CN118208112A

CN118208112A - Vehicle side door control method and device, vehicle and storage medium

Info

Publication number: CN118208112A
Application number: CN202211617399.9A
Authority: CN
Inventors: 杨波; 王鹏飞; 李峰; 宋潮
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2024-06-18

Abstract

The application provides a vehicle side door control method and device, a vehicle and a storage medium, and belongs to the technical field of vehicle control, wherein the vehicle side door control method comprises the following steps: when the side door part of the vehicle is detected to be closed, a Hall signal of an actuator corresponding to the side door part is obtained; wherein the side door part is a side door body or a side window; judging whether the side door part encounters an obstacle in the closing process according to the Hall signal; if the side door component encounters an obstacle in the closing process, the side door component is controlled to stop closing and open to set the opening degree. The application can effectively ensure the safety of people and vehicles in the closing process of the side door component.

Description

Vehicle side door control method and device, vehicle and storage medium

Technical Field

The application belongs to the technical field of vehicle control, and particularly relates to a vehicle side door control method and device, a vehicle and a storage medium.

Background

At present, an automobile electric side door or an electric window can help a person to open and close the automobile door and the automobile window easily and conveniently in daily travel, however, technologies such as the electric side door or the electric window may have risks, obstacles such as hands, hair, clothes or branches of drivers and passengers are easy to clamp in the closing process of the automobile door or the automobile window, limbs of the person are easy to be injured when clamped, and objects or the automobile are easy to damage when the objects are clamped.

Disclosure of Invention

The application aims to provide a vehicle side door control method and device, a vehicle and a storage medium, which are used for solving the problem that safety of people and vehicles is affected when side door components are closed in the prior art.

In a first aspect of an embodiment of the present application, there is provided a vehicle side door control method including:

When detecting that a side door part of a vehicle is closed, acquiring a Hall signal of an actuator corresponding to the side door part; wherein the side door component is a side door body or a side window;

Judging whether the side door part encounters an obstacle in the closing process according to the Hall signal;

and if the side door part encounters an obstacle in the closing process, controlling the side door part to stop closing and opening a set opening degree.

In one possible implementation manner, the determining, according to the hall signal, whether the side door component encounters an obstacle during the closing process includes:

determining a current value corresponding to the Hall signal and a period corresponding to the Hall signal;

and if the current value is larger than a preset current value or the period is larger than a preset period, judging that the side door part encounters an obstacle in the closing process.

In one possible implementation manner, when the side door component is a side door body, the determining, according to the hall signal, whether the side door body encounters an obstacle in a closing process includes:

determining the rotating speed of a motor for driving the side door body according to the Hall signal;

if the rotating speed of the motor driving the side door body is smaller than the preset rotating speed of the motor, judging that the side door body encounters an obstacle in the closing process.

In one possible implementation manner, the determining, according to the hall signal, whether the side door component encounters an obstacle during the closing process further includes:

Determining a closing speed of the side door component according to the hall signal;

And if the closing speed of the side door part is smaller than a preset speed threshold value, judging that the side door part encounters an obstacle in the closing process.

In one possible implementation, the method further includes:

Obtaining the number of obstacle meeting times within preset time, wherein the number of obstacle meeting times is the number of times that the side door part stops closing and opens a set opening degree;

and if the obstacle meeting times reach the preset times, outputting closing reminding information of the side door component, and disabling an electric control function of the side door component.

In one possible implementation manner, when the side door component is a side door body, before the side door body is controlled to stop closing and open to a set opening degree, the vehicle side door control method further includes:

Detecting whether a target exists in an early warning area of the side door body, wherein the early warning area is an area swept by the side door body when the side door body stops closing to a set opening;

If no target exists in the early warning area, the set opening degree is unchanged.

If a target exists in the early warning area, detecting the type of the target;

If the type of the target shows that the target is a static target, generating an actual opening according to the distance between the side door body and the static target, and updating the set opening to the actual opening;

If the type of the target is a dynamic target, playing early warning voice until the dynamic target does not exist in the early warning area.

In a second aspect of the embodiment of the present application, there is provided a vehicle side door control apparatus, the apparatus including:

The signal acquisition module is used for acquiring a Hall signal of an actuator corresponding to a side door part of the vehicle when the side door part is closed; wherein the side door component is a side door body or a side window;

The judging module is used for judging whether the side door component encounters an obstacle in the closing process according to the Hall signal;

And the execution module is used for controlling the side door component to stop closing and opening to set the opening degree if the side door component encounters an obstacle in the closing process.

In a third aspect of the embodiment of the present application, there is provided a vehicle, the vehicle including a control terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, the steps of the vehicle side door control method being implemented by the processor when the computer program is executed.

In a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the vehicle side door control method described above.

The vehicle side door control method and device, the vehicle and the storage medium provided by the embodiment of the application have the beneficial effects that:

Firstly, the application can judge whether the side door part encounters an obstacle or not in the closing process according to the Hall signal of the actuator corresponding to the side door part. And when encountering an obstacle, the side door component can stop closing and reversely open for a certain angle or distance, so that a user can conveniently remove the obstacle. The problem of among the prior art, the side door part presss from both sides to the barrier in closing the in-process and damages object, door easily and leads to the user to be injured easily is solved.

Secondly, the side door part is a side door body and a side window, so that the side door can detect whether an obstacle is encountered when the side door body is closed, and can detect the side window, the defect that the side door body or the side window is detected independently is overcome, and the driving safety can be effectively improved. In the prior art, an additional sensor device is usually required to acquire signals, and the additionally arranged sensor device is more easily damaged in the using process of the vehicle, but the application acquires the Hall signals through the corresponding actuator of the side door part to judge whether the side door part encounters an obstacle or not when executing the closing action, and the additional sensor device is not required to be arranged. The application obtains the signal through the actuator of the vehicle, and can improve the detection precision and reliability. Based on the scheme of the application, the safety problem of people and vehicles caused by clamping obstacles in the closing process of the side door component is avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a vehicle side door control method according to an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a vehicle side door control apparatus according to an embodiment of the present application;

fig. 3 is a schematic diagram of a control terminal of a vehicle according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a flowchart of a vehicle side door control method according to an embodiment of the application, where the method includes:

S101: when the side door component of the vehicle is detected to be closed, a Hall signal of an actuator corresponding to the side door component is acquired. Wherein the side door component is a side door body or a side window.

In this embodiment, the actuator corresponding to the side door body is an electric stay actuator, and the actuator corresponding to the side window is a side window lifter. The actuators corresponding to the side door body and the side window are different, so that when the side door body of the vehicle is detected to be closed, the Hall signal of the electric stay rod actuator of the side door body is acquired, and when the side window of the vehicle is detected to be closed (lifted), the Hall signal of the side window lifter of the side window is acquired, and the Hall signals are not interfered with each other, and can be acquired simultaneously or independently. The vehicle includes a top door and a side door, wherein the structure of the top door and the side door may be as follows: the side door comprises a side door body and a side window, and the top edge of the side window is frame-free; the top door is provided with a border sealing piece matched with the top edge of the side window, and the side window is in sealing connection with the border sealing piece after the side window performs lifting action. The purpose of acquiring the hall signal of the electric stay bar actuator of the side door body is to determine whether an obstacle exists in the area (door gap) between the side door body and the side door frame or whether an obstacle exists in the area between the side door body and the vehicle body (side door opening). The purpose of acquiring the hall signal of the side window lifter of the side window is to determine whether there is an obstacle in the area between the side window and the overhead door cross member (with the edge seal installed). The application can acquire signals through the actuator of the vehicle, does not need to arrange additional sensor equipment, and reduces the cost.

S102: judging whether the side door part encounters an obstacle in the closing process according to the Hall signal.

In this embodiment, the hall signal includes: hall signals of an electric stay bar actuator of a side door body and hall signals of a side window lifter of a side window. According to the embodiment, whether the side door body encounters an obstacle in the closing process can be judged according to the current value, the period and the closing speed of the side door body, which are determined by the Hall signals of the electric brace rod actuator of the side door body, and the rotating speed of the motor driving the side door body. The embodiment can also judge whether the side window meets the obstacle in the closing process according to the current value, the period and the closing speed of the side window, which are determined by the Hall signal of the side window lifter of the side window. The application can detect the side door body and the side window, expands the detection area and makes up the defect that the side door body or the side window is detected independently.

S103: if the side door component encounters an obstacle in the closing process, the side door component is controlled to stop closing and open to set the opening degree.

In this embodiment, the set opening degree needs to be set in advance, and can be modified. When the side door component is a side door body, setting the opening degree as the reverse opening angle of the side door body; when the side door member is a side window, the opening degree is set to a distance by which the side window is reversely lowered.

In one possible implementation, determining whether the side door component encounters an obstacle during closing according to the hall signal includes:

and determining a current value corresponding to the Hall signal and a period corresponding to the Hall signal.

If the current value is greater than the preset current value or the period is greater than the preset period, judging that the side door part encounters an obstacle in the closing process.

In this embodiment, the current value and the period of the hall signal may be determined according to the hall signal of the side window lifter of the side window, and the determination of whether the side window encounters an obstacle in the closing process may be implemented by determining the current value or the period of the hall signal. The current value and the period of the Hall signal can be determined according to the Hall signal of the electric stay rod actuator of the side door body, and whether the side door body encounters an obstacle in the closing process or not can be judged by judging the current value or the period of the Hall signal. According to the application, whether the side door component encounters an obstacle in the closing process is judged through the current value corresponding to the Hall signal and the period corresponding to the Hall signal, so that judgment errors caused by unobvious current value change or unobvious period change are avoided, and the judgment accuracy is improved.

In one possible implementation manner, when the side door component is a side door body, determining whether the side door body encounters an obstacle in a closing process according to the hall signal includes:

And determining the rotating speed of a motor for driving the side door body according to the Hall signal.

In this embodiment, the preset motor rotation speed needs to be preset and changed according to actual needs. When the resistance of the side door body is increased, the rotating speed of the motor driving the side door body is reduced, so that the side door body can be judged to meet the obstacle in the closing process according to the fact that the rotating speed of the motor driving the side door body is smaller than the preset rotating speed of the motor.

In one possible implementation manner, determining whether the side door component encounters an obstacle during the closing process according to the hall signal further includes:

the closing speed of the side door part is determined from the hall signal.

In this embodiment, the determination of whether the side door member encounters an obstacle during the closing process may also be achieved by determining the closing speed of the side door member. The preset speed threshold may be a preset speed value, or may belong to a preset speed range, for example: the preset speed threshold may be 1.2m/s and the preset speed threshold may belong to a speed range of 1.0m/s-1.2 m/s.

In one possible implementation, the vehicle side door control method further includes:

and obtaining the obstacle meeting times within a preset time, wherein the obstacle meeting times are times of stopping closing and opening the side door part by a set opening degree.

If the obstacle meeting times reach the preset times, outputting closing reminding information of the side door part, and disabling the electric control function of the side door part.

In this embodiment, the preset time is a certain preset duration, which needs to be preset and can be modified. The number of obstacle meeting times and the preset number of times need to be preset and can be modified. For example: the side door part is a side door body, the preset time is 90s, the obstacle meeting times are 5 times, the preset times are 4 times, the obstacle meeting times reach the preset times, the closing reminding information of the side door body is output, the electric control function of the side door body is forbidden, at the moment, the electric control function of the side door body, namely the electric key of the side door body, is forbidden, the user makes feedback according to the closing reminding information of the side door body, and if the feedback information indicates that the side door body is closed, the side door body is controlled to execute the closing action. In this embodiment, the user may control the closing or opening of the side door component through the closing reminding information of the side door component, and when the electric control function of the side door component is disabled, the electric opening or closing can still be achieved without manual control.

In one possible implementation, when the side door component is a side door body, the vehicle side door control method further includes, before the side door body is controlled to stop closing and to open by the set opening degree:

Detecting whether a target exists in an early warning area of the side door body, wherein the early warning area is an area swept by the side door body when the side door body stops closing to be opened to a set opening degree.

In this embodiment, the target may be a person, a tree, a wall, a vehicle traveling on a road, a vehicle parked at a roadside, or the like. Considering that targets may exist around the side door body, if collision occurs between the side door body and the targets during the opening process of the side door body, safety accidents may be caused. In order to further ensure the safety of people and vehicles, whether the set opening degree needs to be updated or not can be judged by detecting whether a target exists in an early warning area (an area swept by the side door body when the side door body stops closing to be opened to the set opening degree), so that collision between the side door body and the target is avoided. If the detection result is that the target is not present, the side door body is opened with a set opening degree.

if the target exists in the early warning area, detecting the type of the target.

If the type of the target shows that the target is a static target, generating an actual opening according to the distance between the side door body and the static target, and updating the set opening to the actual opening.

If the type of the target is a dynamic target, playing the early warning voice until the dynamic target does not exist in the early warning area.

In the present embodiment, whether the object is static or dynamic can be determined by detecting the type of the object. In this embodiment, if a target exists in the early warning area, it is necessary to determine whether the target is a static target or a dynamic target. If the door body is a static target, the set opening is updated according to the distance between the door body of the side door and the static target, so that the door body of the side door is ensured not to collide with the static target, and can reversely move for a certain angle, and a user can conveniently remove an obstacle. The present embodiment considers that the moving side door body collides with the dynamic object, and the hazard may be greater. Therefore, if the type of the target is a dynamic target, early warning voice is played to remind personnel in and out of the vehicle. In an actual application scenario, the dynamic target may be a safer dynamic target such as a pedestrian, an animal, or a safer dynamic target such as a running bicycle, a running vehicle, or the like, and the embodiment can determine whether the dynamic target is safer or more dangerous by detecting the category of the dynamic target. When the dynamic targets are relatively safe targets such as pedestrians and animals, the safety opening can be generated according to the distance between the targets and the side door body, the set opening is updated to the safety opening, the side door body can be controlled to be slowly opened to the safety opening, the side door body is ensured to be prevented from colliding with the targets, the side door can be opened at a low angle and a low speed, and meanwhile, warning with early warning voice is safer. In this embodiment, after the side door body is opened, personnel in the vehicle can get off the vehicle. When the type of the dynamic object is a dangerous object such as a running bicycle or a running vehicle, whether the object passes or not can be detected, and after the object passes, the opening of the side door body can be controlled. If the dangerous objects such as the bicycle, the vehicle and the like do not pass, the side door body keeps the state of stopping closing currently. The embodiment can acquire the image of the dynamic target through the image acquisition equipment, judge the category of the dynamic target and judge whether the dangerous target passes through the image recognition technology, and the image acquisition equipment can be cameras arranged in front of, behind or at other positions of the left and right side bodyworks of the vehicle. In the embodiment, the early warning voice is always kept to be played until the early warning area does not contain a dynamic target, so that a user can know the condition outside the vehicle in time conveniently. According to the method, the collision of the side door body with the target in the early warning area can be effectively avoided, the side door body can be controlled to be opened on the premise of ensuring safety, personnel in the vehicle can get off the vehicle, and the obstacle clamped by the side door body in the closing process can be removed in time, so that the side door body is prevented from clamping the obstacle for a long time.

In the embodiment of the application, whether an obstacle is encountered in the closing process of the side door body can be judged according to the current value, the period, the closing speed of the side door body and the rotating speed of a motor driving the side door body which are determined by the Hall signal of the electric stay rod actuator of the side door body, and when the obstacle is encountered, the side door body can stop closing and reversely open a preset angle; whether the side window meets the obstacle or not can be judged according to the current value, the period and the closing speed of the side window, which are determined by the Hall signal of the side window lifter of the side window, when the side window meets the obstacle, the side window can stop closing and descends by a preset distance, so that a user can conveniently remove the obstacle, and the problems that in the prior art, a side door part is clamped to the obstacle in the closing process, the object and a vehicle door are damaged easily and the user is injured easily are solved. The application can detect the side door body and the side window, expands the detection area and makes up the defect that the side door body or the side window is detected independently. The user can control the side door part to be closed or opened through the closing reminding information of the side door part, and when the electric control function of the side door part is disabled, the electric opening or closing can still be realized without manual control. Based on the scheme of the application, the problem of personal safety and vehicle safety brought in the closing process of the side door part can be effectively avoided.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

The following are device embodiments of the application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.

Fig. 2 is a schematic structural diagram of a vehicle side door control apparatus according to an embodiment of the application. For convenience of explanation, only portions relevant to the embodiments of the present application are shown. Referring to fig. 2, the vehicle side door control apparatus 20 includes:

The signal acquisition module 21 is configured to acquire a hall signal of an actuator corresponding to a side door component when the side door component of the vehicle is detected to be closed. Wherein the side door component is a side door body or a side window.

The judging module 22 is configured to judge whether the side door component encounters an obstacle during the closing process according to the hall signal.

And an execution module 23 for controlling the side door component to stop closing and open a set opening degree when the side door component encounters an obstacle during the closing process.

In one possible implementation, the determining module 22 is configured to determine whether the side door component encounters an obstacle during the closing process according to the hall signal.

Judging whether the side door part meets an obstacle in the closing process according to the Hall signal, comprising:

In one possible implementation, the determining module 22 is configured to determine, when the side door component is a side door body, whether the side door body encounters an obstacle during a closing process according to the hall signal.

When the side door part is the side door body, judge whether the side door body meets the barrier at closing the in-process according to hall signal, include:

In one possible implementation, the determining module 22 is further configured to determine whether the side door component encounters an obstacle during the closing process according to the hall signal.

Judging whether the side door part meets the obstacle in the closing process according to the Hall signal, and further comprising:

the closing speed of the side door part is determined from the hall signal.

In a possible implementation manner, the execution module 23 is further configured to obtain the number of times of obstacle meeting, which is the number of times that the side door component stops closing and opens by a set opening degree, within a preset time.

In one possible implementation manner, the execution module 23 is further configured to detect, when the side door component is a side door body, whether a target exists in an early warning area of the side door body before the side door body is controlled to stop closing and open to a set opening, where the early warning area is an area swept by the side door body when the side door body is stopped to close to the set opening.

In one possible implementation, the execution module 23 is further configured to, when the side door component is a side door body, control the side door body to stop closing and open the set opening, and if a target exists in the early warning area, detect a type of the target.

The embodiment of the application also provides a vehicle, which comprises the control terminal, and referring to fig. 3, fig. 3 is a schematic diagram of the control terminal of the vehicle provided by the embodiment of the application. As shown in fig. 3, the control terminal 30 of this embodiment includes: a processor 31, a memory 32 and a computer program 33 stored in the memory 32 and executable on the processor 31. The steps in the respective vehicle side door control method embodiments described above, such as S101 to S103 shown in fig. 1, are implemented when the processor 31 executes the computer program 33. Or the processor 31 when executing the computer program 33, implements the functions of the modules in the above-described embodiments of the apparatus, such as the functions of the modules 21 to 23 shown in fig. 2.

By way of example, the computer program 33 may be divided into one or more modules, one or more modules being stored in the memory 32 and executed by the processor 31 to complete the present application. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 33 in the control terminal 30. For example, the computer program 33 may be split into modules 21 to 23 shown in fig. 2.

The control terminal 30 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The control terminal 30 may include, but is not limited to, a processor 31, a memory 32. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the control terminal 30 and is not limiting of the control terminal 30, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the control terminal may further include input-output devices, network access devices, buses, etc.

The Processor 31 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 32 may be an internal storage unit of the control terminal 30, such as a hard disk or a memory of the control terminal 30. The memory 32 may also be an external storage device of the control terminal 30, such as a plug-in hard disk provided on the control terminal 30, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 32 may also include both an internal storage unit and an external storage device of the control terminal 30. The memory 32 is used to store computer programs and other programs and data required by the terminal. The memory 32 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program for instructing related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by the processor, may implement the steps of the method embodiment of controlling the side door of the vehicle. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

The present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present application, and these modifications and substitutions are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A vehicle side door control method, characterized by comprising:

2. The vehicle side door control method according to claim 1, wherein the determining whether the side door component encounters an obstacle during closing based on the hall signal includes:

3. The vehicle side door control method according to claim 1, wherein when the side door part is a side door body, determining whether the side door body encounters an obstacle in a closing process based on the hall signal, comprises:

4. The vehicle side door control method according to claim 1, wherein the determining whether the side door component encounters an obstacle during closing based on the hall signal further comprises:

5. The vehicle side door control method according to claim 1, characterized in that the method further comprises:

6. The vehicle side door control method according to any one of claims 1 to 5, wherein when the side door member is a side door body, before controlling the side door body to stop closing and open by a set opening degree, the vehicle side door control method further comprises:

7. The vehicle side door control method according to claim 6, wherein when the side door member is a side door body, the vehicle side door control method further comprises, before controlling the side door body to stop closing and to open by a set opening degree:

If a target exists in the early warning area, detecting the type of the target;

8. A vehicle side door control apparatus, characterized by comprising:

9. A vehicle, characterized by comprising: a control terminal;

The control terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.