A method, apparatus and system for controlling an electric door of a vehicle

Abstract

The application discloses a kind of electric door control method, device and system of vehicle, wherein the control method includes, according to CAN bus acquisition perception information;According to the perception information, it is judged whether it will collide with target vehicle;If so, determine the collision level of collision with the target vehicle;According to the collision level, the corresponding electric door enable signal is generated, to unlock the electric door before collision.This application is collected vehicle speed signal, front vehicle distance, brake pedal opening, steering wheel corner information on CAN bus, judges whether the vehicle will collide and the collision level, according to the collision level, automatically unlock and open the door, avoid the harm that car door cannot be opened when car collision, facilitate the escape of driver and passenger and carry out in-vehicle rescue.

Description

TECHNICAL FIELD

[0001] The present application relates to the automobile technical field, and particularly relates to a vehicle electric door control method, device and system. BACKGROUND

[0002] Automobiles include video cameras, radar sensors and laser range finders to understand the surrounding traffic conditions and navigate the road ahead through a detailed map. For various reasons, collision accidents occur from time to time. Vehicle collision protection systems usually contain collision sensors, which mainly convert the collision signals generated when the vehicle collides into current or voltage values. When the current or voltage value exceeds the set threshold, it is considered that a collision has occurred, and then the vehicle is protected by cutting off the power and braking. Some control systems will also judge the collision strength based on the changes in the current or voltage values output by the collision sensor within a certain period of time after the collision occurs, and then more accurately control the vehicle braking to improve the effectiveness of the system in protecting the vehicle after a collision.

[0003] After a vehicle collision, the safety of the people in the vehicle and the vehicle is protected. Many vehicles are equipped with vehicle collision protection systems. However, the above-mentioned method will only execute the automatic unlocking and door opening action after a collision occurs, and the collision signal is emitted by a dedicated collision sensor.

[0004] It should be noted that the statements herein only provide background information related to the present application and do not necessarily constitute the prior art. SUMMARY

[0005] In view of the above problems, the present application provides a vehicle electric door control method, device and system which overcomes the above problems or at least partially solves the above problems.

[0006] The embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, the embodiments of the present application provide a vehicle electric door control method, wherein the control method comprises: acquiring sensing information according to a CAN bus; determining whether a collision with a target vehicle will occur according to the sensing information; if so, determining a collision level of the collision with the target vehicle; and generating a corresponding electric door enable signal according to the collision level to unlock the electric door before the collision.

[0008] Preferably, the method further comprises: according to the collision coefficient and a third collision factor, querying a corresponding collision probability in a pre-established collision strategy configuration file; and according to the collision coefficient and a fourth collision factor, querying a corresponding collision level in the pre-established collision strategy configuration file.

[0009] Preferably, the method further comprises: according to the collision coefficient and a third collision factor, querying a corresponding collision probability in a pre-established collision strategy configuration file; and according to the collision coefficient and a fourth collision factor, querying a corresponding collision level in the pre-established collision strategy configuration file.

[0010] Preferably, the method further comprises: when the collision probability is 1, predicting that the vehicle will collide and the collision level comprises collision level A, completely unlocking the electric door before the collision; when the collision probability is 1, predicting that the vehicle will collide and the collision level comprises collision level B, completely unlocking the electric door to a first door opening degree before the collision; when the collision probability is 1, predicting that the vehicle will collide and the collision level comprises collision level C, completely unlocking the electric door to a second door opening degree before the collision; and when the collision probability is 0, predicting that the vehicle will not collide.

[0011] Preferably, the method further comprises: when the electric door is unlocked before the collision, judging whether the door lock motor of the electric door is unlocked overtime; if overtime, re-driving the door lock motor to unlock; and if not overtime, unlocking the electric door before the collision and opening the door to a first door opening degree or a second door opening degree through the door motor of the electric door.

[0012] Preferably, the first collision factor comprises a front vehicle distance, the second collision factor comprises a brake pedal opening, the third collision factor comprises a steering wheel angle, and the fourth collision factor comprises a vehicle speed; if the collision coefficients are the same, the steering wheel angle is inversely proportional to the collision probability of the vehicle; if the front vehicle distance is the same, the brake pedal opening is inversely proportional to the collision coefficient; if the brake pedal opening is the same, the front vehicle distance is inversely proportional to the collision coefficient; if the steering wheel angle is the same, the collision coefficient is proportional to the collision probability of the vehicle; and if the vehicle speed is the same, the collision coefficient is proportional to the collision level of the vehicle.

[0013] Preferably, the door lock motor is configured to receive the instruction of the electric door controller and perform an unlocking or locking operation; and the door motor is configured to receive the instruction of the electric door controller and open the electric door by a preset degree.

[0014] In a second aspect, the embodiments of the present application further provide an electric door control device for a vehicle, wherein the control device comprises: an information acquisition module configured to acquire sensing information according to a CAN bus; a collision prediction module configured to determine whether a collision with a target vehicle will occur according to the sensing information; a collision level determination module configured to determine a collision level of the collision with the target vehicle; and an unlocking module configured to generate a corresponding electric door enabling signal according to the collision level to unlock the electric door before the collision.

[0015] In a third aspect, the embodiments of the present application further provide an electric door control system for a vehicle, comprising: an electric door control device, and a memory arranged to store computer executable instructions, the executable instructions being executed to cause the processor to perform any of the methods of the first aspect.

[0016] In a fourth aspect, the embodiments of the present application further provide a vehicle, comprising the electric door control system of the third aspect, which is executed to implement the method of any of the first aspect.

[0017] The above at least one technical scheme adopted by the embodiments of the present application can achieve the following beneficial effects:

[0018] Firstly, the present application can predict a collision of the vehicle, automatically unlock and open the door, avoid the harm that the door cannot be opened when the vehicle collides seriously, and facilitate the escape of the driver and the passenger and the rescue in the vehicle; secondly, the present application can predict whether the vehicle will collide and the collision level by collecting the vehicle speed signal, the front vehicle distance, the brake pedal opening, and the steering wheel angle on the CAN bus of the vehicle, and can reduce the collision sensor and its maintenance and reduce the cost of the vehicle.

[0019] From the above, the technical scheme of the present application, the above description is only a summary of the technical scheme of the present application, in order to be able to more clearly understand the technical means of the present application, and can be implemented according to the content of the specification, and in order to let the above and other purposes, characteristics and advantages of the present application can be more obvious and easy to understand, the following specific embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0020] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become apparent to those of ordinary skill in the art. The drawings are for the purpose of illustrating the preferred embodiments only and are not to be construed as limiting the present application. Moreover, like reference numerals designate like parts throughout the several views in the drawings. In the drawings:

[0021] Figure 1 Flow chart of the electric door control method of the embodiment of the present application;

[0022] Figure 2 Schematic diagram of the electric door control device of the embodiment of the present application;

[0023] Figure 3 Structure diagram of the electric door of the embodiment of the present application;

[0024] Figure 4 Logic diagram of the electric door control of the embodiment of the present application;

[0025] Figure 5 Unlocking and opening logic diagram of the electric door of the embodiment of the present application;

[0026] Figure 6 Structure schematic diagram of the electric door control system in the embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purposes, technical schemes and advantages of the present application more clear, the technical scheme of the present application will be described clearly and completely below in combination with the specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0028] The technical terms in the embodiments of the present application are as follows:

[0029] CAN, English full name Controller Area Network, Controller Area Network.

[0030] AEB, English full name Automatic Emergency Braking, automatic emergency braking.

[0031] GPS, Global Positioning System, Global Positioning System.

[0032] IMU, Inertial Measurement Unit, Inertial Measurement Unit.

[0033] The concept of the present application is that, in view of the fact that the existing technology vehicle collision includes the occurrence of falling into water, causing the electronic device and mechanical device of the vehicle door to be abnormal and unable to open, a kind of automatic and strong universal electric door control method is designed, which can predict the probability and level of vehicle collision, and automatically complete the unlocking and opening of the vehicle door before the vehicle collision, which is convenient for the driver and passenger to escape and perform the in-vehicle rescue.

[0034] The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0035] The present application provides a kind of vehicle electric door control method device and system, the electric door of the present application includes electric door controller, door lock motor, door motor.As shown in Figure 3 Electric door controller obtains vehicle speed signal, front vehicle distance signal, brake pedal opening signal, steering wheel angle signal through CAN bus, carries out logical operation according to the different signals obtained, judges whether vehicle collision will occur and collision level, drives door lock motor and door motor to unlock and open door before collision;Door lock motor receives electric door controller instruction and executes unlocking action;Door motor receives electric door controller instruction and executes door opening action.

[0036] As shown in Figure 1 The electric door control method flowchart of the vehicle in the embodiment of the present application is provided, and the method at least includes the following steps S110 to S140:

[0037] Step S110, according to CAN bus, sensing information is obtained.

[0038] CAN, Controller Area Network, is an ISO international standardized serial communication protocol, which is a serial communication protocol bus for real-time application, which can use twisted pair to transmit signals, and is one of the most widely used field buses in the world.Modern cars have a large number of control systems, which are developed based on web technology and play a role in various micro-service processing, such as airbag, brake, cruise control, electric power steering, audio system, power window, door, rearview mirror adjustment button, battery and charging system, etc.These systems need to communicate with each other and read the state, so CAN protocol is developed and put into use, just like configuring a nervous system for the car.

[0039] In the present application, the perception information of the vehicle is acquired through the CAN bus, such as camera information, radar information, GPS positioning information, inertial measurement unit (IMU) information, infrared night vision information, and the state information of the vehicle itself.

[0040] In step S120, it is judged whether a collision with the target vehicle will occur according to the perception information.

[0041] At present, the vehicle collision prevention mode mainly relies on the active brake system (AEB). The AEB system measures the distance from the front vehicle or other obstacles by using radar and camera, and the system control module compares the measured distance with the alarm distance and the safety distance. When the distance is less than the alarm distance, an alarm is given, and when the distance is less than the safety distance, the AEB brake is started to stop the vehicle. However, due to the accuracy of the AEB itself, the misoperation of the driver, and various intervention factors in the automatic driving process, such as sensor failure and the influence of bad environment, the active brake system is abnormal.

[0042] At the same time, due to the cost, some vehicles do not have the AEB system installed, and the prediction of vehicle collision requires high driving experience. In the present application, whether a collision will occur is predicted by using various sensors installed on the vehicle and collecting the state data of the vehicle itself.

[0043] In the present application, the data for collision prediction mainly includes the distance information collected by the radar sensor, the opening information of the brake pedal of the vehicle, the turning angle information of the steering wheel, and the speed information of the vehicle.

[0044] In step S130, the collision level of the collision with the target vehicle is determined.

[0045] In the present application, the collision level of the vehicle is predicted according to the data collected in step 120. In the present application, the collision coefficient is first confirmed, which is divided into five levels, i.e., collision coefficient level 1, collision coefficient level 2, collision coefficient level 3, collision coefficient level 4, and collision coefficient level 5. In the present application, the confirmation of the collision coefficient level mainly relies on the distance information of the vehicle and the front vehicle (obstacle) and the opening information of the brake pedal. Specifically, the vehicle electric door controller obtains the collision coefficient by searching the configuration file according to the CAN bus signal (front vehicle distance signal, brake pedal opening signal). The collision level is determined by combining the collision coefficient and the vehicle speed. The collision level determines whether the vehicle will collide and the damage degree of the vehicle after the collision. The higher the collision level, the more serious the collision damage.

[0046] In step S140, the corresponding electric door enable signal is generated according to the collision level, so as to unlock the electric door before the collision.

[0047] The technical solutions in the application mainly consider the collision in the front-rear direction of the automobile, and thus the collection of relevant information is mainly for judging the collision information in the front-rear direction of the automobile, including special conditions such as automobile falling into water, so as to perceive the danger in advance and take preventive measures.

[0048] Different collision levels generate different electric door enable signals, and different electric door enable signals drive the electric door to take different actions, wherein the electric door includes a door lock motor and a door motor, and specifically, according to the difference of the enable signals, the door lock motor and the door motor are driven to take different actions.

[0049] In some examples of the application, the corresponding electric door enable signal is generated according to the collision level to unlock the electric door before the collision, including: according to the first collision factor and the second collision factor, the corresponding collision coefficient is obtained by querying the pre-established collision strategy configuration file, wherein the first collision factor and the second collision factor are obtained through the CAN bus; according to the collision coefficient, the corresponding electric door first enable signal is generated according to the collision level to unlock the electric door to a first door opening degree before the collision; according to the collision coefficient, the corresponding electric door second enable signal is generated according to the collision level to unlock the electric door to a second door opening degree before the collision, wherein the second door opening degree is greater than the second door opening degree.

[0050] Firstly, the collision level coefficient is confirmed, and the first collision factor and the second collision factor obtained through the CAN bus, i.e. the distance between the vehicle and the front vehicle and the brake pedal opening degree. The collision coefficient level is obtained by querying the collision configuration file, and there are five levels in the application. Secondly, the severity of the vehicle collision is predicted according to the collision coefficient and other information obtained through the CAN bus. The damage degree of the vehicle after the collision, i.e. the collision level, is predicted by combining the collision coefficient and the vehicle speed. Finally, the driving signal of the electric door is generated according to the collision level, and the door lock motor and the door motor of the electric door take different actions. If it is confirmed according to the collision level that the vehicle will collide, but the collision will not endanger personal safety, the door lock motor is driven to unlock, and the door motor is driven to open the door to 5%; if it is confirmed according to the collision level that the vehicle will collide seriously, the door lock motor is driven to unlock, and the door motor is driven to open the door to 100%.

[0051] In some examples of the application, the corresponding collision probability is obtained by querying the pre-established collision strategy configuration file according to the collision coefficient and the third collision factor; and the corresponding collision level is obtained by querying the pre-established collision strategy configuration file according to the collision coefficient and the fourth collision factor.

[0052] The vehicle collision is determined according to the collision coefficient and other information obtained through the CAN bus. The collision probability is predicted by combining the collision coefficient and the steering wheel angle, and the collision level is predicted by combining the collision coefficient and the vehicle speed. The collision level includes but is not limited to three levels, and the higher the level, the more serious the collision damage.

[0053] In some examples of the present application, the generation of the corresponding electric door enable signal according to the collision level to unlock the electric door before the collision includes: when the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level A, the electric door is completely unlocked before the collision; when the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level B, the electric door is completely unlocked to a first door opening degree before the collision; when the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level C, the electric door is completely unlocked to a second door opening degree before the collision; when the collision probability is 0, it is predicted that the vehicle will not collide.

[0054] Based on the collision coefficient and the vehicle speed, the collision level of the vehicle is obtained by querying the configuration file. The collision level has three levels: A, B and C. Collision level A indicates that the vehicle damage is low when the vehicle collides, collision level B indicates that the vehicle damage is medium when the vehicle collides, and collision level C indicates that the vehicle damage is high when the vehicle collides. The configuration file is as follows:

[0055]

[0056] The related data information of the configuration file can be adjusted according to specific needs.

[0057] In some examples of the present application, the generation of the corresponding electric door enable signal according to the collision level to unlock the electric door before the collision further includes: when the electric door is unlocked before the collision, it is determined whether the door lock motor of the electric door is unlocked timeout; if it is timeout, the door lock motor is driven again to unlock; if it is not timeout, the electric door is unlocked before the collision and the door motor of the electric door is opened to a first door opening degree or a second door opening degree.

[0058] As Figure 5In order to prevent the unlocking and opening door failure problem caused by the electric door, the unlocking of the electric door is set through the fault tolerance measure, the electric door is unlocked before the collision, and the unlocking time is set according to the implementation, and the application is set to 200ms, that is, the door lock motor works for 200ms, and then it is judged whether the door lock of the electric door is unlocked, if not, it is determined that the unlocking is timed out, and the door lock motor is driven again to unlock; if successfully unlocked, the electric door is unlocked before the collision and the electric door motor is opened to the first opening degree or the second opening degree, for example, the door motor is unlocked to 5% or 100%. Through the fault tolerance setting, not only the customer perception is improved, but also the safety and stability of the system are ensured.

[0059] In some examples of the application, the first collision factor includes the distance of the preceding vehicle, the second collision factor includes the brake pedal opening, the third collision factor includes the steering wheel angle, and the fourth collision factor includes the vehicle speed; if the collision coefficients are the same, the steering wheel angle is inversely proportional to the collision probability of the vehicle; if the distance of the preceding vehicle is the same, the brake pedal opening is inversely proportional to the collision coefficient; if the brake pedal opening is the same, the distance of the preceding vehicle is inversely proportional to the collision coefficient; if the steering wheel angle is the same, the collision coefficient is proportional to the collision probability of the vehicle; if the vehicle speed is the same, the collision coefficient is proportional to the collision level of the vehicle.

[0060] The application confirms whether the vehicle will collide and the severity after the collision through the pre-judgment collision strategy. Specifically, the electric door controller obtains the collision coefficient through the query configuration file according to the CAN bus signal (the distance of the preceding vehicle signal, the brake pedal opening signal), and the collision coefficient has 5 levels (1, 2, 3, 4, 5), as shown in the following table:

[0061]

[0062] Among them, the related data information of the configuration file can be adjusted according to specific needs.

[0063] Based on the collision coefficient and the steering wheel angle signal, the probability of vehicle collision (0 means no collision, 1 means collision) is obtained by table lookup, as shown in the following table:

[0064]

[0065] Among them, the related data information of the configuration file can be adjusted according to specific needs.

[0066] Based on the coefficient of restitution and the vehicle speed, the level of the vehicle collision is obtained by querying the configuration file, the collision level has three levels of A, B and C, the collision level A represents that the vehicle damage degree is low when the vehicle collision occurs, the collision level B represents that the vehicle damage degree is medium when the vehicle collision occurs, and the collision level C represents that the vehicle damage degree is high when the vehicle collision occurs, and the configuration file is as follows:

[0067]

[0068] Among them, the related data information of the configuration file can be adjusted according to specific needs.

[0069] In some examples of the present application, the door lock motor is used to receive the electric door controller instruction to perform the unlocking or locking operation; the door motor is used to receive the electric door controller instruction to open the electric door to a preset degree.

[0070] As Figure 3 shown, the electric door in the present application includes a door lock motor and a door motor, and the door lock motor and the door motor perform corresponding actions according to the received operation instruction. The door lock motor performs the unlocking or locking operation according to the received electric door controller instruction; the door motor opens the electric door to a preset degree according to the received electric door controller instruction.

[0071] In order to make the logic of the electric door control method of the present application more clear, as Figure 4 shown, the electric door control logic diagram of the application embodiment is provided.

[0072] Firstly, the electric door controller obtains the speed, the front vehicle distance, the brake pedal opening, the steering wheel angle and other information of the vehicle on the CAN bus. The controller processes the obtained information to determine whether the vehicle will collide with the front vehicle, and obtains the result of whether the collision will occur.

[0073] If the obtained collision result is yes, further collision level prediction is performed according to the related information obtained from the CAN bus, wherein the collision level is divided into three levels of A, B and C. The severity of the level increases in turn, of course, the level and the severity can be artificially set. If the collision level is A, the electric door controller drives the unlocking; if the collision level is B, the electric door controller drives the door lock motor to unlock, and simultaneously drives the door motor to open the electric door to a small amplitude, such as 5%; if the collision level is C, the electric door controller drives the door lock motor to unlock, and simultaneously drives the door motor to open the electric door to a large amplitude, such as 100%.

[0074] If the obtained collision result is no, the related operation is not continued.

[0075] The application embodiment further provides an automobile electric door control device 200, as Figure 2As shown, a schematic diagram of the automobile electric door control device structure in the embodiment of the application is provided, and the device 200 at least includes: an information acquisition module 210, a collision prediction module 220, a collision level determination module 230, and an unlocking module 240, wherein:

[0076] In an embodiment of the application, the acquisition unit 210 is specifically configured to acquire the perception information according to a CAN bus.

[0077] The controller area network (CAN) is an ISO international standardized serial communication protocol, which is a serial communication protocol bus for real-time applications. It can use twisted pair wires to transmit signals and is one of the most widely used field buses in the world. Modern automobiles have a large number of control systems, which are developed based on web technology and play a role in various micro-service processing, such as airbags, brakes, cruise control, electric power steering, audio systems, power windows, doors, rearview mirror adjustment buttons, batteries, and charging systems. These systems need to communicate with each other and read the state, so the CAN protocol is developed and put into use, like configuring a nervous system for the car.

[0078] In the application, the perception information of the automobile is acquired through the CAN bus, such as camera information, radar information, GPS positioning information, inertial measurement unit (IMU) information, infrared night vision information, and the state information of the vehicle itself.

[0079] In an embodiment of the application, the collision prediction module 220 is specifically configured to determine whether a collision with a target vehicle will occur according to the perception information.

[0080] Currently, the main way of vehicle collision prevention is to rely on the active brake system (AEB). The AEB system uses radar and cameras to measure the distance from the front vehicle or other obstacles. The system control module compares the measured distance with the warning distance and the safety distance. When the distance is less than the warning distance, a warning prompt is given, and when the distance is less than the safety distance, the AEB brake is started to stop the car. However, due to the accuracy of the AEB itself, the driver's misoperation, and various intervention factors in the automatic driving process, such as sensor failure and the influence of harsh environments, the active brake system may be abnormal.

[0081] At the same time, due to the cost, some cars do not have an AEB system installed, and the prediction of a car collision requires a high level of driving experience. The application uses various sensors installed on the car and collects its own state data to predict whether a collision will occur.

[0082] In the application, the data for collision prediction mainly includes distance information collected by the radar sensor, opening degree information of the car brake pedal, steering wheel angle information, and vehicle speed information.

[0083] In an embodiment of the present application, the collision level determination module 230 is specifically configured to determine a collision level of a collision with the target vehicle.

[0084] In the present application, the collision level of the vehicle is pre-judged according to the data information collected by the collision prediction module 220. In the present application, the collision coefficient is first confirmed, which is divided into five levels, namely, coefficient 1 level, collision coefficient 2 level, collision coefficient 3 level, collision coefficient 4 level, and collision coefficient 5 level. In the present application, the confirmation of the collision coefficient level mainly relies on the distance information between the host vehicle and the preceding vehicle (obstacle) and the opening information of the brake pedal. Specifically, the automobile electric door controller obtains the collision coefficient by table lookup according to the CAN bus signal (front vehicle distance signal, brake pedal opening signal). The collision level is determined by the combination of the collision coefficient and the vehicle speed. The collision level determines whether the vehicle collides and the damage degree of the vehicle after the collision. The higher the collision level, the more serious the collision damage.

[0085] In an embodiment of the present application, the unlocking module 240 is specifically configured to generate a corresponding electric door enable signal according to the collision level, so as to unlock the electric door before the collision.

[0086] The technical solution in the present application mainly considers the front and rear collision of the vehicle. Therefore, the collection of related information is mainly for judging the collision in the front and rear directions of the vehicle, including special conditions such as vehicle falling into water, so as to perceive the danger in advance and take preventive measures.

[0087] Different collision levels generate different electric door enable signals, and different electric door enable signals drive the electric door to take different actions. Specifically, according to the difference of the enable signal, the door lock motor and the door motor are driven to take different actions.

[0088] It can be understood that the above-mentioned automobile electric door control device can realize each step of the automobile electric door control method provided in the foregoing embodiments. The related explanations about the electric door control method are all applicable to the electric door control device, and will not be repeated here.

[0089] Figure 6 is a structural schematic diagram of an electric door control system of an embodiment of the present application. Please refer to Figure 6 At the hardware level, the electric door control system includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The memory may contain a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. Of course, the electric door control system may also include other hardware required by the business.

[0090] The processor, the network interface and the memory can be connected with each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 6 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0091] The memory is used for storing programs. Specifically, the programs can include program codes including computer operation instructions. The memory can include an internal memory and a non-volatile memory, and provide the processor with instructions and data.

[0092] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs, and forms an electric door control device at a logical level. The processor executes the programs stored in the memory, and is specifically used for executing the following operations:

[0093] According to the CAN bus, perception information is acquired; according to the perception information, it is determined whether a collision with a target vehicle will occur; if so, a collision level of the collision with the target vehicle is determined; and according to the collision level, a corresponding electric door enable signal is generated to unlock the electric door before the collision.

[0094] The above as described in the present application Figure 1The method performed by the electric door control device of the vehicle disclosed in the embodiment can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The above processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; or a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiment of the present application can be implemented or executed. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiment of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0095] The electric door control system can also perform Figure 1 The method performed by the electric door control device of the vehicle, and implement the functions of the electric door control device of the vehicle Figure 1 in the embodiment, and the embodiment of the present application will not be repeated here.

[0096] The embodiment of the present application also proposes a computer readable storage medium, which stores one or more programs, the one or more programs include instructions, which when executed by the electric door control system including a plurality of application programs, can enable the electric door control system to perform Figure 1 The method performed by the electric door control device of the vehicle in the embodiment, and specifically for performing:

[0097] According to the CAN bus, the perception information is obtained; according to the perception information, it is judged whether a collision with the target vehicle will occur; if so, the collision level of the collision with the target vehicle is determined; and according to the collision level, a corresponding electric door enable signal is generated to unlock the electric door before the collision.

[0098] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0099] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for performing one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0100] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for performing one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. ​ means for performing one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0102] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0103] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), flash memory, or a combination of non-volatile memories in different forms. The memory is an example of computer-readable media.

[0104] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0105] It should also be noted that the terms "comprising", "comprises", "including", "includes" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by an indefinite article "a" or "an" does not exclude the existence of additional identical elements in the process, method, article or apparatus that includes the defined element.

[0106] Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0107] The above description is only an embodiment of the present application and is not intended to limit the present application. Various modifications and changes can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling an electric door of a vehicle, wherein, The control method includes: Obtain sensing information based on the CAN bus; Based on the perceived information, it is determined whether a collision with the target vehicle will occur; the perceived information includes distance information to the vehicle in front collected by radar sensors, brake pedal opening information, steering wheel angle signal, and vehicle speed information. The collision coefficient is obtained by querying the configuration file based on the distance information and the opening information of the car's brake pedal. Based on the collision coefficient and the steering wheel angle signal, the probability of a vehicle collision is obtained by looking up a table. Based on the collision coefficient and the vehicle's speed information, the collision level is obtained by querying the configuration file. Based on the probability of a collision and the severity of the collision, a corresponding power door enable signal is generated to unlock the power door before a collision occurs.

2. The method as described in claim 1, wherein, The step of generating a corresponding electric door enable signal based on the collision level to unlock the electric door before a collision includes: When the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level A, so that the electric door is fully unlocked before the collision. When the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level B, so that the electric door is fully unlocked to the first opening degree before the collision. When the collision probability is 1, it is predicted that the vehicle will collide and the collision level includes collision level C, so that the electric door is fully unlocked to the second opening degree before the collision. When the collision probability is 0, it is predicted that the vehicle will not collide.

3. The method as described in claim 1, wherein, The step of generating a corresponding electric door enable signal based on the collision level to unlock the electric door before a collision further includes: When the electric door is unlocked before the collision, it is determined whether the door lock motor of the electric door has timed out. If the timeout occurs, the door lock motor will be re-driven to unlock; If the timeout period has not expired, the electric door will be unlocked before the collision and opened to the first or second opening degree by the door motor of the electric door.

4. The method of claim 1, wherein, If the collision coefficients are the same, then the steering wheel angle is inversely proportional to the probability of a car collision; If the distance to the preceding vehicle is the same, then the brake pedal opening is inversely proportional to the collision coefficient; If the brake pedal openings are the same, then the distance to the vehicle in front is inversely proportional to the collision coefficient; If the steering wheel angles are the same, then the collision coefficient is proportional to the probability of a collision with the car. If the vehicles are traveling at the same speed, the collision coefficient is proportional to the collision level of the vehicle.

5. The method of claim 3, wherein, The door lock motor is used to receive instructions from the electric door controller to perform unlocking or locking operations; the door motor is used to receive instructions from the electric door controller to open the electric door to a preset degree.

6. A car electric door control device, wherein, The control device includes: performing the electric door control method for a vehicle as described in any one of claims 1 to 5.

7. A car electric door control system, wherein, include: An electric door control device, and a memory arranged to store computer-executable instructions, which, when executed, cause a processor to perform the method of any one of claims 1 to 5.

8. A type of automobile, wherein, The system includes the electric door control system of claim 7, which, when executed, implements the method of any one of claims 1 to 5.

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