Door control methods, devices, equipment and readable storage media

Abstract

This invention provides a vehicle door control method, device, equipment, and readable storage medium. The vehicle door control method includes: when the vehicle gear is detected to be in P or N position, detecting whether the vehicle key is within a preset range; if so, determining the projection content based on the door's open / closed state; acquiring light intensity and rainfall level, and determining the projection brightness and projection color based on the light intensity and rainfall level; projecting the projection content using an array-type light field projector; and controlling the vehicle door to open or close when the distance measured by a distance sensor changes, and the number of changes exceeds a preset number within a preset time. This invention, by providing better brightness and color display of the projected content based on ambient brightness and weather conditions, and by using an array-type light field projector, avoids situations where mud, sand, or other debris obstructs the projection lens, resulting in invalid or suboptimal projection content, thus providing users with a better vehicle door opening and closing experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a door control method, device, equipment, and readable storage medium. Background Technology

[0002] From traditional gas springs to electric switches, car tailgate technology has undergone a qualitative leap. The "one-touch" function is now widely used in high-end models. Also known as a smart sensor tailgate, the "one-touch" function allows the tailgate to open and close automatically by kicking a specific area at the bottom of the rear of the car when the engine is off. It is especially convenient when both hands are holding items. However, in real-world applications, it often puts users in awkward situations: the "one-touch" function has a 20% failure rate, requiring users to repeatedly swipe the sensor, which can easily scratch the car body if not careful. In rainy or snowy weather, it can also easily get your pants dirty, adding to the travel hassle. In addition, the sensing distance of the "one-touch" function is relatively short, posing a safety hazard of the tailgate hitting the face. Some SUVs (sport utility vehicles) and other models with high tailgate opening heights have left many female users with a very unfriendly experience. Summary of the Invention

[0003] The main objective of this invention is to provide a vehicle door control method, device, equipment, and readable storage medium, aiming to solve the technical problems existing in the prior art, such as the lack of a projection indicator area, which leads to difficulties in user operation and the risk of being hit in the face when opening the door, as well as the single image, single brightness, and poor imaging quality of the projected image, incomplete imaging when there are foreign objects blocking the image, and poor accuracy in recognizing the distance of the vehicle key.

[0004] In a first aspect, the present invention provides a vehicle door control method, the vehicle door control method comprising:

[0005] When the vehicle is detected to be in P or N gear, check if the vehicle key is within the preset range;

[0006] If so, the projected content is determined based on the opening and closing status of the car door;

[0007] Obtain the light intensity and rainfall level, and determine the projection brightness and projection color based on the light intensity and rainfall level;

[0008] Based on the determined projection brightness and projection color, an array-type light field projector is used to project the projection content;

[0009] When the distance measured by the distance sensor changes, and the number of changes exceeds a preset number within a preset time, the door is controlled to open or close.

[0010] Optionally, the vehicle key includes a UWB chip, and detecting whether the vehicle key is within a preset range includes:

[0011] The distance between the vehicle's ToF sensor and the vehicle key is obtained by using a ToF sensor installed in the vehicle.

[0012] If the distance between the vehicle's ToF sensor and the vehicle key is within a preset range, then the vehicle key is detected as being within the preset range.

[0013] Optionally, obtaining the distance between the vehicle's ToF sensor and the vehicle key via a ToF sensor installed on the vehicle includes:

[0014] The ToF sensor installed in the vehicle emits electromagnetic wave signals and records the first moment of transmission.

[0015] When the vehicle key receives the electromagnetic wave signal emitted by the vehicle's ToF sensor, it records the second moment of reception. The vehicle key returns the electromagnetic wave signal to the vehicle's ToF sensor and records the third moment of return. At the same time, it returns the second moment and the third moment to the vehicle's ToF sensor.

[0016] When the vehicle's ToF sensor receives the electromagnetic wave signal returned by the vehicle key, it acquires the second and third moments of the return and records the fourth moment of reception.

[0017] Based on the time intervals T1, T2, T3, and T4, and the electromagnetic wave propagation speed S, the distance H between the vehicle's ToF sensor and the vehicle key is calculated using the following formula:

[0018]

[0019] Optionally, after projecting the content using an array light field projector based on the determined projection brightness and projection color, the process includes:

[0020] Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness.

[0021] Optionally, after projecting the content using an array light field projector based on the determined projection brightness and projection color, the method further includes:

[0022] The projected content includes an open door icon and a close door icon, and each of the open door icon and the close door icon includes multiple images of continuous motion.

[0023] The control array light field projector projects multiple images of a door opening or closing icon in a preset sequence, making the door opening or closing icon display with an animation effect.

[0024] Secondly, the present invention also provides a door control device, the door control device comprising:

[0025] The detection module is used to detect whether the vehicle key is within a preset range when the vehicle is in P or N gear.

[0026] The first determining module is used to determine the projection content based on the opening and closing status of the car door if the condition is met.

[0027] The second determining module is used to acquire light intensity and rainfall level, and determine projection brightness and projection color based on the light intensity and rainfall level.

[0028] The projection module is used to project the content using an array-type light field projector based on the determined projection brightness and projection color.

[0029] The control module is used to control the opening or closing of the car door when the distance measured by the distance sensor changes and the number of changes exceeds a preset number within a preset time.

[0030] Optionally, the detection module is used for:

[0031] The distance between the vehicle's ToF sensor and the vehicle key is obtained by using a ToF sensor installed in the vehicle.

[0032] If the distance between the vehicle's ToF sensor and the vehicle key is within a preset range, then the vehicle key is detected as being within the preset range.

[0033] Optionally, the door control device further includes a setting module for:

[0034] Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness.

[0035] Thirdly, the present invention also provides a door control device, the door control device including a processor, a memory, and a door control program stored in the memory and executable by the processor, wherein when the door control program is executed by the processor, it implements the steps of the door control method as described above.

[0036] Fourthly, the present invention also provides a readable storage medium storing a door control program, wherein when the door control program is executed by a processor, it implements the steps of the door control method as described above.

[0037] In this invention, when the vehicle gear is detected to be in P or N gear, the system checks whether the vehicle key is within a preset range; if so, the projection content is determined based on the door's open / closed state; the system acquires the light intensity and rainfall level, and determines the projection brightness and projection color based on the light intensity and rainfall level; based on the determined projection brightness and projection color, an array-type light field projector projects the projection content; when the distance measured by the distance sensor changes, and the number of changes exceeds a preset number within a preset time, the system controls the door to open or close. This invention first detects whether the vehicle is in P or N gear and whether the vehicle key is within a preset range. This is mainly to detect whether the user needs to open the door, especially the tailgate. When the user needs to open the door, the projection content is determined based on the door's open / closed status. This is mainly an open or close icon to guide the user's actions. The current light intensity and rainfall level are obtained through a rain and sunlight sensor to determine the projection brightness and color. Then, an array-type light field projector projects the determined projection content with the determined projection brightness and color to guide the user to step on or kick the projected content. When the distance measured by the distance sensor changes, and the number of changes exceeds a preset number within a preset time, it is mainly to detect whether the user has stepped on or kicked the door. When the conditions are met, the door is controlled to open or close. This invention enables better brightness and color display of projected content based on ambient brightness and weather conditions. Furthermore, by employing an array-type light field projector, each light field projector projects the entire content separately, thus avoiding situations where mud or sand obstructs the projection lens, resulting in invalid or suboptimal projection content. This provides users with a better experience when opening or closing vehicle doors. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the hardware structure of an embodiment of the door control device of the present invention;

[0039] Figure 2 This is a flowchart illustrating an embodiment of the door control method of the present invention;

[0040] Figure 3 for Figure 2 A detailed flowchart of step S10;

[0041] Figure 4 This is a schematic diagram of the key distance in an embodiment of the vehicle door control method of the present invention;

[0042] Figure 5 This is a schematic diagram of the functional modules of an embodiment of the door control device of the present invention.

[0043] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0045] In a first aspect, embodiments of the present invention provide a vehicle door control device.

[0046] Reference Figure 1 , Figure 1 This is a schematic diagram of the hardware structure of an embodiment of the vehicle door control device of the present invention. In this embodiment, the vehicle door control device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize communication between these components; the user interface 1003 may include a display screen or an input unit such as a keyboard; the network interface 1004 may optionally include a standard wired interface or a wireless interface (e.g., Wireless Fidelity, Wi-Fi); the memory 1005 may be high-speed random access memory (RAM) or stable memory (non-volatile memory), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that… Figure 1 The hardware structure shown does not constitute a limitation of the invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0047] Continue to refer to Figure 1 , Figure 1 The memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a door control program. The processor 1001 can call the door control program stored in the memory 1005 and execute the door control method provided in this embodiment of the invention.

[0048] Secondly, embodiments of the present invention provide a door control method.

[0049] To more clearly demonstrate the door control method provided in the embodiments of this application, we will first introduce the application scenarios of the door control method provided in the embodiments of this application.

[0050] The door control method provided in this application is applied when the vehicle is parked and the user wants to be able to automatically open the tailgate to take out or put in items, especially when the user is holding items with both hands. The user can open and close the tailgate by kicking or stepping on a specific area at the bottom of the rear of the vehicle.

[0051] In one embodiment, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the door control method of the present invention, as shown below. Figure 2 As shown, the door control method includes:

[0052] Step S10: When the vehicle gear is detected to be in P or N gear, check whether the vehicle key is within the preset range.

[0053] In this embodiment, when the vehicle is detected to be in P or N gear, the system first checks whether the vehicle key is within a preset range. This is mainly to detect whether the user needs to open the door, especially the tailgate. When the vehicle is in P or N gear, it is usually parked or stationary. In a few cases, the vehicle may be coasting at low speed. For safety reasons, the detection condition can be set to only detect when the vehicle is in P gear, or to add a judgment that the vehicle speed is 0, etc. There are no specific limitations here. The preset range of the vehicle key can be set according to specific circumstances. For example, the key detection range at the tailgate can be set to an arc-shaped area with the center point of the rear of the vehicle as the center point, or to a range at a certain distance from other detection points. The ultimate goal is to better detect and determine whether the user's vehicle key is within a nearby limited range.

[0054] Step S20: If yes, determine the projection content based on the opening and closing status of the car door.

[0055] In this embodiment, when the detection conditions in step S10 are met, that is, when the detection determines that the user has a need to open or close the door, the opening and closing status of the car door is detected at this time, and the projection content is determined according to the opening and closing status of the car door. Specifically, when the car door is in the open state, the projection content is set to the corresponding icon of closing the car door, and when the car door is in the closed state, the projection content is set to the corresponding icon of opening the car door. The car door is most commonly used for the tailgate of the vehicle, but it can also be applied to the opening and closing of the front door, rear door and front hood of the vehicle.

[0056] Step S30: Obtain the light intensity and rainfall level, and determine the projection brightness and projection color based on the light intensity and rainfall level.

[0057] In this embodiment, the current light intensity and rainfall level are obtained through a sunlight and rainfall sensor. The light intensity can include the intensity of sunlight and the intensity of ambient light, and the rainfall level mainly refers to the amount of rainfall. In the specific implementation process, the intensity and level can be divided after the sensor obtains the specific values. The relationship between light intensity, rainfall level, projection brightness and projection color is calibrated. Based on the calibrated relationship table, the projection brightness and projection color are determined according to the light intensity and rainfall level. The purpose is to better display the brightness and color of the projected content according to the ambient brightness and weather conditions.

[0058] Step S40: Based on the determined projection brightness and projection color, an array-type light field projector is used to project the projection content.

[0059] In this embodiment, an array-type light field projector is used to project the content. This is mainly to avoid situations where mud or sand obstructs the individual projection lens, resulting in invalid or poor projection content, which would prevent the user from effectively guiding the user to step on or kick the projected door open or close icon.

[0060] Step S50: When the distance measured by the distance sensor changes, and the number of changes exceeds a preset number within a preset time, control the door to open or close.

[0061] In this embodiment, the ranging sensor can specifically be a ToF (Time-of-Flight) sensor, which can be integrated into an array light field projector or installed separately. Its purpose is to detect whether a user has made a stepping or kicking motion. A ToF sensor is essentially a ranging sensor; ToF is a method of distance measurement. ToF sensors generally require the use of a specific artificial light source for measurement, that is, calculating the distance between a transmitter and a reflector by measuring the "time of flight" of signals such as ultrasound, microwaves, and light. A sensor capable of ToF ranging is a ToF sensor. There are many types of ToF sensors, with infrared or laser sensors being the most commonly used. The Time-of-Flight (ToF) sensor for distance measurement has a significant advantage in its high accuracy, reaching the centimeter level. Therefore, it can accurately detect whether a user has stepped or kicked. When no user has stepped or kicked, the ToF sensor measures a fixed distance between itself and the ground. When a user steps or kicks, the measured distance changes. To avoid interference and misjudgment, the system is configured to detect a user stepping or kicking action when the distance measured by the ToF sensor changes more than a preset number of times within a preset time period, thus controlling the door to open or close.

[0062] In this embodiment, firstly, when the vehicle gear is detected to be in P or N, the system checks whether the vehicle key is within a preset range. This is primarily to detect if the user needs to open the door, especially the tailgate. This can also be applied to the opening and closing of the front doors, rear doors, and hood. The system determines whether the user's vehicle key is within a specified range. Then, the system detects the door's open / closed state and determines the projection content based on this state. When the door is open, the projection content is set to the icon indicating the door is closed; when the door is closed, the projection content is set to the icon indicating the door is open. The system uses a sunlight and rain sensor to obtain the current light intensity and rainfall data. The system determines the projection brightness and color based on light intensity and rainfall levels. It also optimizes the brightness and color display of the projected content according to ambient light and weather conditions. An array-type light field projector is used to project the content. This is mainly to avoid situations where mud or sand obstructs individual projection lenses, resulting in invalid or suboptimal projection content. This would prevent the system from effectively guiding users to step on or kick the projected door open or close icons. When the distance measured by the ToF sensor changes, and the number of changes exceeds a preset number within a preset time, it indicates that a user has stepped or kicked the icon, and the system controls the door to open or close.

[0063] Furthermore, in one embodiment, the vehicle key includes a UWB chip, as shown in the reference. Figure 3 , Figure 3 for Figure 2 A detailed flowchart of step S10 is shown below. Figure 3 As shown, step S10 includes:

[0064] Step S101: Obtain the distance between the ToF sensor of the vehicle and the vehicle key by using the ToF sensor installed in the vehicle;

[0065] Step S102: If the distance between the vehicle's ToF sensor and the vehicle key is within a preset range, then the vehicle key is detected as being within the preset range.

[0066] In this embodiment, UWB (Ultra Wide-Band) is the latest digital smart key technology. UWB technology uses Time-of-Flight (ToF) ranging to achieve precise distance measurement between the vehicle key and the vehicle, reaching centimeter-level accuracy. Figure 4 , Figure 4 This is a schematic diagram of the key distance in an embodiment of the door control method of the present invention, as shown below. Figure 4As shown, a ToF sensor is installed at the center point of the rear of the vehicle, or two or more ToF sensors are installed at both ends of the rear of the vehicle to improve the accuracy of distance measurement. The preset range of the vehicle key can be set according to the specific situation. Here, no specific limitation is made. The key detection at the tailgate can be set to an arc-shaped area range with the center point of the rear of the vehicle as the center point, or set to a range at a certain distance from the ToF sensor. The purpose is to better detect and determine whether the user's vehicle key is within a limited range.

[0067] Further, in one embodiment, step S101 includes:

[0068] The ToF sensor installed in the vehicle emits electromagnetic wave signals and records the first moment of transmission.

[0069] When the vehicle key receives the electromagnetic wave signal emitted by the vehicle's ToF sensor, it records the second moment of reception. The vehicle key returns the electromagnetic wave signal to the vehicle's ToF sensor and records the third moment of return. At the same time, it returns the second moment and the third moment to the vehicle's ToF sensor.

[0070] When the vehicle's ToF sensor receives the electromagnetic wave signal returned by the vehicle key, it acquires the second and third moments of the return and records the fourth moment of reception.

[0071] Based on the time intervals T1, T2, T3, and T4, and the electromagnetic wave propagation speed S, the distance H between the vehicle's ToF sensor and the vehicle key is calculated using the following formula:

[0072]

[0073] In this embodiment, the vehicle key is a digital smart key with a UWB chip. When the ToF sensor emits electromagnetic wave signals, it automatically includes a timestamp. To avoid possible clock module asynchrony between the vehicle's ToF sensor and the UWB chip key, which could lead to errors in distance calculation, the first moment when the ToF sensor sends the signal, the fourth moment when it receives the signal, and the second moment when the vehicle key receives the signal and the third moment when it sends the signal are recorded. Based on the first, second, third, and fourth moments, the time it takes for the electromagnetic wave to travel back and forth between the vehicle's ToF sensor and the UWB chip key can be calculated. Multiplying this time by the electromagnetic wave's transmission speed and dividing by 2 gives the distance between the vehicle's ToF sensor and the vehicle key.

[0074] Further, in one embodiment, after step S40, the following is included:

[0075] Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness.

[0076] In this embodiment, the array-type light field projector is composed of multiple individual light field projectors. The sum of the brightness of all individual light field projectors constitutes the projection brightness of the entire array-type light field projector. The duty cycle, i.e., the ratio of the conduction time to the total cycle duration, also determines the projection brightness of the light field projector. Therefore, by setting the array number of the array-type light field projector and / or the duty cycle of a single light field projector, the array-type light field projector can operate at a certain projection brightness, thereby achieving the desired projection brightness.

[0077] Furthermore, in one embodiment, after step S40, the method further includes:

[0078] The projected content includes an open door icon and a close door icon, and each of the open door icon and the close door icon includes multiple images of continuous motion.

[0079] The control array light field projector projects multiple images of a door opening or closing icon in a preset sequence, making the door opening or closing icon display with an animation effect.

[0080] In this embodiment, the projected content includes an open door icon and a close door icon. To achieve a better projection effect, the open door icon and the close door icon can each include multiple images of continuous motion. The array light field projector projects multiple images of continuous motion of the open door icon or the close door icon in a preset time sequence, so that the open door icon or the close door icon can be displayed with an effect similar to video animation.

[0081] Thirdly, embodiments of the present invention also provide a vehicle door control device.

[0082] Reference Figure 5 , Figure 5 This is a schematic diagram of the functional modules of an embodiment of the door control device of the present invention.

[0083] In this embodiment, the door control device includes:

[0084] The detection module 10 is used to detect whether the vehicle key is within a preset range when the vehicle is detected to be in P or N gear.

[0085] The first determining module 20 is used to determine the projection content based on the opening and closing state of the car door if the condition is met.

[0086] The second determining module 30 is used to acquire light intensity and rainfall level, and determine projection brightness and projection color based on the light intensity and rainfall level.

[0087] The projection module 40 is used to project the projection content using an array-type light field projector based on the determined projection brightness and projection color.

[0088] The control module 50 is used to control the door to open or close when the distance measured by the distance sensor changes and the number of changes exceeds a preset number within a preset time.

[0089] Furthermore, in one embodiment, the detection module 10 includes:

[0090] A distance acquisition unit is used to acquire the distance between the vehicle's ToF sensor and the vehicle key via a ToF sensor installed in the vehicle;

[0091] The range detection unit is used to detect that the vehicle key is within a preset range if the distance between the vehicle's ToF sensor and the vehicle key is within a preset range.

[0092] Furthermore, in one embodiment, the distance acquisition unit is used for:

[0093] The ToF sensor installed in the vehicle emits electromagnetic wave signals and records the first moment of transmission.

[0094] When the vehicle key receives the electromagnetic wave signal emitted by the vehicle's ToF sensor, it records the second moment of reception. The vehicle key returns the electromagnetic wave signal to the vehicle's ToF sensor and records the third moment of return. At the same time, it returns the second moment and the third moment to the vehicle's ToF sensor.

[0095] When the vehicle's ToF sensor receives the electromagnetic wave signal returned by the vehicle key, it acquires the second and third moments of the return and records the fourth moment of reception.

[0096] Based on the time intervals T1, T2, T3, and T4, and the electromagnetic wave propagation speed S, the distance H between the vehicle's ToF sensor and the vehicle key is calculated using the following formula:

[0097]

[0098] Furthermore, in one embodiment, the door control device further includes a setting module for:

[0099] Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness.

[0100] Furthermore, in one embodiment, the door control device further includes an animation projection module, used for:

[0101] The projected content includes an open door icon and a close door icon, and each of the open door icon and the close door icon includes multiple images of continuous motion.

[0102] The control array light field projector projects multiple images of a door opening or closing icon in a preset sequence, making the door opening or closing icon display with an animation effect.

[0103] The functions of each module in the aforementioned door control device correspond to the steps in the aforementioned door control method embodiment, and their functions and implementation processes will not be described in detail here.

[0104] Fourthly, embodiments of the present invention also provide a readable storage medium.

[0105] The present invention provides a readable storage medium storing a door control program, wherein when the door control program is executed by a processor, it implements the steps of the door control method described above.

[0106] The method implemented when the door control program is executed can be referred to in various embodiments of the door control method of the present invention, and will not be repeated here.

[0107] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0108] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.

[0110] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A door control method, characterized in that, The door control method includes: When the vehicle is detected to be in P or N gear, check if the vehicle key is within the preset range; If so, the projected content is determined based on the opening and closing status of the car door; Obtain the light intensity and rainfall level, and determine the projection brightness and projection color based on the light intensity and rainfall level; Based on the determined projection brightness and projection color, an array-type light field projector is used to project the projection content; When the distance measured by the distance sensor changes, and the number of changes exceeds a preset number within a preset time, the door is controlled to open or close. The process of acquiring light intensity and rainfall level, and determining projection brightness and projection color based on the light intensity and rainfall level, includes: The light intensity and rainfall level are obtained. Based on the light intensity and rainfall level, the projection brightness and projection color corresponding to the light intensity and rainfall level are determined by looking up a calibration relationship table. The calibration relationship table includes the correspondence between light intensity, rainfall level, projection brightness and projection color. After projecting the content using an array light field projector based on the determined projection brightness and projection color, the process includes: Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness. The vehicle key includes a UWB chip, and the detection of whether the vehicle key is within a preset range includes: The distance between the vehicle's ToF sensor and the vehicle key is obtained by using a ToF sensor installed in the vehicle. If the distance between the vehicle's ToF sensor and the vehicle key is within a preset range, then the vehicle key is detected as being within the preset range. The distance between the vehicle's ToF sensor and the vehicle key, obtained through a ToF sensor installed in the vehicle, includes: The ToF sensor installed in the vehicle emits electromagnetic wave signals and records the first moment of transmission. When the vehicle key receives the electromagnetic wave signal emitted by the vehicle's ToF sensor, it records the second moment of reception. The vehicle key returns the electromagnetic wave signal to the vehicle's ToF sensor and records the third moment of return. At the same time, it returns the second moment and the third moment to the vehicle's ToF sensor. When the vehicle's ToF sensor receives the electromagnetic wave signal returned by the vehicle key, it acquires the second and third moments of the return and records the fourth moment of reception. Based on the time intervals T1, T2, T3, and T4, and the electromagnetic wave propagation speed S, the distance H between the vehicle's ToF sensor and the vehicle key is calculated using the following formula: 。 2. The door control method as described in claim 1, characterized in that, After projecting the content using an array-type light field projector based on the determined projection brightness and projection color, the method further includes: The projected content includes an open door icon and a close door icon, and each of the open door icon and the close door icon includes multiple images of continuous motion. The control array light field projector projects multiple images of a door opening or closing icon in a preset sequence, making the door opening or closing icon display with an animation effect.

3. A vehicle door control device, characterized in that, The door control device includes: The detection module is used to detect whether the vehicle key is within a preset range when the vehicle is in P or N gear. The first determining module is used to determine the projection content based on the opening and closing status of the car door if the condition is met. The second determining module is used to acquire light intensity and rainfall level, and determine projection brightness and projection color based on the light intensity and rainfall level. The projection module is used to project the content using an array-type light field projector based on the determined projection brightness and projection color. The control module is used to control the door to open or close when the distance measured by the distance sensor changes and the number of changes exceeds a preset number within a preset time. The door control device further includes a search module for: The light intensity and rainfall level are obtained. Based on the light intensity and rainfall level, the projection brightness and projection color corresponding to the light intensity and rainfall level are determined by looking up a calibration relationship table. The calibration relationship table includes the correspondence between light intensity, rainfall level, projection brightness and projection color. The door control device further includes a setting module for: Based on the determined projection brightness, set the array number of the array light field projector and / or the duty cycle of a single light field projector so that the array light field projector operates at the determined projection brightness. The detection module includes: A distance acquisition unit is used to acquire the distance between the vehicle's ToF sensor and the vehicle key via a ToF sensor installed in the vehicle; The range detection unit is used to detect that the vehicle key is within a preset range if the distance between the vehicle's ToF sensor and the vehicle key is within a preset range. Distance acquisition unit, used for: The ToF sensor installed in the vehicle emits electromagnetic wave signals and records the first moment of transmission. When the vehicle key receives the electromagnetic wave signal emitted by the vehicle's ToF sensor, it records the second moment of reception. The vehicle key returns the electromagnetic wave signal to the vehicle's ToF sensor and records the third moment of return. At the same time, it returns the second moment and the third moment to the vehicle's ToF sensor. When the vehicle's ToF sensor receives the electromagnetic wave signal returned by the vehicle key, it acquires the second and third moments of the return and records the fourth moment of reception. Based on the time intervals T1, T2, T3, and T4, and the electromagnetic wave propagation speed S, the distance H between the vehicle's ToF sensor and the vehicle key is calculated using the following formula: 。 4. A vehicle door control device, characterized in that, The door control device includes a processor, a memory, and a door control program stored in the memory and executable by the processor, wherein when the door control program is executed by the processor, it implements the steps of the door control method as described in any one of claims 1 to 2.

5. A readable storage medium, characterized in that, The readable storage medium stores a door control program, wherein when the door control program is executed by a processor, it implements the steps of the door control method as described in any one of claims 1 to 2.

Images