Door opening control method, device, equipment and storage medium

Abstract

The present invention belongs to the field of vehicle control, and discloses a door opening control method, device, equipment and storage medium. After receiving a door opening command, the obstacle detection device on the door detects surrounding obstacles to obtain first obstacle information; if the first obstacle information meets the door opening condition, the door is controlled to open to a first preset angle; after the door is opened to the first preset angle, the surrounding obstacles are detected again to obtain second obstacle information; whether to enter the parking lot mode is determined according to the first obstacle information, the second obstacle information and the first preset angle; if the parking lot mode is entered, the door is controlled to continue to open according to the parking lot mode. Since the door is controlled to open to the first preset angle first, and then it is detected whether the obstacle is a long special obstacle, if so, the door is controlled to open through the parking lot mode, ensuring that even if the obstacle is a long special obstacle, the door can still be automatically opened safely.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle door opening control method, device, equipment and storage medium. Background Art

[0002] Nowadays, in order to improve the user experience, vehicles have gradually become intelligent, and vehicles have begun to use the automatic door opening function, for example: automatically opening the door after parking in a parking lot or automatically opening the door before the driver gets in the car. The current alarm logic for automatic door opening is: when the door moves to the preset door opening angle, the door automatically stops opening; during the door opening process, if the obstacle detection device on the door (such as a detection probe, etc.) detects that the distance to the obstacle is less than or equal to the preset alarm threshold, an emergency alarm will be issued and the door will stop opening automatically.

[0003] The above alarm logic can meet the safety requirements of automatic door opening in common scenarios. However, if there is a long obstacle on the side of the vehicle, such as a wall, a vehicle, a long step, an iron fence, or a tall flower bush, the door may not move to the planned door opening angle or the obstacle distance detected by the obstacle detection device is greater than the preset alarm threshold, but the rear of the door has already collided with the obstacle.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a vehicle door opening control method, device, equipment and storage medium, aiming to solve the technical problem that the existing vehicle door automatic opening control logic cannot cope with more special obstacles and there are safety hazards.

[0006] To achieve the above object, the present invention provides a vehicle door opening control method, the method comprising the following steps:

[0007] Upon receiving the door opening command, detecting surrounding obstacles through an obstacle detection device on the door to obtain first obstacle information;

[0008] If the first obstacle information meets the door opening condition, controlling the door to open to a first preset angle;

[0009] After the vehicle door is opened to the first preset angle, detecting surrounding obstacles again to obtain second obstacle information;

[0010] determining whether to enter a parking mode according to the first obstacle information, the second obstacle information, and the first preset angle;

[0011] If entering the parking mode, the vehicle door is controlled to continue opening according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the obstacle detection device layout information.

[0012] Optionally, the step of determining whether to enter the parking mode according to the first obstacle information, the second obstacle information and the first preset angle includes:

[0013] Determine an angle determination range according to the first preset angle and the detection error coefficient;

[0014] determining a tilt angle change value according to the first obstacle information and the second obstacle information;

[0015] If the tilt angle change value is within the angle determination range, it is determined that the parking mode is entered.

[0016] Optionally, before the step of determining the angle determination range according to the first preset angle and the detection error coefficient, the step further includes:

[0017] Acquiring structural parameter information of a vehicle door and model information of an obstacle detection device installed on the vehicle door;

[0018] determining a detection error value of the obstacle detection device according to the model information;

[0019] A detection error coefficient is determined based on the detection error value and the structural parameter information.

[0020] Optionally, a first obstacle detection device and a second obstacle detection device are installed on the vehicle door;

[0021] The step of determining the tilt angle change value according to the first obstacle information and the second obstacle information includes:

[0022] Calculating a tilt angle change value according to the first obstacle information and the second obstacle information by using a preset change value calculation formula;

[0023] The preset change value calculation formula is:

[0024] change=arcsin[(LA'-LB') / L2]-arcsin[(LA-LB) / L2]

[0025] In the formula, change is the change value of the tilt angle, LA is the obstacle distance detected by the first obstacle detection device included in the first obstacle information, LB is the obstacle distance detected by the second obstacle detection device included in the first obstacle information, LA' is the obstacle distance detected by the first obstacle detection device included in the second obstacle information, LB' is the obstacle distance detected by the second obstacle detection device included in the second obstacle information, and L2 is the distance between the first obstacle detection device and the second obstacle detection device.

[0026] Optionally, the step of controlling the vehicle door to continue opening according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the obstacle detection device arrangement information includes:

[0027] determining a maximum opening angle of a vehicle door according to an edge distance threshold corresponding to the parking mode, the first obstacle information, and the arrangement information of the obstacle detection device;

[0028] Collect obstacle information in real time and obtain third obstacle information;

[0029] If the third obstacle information satisfies the door opening condition, the door is controlled to continue opening based on the maximum opening angle.

[0030] Optionally, the step of determining the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the arrangement information of the obstacle detection device includes:

[0031] determining a tilt angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection device;

[0032] Calculating the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the tilt angle, the first obstacle information and the obstacle detection device arrangement information by using a preset maximum angle calculation formula;

[0033] The preset maximum angle calculation formula is:

[0034] β=arcsin[(LC+L1*sinθ-S) / L]-θ

[0035] Wherein, β is the maximum opening angle of the door, LC is the obstacle distance detected by the obstacle detection device included in the first obstacle information, S is the edge distance threshold corresponding to the parking mode, L is the length of the door, θ is the inclination angle of the vehicle relative to the obstacle, and L1 is the distance between the first obstacle detection device and the hinge axis of the door.

[0036] Optionally, a plurality of obstacle detection devices are installed on the vehicle door;

[0037] Before the step of controlling the door to open to a first preset angle if the first obstacle information meets the door opening condition, the method further includes:

[0038] Extracting the obstacle distance detected by each obstacle detection device from the first obstacle information;

[0039] If the obstacle distances are all greater than the preset warning threshold, it is determined that the first obstacle information meets the door opening condition;

[0040] If the obstacle distances are all greater than the preset warning thresholds, it is determined that the first obstacle information meets the door opening condition.

[0041] In addition, to achieve the above-mentioned purpose, the present invention further provides a vehicle door opening control device, the vehicle door opening control device comprising the following modules:

[0042] A command receiving module, configured to, upon receiving a door opening command, detect surrounding obstacles through an obstacle detection device on the door to obtain first obstacle information;

[0043] A condition judgment module, configured to control the door to open to a first preset angle if the first obstacle information meets the door opening condition;

[0044] A door detection module, configured to detect surrounding obstacles again after the door is opened to the first preset angle, and obtain second obstacle information;

[0045] a mode determination module, configured to determine whether to enter a parking mode according to the first obstacle information, the second obstacle information and the first preset angle;

[0046] The mode control module is used to control the vehicle door to continue opening according to the edge distance threshold, the first obstacle information and the obstacle detection device layout information corresponding to the parking mode if the vehicle enters the parking mode.

[0047] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle door opening control device, which includes: a processor, a memory, and a vehicle door opening control program stored in the memory and executable on the processor, and when the vehicle door opening control program is executed by the processor, the steps of the vehicle door opening control method as described above are implemented.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium, on which a door opening control program is stored, and when the door opening control program is executed, the steps of the door opening control method as described above are implemented.

[0049] The present invention detects surrounding obstacles through an obstacle detection device on the door upon receiving a door opening command to obtain first obstacle information; if the first obstacle information meets the door opening condition, the door is controlled to open to a first preset angle; after the door is opened to the first preset angle, surrounding obstacles are detected again to obtain second obstacle information; whether to enter the parking lot mode is determined according to the first obstacle information, the second obstacle information and the first preset angle; if the parking lot mode is entered, the door is controlled to continue opening according to the edge distance threshold corresponding to the parking lot mode and the first obstacle information. Since the door is controlled to open to the first preset angle first, and then whether the obstacle is a long special obstacle is detected, if so, the door is controlled to open through the parking lot mode, ensuring that even if the obstacle is a long special obstacle, the door can still be controlled to open automatically normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present invention;

[0051] Figure 2 It is a flow chart of a first embodiment of a vehicle door opening control method of the present invention;

[0052] Figure 3 It is a flow chart of a second embodiment of a vehicle door opening control method of the present invention;

[0053] Figure 4 It is a schematic diagram of obstacles when the vehicle door is not opened;

[0054] Figure 5 A schematic diagram of obstacles when the vehicle door is opened to a first preset angle;

[0055] Figure 6 It is a complete execution flow chart of the vehicle door opening control method of the present invention;

[0056] Figure 7 This is a structural block diagram of the first embodiment of the vehicle door opening control device of the present invention.

[0057] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0059] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a door opening control device in the hardware operating environment involved in an embodiment of the present invention.

[0060] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0061] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0062] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a door opening control program.

[0063] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in a door opening control device, and the electronic device calls the door opening control program stored in the memory 1005 through the processor 1001, and executes the door opening control method provided in an embodiment of the present invention.

[0064] The embodiment of the present invention provides a door opening control method, referring to Figure 2 , Figure 2 It is a flow chart of a first embodiment of a vehicle door opening control method of the present invention.

[0065] In this embodiment, the door opening control method includes the following steps:

[0066] Step S10: After receiving the door opening instruction, the obstacle detection device on the door detects surrounding obstacles to obtain first obstacle information.

[0067] It should be noted that the executor of this embodiment may be the door opening control device, and the door opening control device may be a main controller installed in the vehicle. Of course, it may also be other devices for controlling the vehicle. This embodiment does not limit this. In this embodiment and the following embodiments, the door opening control method of the present invention is explained by taking the door opening control device as an example.

[0068] It should be noted that the door opening instruction may be an instruction sent by the user to the door opening control device through a user terminal, wherein the user terminal may be a terminal device such as a smart phone or a wireless key corresponding to the vehicle. Of course, the door opening instruction may also be automatically generated when it is detected that the state of the vehicle meets a preset condition, for example: when it is detected that the vehicle changes from a moving state to a stationary state for a certain period of time, that is, when it is in a parking state, a door opening instruction is generated. In addition, the door opening instruction may also be an instruction sent to the door opening control device after the user presses the door switch.

[0069] In a specific implementation, for the purpose of detection accuracy, at least two obstacle detection devices may be installed on the door of the vehicle. The obstacle detection device may be an obstacle detection probe, or of course, other devices with similar functions, which is not limited in this embodiment.

[0070] In actual use, the obstacle detection device on the vehicle door is used to detect surrounding obstacles, and obtaining the first obstacle information can be performed by detecting the distance between the surrounding obstacles and the obstacle detection device through the obstacle detection device on the vehicle door to obtain the obstacle distance, and the obstacle distances detected by each obstacle detection device are aggregated into the first obstacle information.

[0071] Step S20: If the first obstacle information meets the door opening condition, control the door to open to a first preset angle.

[0072] It should be noted that if the first obstacle information meets the door opening condition, it means that the obstacles around the vehicle are far away from the vehicle, so the door can be controlled to open to the first preset angle. The first preset angle can be pre-set by the manager of the door opening control device. The first preset angle is used to facilitate determining whether the surrounding obstacles are large obstacles. At the same time, in order to avoid collision, the first preset angle can be a very small angle value, for example: the first preset angle is set to 3°.

[0073] Furthermore, since the obstacle may be irregular in shape, in order to accurately determine whether the door opening condition is met, before step S20 in this embodiment, the following may also be included:

[0074] Extracting the obstacle distance detected by each obstacle detection device from the first obstacle information;

[0075] If the obstacle distances are all greater than the preset warning threshold, it is determined that the first obstacle information meets the door opening condition;

[0076] If the obstacle distances are all greater than the preset warning thresholds, it is determined that the first obstacle information meets the door opening condition.

[0077] It should be noted that the preset alarm threshold can be pre-set by the manager of the door opening control device according to actual needs, for example, the preset alarm threshold is set to 200mm. There are multiple obstacle detection devices installed on the door, and the first obstacle information is actually an aggregation of obstacle distances detected by multiple obstacle detection devices. Therefore, by parsing the first obstacle information, the obstacle distance detected by each obstacle detection device can be obtained.

[0078] It is understandable that if any obstacle distance detected by each obstacle detection device is less than or equal to the preset warning threshold, it means that at least part of the obstacle is close to the vehicle. At this time, opening the door may pose a safety hazard. Therefore, it can be determined that the door opening condition is not met. If the obstacle distance detected by each obstacle detection device is greater than the preset warning threshold, it means that the obstacle is far away from the vehicle at this time, and there will be no safety hazard when opening the door. Therefore, it can be determined that the first obstacle information meets the door opening condition. If the obstacle distance detected by any obstacle detection device is less than or equal to the preset warning threshold, it means that an obstacle is close to a part of the vehicle door at this time. If the door continues to be opened at this time, it may cause the door to collide with the obstacle, which poses a safety hazard. Therefore, it can be determined that the first obstacle information does not meet the door opening condition, and the door opening is stopped immediately. If necessary, a preset warning tone can also be triggered to remind the user that there is a close obstacle.

[0079] Moreover, during the automatic door opening process, the obstacle distance detected by each obstacle detection device can be continuously monitored. If the obstacle distance detected by any obstacle detection device is less than or equal to the preset alarm threshold, the door opening can be stopped immediately. If necessary, the preset warning sound can be triggered to remind the user that there is a nearby obstacle.

[0080] Step S30: After the vehicle door is opened to the first preset angle, surrounding obstacles are detected again to obtain second obstacle information.

[0081] It is understandable that in order to facilitate the determination of whether the obstacle on the current side of the vehicle is a long special obstacle, after the door is opened to the first preset angle, the obstacle detection device on the door can be used to detect the surrounding obstacles again to obtain the second obstacle information.

[0082] Step S40: determining whether to enter a parking mode according to the first obstacle information, the second obstacle information and the first preset angle.

[0083] In actual use, determining whether to enter the parking lot mode according to the first obstacle information, the second obstacle information and the first preset angle can be to calculate a tilt angle change value according to the first obstacle information and the second obstacle information, and compare the tilt angle change value with the first preset angle. If the tilt angle change value is equal to the first preset angle, it can be determined that the obstacle on the side of the vehicle is a long special obstacle, such as: the side of the vehicle is a wall or fence. At this time, it can be determined to enter the parking lot mode. Of course, if it is determined that there is no need to enter the parking lot mode, the door can be opened directly in the normal mode.

[0084] Step S50: If the parking mode is entered, the vehicle door is controlled to continue opening according to the edge distance threshold, the first obstacle information and the obstacle detection device arrangement information corresponding to the parking mode.

[0085] It should be noted that the edge distance threshold corresponding to the parking mode may be the minimum value of the distance between the rear edge of the door and the obstacle. The edge distance threshold is a positive number and may be pre-set by the manager of the door opening control device. For example, the edge distance threshold may be set to 100 mm. Of course, the vehicle owner may adjust it according to actual needs.

[0086] In a specific implementation, controlling the vehicle door to continue opening according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the obstacle detection device layout information can be to control the vehicle door to gradually open according to the edge distance threshold corresponding to the parking mode, the obstacle distance collected in the first obstacle information and the layout position of the obstacle detection device when it is arranged, so that the distance between the rear edge of the vehicle door and the obstacle reaches the edge distance threshold.

[0087] Furthermore, since a probe cannot be generally provided at the outermost edge of a vehicle door, in order to accurately control the vehicle door, step S50 in this embodiment may include:

[0088] determining a maximum opening angle of a vehicle door according to an edge distance threshold corresponding to the parking mode, the first obstacle information, and the arrangement information of the obstacle detection device;

[0089] Collect obstacle information in real time and obtain third obstacle information;

[0090] If the third obstacle information satisfies the door opening condition, the door is controlled to continue opening based on the maximum opening angle.

[0091] It should be noted that the maximum opening angle may be the opening angle of the vehicle door when the distance between the rear edge of the door and the obstacle reaches an edge distance threshold.

[0092] In the specific implementation, the overall control of the door opening has a major premise, that is, the door opening condition is met. If the door opening condition is not met, it can be said that the obstacle is close to the vehicle, or a part of the obstacle is close to the vehicle. If the door is still opened at this time, there may be safety hazards. Therefore, after calculating the maximum opening angle of the door, the obstacle distance can be detected again through the obstacle detection device on the door to obtain the third obstacle information. When the third obstacle information meets the door opening condition, the door is controlled to continue to open based on the maximum opening angle.

[0093] In actual use, based on the maximum opening angle, the door can be controlled to open gradually until the door opening angle reaches the maximum opening angle. In the process of controlling the door to open gradually, the obstacle information can be continuously collected through the obstacle detection device on the door. When the collected obstacle information meets the door opening condition, the door opening can be controlled. Once the collected obstacle information does not meet the door opening condition, the door opening can be stopped. If necessary, an alarm can be triggered to remind the driver or people around the vehicle.

[0094] Determining the maximum opening angle of the door according to the edge distance threshold, the first obstacle information and the layout information of the obstacle detection device corresponding to the parking lot mode can be to determine the inclination angle of the vehicle relative to the obstacle according to the first obstacle information and the layout information of the obstacle detection device, and then calculate the maximum opening angle of the door according to the edge distance threshold, the inclination angle, the first obstacle information and the layout information of the obstacle detection device corresponding to the parking lot mode through a preset maximum angle calculation formula.

[0095] The preset maximum angle calculation formula can be:

[0096] β=arcsin[(LC+L1*sinθ-S) / L]-θ

[0097] Wherein, β is the maximum opening angle of the door, LC is the obstacle distance detected by the obstacle detection device included in the first obstacle information, S is the edge distance threshold corresponding to the parking mode, L is the length of the door, θ is the inclination angle of the vehicle relative to the obstacle, and L1 is the distance between the first obstacle detection device and the hinge axis of the door.

[0098] Among them, since multiple obstacle detection devices may be installed on the vehicle door, when calculating the maximum opening angle, any one of the obstacle detection devices can be selected for calculation. For example, assuming that two obstacle detection devices A and B are installed on the vehicle door, A or B can be selected to calculate the maximum opening angle of the vehicle door. At this time, LC is the obstacle distance detected by the obstacle detection device selected in the first obstacle information, and L1 is the distance between the selected obstacle detection device and the hinge axis of the vehicle door.

[0099] In a specific implementation, determining the inclination angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection device can be performed by extracting obstacle distances detected by two obstacle detection devices with different arrangement positions (which can be represented as a first obstacle detection device A and a second obstacle detection device B, where A is closer to the hinge axis of the door than B) from the first obstacle information according to the arrangement information of the obstacle detection device, and then calculating the inclination angle of the vehicle relative to the obstacle according to the angle calculation formula.

[0100] The angle calculation formula can be:

[0101] θ=arcsin[(LA-LB) / L2]

[0102] Wherein, θ is the inclination angle of the vehicle relative to the obstacle, L2 is the distance between two obstacle detection devices arranged at different positions, LA is the obstacle distance detected by the first obstacle detection device A, and LB is the obstacle distance detected by the second obstacle detection device B.

[0103] This embodiment, upon receiving the door opening command, detects surrounding obstacles through the obstacle detection device on the door to obtain the first obstacle information; if the first obstacle information meets the door opening condition, the door is controlled to open to the first preset angle; after the door is opened to the first preset angle, the surrounding obstacles are detected again to obtain the second obstacle information; whether to enter the parking mode is determined according to the first obstacle information, the second obstacle information and the first preset angle; if the parking mode is entered, the door is controlled to continue to open according to the edge distance threshold corresponding to the parking mode and the first obstacle information. Since the door is controlled to open to the first preset angle first, and then detects whether the obstacle is a long special obstacle, if so, the door is controlled to open through the parking mode, ensuring that even if the obstacle is a long special obstacle, the door can still be controlled to open automatically normally.

[0104] refer to Figure 3 , Figure 3 It is a flow chart of a second embodiment of a vehicle door opening control method of the present invention.

[0105] Based on the first embodiment, the step S40 of the door opening control method of this embodiment includes:

[0106] Step S401: determining an angle determination range according to the first preset angle and the detection error coefficient.

[0107] It should be noted that the detection error coefficient can be determined based on the detection error of the obstacle detection device installed on the door. Determining the angle determination range based on the first preset angle and the detection error coefficient can be to determine the maximum determination angle and the minimum determination angle based on the first preset angle and the detection error coefficient, and then generate the angle determination range based on the maximum determination angle and the minimum determination angle. For example: assuming that the first preset angle is α and the detection error coefficient is 0.03, the maximum determination angle is (1+0.03)*α=1.03α, and the minimum determination angle is (1-0.03)*α=0.97α, then the angle determination range is [0.97α, 1.03α].

[0108] Furthermore, in order to quickly determine the detection error coefficient, before step S401 in this embodiment, the following steps may also be included:

[0109] Acquiring structural parameter information of a vehicle door and model information of an obstacle detection device installed on the vehicle door;

[0110] determining a detection error value of the obstacle detection device according to the model information;

[0111] A detection error coefficient is determined based on the detection error value and the structural parameter information.

[0112] It should be noted that the structural parameter information of the vehicle door may include the maximum openable angle of the vehicle door. Determining the detection error value of the obstacle detection device according to the model information may be to search for the corresponding detection error value in a preset model error table according to the model information.

[0113] In actual use, the detection error coefficient can be determined based on the detection error value and the structural parameter information by extracting the maximum openable angle from the structural parameter information, and then taking the ratio of the detection error value to the maximum openable angle as the detection error coefficient. For example, assuming that the detection error value is 2° and the maximum openable angle of the door is 70°, then the detection error coefficient = 2 / 70 = 0.03.

[0114] Step S402: determining a tilt angle change value according to the first obstacle information and the second obstacle information.

[0115] It should be noted that the tilt angle change value may be an angle change value of the door calculated by using the first obstacle information and the second obstacle information.

[0116] In actual use, at least two obstacle detection devices are installed on the vehicle door, and any two of them can be selected as the first obstacle detection device and the second obstacle detection device, respectively. The first obstacle detection device is closer to the door hinge axis than the second obstacle detection device.

[0117] Determining the tilt angle change value according to the first obstacle information and the second obstacle information may be calculating the tilt angle change value according to the first obstacle information and the second obstacle information using a preset change value calculation formula;

[0118] The preset change value calculation formula is:

[0119] change=arcsin[(LA'-LB') / L2]-arcsin[(LA-LB) / L2]

[0120] In the formula, change is the change value of the tilt angle, LA is the obstacle distance detected by the first obstacle detection device included in the first obstacle information, LB is the obstacle distance detected by the second obstacle detection device included in the first obstacle information, LA' is the obstacle distance detected by the first obstacle detection device included in the second obstacle information, LB' is the obstacle distance detected by the second obstacle detection device included in the second obstacle information, and L2 is the distance between the first obstacle detection device and the second obstacle detection device.

[0121] Step S403: If the tilt angle change value is within the angle determination range, it is determined to enter the parking mode.

[0122] It can be understood that if the tilt angle change value is within the angle determination range, it means that the obstacle on the side of the vehicle is a long special obstacle. At this time, it can be determined to enter the parking mode to perform more precise control over the door opening process to avoid safety hazards.

[0123] In order to facilitate understanding, but not to limit this solution, Figure 4 and Figure 5 The door opening control method of the present invention is described. Figure 4 This is a schematic diagram of obstacles when the vehicle door is not opened. Figure 5 Schematic diagram of obstacles when the vehicle door is opened to the first preset angle. Figure 4In the figure, there are two obstacle detection devices on the vehicle door, namely probe A and probe B, where the obstacle distance detected by probe A is LA, the obstacle distance detected by probe B is LB, the door length is L, L' is the distance between the rear edge of the door and the wall when the vehicle is transformed to be parallel to the wall, L1 is the distance between probe A and the door hinge axis, L2 is the distance between probe A and probe B, and θ is the inclination angle of the vehicle relative to the wall. At this time, the only known data are L1, L2, L, LA and LB.

[0124] Figure 5 relatively Figure 4 , α is the first preset angle, probe A' is the position of probe A after the door is opened by the first preset angle, probe B' is the position of probe B after the door is opened by the first preset angle, LA' is the obstacle distance detected by probe A after the door is opened by the first preset angle α, and LB' is the obstacle distance detected by probe B after the door is opened by the first preset angle α.

[0125] At this time, since LB=LA-L2*sinθ,

[0126] We can get: θ = arcsin[(LA-LB) / L2];

[0127] Since LB'=LA'-L2*sin(θ+α),

[0128] We can get:

[0129] change=arcsin[(LA'-LB') / L2]-θ=arcsin[(LA'-LB') / L2]-arcsin[(LA-LB) / L2];

[0130] Assuming that the detection error coefficient is 0.03, if 0.97α≤change≤1.03α at this time, it can be said that the vehicle is against a wall (or other long obstacles), and the parking mode can be entered at this time.

[0131] Assuming that the parking lot mode is entered, the alarm condition is: when the distance between the rear edge of the door and the wall is ≤100mm, the door opening stops; then the edge distance threshold can be determined to be 100mm; during the door opening process, the obstacle distance detected by each obstacle detection device is monitored in real time. If the distance to any obstacle is ≤200mm, an emergency alarm is issued and the door stops opening automatically.

[0132] At this time, according to the geometric theorem, we can calculate that θ = arcsin [(LA-LB) / L2];

[0133] If the vehicle is transformed to be parallel to the wall, the distance between the rear edge of the door and the wall is L'=LA+L1*sinθ;

[0134] When the car door is opened to the maximum opening angle, the distance between the rear edge of the car door and the wall is 100. Therefore, we can get sin(θ+β)=(L'-100) / L=(LA+L1*sinθ-100) / L. By transforming it, we can get the maximum opening angle of the car door β=arcsin[(LA+L1*sinθ-100) / L]-θ.

[0135] According to the above derivation process, it can be seen that the complete execution flow chart of the door opening control method of the present application can be as follows: Figure 6 As shown, Figure 6 This is a complete execution flow chart of the door opening control method of the present invention, wherein 200 mm is a preset alarm threshold.

[0136] This embodiment determines the angle determination range according to the first preset angle and the detection error coefficient; determines the tilt angle change value according to the first obstacle information and the second obstacle information; and determines to enter the parking mode if the tilt angle change value is within the angle determination range. Since the vehicle door is first opened to a smaller first preset angle, and then the tilt angle change value is calculated according to the collected first obstacle information and the second obstacle information, and the tilt angle change value is compared with the angle determination range, it can be accurately determined whether the obstacle on the side of the vehicle is a long special obstacle based on the comparison result, thereby determining whether it is necessary to enter the parking mode.

[0137] In addition, an embodiment of the present invention further proposes a storage medium, on which a door opening control program is stored. When the door opening control program is executed by a processor, the steps of the door opening control method described above are implemented.

[0138] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the vehicle door opening control device of the present invention.

[0139] like Figure 7 As shown, the door opening control device provided in the embodiment of the present invention includes:

[0140] The command receiving module 10 is used to detect surrounding obstacles through the obstacle detection device on the door upon receiving the door opening command, and obtain first obstacle information;

[0141] A condition judgment module 20, configured to control the door to open to a first preset angle if the first obstacle information meets the door opening condition;

[0142] A door detection module 30, configured to detect surrounding obstacles again after the door is opened to the first preset angle to obtain second obstacle information;

[0143] A mode determination module 40, configured to determine whether to enter a parking mode according to the first obstacle information, the second obstacle information and the first preset angle;

[0144] The mode control module 50 is used to control the vehicle door to continue opening according to the edge distance threshold, the first obstacle information and the obstacle detection device arrangement information corresponding to the parking mode if the vehicle enters the parking mode.

[0145] This embodiment, upon receiving the door opening command, detects surrounding obstacles through the obstacle detection device on the door to obtain the first obstacle information; if the first obstacle information meets the door opening condition, the door is controlled to open to the first preset angle; after the door is opened to the first preset angle, the surrounding obstacles are detected again to obtain the second obstacle information; whether to enter the parking mode is determined according to the first obstacle information, the second obstacle information and the first preset angle; if the parking mode is entered, the door is controlled to continue to open according to the edge distance threshold corresponding to the parking mode and the first obstacle information. Since the door is controlled to open to the first preset angle first, and then detects whether the obstacle is a long special obstacle, if so, the door is controlled to open through the parking mode, ensuring that even if the obstacle is a long special obstacle, the door can still be controlled to open automatically normally.

[0146] Furthermore, the mode judgment module 40 is also used to determine the angle judgment range according to the first preset angle and the detection error coefficient; determine the inclination angle change value according to the first obstacle information and the second obstacle information; if the inclination angle change value is within the angle judgment range, it is determined to enter the parking lot mode.

[0147] Furthermore, the mode judgment module 40 is also used to obtain structural parameter information of the vehicle door and model information of the obstacle detection device installed on the vehicle door; determine the detection error value of the obstacle detection device according to the model information; and determine the detection error coefficient based on the detection error value and the structural parameter information.

[0148] Furthermore, a first obstacle detection device and a second obstacle detection device are installed on the vehicle door;

[0149] The mode determination module 40 is further configured to calculate the tilt angle change value according to the first obstacle information and the second obstacle information by using a preset change value calculation formula;

[0150] The preset change value calculation formula is:

[0151] change=arcsin[(LA'-LB') / L2]-arcsin[(LA-LB) / L2]

[0152] In the formula, change is the change value of the tilt angle, LA is the obstacle distance detected by the first obstacle detection device included in the first obstacle information, LB is the obstacle distance detected by the second obstacle detection device included in the first obstacle information, LA' is the obstacle distance detected by the first obstacle detection device included in the second obstacle information, LB' is the obstacle distance detected by the second obstacle detection device included in the second obstacle information, and L2 is the distance between the first obstacle detection device and the second obstacle detection device.

[0153] Furthermore, the mode control module 50 is also used to determine the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the arrangement information of the obstacle detection device; collect obstacle information in real time to obtain third obstacle information; if the third obstacle information meets the door opening condition, control the door to continue opening based on the maximum opening angle.

[0154] Further, the mode control module 50 is also used to calculate the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the tilt angle, the first obstacle information and the obstacle detection device layout information through a preset maximum angle calculation formula;

[0155] The preset maximum angle calculation formula is:

[0156] β=arcsin[(LC+L1*sinθ-S) / L]-θ

[0157] In the formula, β is the maximum opening angle of the door, LC is the obstacle distance detected by the obstacle detection device included in the first obstacle information, S is the edge distance threshold corresponding to the parking mode, L is the length of the door, θ is the inclination angle of the vehicle relative to the obstacle, and L1 is the distance between the obstacle detection device and the hinge axis of the door.

[0158] Furthermore, a plurality of obstacle detection devices are installed on the vehicle door;

[0159] The condition judgment module is further used to extract the obstacle distances detected by each obstacle detection device from the first obstacle information; if the obstacle distances are all greater than a preset warning threshold, it is determined that the first obstacle information meets the door opening condition.

[0160] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0161] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0162] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the door opening control method provided in any embodiment of the present invention, and will not be repeated here.

[0163] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0164] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0165] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0166] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling the opening of a vehicle door, characterized in that, the method for controlling the opening of the vehicle door includes the following steps: Upon receiving a vehicle door opening instruction, detect surrounding obstacles through an obstacle detection device on the vehicle door to obtain first obstacle information; If the first obstacle information meets the vehicle door opening condition, control the vehicle door to open to a first preset angle; After the vehicle door opens to the first preset angle, detect surrounding obstacles again to obtain second obstacle information; Determine whether to enter the parking lot mode based on the first obstacle information, the second obstacle information, and the first preset angle; If entering the parking lot mode, control the vehicle door to continue opening according to the edge distance threshold corresponding to the parking lot mode, the first obstacle information, and the obstacle detection device layout information, so that the distance between the rear edge of the vehicle door and the obstacle reaches the edge distance threshold; Among them, the step of determining whether to enter the parking lot mode based on the first obstacle information, the second obstacle information, and the first preset angle includes: Determine an angle determination range according to the first preset angle and the detection error coefficient; Determine the tilt angle change value according to the first obstacle information and the second obstacle information, where the tilt angle change value is the included angle change value of the vehicle door calculated through the first obstacle information and the second obstacle information; If the tilt angle change value is within the angle determination range, it is determined to enter the parking lot mode.

2. The method for controlling the opening of a vehicle door according to claim 1, characterized in that, before the step of determining the angle determination range according to the first preset angle and the detection error coefficient, it further includes: Obtain the structural parameter information of the vehicle door and the model information of the obstacle detection device installed on the vehicle door; Determine the detection error value of the obstacle detection device according to the model information; Determine the detection error coefficient based on the detection error value and the structural parameter information.

3. The method for controlling the opening of a vehicle door according to claim 1, characterized in that, a first obstacle detection device and a second obstacle detection device are installed on the vehicle door; the step of determining the tilt angle change value according to the first obstacle information and the second obstacle information includes: Calculate the tilt angle change value according to the first obstacle information and the second obstacle information through a preset change value calculation formula; The preset change value calculation formula is: change = arcsin[(LA'-LB') / L2] - arcsin[(LA-LB) / L2] In the formula, change is the tilt angle change value, LA is the obstacle distance detected by the first obstacle detection device included in the first obstacle information, LB is the obstacle distance detected by the second obstacle detection device included in the first obstacle information, LA' is the obstacle distance detected by the first obstacle detection device included in the second obstacle information, LB' is the obstacle distance detected by the second obstacle detection device included in the second obstacle information, and L2 is the distance between the first obstacle detection device and the second obstacle detection device.

4. The door opening control method according to claim 1, It is characterized in that The step of controlling the vehicle door to continue opening according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the obstacle detection device arrangement information comprises: determining a maximum opening angle of the vehicle door according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the obstacle detection device arrangement information, the maximum opening angle being the opening angle of the vehicle door when the distance between the rear edge of the vehicle door and the obstacle reaches the edge distance threshold; Collect obstacle information in real time and obtain third obstacle information; If the third obstacle information satisfies the door opening condition, the door is controlled to continue opening based on the maximum opening angle.

5. The door opening control method according to claim 4, It is characterized in that The step of determining the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the first obstacle information and the arrangement information of the obstacle detection device comprises: determining a tilt angle of the vehicle relative to the obstacle according to the first obstacle information and the arrangement information of the obstacle detection device; Calculating the maximum opening angle of the door according to the edge distance threshold corresponding to the parking mode, the tilt angle, the first obstacle information and the obstacle detection device arrangement information by using a preset maximum angle calculation formula; The preset maximum angle calculation formula is: β=arcsin[(LC+L1*sinθ-S) / L]-θ Wherein, β is the maximum opening angle of the door, LC is the obstacle distance detected by the obstacle detection device included in the first obstacle information, S is the edge distance threshold corresponding to the parking mode, L is the length of the door, θ is the inclination angle of the vehicle relative to the obstacle, and L1 is the distance between the first obstacle detection device and the hinge axis of the door.

6. The door opening control method according to any one of claims 1 to 5, It is characterized in that A plurality of obstacle detection devices are installed on the vehicle door; Before the step of controlling the door to open to a first preset angle if the first obstacle information meets the door opening condition, the method further includes: Extracting the obstacle distance detected by each obstacle detection device from the first obstacle information; If the obstacle distances are all greater than the preset warning threshold, it is determined that the first obstacle information meets the door opening condition; If the distance of any obstacle is less than or equal to the preset warning threshold, it is determined that the first obstacle information does not meet the door opening condition.

7. A door opening control device, It is characterized in that The door opening control device comprises the following modules: A command receiving module, configured to, upon receiving a door opening command, detect surrounding obstacles through an obstacle detection device on the door to obtain first obstacle information; A condition judgment module, configured to control the door to open to a first preset angle if the first obstacle information meets the door opening condition; A door detection module, configured to detect surrounding obstacles again after the door is opened to the first preset angle, and obtain second obstacle information; a mode determination module, configured to determine whether to enter a parking mode according to the first obstacle information, the second obstacle information and the first preset angle; a mode control module, configured to control the vehicle door to continue opening according to an edge distance threshold, first obstacle information, and obstacle detection device arrangement information corresponding to the parking mode if the vehicle enters the parking mode, so that the distance between the rear edge of the vehicle door and the obstacle reaches the edge distance threshold; The mode judgment module is also used to determine an angle judgment range based on the first preset angle and the detection error coefficient; determine a tilt angle change value based on the first obstacle information and the second obstacle information, the tilt angle change value being a door angle change value calculated based on the first obstacle information and the second obstacle information; if the tilt angle change value is within the angle judgment range, it is determined that the parking lot mode has been entered.

8. A door opening control device, It is characterized in that The door opening control device includes: a processor, a memory, and a door opening control program stored in the memory and executable on the processor. When the door opening control program is executed by the processor, the steps of the door opening control method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a door opening control program, which, when executed, implements the steps of the door opening control method according to any one of claims 1 to 6.

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