CN118208125A

CN118208125A - Linkage control method and device for vehicle door, vehicle and storage medium

Info

Publication number: CN118208125A
Application number: CN202211616154.4A
Authority: CN
Inventors: 宋潮; 杨波; 李峰; 王鹏飞
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 linkage control method and device for a vehicle door, a vehicle and a storage medium. The door of the vehicle comprises at least one top door and at least one side door, the side door opens and closes a side door opening of the vehicle body, the top door opening of the top door opening and the side door opening are communicated, the side door comprises a frame side window, the side door is closed before, and when the top door is closed after, the side edge of the top door at least covers the upper frame of the side window, the method comprises the following steps: acquiring a vehicle door state; when the side door and the top door are in a closed state, responding to an instruction for opening the top door and the side door, and controlling the side door to be opened after the top door is opened to a preset height; the preset height is determined based on the range of the top door covering the side door, and when the opening height of the top door is not smaller than the preset height, the side door is not contacted with the top door in the opening and closing process. The application can solve the problem that the top door and the side door are easy to collide when being opened simultaneously, and simultaneously improves the riding safety of users.

Description

Linkage control method and device for vehicle door, vehicle and storage medium

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a linkage control method and apparatus for a vehicle door, a vehicle, and a storage medium.

Background

The automobile has become an indispensable transportation means of mankind, and from the aspect of passenger car molding trend, the vehicle body is low to be favorable to reducing windage and increasing stability, but will lead to the passenger to get in and out the vehicle inconvenient, consequently, the appearance of wing door has effectively solved above-mentioned problem.

At present, in order to ensure the tightness of a vehicle door, a door top door and a side door of the vehicle are generally designed to be in an overlapped structure, for example, the door top door covers the door side door, so that the problem of poor tightness of the vehicle door is solved, but when the vehicle door is opened, the door top door and the door side door are easy to collide, and the safety of a user in the vehicle is influenced.

Disclosure of Invention

The application provides a linkage control method and device for a vehicle door, a vehicle and a storage medium, and aims to solve the problem that in the prior art, due to the structures of a vehicle side door and a vehicle top door, collision is easy to occur when the vehicle top door and the vehicle side door are opened at the same time.

In a first aspect, the present application provides a linkage control method for a vehicle door, where the vehicle door includes at least one top door and at least one side door, the side door opens and closes a side door opening of a vehicle body, the top door opening opens and closes a top door opening of a vehicle body top, the side door opening communicates with the top door opening, the side door includes a framed side window, the side door is closed before, and when the top door is closed after, a side edge of the top door covers at least an upper frame of the side window;

The linkage control method comprises the following steps:

acquiring a vehicle door state;

When the side door and the top door are in a closed state, responding to an instruction for opening the top door and the side door, and controlling the side door to be opened after the top door is opened to a preset height;

the preset height is determined based on the range of the top door covering the side door, and when the opening height of the top door is not smaller than the preset height, the side door is not contacted with the top door in the opening and closing process.

In one possible implementation manner, the controlling the side door to open after the top door is opened to a preset height includes:

controlling the top door to unlock and executing an opening action;

and after the top door is opened to a preset height, controlling the side door to be unlocked and executing an opening action.

In one possible implementation, the controlling the side door to unlock and perform the opening action includes:

Acquiring the opening time required by the top door from the preset height to the currently set maximum opening height;

calculating a side door opening driving force required by the side door when the side door is opened from a closed state to a currently set maximum opening angle in the opening time;

And controlling the side door to unlock and controlling the side door opening and closing driving mechanism to output the side door opening driving force so as to drive the side door to execute the opening action.

In one possible implementation manner, the coordinated control method further includes:

when the side door and the top door are in an open state, responding to an instruction of closing the top door and the side door, controlling a top door opening and closing driving mechanism to output a top door closing driving force to drive the top door to be closed, and controlling a side door opening and closing driving mechanism to output a side door closing driving force to drive the side door to be closed;

And when the side door is closed under the driving of the side door closing driving force, the top door is closed to the preset height under the driving of the top door closing driving force.

In one possible implementation manner, during the closing process of the top door, the linkage control method further includes:

when the top door is closed to the preset height, the side door is controlled to be in a closed state, and the side door is locked.

When the side door and the top door are in a closed state, responding to an instruction of independently opening the side door, controlling the top door to be opened to a preset height, controlling the side door to be opened, and controlling the top door to be restored to the closed state after the side door is opened.

When the side door is in an open state and the top door is in a closed state, responding to a command for closing the side door, controlling the top door to be opened to a preset height, controlling the side door to be closed, and controlling the top door to be restored to the closed state after the side door is closed.

In a second aspect, the present application provides a linkage control device for a vehicle door, where the vehicle door includes at least one top door and at least one side door, the side door opens and closes a side door opening of a vehicle body, the top door opens and closes a top door opening of a vehicle body top, the side door opening communicates with the top door opening, the side door includes a framed side window, the side door is closed before, and when the top door is closed after, a side edge of the top door covers at least an upper frame of the side window;

the linkage control device comprises:

The acquisition module is used for acquiring the state of the vehicle door;

The control module is used for responding to the instruction of opening the top door and the side door when the side door and the top door are in a closed state, and controlling the side door to be opened after the top door is opened to a preset height;

In a third aspect, the present application provides a vehicle. The vehicle comprises a control device 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 as described above in the first aspect or any one of the possible implementations of the first aspect when the computer program is executed.

In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the method of the first aspect or any one of the possible implementations of the first aspect.

The application provides a linkage control method and device for a vehicle door, a vehicle and a storage medium, wherein the linkage control method and device for the vehicle door, the vehicle and the storage medium are used for controlling a side door to be opened after the top door is opened to a preset height in response to an instruction of opening both the top door and the side door when the side door and the top door are in a closed state by acquiring the state of the vehicle door; the preset height is determined based on the range of the top door covering the side door, and when the opening height of the top door is not smaller than the preset height, the side door is not contacted with the top door in the opening and closing process. According to the application, through the principle that the top door is preferentially opened to the preset height when the top door and the side door are simultaneously opened, the problem that the top door and the side door are easy to collide when being simultaneously opened is solved, and the riding safety of a user is improved.

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 described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a vehicle door according to an embodiment of the present application;

FIG. 2 is a flowchart of an implementation of a method for controlling a linkage of a vehicle door according to an embodiment of the present application;

FIG. 3 is a schematic view of a preset height of a door top door provided by an embodiment of the present application;

fig. 4 is a schematic structural view of a linkage control device for a vehicle door according to an embodiment of the present application;

Fig. 5 is a schematic diagram of a control apparatus of a vehicle provided by 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.

Fig. 1 is a schematic structural diagram of a vehicle door according to an embodiment of the present application, as shown in fig. 1:

The door of the vehicle includes left top door 1 and right top door 1a and left side door 2 and right side door, left side door opening 4 and right side door opening of the vehicle body of side door switching vehicle, left top door opening 3 and right top door opening 3a at top of the vehicle body of top door switching vehicle, left side door opening 4 communicates with left top door opening 3, left side door 2 is including framed side window 5, the side door is closed earlier, when top door is closed later, side edge 6 of top door covers the last frame of side window at least.

When a rear passenger in the vehicle gets off the vehicle, and the space in the vehicle is smaller or the size of the passenger is larger, the side door and the top door are required to be opened simultaneously for comfort and safety so as to enlarge the space range of the passenger getting off the vehicle, namely the whole space formed by the door opening and the top door opening.

Fig. 2 is a flowchart of an implementation of a linkage control method for a vehicle door according to an embodiment of the present application, which is described in detail below:

in step 201, a door state is acquired.

The user obtains the current door state of the vehicle through the vehicle central control device, and controls the door to execute opening or closing actions through the vehicle controller according to the door state.

The door state may include the top door being in an open state, the side door being in a closed state, the top door and the side door being in an open state, the top door being in a closed state, the side door being in an open state, the top door and the side door being in a closed state. Because the door of the vehicle comprises at least one top door and at least one side door, the side door comprises a frame side window, and the side edge of the top door at least covers the upper frame of the side window, the opening and closing sequence of the top door and the side door needs to be considered, so that the safety of the vehicle and the user in the vehicle is not influenced due to collision of the top door and the side door.

In step 202, when both the side door and the top door are in a closed state, responding to an instruction for opening both the top door and the side door, and controlling the side door to be opened after the top door is opened to a preset height;

In the embodiment of the application, when the door state is that the side door and the top door are both in the closed state, a user selects the instruction for opening the top door and the side door through the vehicle central control device or the rear-row door control device, the top door is preferentially controlled to be opened after the vehicle controller receives the instruction, and the side door is controlled to be opened when the top door is opened to the preset height, so that collision between the top door and the side door is avoided when the top door and the side door are simultaneously opened.

For the preset height, the embodiment of the application is determined based on the range of covering the side door by the top door, and requires that the side door is not contacted with the top door in the opening and closing process when the opening height of the top door is not less than the preset height, referring to fig. 3,1 is the top door, 2 is the side door, 6 is the side edge of the top door, and when the opening height of the top door 1 is not less than the preset height, the side door 2 is not contacted with the top door 1 in the opening and closing process, namely, when the opening height of the top door 1 is not less than H, the side door 2 is not contacted with the top door 1 in the opening and closing process.

According to the preset height and the mode of preferentially controlling the opening of the top door and the subsequent opening of the side door, the problem that the top door and the side door are easy to collide when being simultaneously opened is solved, and meanwhile, the riding safety of a user is improved.

In the embodiment of the application, the opening height of the top door of the vehicle can be intelligently adapted based on passengers getting on and off the vehicle, for example, when the passengers getting on and off the vehicle are children with lower heights, the top door can only be opened to the preset height when the passengers can get in and out of the vehicle only through the side door opening; for passengers with higher heights, when the passengers slightly inconvenient to get in and out of the vehicle through the side door opening, the top door can be continuously opened to a certain height after being opened to a preset height, so that the passengers can get in and out conveniently; for passengers with higher heights, when the passengers can not conveniently enter or exit the vehicle through the side door opening, the top door can be continuously opened to the maximum height after being opened to the preset height, so that the passengers can conveniently enter or exit. The specific control method comprises the following steps:

Acquiring the height of a passenger to be on or off the vehicle;

if the height of the passenger waiting to get on or off the vehicle is not greater than a first height threshold, controlling the top door to be opened to a preset height in response to an instruction for opening both the top door and the side door, and controlling the side door to be opened after the top door is opened to the preset height;

If the height of the passenger waiting to get on or off the vehicle is larger than a first height threshold value and is not larger than a second height threshold value, controlling the top door to be opened to a preset second height in response to an instruction for opening both the top door and the side door, and controlling the side door to be opened after the top door is opened to the preset height, wherein the second height threshold value is larger than the first height threshold value, and the preset second height is larger than the preset height;

If the height of the passenger waiting to get on or off the vehicle is larger than the second height threshold, the top door is controlled to be opened to the maximum opening height in response to the instruction of opening both the top door and the side door, and the side door is controlled to be opened after the top door is opened to the preset height.

In this embodiment, the height of opening of the top door of the vehicle is intelligently adapted to the height of the passengers getting on and off the vehicle, so that the top door does not need to be opened to the maximum height every time when being opened, and the electric quantity is saved on the basis of being convenient for the passengers to get in and out.

In a specific application, the above-mentioned acquisition of the height of the passengers waiting to get on or off the vehicle can be achieved by the following means: aiming at a boarding scene, when a door opening instruction is received, acquiring an image of a passenger to be boarding in front of a corresponding door, and calculating the height of the passenger to be boarding by means of image analysis; for a get-off scene, when a door opening instruction is received, an image corresponding to the passenger to be taken on one side of the door is acquired when the passenger to be taken off takes the vehicle, the height of the passenger taking the vehicle is calculated through an image analysis method, the height of the passenger taking the vehicle is converted into the actual height by utilizing the conversion relation between the preset taking height and the actual height, and the conversion relation between the preset taking height and the actual height can be obtained through experimental measurement in advance.

In one possible implementation, controlling the opening of the side door after the top door is opened to the preset height may include:

Controlling the top door to unlock and execute an opening action;

and after the top door is opened to a preset height, controlling the side door to unlock and execute the opening action.

The top door and the side door are provided with two door locks, and only the first lock locks the rear door in a half-locking state and the second lock locks the rear door in a full-locking state; in the half-lock state, the handle in the door is pulled to open the rear door; in the full-lock state, the handle in the door is pulled to prevent the door from being opened, for example, when the first lock of the side door is locked, the side door is in the half-lock state, and a user in the vehicle can open the side door by pulling the handle in the door; for example, when the first lock and the second lock of the side door are locked, namely, the side door is in a full-lock state, the side door cannot be opened through the corresponding inner handle or outer handle, so that the phenomenon that the side door is opened due to misoperation in the vehicle driving process is avoided, and the personal safety of a user in the vehicle is ensured.

In some embodiments, when the top door is in a half-lock state and the side door is in a full-lock state, when the vehicle controller receives an instruction that both the top door and the side door are opened, the instruction is sent to the door controller of the top door and the door controller of the door side door, and the door controller of the top door is preferentially used for controlling the top door to unlock and execute the opening action, and the door controller of the side door is required to unlock the second lock on the side door, but when the top door is not opened to a preset height, the first lock and the second lock cannot be unlocked, and after the top door is opened to the preset height, the second lock and the first lock of the side door can be unlocked through the door controller of the side door, and the opening action is executed.

In some embodiments, when the top door and the side door are in the full lock state, when the vehicle controller receives an instruction that the top door and the side door are both opened, the instruction is sent to the door controller of the top door and the door controller of the side door, and preferentially, the door controller of the top door controls the top door to unlock the second lock and the first lock and execute the opening action, and the door controller of the side door is required to unlock the second lock and the first lock on the side door.

It should be noted that, the side door cannot be in a half-locking state, because the side edge of the top door covers the upper frame of the side window of the side door, only after the door controller of the top door controls the unlocking of the top door and opens to a preset height, the door controller of the side door can control the unlocking of the side door and the opening of the side door, so that the influence on the personal safety of a user in the vehicle is caused when the top door is not opened to the preset height because the side door is in a half-locking state and the side door is opened.

In one possible implementation, controlling the side door to unlock and perform the opening action may include:

acquiring the opening time required by opening the top door from a preset height to the currently set maximum opening height;

calculating a side door opening driving force required when the side door is opened from a closed state to a currently set maximum opening angle in the opening time;

and controlling the side door to unlock and controlling the side door opening and closing driving mechanism to output side door opening driving force so as to drive the side door to execute opening action.

In the embodiment of the application, the opening time required by opening the top door from the preset height to the currently set maximum opening height can be controlled by the door controller of the top door, and the side door opening driving force required by the side door from the closed state to the currently set maximum opening angle can be calculated according to the opening time of the top door on the premise of ensuring that the top door and the side door are simultaneously opened to the maximum opening degree, the side door is controlled to be unlocked by the door controller of the side door, and the side door opening and closing driving mechanism is controlled to drive the side door to execute the opening action according to the calculated side door opening driving force, wherein the side door opening and closing driving mechanism is a side door opening and closing driving motor.

The opening time is preset by the vehicle, under the condition that the maximum opening height of the top door is currently set and the opening speed of the top door is known, according to the distance from the preset height to the maximum opening height of the top door, and by combining the opening speed of the top door, the opening time required by the vehicle door controller of the top door when the top door is controlled to be opened from the preset height to the currently set maximum opening height is calculated, and the opening time is a fixed value.

For example, when the opening time t required for opening the top door of the vehicle from the preset height to the currently set maximum opening height is obtained, the side door opening driving force F required for opening the side door from the closed state to the currently set maximum opening angle is calculated, the side door is controlled to be unlocked by the door controller of the side door, and the side door is driven to execute the opening action by the side door opening driving force F through the side door opening and closing driving motor, so that the top door and the side door are simultaneously opened to the maximum opening degree.

In one possible time mode, the coordinated control method may further include:

When the side door and the top door are in an open state, responding to an instruction of closing the top door and the side door, controlling the top door opening and closing driving mechanism to output a top door closing driving force to drive the top door to be closed, and controlling the side door opening and closing driving mechanism to output a side door closing driving force to drive the side door to be closed;

when the side door is closed under the driving of the side door closing driving force, the top door is closed to a preset height under the driving of the top door closing driving force.

In the embodiment of the application, when the door state is that the side door and the top door are both in an open state, namely, when the top door and the side door are both opened to the maximum opening, a user selects an instruction for opening and closing the top door and the side door through the vehicle central control device or the rear-row door control device, after the instruction is received by the vehicle controller, the vehicle controller controls the top door opening and closing driving mechanism to drive the top door to be closed, and the vehicle controller controls the side door opening and closing driving mechanism to drive the side door to be closed, wherein the top door opening and closing driving mechanism is a top door opening and closing driving motor, the driving time required by the opening and closing driving motor is the same as the driving time required by the opening and closing driving motor when the side door is in the maximum opening to the closing state, so that the top door is closed to the preset height under the driving of the side door opening and closing driving motor, and the side door is closed at the same time, and the subsequent collision of the top door and the side door can be avoided when the top door and the side door are closed at the same time.

The driving time required by the driving motor for opening and closing the top door from the maximum opening to the preset height can be consistent with or inconsistent with the opening time, the calculation process is similar, and under the condition that the currently set maximum opening height of the top door and the closing speed of the top door are known, the driving time required by the driving motor for opening and closing the top door from the maximum opening to the preset height is calculated according to the distance from the maximum opening height to the preset height of the top door and combined with the closing speed of the top door, wherein when the closing speed and the opening speed of the top door are consistent, the driving time and the opening time are consistent; when the closing speed and the opening speed of the top door are inconsistent, the driving time and the opening time are inconsistent.

In one possible implementation manner, the control method may further include, during the closing process of the top door:

when the top door is closed to a preset height, the control side door is in a closed state, and the side door is locked.

In the embodiment of the application, when the top door and the side door are closed at the same time, in order to avoid collision between the top door and the side door, when the top door is closed to a preset height, the side door is controlled to be in a closed state by the side door opening and closing driving motor, and after the side door is closed, the top door is driven to be in the closed state from the preset height by the top door opening and closing driving motor, and the top door is closed, so that the requirement of tightness of the vehicle is met when the top door and the side door are in the closed state.

In one possible implementation manner, the linkage control method may further include:

when the side door and the top door are in a closed state, the top door is controlled to be opened to a preset height in response to an independent opening instruction of the side door, and the side door is controlled to be opened and the top door is controlled to be restored to the closed state after the side door is opened.

In the embodiment of the application, when the door state is that the side door and the top door are both in the closed state, a user selects a side door opening instruction through the vehicle central control device or the rear vehicle door control device, after the vehicle controller receives the instruction, the top door is controlled to be opened to a preset height by the door controller of the top door preferentially, the side door is controlled to be opened by the door controller of the side door, and after the side door is opened, the top door is controlled to be restored to the closed state by the door controller of the top door under the condition that the opening and closing actions of the top door and the opening actions of the side door are not mutually influenced.

When the side door and the top door are in the closed state, the passengers of the rear row of the vehicle need to get off, and the passengers can get off the vehicle through the side door opening directly because the size of the passengers is small, the passengers select the side door opening instruction of the vehicle door control device, firstly, when the top door is controlled to be opened to a preset height by the vehicle door controller of the top door, the side door is controlled to be opened by the vehicle door controller of the side door, and after the side door is opened, and when the top door and the side door are not mutually influenced, the top door is controlled to be restored to the closed state by the controller of the top door.

In one possible implementation, the control method may further include:

In the embodiment of the application, when the door state is that the side door is in an open state and the top door is in a closed state, a user selects a command for closing the side door through the vehicle central control device or the rear-row door control device, after the command is received by the vehicle controller, the top door is controlled to be opened to a preset height through the door controller of the top door, then the side door is controlled to be closed through the door controller of the side door, and after the side door is closed and locked, the top door is controlled to be restored to the closed state through the door controller of the top door.

In some embodiments, when the passenger gets off the vehicle and the side door is in an open state, the driver may select an instruction for closing the side door by using the vehicle central control device and send the instruction to the vehicle controller, and control the side door to perform a closing action.

In some embodiments, when a passenger gets off the vehicle and the side door is in an open state, the door controller of the side door performs a braking operation on the side door when the passenger closes the side door manually, and sends a signal of a side door closing command to the door controller of the top door, after the door controller of the top door controls the top door to open to a preset height, the door controller of the side door cancels the braking operation on the side door, the side door is driven to a closed state by a manual driving force, and after the side door is locked, the door controller of the top door is controlled to return to the closed state.

The application provides a linkage control method of a vehicle door, which is characterized in that a door state is obtained, when a side door and a top door are both in a closed state, the side door is controlled to be opened after the top door is opened to a preset height in response to an instruction for opening the top door and the side door; the preset height is determined based on the range of the top door covering the side door, and when the opening height of the top door is not smaller than the preset height, the side door is not contacted with the top door in the opening and closing process. According to the application, the principle that the top door is opened to the preset height after the top door is opened preferentially when both the top door and the side door are opened is adopted, so that the problem that the top door and the side door are easy to collide when the top door and the side door are opened simultaneously is solved, and the riding safety of a user is improved.

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. 4 is a schematic structural diagram of a linkage control device for a vehicle door according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown, which is described in detail below:

As shown in fig. 4, the linkage control device 4 for a vehicle door includes:

an acquisition module 41 for acquiring a door state;

The control module 42 is configured to control, when the side door and the top door are both in a closed state, the side door to be opened after the top door is opened to a preset height in response to an instruction that both the top door and the side door are opened;

The application provides a linkage control device of a vehicle door, which is used for controlling a side door to be opened after the top door is opened to a preset height in response to an instruction of opening both the top door and the side door when the side door and the top door are in a closed state by acquiring the state of the vehicle door; the preset height is determined based on the range of the top door covering the side door, and when the opening height of the top door is not smaller than the preset height, the side door is not contacted with the top door in the opening and closing process. According to the application, through the principle that the top door is preferentially opened to the preset height when the top door and the side door are simultaneously opened, the problem that the top door and the side door are easy to collide when being simultaneously opened is solved, and the riding safety of a user is improved.

In one possible implementation, the control module may include:

the first unlocking module is used for controlling the top door to unlock and executing the opening action;

And the second unlocking module is used for controlling the side door to unlock and executing the opening action after the top door is opened to a preset height.

In one possible implementation manner, the first unlocking module may specifically be used for:

In one possible implementation, the apparatus may further include:

The first driving module is used for responding to the instruction of closing the top door and the side door when the side door and the top door are in an open state, controlling the top door opening and closing driving mechanism to output a top door closing driving force to drive the top door to be closed, and controlling the side door opening and closing driving mechanism to output a side door closing driving force to drive the side door to be closed;

The second driving module is used for closing the top door to a preset height under the driving of the closing driving force of the top door when the closing of the side door is completed.

In one possible implementation manner, the device may further include, during the closing process of the top door:

and the locking module is used for controlling the side door to be in a closed state when the top door is closed to a preset height and locking the side door.

In one possible implementation, the apparatus may further include:

And the first closing module is used for responding to the independent opening instruction of the side door when the side door and the top door are in the closed state, controlling the opening of the side door after the top door is controlled to be opened to a preset height, and controlling the top door to be restored to the closed state after the side door is opened.

In one possible implementation, the apparatus may further include:

And the second closing module is used for responding to a command of closing the side door when the side door is in an open state and the top door is in a closed state, controlling the side door to be closed after the top door is controlled to be opened to a preset height, and controlling the top door to be restored to the closed state after the side door is closed.

Fig. 5 is a schematic diagram of a control apparatus of a vehicle provided by an embodiment of the present application. As shown in fig. 5, the control apparatus 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, performs the steps of the linkage control method embodiment for each vehicle door described above, such as step 201 shown in fig. 2. Or the processor 50, when executing the computer program 52, performs the functions of the modules of the apparatus embodiments described above, such as the functions of the module 41 shown in fig. 4.

For example, the computer program 52 may be partitioned into one or more modules that are stored in the memory 51 and executed by the processor 50 to complete the present application, please 5. The one or more modules may be a series of computer program instruction segments capable of carrying out the specified functions,

Which is used to describe the execution of the computer program 52 in the control device 5. For example, the computer program 52 may be partitioned into the modules 41 shown in fig. 4.

The control device 5 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal 5 may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art 0 that fig. 5 is merely an example of the control device 5 and does not constitute a limitation of the control device 5, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the control device may further include an input-output device, a network access device, a bus, etc.

The processor 50 may be a central processing unit (Central Processing Unit, CPU), or may be a combination of two or more processors

Other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED integrated circuits (ASICs), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the control device 5, such as a hard disk or a memory of the control device 50. The memory 51 may also be an external storage device of the control device 5, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the control device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the control device 5.

The memory 51 is used for storing the computer program as well as other programs and 5 data required by the control device. The memory 51 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 the modules or units is merely a logical function 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 on 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/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the above-described methods, or may be implemented by a computer program for instructing related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the above-described embodiments of the method for controlling the linkage of the vehicle door when executed by the processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the 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 computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The linkage control method of the vehicle door is characterized in that the vehicle door comprises at least one top door and at least one side door, the side door is used for opening and closing a side door opening of the vehicle body, the top door opening is used for opening and closing the top door opening at the top of the vehicle body and is communicated with the top door opening, the side door comprises a frame side window, the side door is closed before, and when the top door is closed after, the side edge of the top door at least covers the upper frame of the side window;

The linkage control method comprises the following steps:

acquiring a vehicle door state;

2. The linkage control method of a vehicle door according to claim 1, wherein the controlling the side door to open after the top door is opened to a preset height comprises:

controlling the top door to unlock and executing an opening action;

3. The linkage control method of a vehicle door according to claim 2, wherein the controlling the side door to unlock and perform an opening action includes:

4. A linkage control method of a vehicle door according to any one of claims 1 to 3, characterized in that the linkage control method further comprises:

5. The method for controlling the linkage of a vehicle door according to claim 4, wherein the method for controlling the linkage further comprises, during closing of the roof door:

6. A linkage control method of a vehicle door according to any one of claims 1 to 3, characterized in that the linkage control method further comprises:

7. A linkage control method of a vehicle door according to any one of claims 1 to 3, characterized in that the linkage control method further comprises:

8. The linkage control device of the vehicle door is characterized in that the vehicle door comprises at least one top door and at least one side door, the side door is used for opening and closing a side door opening of the vehicle body, the top door opening is used for opening and closing the top door opening at the top of the vehicle body and is communicated with the top door opening, the side door comprises a frame side window, the side door is closed before, and when the top door is closed after, the side edge of the top door at least covers the upper frame of the side window;

the linkage control device comprises:

The acquisition module is used for acquiring the state of the vehicle door;

9. A vehicle comprising a control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the coordinated control method of a vehicle door according to any one of the preceding claims 1 to 7.

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 coordinated control method of a vehicle door according to any one of the preceding claims 1 to 7.