CN112854949A - Control method and device for scissor door of vehicle and vehicle - Google Patents
Control method and device for scissor door of vehicle and vehicle Download PDFInfo
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- CN112854949A CN112854949A CN202110034597.1A CN202110034597A CN112854949A CN 112854949 A CN112854949 A CN 112854949A CN 202110034597 A CN202110034597 A CN 202110034597A CN 112854949 A CN112854949 A CN 112854949A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 claims description 53
- 238000011084 recovery Methods 0.000 claims description 17
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/04—Doors arranged at the vehicle sides
- B60J5/047—Doors arranged at the vehicle sides characterised by the opening or closing movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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
-
- 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
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The embodiment of the invention provides a control method and a control device for a scissor door of a vehicle and the vehicle, wherein the vehicle comprises a driving computer and a scissor door controller, and the method comprises the following steps: the driving computer receives a control signal aiming at the scissor door; generating a first instruction according to the control signal; and sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller. The scissors door controller sends an instruction through the driving computer, and the scissors door is automatically opened or automatically closed, so that the scissors door is intelligently opened and closed, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of vehicle automation, in particular to a control method and device for a vehicle scissor door and a vehicle.
Background
Nowadays, the personalized design of automobiles is more and more, and the personalized design of automobile doors also becomes one of selling points designed by many manufacturers. In addition to the most common direct-opening, hatchback, sliding doors, vehicle doors have also evolved unique designs such as scissor doors, butterfly doors, and the like.
The scissors door, scissors formula door promptly, it adopts the mode of opening along the upper and lower direction, and only has a fulcrum, has overturned the mode that traditional door outwards opened. In the prior art, when a user opens or closes a scissor door, the scissor door needs to be manually operated, the operation process is complex, and the scissor door is not intelligent enough.
Disclosure of Invention
The embodiment of the invention provides a control method of a scissor door of a vehicle, which is used for automatically opening and closing the scissor door of the vehicle.
Correspondingly, the embodiment of the invention also provides a control device of the vehicle scissor door, which is used for ensuring the realization and the application of the method.
In order to solve the problems, the invention discloses a control method of a scissor door of a vehicle, wherein the vehicle comprises a driving computer and a scissor door controller, and the method comprises the following steps:
the driving computer receives a control signal aiming at the scissor door;
generating a first instruction according to the control signal;
and sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller.
Optionally, the scissor door controller comprises a plurality of scissor doors, each scissor door having a corresponding scissor door controller;
generating a first instruction according to the control signal comprises:
determining a target scissor door from a plurality of scissor doors according to the control signal;
determining a target scissor door controller corresponding to the target scissor door from a plurality of scissor door controllers, and generating a first command for the target scissor door controller;
the sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller includes:
and sending the first command to the target scissor door controller, and controlling the opening or closing of the target scissor door by the target scissor door controller.
Optionally, the method further comprises:
acquiring obstacle detection information;
when the obstacle detection information meets a preset obstacle avoidance condition, generating a second instruction;
and sending the second instruction to the scissor door controller, and controlling the scissor door to pause opening or closing by the scissor door controller.
Optionally, the method further comprises:
judging whether the obstacle detection information meets a preset recovery condition or not;
generating a third instruction when the obstacle detection information meets a preset recovery condition;
and sending the third command to the scissor door controller, and controlling the scissor door controller to continuously open or continuously close the scissor door.
Optionally, the method further comprises:
receiving fault information of the scissor door;
and carrying out corresponding scissor door fault prompt according to the fault information.
The embodiment of the invention also provides a control device of the scissor door of the vehicle, the vehicle comprises a driving computer and a scissor door controller, and the device comprises:
the control signal receiving module is used for receiving a control signal aiming at the scissor door;
the first instruction generating module is used for generating a first instruction according to the control signal;
and the first instruction sending module is used for sending the first instruction to the scissor door controller, and the scissor door controller controls the opening or closing of the scissor door.
Optionally, the scissor door controller comprises a plurality of scissor doors, each scissor door having a corresponding scissor door controller;
the first instruction generation module includes:
the target scissor door determination submodule is used for determining a target scissor door from a plurality of scissor doors according to the control signal;
the targeted first instruction generation sub-module is used for determining a targeted scissor door controller corresponding to the targeted scissor door from a plurality of scissor door controllers and generating a first instruction for the targeted scissor door controller;
the first instruction sending module comprises:
and the first targeted command sending submodule is used for sending the first command to the targeted scissor door controller, and the targeted scissor door controller controls the targeted scissor door to be opened or closed.
Optionally, the apparatus further comprises:
the obstacle detection module is used for acquiring obstacle detection information; when the obstacle detection information meets a preset obstacle avoidance condition, generating a second instruction; and sending the second instruction to the scissor door controller, and controlling the scissor door to pause opening or closing by the scissor door controller.
Optionally, the apparatus further comprises:
the recovery module is used for judging whether the obstacle detection information meets a preset recovery condition or not; generating a third instruction when the obstacle detection information meets a preset recovery condition; and sending the third command to the scissor door controller, and controlling the scissor door controller to continuously open or continuously close the scissor door.
Optionally, the apparatus further comprises:
the fault prompting module is used for receiving fault information of the scissor door; and carrying out corresponding scissor door fault prompt according to the fault information.
Embodiments also provide a vehicle comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs configured to be executed by the one or more processors include a control method for executing a vehicle scissor door according to any of the embodiments of the invention.
Embodiments of the present invention further provide a readable storage medium, and when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the control method of the vehicle scissor door according to any embodiment of the present invention.
Compared with the prior art, the embodiment of the invention has the following advantages:
in the embodiment of the invention, after receiving the control signal for the scissor door, the traveling crane computer can generate a first instruction according to the control signal and send the first instruction to the scissor door controller; and the scissor door controller can control the opening or closing of the scissor door according to the first command. The scissors door controller sends an instruction through the driving computer, and the scissors door is automatically opened or automatically closed, so that the scissors door is intelligently opened and closed, and the user experience is improved.
Drawings
FIG. 1 is a flow chart illustrating the steps of an embodiment of a method of controlling a scissor door of a vehicle of the present invention;
FIG. 2 is a flow chart illustrating steps of an alternative embodiment of a method of controlling a scissor door of a vehicle of the present invention;
FIG. 3 is a flow chart illustrating steps of an alternative embodiment of a method of controlling a scissor door of a vehicle according to the present invention;
FIG. 4 is a block diagram of an embodiment of a control device for a scissor door of a vehicle according to the present invention;
fig. 5 is a block diagram of an alternative embodiment of a control device for a scissor door of a vehicle according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
According to the control method of the vehicle scissor door, the driving computer can generate the first instruction according to the received control signal aiming at the scissor door and send the first instruction to the scissor door controller for controlling the scissor door, so that the scissor door can be automatically opened and closed.
In the embodiment of the invention, the vehicle can comprise a driving computer, a scissor door and a scissor door controller, and the driving computer can be connected with the scissor door controller; the scissor door controller can be connected with a transmission device of the scissor door.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for controlling a scissors door of a vehicle according to the present invention is shown, and specifically, the method may include the following steps:
When a user needs to open or close a scissor door of a vehicle, control operation aiming at the scissor door can be executed on a device capable of generating a control signal; for example: the user can execute the control operation for the scissor door on the vehicle-mounted central control screen.
The device capable of generating the control signal can generate a control signal in response to the control operation of the user and send the control signal to the vehicle computer.
And 104, generating a first instruction according to the control signal.
After receiving the control signal, the vehicle computer may generate a first instruction according to the control signal, where the first instruction may be used to instruct to open the scissor door or close the scissor door.
And 106, sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller.
After the first instruction is generated, the driving computer can send the first instruction to the scissor door controller; after receiving the first command, the scissor door controller may control the scissor door according to the first command, which is not limited in this embodiment of the present invention.
As an example, when the first command is a command to open the scissor door, the scissor door controller may open the scissor door according to the first command.
As another example, when the first command is a command to close the scissor door, the scissor door controller may close the scissor door according to the first command.
In summary, in the embodiment of the present invention, after receiving the control signal for the scissor door, the driving computer can generate the first instruction according to the control signal, and send the first instruction to the scissor door controller; and the scissor door controller can control the opening or closing of the scissor door according to the first command. The scissors door controller sends an instruction through the driving computer, and the scissors door is automatically opened or automatically closed, so that the scissors door is intelligently opened and closed, and the user experience is improved.
Referring to fig. 2, a flowchart illustrating steps of an alternative embodiment of a method for controlling a scissors door of a vehicle according to the present invention is shown, and specifically, the method may include the following steps:
As an example, a user may perform a control operation on an in-vehicle center screen of a vehicle; the vehicle-mounted central control screen can respond to the control operation of a user, generate a control signal and send the control signal to the vehicle computer.
As another example, the user may also perform a control operation on the car key, for example, the user may press a door opening button on the car key, and the like, which is not limited in this embodiment of the present invention. The vehicle key can respond to the control operation of a user, generate a control signal and send the control signal to the vehicle computer.
As yet another example, the user may also perform control operations for the door handle of the scissor door, e.g., touching the door handle; the sensor connected with the door handle can respond to the control operation of a user, generate a control signal and send the control signal to the vehicle computer.
In the embodiment of the invention, the control signal may include an opening signal and a closing signal, and when a user needs to open the scissor door, an opening operation for the scissor door may be performed on the device that may generate the control signal to generate the opening signal for the scissor door; when the user needs to close the scissor door, a closing operation for the scissor door may be performed on the device that may generate the control signal to generate a closing signal for the scissor door, which is not limited in this embodiment of the present invention.
And step 204, determining a target scissor door from the plurality of scissor doors according to the control signal.
In an embodiment of the invention, the scissor door comprises a plurality of scissor doors, and the scissor door controller comprises a plurality of scissor doors, each scissor door having a corresponding scissor door controller.
A vehicle may include a plurality of scissor doors, such as: a vehicle may include four scissor doors: left front scissor door, left back scissor door, right front scissor door and right back scissor door. Of course, the number of the scissor doors of the vehicle may be determined according to actual conditions, and the embodiment of the invention is not limited thereto.
In the embodiment of the present invention, the vehicle may also include a plurality of scissor door controllers, for example: a vehicle may include four scissor door controllers: a left front scissor door controller, a left rear scissor door controller, a right front scissor door controller and a right rear scissor door controller. Of course, the number of the scissor door controllers can be determined according to actual situations, and the embodiment of the invention is not limited to this.
As an example, each scissor door may have a corresponding scissor door controller, such as: the left front scissor door corresponds to the left front scissor door controller, the left rear scissor door corresponds to the left rear scissor door controller, the right front scissor door corresponds to the right front scissor door controller, and the right rear scissor door corresponds to the right rear scissor door controller. Of course, one scissor door may correspond to at least two scissor door controllers, which is not limited in the embodiments of the present invention.
When a user needs to open or close a specific scissor door, a control operation can be executed on the device capable of generating the control signal aiming at the specific scissor door so as to generate the control signal aiming at the specific scissor door; for example: when the user needs to open the front left scissor door, a corresponding control operation for opening the scissor door can be executed on the device capable of generating the control signal for the front left scissor door to generate the control signal for opening the front left scissor door.
After the driving computer receives the control signal, the scissor door corresponding to the control signal can be determined from the scissor doors and is used as a target scissor door; for example: the scissor door that the control signal is directed against is left front scissor door, and then the driving computer can regard left front scissor door as target scissor door according to the control signal.
In an embodiment of the present invention, the scissor door Controller and the scissor door may communicate via a CAN (Controller Area Network) bus.
In the embodiment of the invention, each scissor door is provided with the corresponding scissor door controller, so after the target scissor door is determined, the driving computer can determine the scissor door controller for controlling the target scissor door from the scissor door controllers and takes the scissor door controller as the target scissor door controller.
After determining the target scissor door controller, the trip computer may generate a first instruction for the target scissor door controller, which may include a first instruction to open the scissor door and a first instruction to close the scissor door.
As an example, when the control signal is an open signal, the trip computer may generate a first instruction to the target scissor door controller to open the scissor door.
As another example, when the control signal is a close signal, the trip computer may generate a first instruction to the target scissor door controller to close the scissor door.
And 208, sending the first command to the target scissor door controller, and controlling the opening or closing of the target scissor door by the target scissor door controller.
After the first instruction is generated, the traveling crane computer can send the first instruction to the target scissor door controller; after receiving the first command, the target scissor door controller may control the transmission of the target scissor door according to the first command to open or close the target scissor door.
As an example, when the first command is a first command to open the scissor door, the target scissor door controller may control the actuator of the target scissor door to open the target scissor door according to the first command.
As another example, when the first command is a first command to close the scissor door, the target scissor door controller may control the actuator of the target scissor door to close the target scissor door according to the first command.
In an embodiment of the present invention, the method may further include the steps of:
receiving fault information of the scissor door; and carrying out corresponding scissor door fault prompt according to the fault information.
In the embodiment of the invention, the scissor door can not be opened or closed due to faults or the scissor door can quit the automatic opening and closing function; at this time, the fault detection device can send a fault message to the traveling computer. After the traveling crane computer receives the fault information, corresponding scissor door fault prompting can be carried out according to the fault information; the scissor door fault prompt may include a voice prompt, a text prompt, a light prompt, and the like, and the embodiment of the present invention is not limited herein.
As an example, after receiving the fault information, the vehicle computer may analyze the fault information to generate an analysis result; the analysis results may include the type of fault, location of the fault, etc. After the analysis result is generated, the driving computer can carry out corresponding scissor door fault prompt according to the analysis result; for example: the analysis result is "collision occurs to the front left scissor door", the driving computer can generate a corresponding voice prompt "please notice that collision occurs to the front left scissor door", and the voice prompt is played through the vehicle-mounted audio device.
In an embodiment of the present invention, when the fault information is received, the fault diagnosis code related to the fault record may be used to perform troubleshooting and processing on the fault subsequently, which is not limited in this embodiment of the present invention.
In another embodiment of the present invention, if the user forcibly intervenes in the opening or closing process of the target scissors door, for example, the user manually pulls open the scissors door, the driving computer may determine that the user has intervened in the automatic opening and closing function of the scissors door. At this time, the driving computer may exit the automatic opening and closing function of the scissor door and stop controlling the target scissor door, which is not limited in the embodiment of the present invention.
In summary, in the embodiment of the present invention, the scissor doors are controlled by sending the command to the corresponding scissor door controller.
Referring to fig. 3, a flowchart illustrating steps of another alternative embodiment of the method for controlling a scissors door of a vehicle according to the present invention is shown, and specifically, the method may include the following steps:
And 308, sending the first command to the target scissor door controller, and controlling the opening or closing of the target scissor door by the target scissor door controller.
Step 302-step 308 are similar to step 202-step 208 described above and will not be described herein.
And step 310, obtaining obstacle detection information.
The surrounding environment may be complex and variable during the opening or closing process of the target scissor door; for example: there may be static obstacles in the direction of movement of the targeted scissor door or dynamic obstacles approaching the targeted scissor door. At this time, if the target scissor door continues to be opened or closed, the target scissor door may collide with the obstacle. Therefore, in the embodiment of the invention, when the target scissor door is opened or closed, the driving computer can acquire the obstacle detection information aiming at the surrounding environment of the vehicle so as to detect the obstacle in the surrounding environment of the vehicle; the obstacle detection information may include a distance of the obstacle with respect to the target scissor door, a type of the obstacle, a moving speed of the obstacle, and the like, which is not limited in this embodiment of the present invention.
As an example, the obstacle in the surrounding environment of the vehicle may be detected by a detection device of the vehicle, and the detection device may include a radar detection device, an infrared detection device, an image detection device, and the like, which are not limited by the embodiment of the present invention.
In an embodiment of the invention, after receiving the first instruction, the target scissor door controller may periodically send an obstacle detection request to the vehicle computer; after receiving the obstacle detection request, the traveling computer can acquire obstacle detection information from the detection equipment of the vehicle. The sending period may be set according to actual conditions, and the embodiment of the present invention is not limited to this.
In another embodiment of the present invention, the target scissor door controller may also continuously send the obstacle detection request to the vehicle computer after receiving the first command, which is not limited in this embodiment of the present invention.
As an example, when the target scissor door is opened successfully or closed successfully, the target scissor door controller may stop sending the obstacle detection request to the vehicle computer; the vehicle computer may stop obtaining the obstacle detection information when not receiving the obstacle detection request sent by the target scissor door controller within a preset time period, where the preset time period may be set according to an actual situation, and the embodiment of the present invention is not limited to this.
And step 312, when the obstacle detection information meets a preset obstacle avoidance condition, generating a second instruction.
After the obstacle detection information is acquired, the driving computer can judge whether the target scissor door collides with the obstacle in the opening or closing process according to the obstacle detection information.
As an example, it may be determined whether the obstacle detection information satisfies a preset obstacle avoidance condition; the obstacle avoidance condition may be preset for a distance of the obstacle relative to the scissor door, for example: a distance threshold may be set, and when the distance between the obstacle and the target scissor door is smaller than the distance threshold, it is determined that the obstacle detection information satisfies a preset obstacle avoidance condition, and the distance threshold may be set according to an actual situation, which is not limited in the embodiment of the present invention.
When the obstacle detection information meets the preset obstacle avoidance condition, the driving computer can generate a second instruction; the second instruction may be used to indicate that the target scissors door is to be temporarily opened or temporarily closed, which is not limited in the embodiments of the present invention.
And step 314, sending the second instruction to the target scissor door controller, and controlling the target scissor door controller to suspend opening or suspend closing of the target scissor door.
After the second instruction is generated, the traveling computer can send the second instruction to the target scissor door controller; after receiving the second instruction, the target scissor door controller can control the transmission device of the target scissor door to pause to open or pause to close the target scissor door according to the second instruction so as to avoid the target scissor door colliding with the obstacle.
As an example, when the target scissor door controller receives the second command while the target scissor door is opening, the target scissor door controller may control the transmission to suspend opening the target scissor door according to the second command.
As another example, the target scissor door controller receives a second command when the target scissor door is closing, and the target scissor door controller may control the actuator to pause closing the target scissor door in accordance with the second command.
In an embodiment of the present invention, after receiving the second instruction, the target scissor door controller may control the transmission device to continue to open or continue to close the target scissor door by a preset angle, and then suspend opening or suspend closing the target scissor door, where the preset angle may be set according to an actual situation, and the embodiment of the present invention is not limited thereto.
And step 316, judging whether the obstacle detection information meets a preset recovery condition.
After the target scissors door is suspended to be opened or closed, the driving computer can continue to acquire the obstacle detection information so as to judge whether the obstacle leaves.
As an example, it may be determined whether the obstacle has left by determining whether the obstacle detection information satisfies a preset recovery condition. The recovery condition may be preset for the distance of the obstacle with respect to the scissor door, for example: a distance threshold may be set, and when the distance between the obstacle and the target scissor door is greater than the distance threshold, it is determined that the obstacle detection information satisfies a preset recovery condition, and the distance threshold may be set according to an actual situation, which is not limited in the embodiment of the present invention.
And step 318, generating a third instruction when the obstacle detection information meets a preset recovery condition.
When the obstacle detection information meets the preset recovery condition, the obstacle can be considered to be far away from the target scissor door; at this time, even if the target scissors door is continuously opened or closed, the target scissors door does not collide with the obstacle. Therefore, in the embodiment of the present invention, when the obstacle detection information meets the preset recovery condition, the driving computer may generate a third instruction, and the third instruction may be used to instruct to continue to open or close the target scissor door.
And step 320, sending the third instruction to the scissor door controller, and controlling the scissor door controller to continuously open or continuously close the scissor door.
After the third instruction is generated, the traveling computer can send the third instruction to the target scissor door controller; after receiving the third command, the target scissor door controller may continue to open or close the target scissor door according to the third command.
In another embodiment of the present invention, in order to avoid collision with the obstacle when the target scissor door is continuously opened or closed due to misjudgment on the obstacle or sudden turn-back of the obstacle, the scissor door automatic opening and closing function may be exited when the obstacle detection information meets the preset obstacle avoidance condition, and the target scissor door is not continuously opened or closed any more, which is not limited in the embodiment of the present invention.
In summary, in the embodiment of the invention, in the opening or closing process of the scissor door, the obstacle detection information is acquired to determine whether the scissor door collides with the obstacle; and when the scissor door is judged to collide with the barrier, the scissor door is paused to be opened or paused to be closed, so that the safety of the scissor door during automatic opening and closing is ensured.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a control device for a scissor door of a vehicle according to an embodiment of the present invention is shown, where the vehicle may include a driving computer and a scissor door controller, and the device may specifically include the following modules:
a control signal receiving module 402 for receiving a control signal for the scissor door;
a first instruction generating module 404, configured to generate a first instruction according to the control signal;
the first instruction sending module 406 is configured to send the first instruction to the scissor door controller, and the scissor door controller controls the opening or closing of the scissor door.
Referring to fig. 5, a block diagram of an alternative embodiment of the control device for the scissors door of the vehicle according to the present invention is shown, and specifically, the control device may include the following modules:
in an alternative embodiment of the invention, the scissor door comprises a plurality of scissor doors, the scissor door controller comprises a plurality of scissor doors, each scissor door having a corresponding scissor door controller;
the first instruction generation module 404 includes:
a target scissor door determination sub-module 4042 configured to determine a target scissor door from the plurality of scissor doors based on the control signal;
a targeted first instruction generation sub-module 4044, configured to determine, from among multiple scissor door controllers, a target scissor door controller corresponding to the target scissor door, and generate a first instruction for the target scissor door controller;
the first instruction sending module 406 includes:
the targeted first instruction sending sub-module 4062 is configured to send the first instruction to the targeted scissor door controller, and the targeted scissor door controller controls the targeted scissor door to open or close.
In an optional embodiment of the invention, the apparatus further comprises:
an obstacle detection module 408, configured to obtain obstacle detection information; when the obstacle detection information meets a preset obstacle avoidance condition, generating a second instruction; and sending the second instruction to the scissor door controller, and controlling the scissor door to pause opening or closing by the scissor door controller.
In an optional embodiment of the invention, the apparatus further comprises:
a recovery module 410, configured to determine whether the obstacle detection information meets a preset recovery condition; generating a third instruction when the obstacle detection information meets a preset recovery condition; and sending the third command to the scissor door controller, and controlling the scissor door controller to continuously open or continuously close the scissor door.
In an optional embodiment of the invention, the apparatus further comprises:
a fault prompt module 412, configured to receive fault information of the scissor door; and carrying out corresponding scissor door fault prompt according to the fault information.
In summary, in the embodiment of the present invention, after receiving the control signal for the scissor door, the driving computer can generate the first instruction according to the control signal, and send the first instruction to the scissor door controller; and the scissor door controller can control the opening or closing of the scissor door according to the first command. The scissors door controller sends an instruction through the driving computer, and the scissors door is automatically opened or automatically closed, so that the scissors door is intelligently opened and closed, and the user experience is improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
Embodiments also provide a vehicle comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs configured to be executed by the one or more processors include a control method for executing a vehicle scissor door according to any of the embodiments of the invention.
Embodiments of the present invention further provide a readable storage medium, and when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the control method of the vehicle scissor door according to any embodiment of the present invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method, the device and the vehicle for controlling the scissor door of the vehicle provided by the invention are described in detail, the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of controlling a scissor door of a vehicle, the vehicle including a trip computer and a scissor door controller, the method comprising:
the driving computer receives a control signal aiming at the scissor door;
generating a first instruction according to the control signal;
and sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller.
2. The method of claim 1, wherein the scissor door comprises a plurality and the scissor door controller comprises a plurality, each scissor door having a corresponding scissor door controller;
generating a first instruction according to the control signal comprises:
determining a target scissor door from a plurality of scissor doors according to the control signal;
determining a target scissor door controller corresponding to the target scissor door from a plurality of scissor door controllers, and generating a first command for the target scissor door controller;
the sending the first command to the scissor door controller, and controlling the opening or closing of the scissor door by the scissor door controller includes:
and sending the first command to the target scissor door controller, and controlling the opening or closing of the target scissor door by the target scissor door controller.
3. The method of claim 1, further comprising:
acquiring obstacle detection information;
when the obstacle detection information meets a preset obstacle avoidance condition, generating a second instruction;
and sending the second instruction to the scissor door controller, and controlling the scissor door to pause opening or closing by the scissor door controller.
4. The method of claim 3, further comprising:
judging whether the obstacle detection information meets a preset recovery condition or not;
generating a third instruction when the obstacle detection information meets a preset recovery condition;
and sending the third command to the scissor door controller, and controlling the scissor door controller to continuously open or continuously close the scissor door.
5. The method of claim 1, further comprising:
receiving fault information of the scissor door;
and carrying out corresponding scissor door fault prompt according to the fault information.
6. A control device for a scissor door of a vehicle, the vehicle including a trip computer and a scissor door controller, the device comprising:
the control signal receiving module is used for receiving a control signal aiming at the scissor door;
the first instruction generating module is used for generating a first instruction according to the control signal;
and the first instruction sending module is used for sending the first instruction to the scissor door controller, and the scissor door controller controls the opening or closing of the scissor door.
7. The apparatus of claim 6, wherein the scissor door comprises a plurality and the scissor door controller comprises a plurality, each scissor door having a corresponding scissor door controller;
the first instruction generation module includes:
the target scissor door determination submodule is used for determining a target scissor door from a plurality of scissor doors according to the control signal;
the targeted first instruction generation sub-module is used for determining a targeted scissor door controller corresponding to the targeted scissor door from a plurality of scissor door controllers and generating a first instruction for the targeted scissor door controller;
the first instruction sending module comprises:
and the first targeted command sending submodule is used for sending the first command to the targeted scissor door controller, and the targeted scissor door controller controls the targeted scissor door to be opened or closed.
8. The apparatus of claim 6, further comprising:
the obstacle detection module is used for acquiring obstacle detection information;
the second instruction generating module is used for generating a second instruction when the obstacle detection information meets a preset obstacle avoiding condition;
and the second instruction sending module is used for sending the second instruction to the scissor door controller, and the scissor door controller controls the scissor door to be temporarily opened or temporarily closed.
9. A vehicle comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory, and configured to be executed by one or more processors comprises a control method for performing the vehicle scissor door according to any of the method claims 1-5.
10. A readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of controlling a vehicle scissor door according to any one of the method claims 1-5.
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| CN202110034597.1A CN112854949A (en) | 2021-01-11 | 2021-01-11 | Control method and device for scissor door of vehicle and vehicle |
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| CN202110034597.1A CN112854949A (en) | 2021-01-11 | 2021-01-11 | Control method and device for scissor door of vehicle and vehicle |
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Application publication date: 20210528 |