the doors meets the conditions that allow for the restoration.
Through the logic judgment and control operation, the controller can flexibly determine whether to resume or continuously disable the active rotation function according to the actual position and state of the vehicle door, so that the safety and reliability of the vehicle door system are effectively ensured.
In the embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by a user or determined according to the operation habit of the user, and the upper limit value of the angle subset range is the maximum opening of the first door.
Specifically, a setting interface can be provided for the user, and the user can preset the lower limit value of the angle subset range of the safety zone in the interface according to own requirements and habits. For example, the user sets the lower limit value to 30 degrees in consideration of a parking environment or personal use preference, that is, an angular range in which entry into a safe zone is possible when the opening angle of the first door is 30 degrees or more.
In addition, the lower limit value may also be determined by learning and analyzing the long-term operation habits of the user. For example, after recording the angle of the user opening and closing the first door a plurality of times, the user is found to open the door substantially more than 25 degrees each time, then 25 degrees will be taken as the lower limit value determined based on the user's operating habits. For the upper limit value of the angle subset range of the safety zone, the maximum opening of the first door is automatically obtained, wherein the maximum opening is determined by the mechanical structure and design of the vehicle, for example, the first door can be opened to 78 degrees at maximum, and then 78 degrees becomes the upper limit value of the angle subset range.
As one example, each time a user operates a first door, a series of key information is recorded, including the start time of door opening, the end time, the real-time angle change during opening, and the final angle at the completion of the operation, etc., which are stored in a dedicated data repository in real time. Over time, the data store accumulates a large amount of user operational data. At this point, the analysis phase of the algorithm begins and the data mining algorithm processes the mass data in the repository. Firstly, sequencing user operation data according to time sequence, then calculating minimum values of door opening angles in each operation, and then sequencing the minimum values according to the sequence from small to large. Then, an angle value representing the general operating habit of the user is determined by a statistical analysis method, such as calculating the median, mode, etc. If the data shows normal distribution, the median can be used as a reference of the lower limit value, and if the data has obvious mode aggregation area, the angle corresponding to the mode can be more suitable. And finally, comprehensively considering various factors such as a use scene, safety factors, user experience and the like of the vehicle, finely adjusting the calculated angle value, and determining a final lower limit value.
In the embodiment of the application, the lower limit value of the angle subset range is 60 degrees, and the upper limit value of the angle subset range is 78 degrees. The preset time is within an nth second after the passive rotation amount of the first door and/or the second door becomes 0, where N is an integer greater than 1.
The lower limit value of the angular subset range of the safety zone is set to 60 deg., which means that it is possible to enter the angular subset range of the safety zone only when the first door opening angle reaches or exceeds 60 deg.. While the upper limit of the angular subset range is 78, i.e. the first door opening angle is up to 78 at this particular safety zone angular subset.
The preset time refers to an N-th second after the passive rotation amount of the first door and/or the second door becomes 0, where N is an integer greater than 1, for example, when N is 3, the preset time is 3 seconds after the passive rotation of the door is stopped. In the preset time, according to the angle position of the vehicle door, the range of the angle subset of the safety zone, which is 60-78 degrees, is combined to further judge whether certain specific control conditions are met, such as whether the active rotation function is allowed to be restored or not.
The scheme provided by the application is applied to static and moving scenes of the vehicle door, because the state of the vehicle door is monitored in real time by acquiring the passive rotation quantity of the first vehicle door and/or the second vehicle door, no matter the vehicle door is in static or moving, the vehicle door is rotated under the influence of external force as long as the passive rotation quantity is not zero, and whether the first vehicle door meets the preset condition (the memory function of the maximum opening angle of the vehicle door or the release position of the vehicle door is in the range of the angle subset of the safety zone) is combined at the moment, whether the active rotation function of the two vehicle doors is allowed or forbidden is judged, the danger caused by misoperation of the external force can be avoided when the vehicle door is static, the abnormal external force interference can be timely avoided when the vehicle door moves, and the vehicle door is prevented from being out of control.
In the embodiment, a vehicle control method is provided, the vehicle comprises a vehicle body, a first vehicle door and a second vehicle door which are connected to the vehicle body in a rotating mode, the first vehicle door and the second vehicle door can rotate actively and passively relative to the vehicle body, the first vehicle door can cover and be partially overlapped on the second vehicle door through rotation to seal the vehicle body, and the first vehicle door and the second vehicle door define a closed position, a non-safety area which can be contacted with each other and a safety area which cannot be contacted with each other. Fig. 6 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 6, the flowchart including the steps of:
Step S101, obtaining a passive rotation amount of the first door and/or the second door.
In an embodiment of the application, a special sensor, such as a hall sensor based on the hall effect principle, is mounted on the vehicle and is reasonably arranged at the key part of the connection of the first door and the second door with the vehicle body. These sensors are closely connected to the controller of the vehicle via communication lines. When the door is subjected to external force (such as manual pushing and pulling by a user, impact of an object and the like) to generate passive rotation, the sensing element in the sensor can generate corresponding physical change along with the change of the relative position of the door and surrounding parts, for example, the Hall element can generate an electric signal due to the change of a magnetic field. The changed signals are transmitted to the controller in real time, and the controller converts the signals into specific numerical values through analysis and processing of the signals, so that the passive rotation quantity of the first vehicle door and/or the second vehicle door is accurately obtained.
Step S102, if the obtained passive rotation amount of the corresponding first door and/or second door is not zero, and the first door does not meet the preset condition, the active rotation functions of the first door and the second door are disabled, wherein the preset condition comprises a first preset condition or a second preset condition, the first preset condition is that the memory function of the maximum opening angle of the first door is executed in preset time, and the second preset condition is that the release position of the first door is located in the angle subset range of the safety zone.
In the embodiment of the application, after the controller obtains that the passive rotation amount of the first door and/or the second door is not zero, whether the first door meets the preset condition is judged. According to the above-mentioned judging mode of the first preset condition and the second preset condition, if the first door does not execute the memory function of the maximum opening angle of the door within the preset time, the releasing position angle is not within the angle subset range of the safety zone, i.e. does not meet any one of the preset conditions, the controller can rapidly send out a disabling instruction. The command is transmitted to the driving device of the first car door and the second car door through the communication line, and the driving device immediately cuts off the power supply of the active rotation function after receiving the command, so that the active rotation function of the first car door and the second car door is disabled, and the problems that the car door collides due to active rotation operation and the like when the car door is unstable or potential safety hazard exists are avoided.
The active rotation functions of the first door and the second door are disabled, and it is understood that after the active rotation functions of the doors are disabled, the controller does not respond to active control instructions triggered by a user for the two doors, for example, instructions sent by the user through a key, a remote control mode, etc., and the controller does not execute any instruction. At this time, the movement of the door is determined only by the externally applied force of the actuated motion, and the ability of the driving device to perform the active command to rotate is completely lost. Therefore, the problems of safety risk or mechanical failure and the like possibly caused by executing the active control instruction under the condition that the passive rotation quantity of the vehicle door is not zero and the first vehicle door does not meet the preset condition can be effectively avoided.
Step S103, if the obtained passive rotation amount of the corresponding first door and/or second door is not zero, and the first door meets the preset condition, the first door and the second door are allowed to execute the active rotation function.
In the embodiment of the application, after the controller obtains that the passive rotation amount of the first vehicle door and/or the second vehicle door is not zero, the controller immediately judges whether the first vehicle door meets the preset condition. For the first preset condition, the system will record the user setting or the default maximum opening angle of the vehicle door in advance, and set a preset time (for example, N is an integer greater than 1 in the nth second after the passive rotation amount of the vehicle door is 0). When the door is passively rotated, the controller monitors whether the first door performs a memory function within a preset time, i.e., whether a pre-recorded maximum opening angle is reached. If this condition is met, the first door is deemed to meet a first predetermined condition. For the second preset condition, the range of the angle subset of the safety zone is already set in the system (the lower limit value is 60 degrees, and the upper limit value is 78 degrees). When the passive rotation of the first door is stopped, the controller acquires the angle information of the release position of the first door and compares the angle information with the angle subset range of the safety zone. And if the release position angle of the first door is within the range, the first door is considered to meet the second preset condition. The controller may issue a command to allow the first door and the second door to perform an active turning function, such as automatically opening and closing the door, whenever the first door meets either the first preset condition or the second preset condition.
The application does not make a judgment only according to the small variation of the position of the vehicle door, but takes the passive rotation amount of the vehicle door as a key initial condition. When the passive rotation amount is detected to be not zero, the state of the vehicle door is not directly changed, and whether the first vehicle door meets the preset condition is further judged. The first door and the second door are allowed to perform the active turning function only if the first door satisfies a predetermined condition that the memory function of the maximum opening angle of the door is performed within a predetermined time or the release position thereof is within an angular subset range of the safety zone. This means that even if there is a slight positional change that causes a passive rotation amount, the back door will not be arbitrarily locked and lose the electric function as long as the first door does not satisfy the preset condition, thereby effectively avoiding the abnormal function of the door due to the unintended fine operation of the user.
Wherein after both the active turning functions of the first door and the second door are disabled, allowing the active turning functions of the first door and the second door to resume if the first door is in the closed position or in the safe zone and/or the second door is in the safe zone or in the closed position;
after both the active turning functions of the first door and the second door are disabled, if the first door is in the unsafe zone or in the closed position and the second door is in the closed position or in the unsafe zone, then the active turning functions of the first door and the second door are continuously disabled.
The door position is continuously monitored after the vehicle system disables the active turning functions of both the first door and the second door. If the first door is at the closed position, the first door is completely closed and is in a safe and stable state, or the first door is at a safe area, so that the first door is positioned at a safe risk of collision with the surrounding environment. Likewise, the second door is also in a safe state if it is in a safe zone or closed position. As long as any of the above conditions of the first door being in the closed position or in the safe zone, and/or the second door being in the safe zone or in the closed position is satisfied, the control system of the vehicle determines that the current door state is suitable for restoring the active turning function, and then issues a command, allowing the first door and the second door to have the ability to actively turn again, the user can operate the door switch or the like again by the active control mode of the vehicle.
After the active turning functions of both the first door and the second door are disabled, the vehicle system is constantly concerned with door position changes. If the first door is in the unsafe zone, that is, the first door is located in a position where the first door may collide with surrounding objects, even if the first door is in the closed position, the second door is also in the closed position or the unsafe zone at the same time, and in this case, the vehicle control system considers that the overall state of the current door still has a potential safety hazard. As long as the condition of "the first door is in the unsafe zone or in the closed position and the second door is in the closed position or in the unsafe zone" is met, the control system continuously maintains the disabled state of the active turning function of the first door and the second door, thereby avoiding the damage or other safety accidents of the door caused by the active turning until the state of the door position is changed, and the condition of allowing the active turning function to be restored is met.
In the embodiment of the present application, the lower limit value of the angle subset range of the safety zone is an angle preset by a user or determined according to the operation habit of the user, and the upper limit value of the angle subset range is the maximum opening of the first door.
It should be noted that, first, in the setting interface of the vehicle system, the user may manually input an angle value as the lower limit value according to the own requirement and the actual use scenario, so as to complete the preset. Meanwhile, the system can start a data acquisition function, and when a user operates the first door each time, relevant data such as the door opening angle and the like are recorded and stored in a database. Over time, when sufficient data has been accumulated, the system uses data analysis algorithms, such as calculating the median, mode, or average statistics of the opening angle data, to reflect the user's operating habits, and thereby determine a lower limit based on the operating habits. If the user has preset the lower limit value, the value is preferentially adopted, and if the user has not set the lower limit value, the value determined according to the operation habit is used. For the upper limit of the angle subset range, the system directly obtains the maximum opening of the first door in the vehicle design, and the maximum opening is determined by the mechanical structure and design parameters of the door. Finally, the angle subset range of the safety zone is defined by combining the determined lower limit value and the maximum opening degree as the upper limit value.
In the embodiment of the application, the lower limit value of the angle subset range is 60 degrees, and the upper limit value of the angle subset range is 78 degrees. The preset time is within an nth second after the passive rotation amount of the first door and/or the second door becomes 0, where N is an integer greater than 1.
In the embodiment of the application, the lower limit value of the angle subset range is 60 degrees, and the upper limit value of the angle subset range is 78 degrees. The preset time is within an nth second after the passive rotation amount of the first door and/or the second door becomes 0, where N is an integer greater than 1.
The lower limit value of the angular subset range of the safety zone is set to 60 deg., which means that it is possible to enter the angular subset range of the safety zone only when the first door opening angle reaches or exceeds 60 deg.. While the upper limit of the angular subset range is 78, i.e. the first door opening angle is up to 78 at this particular safety zone angular subset.
The preset time refers to an N-th second after the passive rotation amount of the first door and/or the second door becomes 0, where N is an integer greater than 1, for example, when N is 3, the preset time is 3 seconds after the passive rotation of the door is stopped. In the preset time, according to the angle position of the vehicle door, the range of the angle subset of the safety zone, which is 60-78 degrees, is combined to further judge whether certain specific control conditions are met, such as whether the active rotation function is allowed to be restored or not.
The control method provided by the application is applied to static and moving scenes of the vehicle door, because the state of the vehicle door is monitored in real time by acquiring the passive rotation quantity of the first vehicle door and/or the second vehicle door, no matter the vehicle door is in static or moving, the vehicle door can be rotated under the influence of external force as long as the passive rotation quantity is not zero, and at the moment, whether the first vehicle door meets the preset condition (the maximum opening angle memory function or the release position of the vehicle door is in the range of the angle subset of the safety zone) is combined, whether the active rotation function of the two vehicle doors is allowed or forbidden is judged, the risk caused by misoperation of the external force can be avoided when the vehicle door is static, the abnormal external force interference can be responded timely when the vehicle door moves, and the vehicle door is prevented from being out of control.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, and as shown in fig. 7, the computer device includes one or more processors, a memory 20, and interfaces for connecting components, including a high-speed interface and a low-speed interface. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system).
The processor may be a central processor, a network processor, or a combination thereof. Wherein the processor may further comprise a hardware chip. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by at least one processor to cause the at least one processor to perform a method for implementing the embodiments described above.
The memory 20 may include a storage program area that may store an operating system, an application program required for at least one function, and a storage data area that may store data created from the use of a computer device according to the presentation of an applet landing page, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from the processor, which 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.
The memory 20 may comprise volatile memory, such as random access memory, or nonvolatile memory, such as flash memory, hard disk or solid state disk, or the memory 20 may comprise a combination of the above types of memory.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random-access memory, a flash memory, a hard disk, a solid state disk, or the like, and further, the storage medium may further include a combination of the above types of memories. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
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| CN202510745302.XA CN120425975A (en) | 2025-03-21 | 2025-03-21 | Vehicle control method, vehicle, electronic equipment and storage medium |
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| CN202510344373.9A CN119843952B (en) | 2025-03-21 | 2025-03-21 | Vehicle control method and device, electronic equipment and storage medium |
| CN202510745302.XA CN120425975A (en) | 2025-03-21 | 2025-03-21 | Vehicle control method, vehicle, electronic equipment and storage medium |
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| EP3017984B1 (en) * | 2013-07-04 | 2021-12-01 | Aisin Seiki Kabushiki Kaisha | Vehicle door driving device |
| US9797181B2 (en) * | 2015-08-26 | 2017-10-24 | Tesla, Inc. | Vehicle front door power opening system |
| US10435920B2 (en) * | 2018-01-09 | 2019-10-08 | Visteon Global Technologies, Inc. | Safety system for preventing a vehicle door from opening into traffic |
| US11623611B2 (en) * | 2019-08-29 | 2023-04-11 | Motional Ad Llc | Methods for passenger authentication and door operation for autonomous vehicles |
| CN118528912A (en) * | 2024-05-13 | 2024-08-23 | 武汉理工大学 | A hierarchical control method for side door opening collision avoidance considering the characteristics of potential collision objects |
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