A control system, method and device for automobile door

Abstract

The present application relates to a control system, method, and device for automobile doors. The system includes: a first environmental perception module, an information processing module, a voice interaction module, and a control module. The first environmental perception module collects information about the external environment within its perception range when the vehicle is currently stopped, and generates collision warning information based on the external environment. The information processing module determines whether a collision will occur if the door is currently opened based on the collision warning information and the door opening instruction. If not, the voice interaction module issues a safety warning voice, and the control module controls the door controller to unlock the door. If so, the voice interaction module issues a collision warning voice, and the control module controls the door controller to lock the door. The voice interaction module interacts with the current user through voice to determine whether to unlock the door based on the current user's instruction. This method can improve the control of automobile doors.

Description

Technical Field

[0001] The present application relates to the field of automobile safety technology, and in particular to a control system, method, and device for automobile doors. Background Art

[0002] With the development of the economy and the improvement of people's living standards, cars have become an important means of transportation for people. However, with the increasing number of vehicles on the road, the incidence of traffic accidents is also gradually increasing. Therefore, while cars bring convenience to daily life, they also pose a threat to people's personal and property safety.

[0003] For example, when a car stops, the user inside may not be able to observe the surrounding environment in time when opening the door. This may result in cars, motorcycles, bicycles, or pedestrians behind or beside the opened door not being able to avoid danger in time, causing traffic accidents. To address this problem, existing technologies monitor the surrounding environment and lock the car doors when a collision risk is detected to avoid danger.

[0004] However, the user may forcefully open the door because he or she is unaware of the risk of collision, which may put the user in danger. Therefore, the control of automobile doors in the prior art is not perfect. Summary of the Invention

[0005] Based on this, a control system, method and device for a car door are provided to improve the control of the car door in the prior art.

[0006] In a first aspect, a control system for a vehicle door is provided, the system comprising:

[0007] A first environment perception module is used to collect information about the external environment within a preset perception range when the vehicle is currently stopped, and to generate collision warning information based on the collected external environment;

[0008] an information processing module, electrically connected to the first environment perception module and the door controller, respectively, for determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction received by the door controller;

[0009] a voice interaction module electrically connected to the information processing module, configured to issue a safety warning voice when the information processing module determines that a collision will not occur if the vehicle door is opened at the current moment, or to issue a collision warning voice when the information processing module determines that a collision will occur if the vehicle door is opened at the current moment;

[0010] a control module, electrically connected to the information processing module and the door controller, respectively, for controlling the door controller to unlock the door when the information processing module determines that a collision will not occur if the door is opened at the current moment, and for controlling the door controller to lock the door when the information processing module determines that a collision will occur if the door is opened at the current moment;

[0011] The voice interaction module is electrically connected to the control module and is used to perform voice interaction with the current user to determine whether to unlock the vehicle door according to the instruction of the current user.

[0012] In combination with the first aspect, in a first possible implementation of the first aspect, the step of the voice interaction module performing voice interaction with the current user to determine whether to unlock according to an instruction of the current user includes:

[0013] The voice interaction module is further configured to issue a voice inquiry regarding whether to unlock the device, receive a voice response from the current user in response to the voice inquiry, and determine whether to unlock the device based on the content of the voice response.

[0014] If not, calling the control module and the first environment perception module, wherein the control module is used to keep the vehicle door locked, the first environment perception module is used to continue to perform the step of collecting the external environment within a preset perception range, and the voice interaction module is electrically connected to the first environment perception module;

[0015] If so, calling the information processing module, wherein the information processing module is used to determine whether a collision will occur when the door is opened at the current moment according to the collision warning information;

[0016] If not, calling the control module and the voice interaction module, wherein the control module is used to unlock the car door, and the voice interaction module is used to issue the safety prompt voice;

[0017] If so, the control module and the voice interaction module are called, wherein the control module is used to keep the door locked, and the voice interaction module is used to issue the collision warning voice and the inquiry voice whether to unlock the door.

[0018] In combination with the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the first environment perception module includes:

[0019] a first camera, configured to capture first image information of an external environment of the vehicle within the sensing range;

[0020] a radar, configured to collect a relative distance between a target object indicated by the external environment and the current vehicle, wherein the relative distance includes a first distance in a traveling direction and / or a second distance perpendicular to the traveling direction;

[0021] a collision warning controller, electrically connected to the first camera and the radar, respectively, and configured to generate collision warning information based on the first image information of the external environment and the relative distance;

[0022] An interface module, one end of which is electrically connected to the first camera, the radar, and the collision warning controller via a controller area network, and the other end of which is electrically connected to the information processing module.

[0023] In combination with the first aspect, in a third possible implementation of the first aspect,

[0024] The door controller is further configured to receive a forced unlocking instruction when the information processing module determines that a collision will occur if the door is opened at the current moment and the control module locks the door;

[0025] The information processing module is further configured to determine a corresponding target door according to the forced unlocking instruction, and to determine a safety range and at least one safety point within the safety range according to the collision warning information, wherein the safety range indicates a range within which the current vehicle maintains a safe distance from the external environment indicated by the collision warning information when the target door is opened;

[0026] The control module is further configured to control the door controller to unlock the target door, so that the target door moves away from one end of the body of the current vehicle and reaches the safety point.

[0027] In combination with the third possible implementation of the first aspect, in a fourth possible implementation of the first aspect, the system further includes:

[0028] a second environment sensing module, electrically connected to the information processing module, the control module, and the door controller, respectively, for collecting information about the interior environment of the vehicle when the door controller receives a forced unlocking command, and determining a target user who initiates the forced unlocking command, as well as a target body size and a target weight of the target user based on the interior environment;

[0029] The information processing module is further configured to determine a door opening angle required by the target user based on the target weight and target body size of the target user, wherein the door opening angle indicates the angle between the target door and the body of the current vehicle when the target door is opened;

[0030] Obtaining a target angle between the target door and the body of the current vehicle when the end of the target door away from the body of the current vehicle reaches the safety point, and determining whether the door opening angle is less than or equal to the target angle;

[0031] If so, calling the control module, wherein the control module is used to control the door controller to unlock the target door according to the door opening angle;

[0032] If not, the control module is called, wherein the control module is used to control the door controller to unlock the target door according to the target angle.

[0033] In combination with the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the second environment perception module includes:

[0034] A second camera is used to collect second image information of the vehicle interior environment;

[0035] An information processing unit is configured to determine a target user who initiates the forced unlocking instruction and a target body type of the target user based on the second image information of the vehicle interior environment;

[0036] The seat sensor is used to collect the target weight of the target user.

[0037] In combination with the first aspect or any one possible implementation of the first aspect, in a sixth possible implementation of the first aspect, the door controller includes a controller for controlling each side door and a tailgate of the current vehicle.

[0038] In a second aspect, a method for controlling a vehicle door is provided, which is applied to the vehicle door control system according to the first aspect or any embodiment in combination with the first aspect, the method comprising:

[0039] When the vehicle is currently stopped, the system collects information about the external environment within a preset sensing range and generates collision warning information based on the collected external environment.

[0040] Determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction;

[0041] When it is determined that opening the door at the current moment will not cause a collision, a safety warning voice is issued, or when it is determined that opening the door at the current moment will cause a collision, a collision warning voice is issued;

[0042] When it is determined that a collision will not occur when the door is opened at the current moment, the door controller is controlled to unlock the door; when it is determined that a collision will occur when the door is opened at the current moment, the door controller is controlled to lock the door;

[0043] Perform voice interaction with the current user to determine whether to unlock according to the instruction of the current user.

[0044] In conjunction with the second aspect, in a first possible implementation of the second aspect, the step of performing voice interaction with the current user to determine whether to unlock according to an instruction of the current user includes:

[0045] Sending a voice inquiry about whether to unlock, receiving a voice response from the current user in response to the voice inquiry, and determining whether to unlock based on the content of the voice response;

[0046] If not, keep the vehicle doors locked and continue to perform the step of collecting the vehicle's external environment within the preset sensing range;

[0047] If so, determining whether a collision will occur when the door is opened at the current moment based on the collision warning information;

[0048] If not, unlock the car door and issue the safety prompt voice;

[0049] If so, the doors remain locked, and the collision warning voice and the inquiry voice asking whether to unlock the doors are issued.

[0050] In a third aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for controlling a vehicle door according to the second aspect or the first feasible embodiment in combination with the second aspect are implemented.

[0051] The above-mentioned automobile door control system, method, and device include a first environment sensing module, an information processing module, a voice interaction module, and a control module. The information processing module is electrically connected to the first environment sensing module, the door controller, the voice interaction module, and the control module, respectively. The control module is also electrically connected to the door controller and the voice interaction module, respectively. The first environment sensing module is configured to, when the vehicle is currently stopped, collect information about the external environment within a preset sensing range and generate collision warning information based on the external environment. The information processing module is configured to determine, based on the collision warning information and a door opening command received by the door controller, whether a collision will occur if the door is currently opened. If not, the voice interaction module is configured to issue a safety warning voice message, and the control module is configured to control the door controller to unlock the door. If so, the voice interaction module is configured to issue a collision warning voice message, and the control module is configured to control the door controller to lock the door. The voice interaction module is further configured to interact with the current user through voice to determine whether to unlock the door based on the current user's command. As can be seen, compared with the prior art, the control system of the present application improves the situation where users forcefully open the car door due to not realizing there is a collision risk, thereby putting the user in danger, through the voice prompt of the voice interaction module. Furthermore, by adding a voice interaction module, the control system of the present application controls whether the car door is unlocked or not based on the voice of the user, thereby improving convenience. Therefore, the control system of the present application improves the control of the car door. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a structural block diagram of a control system for a car door in one embodiment;

[0053] Figure 2 1 is a flow chart of a method for controlling a vehicle door according to an embodiment;

[0054] Figure 3 is a structural block diagram of a first environment perception module in one embodiment;

[0055] Figure 4 is a structural block diagram of a control system for a car door in another embodiment;

[0056] Figure 5 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0058] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0059] The structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0060] The directions or positional relationships indicated in this specification, such as "upper," "lower," "left," "right," "center," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential," are based on the directions or positional relationships shown in the accompanying drawings and are intended solely for the purpose of simplifying the description. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] Currently, after a vehicle stops, the surrounding environment is monitored to determine whether opening the door will cause a collision. If so, the door is locked. However, users may force the door open, and since they are unaware of the potential collision, they may be putting themselves in danger. Therefore, existing technologies for controlling vehicle doors are not perfect.

[0062] To this end, the present application proposes a control system, method, and device for automobile doors, wherein the control system includes: a first environmental perception module, an information processing module, a voice interaction module, and a control module. After the current vehicle stops, the first environmental perception module begins to collect information about the external environment and generates collision warning information based on the external environment, wherein the collision warning information includes information about obstacles on the same driving axis as the current vehicle. Furthermore, the information processing module determines whether a collision will occur if the door is opened at the current moment based on the collision warning information and the door opening instruction. If not, the voice interaction module issues a safety warning voice, and the control module controls the door controller to unlock the door. If so, the voice interaction module issues a collision warning voice, and the control module controls the door controller to lock the door. To improve the user experience, the voice interaction module is also used to perform voice interaction with the current user to determine whether to unlock the door based on the current user's instruction. As can be seen, the above-mentioned automobile door control system can not only provide a voice prompt to the current user when a collision occurs, so that the current user can take safety precautions when forcibly opening the door; but also, through voice interaction with the current user, determine whether to unlock the door according to the current user's instructions, and thus control the door opening or locking accordingly. Therefore, compared with the existing technology, the automobile door control system of the present application is more complete. Next, the automobile door control system of the present application will be described in detail through the following embodiments.

[0063] In one embodiment, combined Figure 1 and Figure 2 , provides a control system for a vehicle door, the system comprising:

[0064] The first environment perception module is used to collect the external environment within a preset perception range when the current vehicle is in a stopped state, and generate collision warning information based on the external environment.

[0065] refer to Figure 3 In one practicable manner, the first environment perception module includes: a first camera, for collecting first image information of the external environment within the perception range; a radar, for collecting the relative distance between the target object indicated by the external environment and the current vehicle, wherein the relative distance includes a first distance in the driving direction and / or a second distance perpendicular to the driving direction; a collision warning controller, electrically connected to the first camera and the radar, respectively, and configured to generate collision warning information based on the first image information of the external environment and the relative distance; an interface module, one end of the interface module is electrically connected to the first camera, the radar and the collision warning controller through a controller area network, and the other end of the interface module is electrically connected to the information processing module.

[0066] The first camera collects first image information of the external environment, where the external environment includes obstacles such as pedestrians, bicycles, electric vehicles, and cars; the collision warning controller determines the target obstacle based on the first image information of the external environment, where the target obstacle is used to indicate an obstacle that is on the same driving axis as the current vehicle and may intersect with the current vehicle; then, based on multiple first image information within a preset time threshold, the moving speed and movement acceleration of the target obstacle are determined; and collision warning information is generated based on the moving speed trend and relative distance.

[0067] The information processing module is electrically connected to the first environment perception module and the door controller respectively, and is used to determine whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction received by the door controller.

[0068] The information processing module determines a first outline of the target obstacle based on the first image information; determines a door to be opened based on the door opening command, and determines the body size of the current user who initiated the door opening command based on the first image information; then generates a second outline based on the shape and size of the current vehicle, the shape and size of the door to be opened, and the body size of the current user, wherein the second outline is used to indicate the outline of the current vehicle's door to be opened being opened and the current user standing near the door to be opened. Based on the first outline, the module approaches the second outline based on the moving speed and the moving acceleration, and determines whether the moving distance of the first outline is greater than or equal to the first distance in the relative distance. If not, no collision will occur; if so, no collision will occur. For further confirmation, the module obtains the interval distance perpendicular to the travel direction between the first outline and the second outline when the first outline moves to be adjacent to the second outline according to the moving distance; compares the interval distance with the second distance in the relative distance. If the interval distance is less than or equal to the second distance, it is determined that the target obstacle will collide with the current vehicle; if the interval distance is greater than the second distance, it is determined that no collision will occur.

[0069] Among them, the moving distance in the above steps can be obtained according to the following steps: obtain the interval time preset by the system, wherein the interval time refers to the time required from opening the car door to the current user walking out of the current vehicle and standing near the car door; calculate the moving distance that the second profile can travel based on the moving speed and the moving acceleration interval time.

[0070] a voice interaction module electrically connected to the information processing module, configured to issue a safety warning voice when the information processing module determines that a collision will not occur if the vehicle door is opened at the current moment, or to issue a collision warning voice when the information processing module determines that a collision will occur if the vehicle door is opened at the current moment;

[0071] The control module is electrically connected to the information processing module and the door controller, respectively, and is used to control the door controller to unlock the door when the information processing module determines that no collision will occur when the door is opened at the current moment, and is also used to control the door controller to lock the door when the information processing module determines that a collision will occur when the door is opened at the current moment.

[0072] The voice interaction module may simultaneously issue a safety or collision warning message and the control module may simultaneously control the door controller to unlock or lock the vehicle doors. For example, the safety warning message may be, "Doors unlocked, please be careful when exiting the vehicle," and the collision warning message may be, "Danger, doors locked, please keep your head and hands out of the window."

[0073] The voice interaction module is electrically connected to the control module and is used to perform voice interaction with the current user to determine whether to unlock the vehicle door according to the instruction of the current user.

[0074] Specifically, the voice interaction module is further configured to perform voice interaction with the current user to determine whether to unlock the device according to the instruction of the current user, including:

[0075] The voice interaction module is further configured to issue a voice inquiry regarding whether to unlock the device, receive a voice response from the current user in response to the voice inquiry, and determine whether to unlock the device based on the content of the voice response.

[0076] If not, calling the control module and the first environment perception module, wherein the control module is used to keep the vehicle door locked, the first environment perception module is used to continue to perform the step of collecting the external environment within a preset perception range, and the voice interaction module is electrically connected to the first environment perception module;

[0077] If so, calling the information processing module, wherein the information processing module is used to determine whether a collision will occur when the door is opened at the current moment according to the collision warning information;

[0078] If not, calling the control module and the voice interaction module, wherein the control module is used to unlock the car door, and the voice interaction module is used to issue the safety prompt voice;

[0079] If so, the control module and the voice interaction module are called, wherein the control module is used to keep the door locked, and the voice interaction module is used to issue the collision warning voice and the inquiry voice whether to unlock the door.

[0080] It should be noted that the response voice includes "release" and "not release"; the above steps involved in "collecting the external environment within the preset perception range", "determining whether a collision will occur when opening the door at the current moment based on the collision warning information", "issuing the safety prompt voice" and "issuing the collision prompt voice" are similar to the relevant descriptions in the previous embodiment and will not be repeated here.

[0081] Even if the current vehicle door is locked when a collision is likely, there is still a possibility that the user will forcefully open the door. In order to further improve the control of the vehicle door in this situation and better protect the user, since the user can exit the current vehicle even when the door is not fully open, in this embodiment, the target door does not need to be fully opened. When the target door is opened, it reaches a safe point away from one end of the vehicle body, thereby avoiding a collision. Specifically, the door controller is further configured to receive a forced unlock instruction when the information processing module determines that a collision will occur if the door is opened at the current moment and the control module locks the door; the information processing module is further configured to determine the corresponding target door based on the forced unlock instruction, and determine a safety range and at least one safety point within the safety range based on the collision warning information, wherein the safety range indicates the range within which the current vehicle maintains a safe distance from the external environment indicated by the collision warning information when the target door is opened; and the control module is further configured to control the door controller to unlock the target door so that the target door reaches the safety point away from one end of the current vehicle body.

[0082] Due to the different body shapes and weights of different users, the required door opening degree is also different. The smaller and lighter the user, the lower the required door opening degree, and vice versa. Figure 4In one embodiment, the system further includes: a second environment perception module, electrically connected to the information processing module, the control module, and the door controller, respectively, for collecting the in-vehicle environment when the door controller receives the forced unlocking command, and determining the target user who initiated the forced unlocking command, as well as the target body size and target weight of the target user based on the in-vehicle environment; the information processing module is further configured to determine the door opening angle required by the target user based on the target weight and target body size of the target user, wherein the door opening angle indicates the angle between the target door and the body of the current vehicle when the target door is opened; obtaining the target angle between the target door and the body of the current vehicle when the end of the target door away from the body of the current vehicle reaches the safety point, and determining whether the door opening angle is less than or equal to the target angle; if so, calling the control module, wherein the control module is configured to control the door controller to unlock the target door according to the door opening angle; if not, calling the control module, wherein the control module is configured to control the door controller to unlock the target door according to the target angle.

[0083] It can be seen that in this embodiment, by obtaining the weight and body shape of the target user, it is determined at what door opening angle the target door is opened so that the target user can exit the car and open the door in a targeted manner; and in order to ensure safety, the door opening angle is compared with the target angle, wherein the target angle refers to: when the target door is opened, it reaches the safety point at the end away from the current vehicle body, and the angle formed by the target door and the current vehicle body; since the safety point can maintain a safe distance from the outside environment, that is: the target angle is the maximum angle that allows the target door to be opened to the maximum extent and still maintain a safe distance from the outside environment; therefore, a door opening angle greater than the target angle is considered a dangerous strategy, and the target door is opened at this time; a door opening angle less than or equal to the target angle is considered a safe strategy, and the door is opened at this time.

[0084] As a specific implementation of the above embodiment, the second environment perception module includes: a second camera for collecting second image information of the interior environment of the vehicle; an information processing unit for determining the target user who initiates the forced unlocking instruction and the target body shape of the target user based on the second image information of the interior environment of the vehicle; and a seat sensor for collecting the target weight of the target user. The door controller includes controllers for controlling each side door and tailgate of the current vehicle. It should be noted that the door controller can be one or more. If the door controller is one, the door controller controls each side door and tailgate separately; if the door controller is multiple, the number of the door controllers is the same as the number of the side doors and tailgate, thereby controlling each side door and tailgate separately.

[0085] The aforementioned car door control system collects information about the external environment to predict whether a collision will occur. If so, it issues a collision warning voice message to alert the user to the collision risk before forcing the door open, allowing them to take safety precautions. Furthermore, the system interacts with the user through voice commands, unlocking and locking the door according to their instructions. Therefore, compared to existing technologies, this application improves the control method for car doors by resolving the issue of users forcibly opening the door without realizing the collision risk, thereby placing them in danger.

[0086] Each module in the aforementioned vehicle door control system may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in hardware form, or may be stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0087] refer to Figure 1 and Figure 2 In one embodiment, a method for controlling a vehicle door is provided, wherein the method is applied to the vehicle door control system according to any one of the above embodiments, and comprises:

[0088] When the vehicle is currently stopped, the vehicle's external environment within a preset sensing range is collected, and collision warning information is generated based on the external environment;

[0089] Determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction;

[0090] When it is determined that opening the door at the current moment will not cause a collision, a safety warning voice is issued, or when it is determined that opening the door at the current moment will cause a collision, a collision warning voice is issued;

[0091] When it is determined that a collision will not occur when the door is opened at the current moment, the door controller is controlled to unlock the door; when it is determined that a collision will occur when the door is opened at the current moment, the door controller is controlled to lock the door;

[0092] Perform voice interaction with the current user to determine whether to unlock according to the instruction of the current user.

[0093] As a specific implementation of the above embodiment, the step of performing voice interaction with the current user to determine whether to unlock according to the instruction of the current user includes:

[0094] Sending a voice inquiry about whether to unlock, receiving a voice response from the current user in response to the voice inquiry, and determining whether to unlock based on the content of the voice response;

[0095] If not, keep the vehicle doors locked and continue to perform the step of collecting the vehicle's external environment within the preset sensing range;

[0096] If so, determining whether a collision will occur when the door is opened at the current moment based on the collision warning information;

[0097] If not, unlock the car door and issue the safety prompt voice;

[0098] If so, the doors remain locked, and the collision warning voice and the inquiry voice asking whether to unlock the doors are issued.

[0099] As a specific implementation of the above embodiment, the step of collecting the external environment within a preset perception range and generating collision warning information based on the external environment includes: collecting first image information of the external environment within the perception range; collecting the relative distance between the target object indicated by the external environment and the current vehicle, wherein the relative distance includes a first distance in the driving direction and / or a second distance perpendicular to the driving direction; generating collision warning information based on the first image information of the external environment and the relative distance.

[0100] In one embodiment, in combination with the above embodiment, the method further includes:

[0101] When it is determined that a collision will occur when the door is opened at the current moment and the door is locked, a forced unlocking instruction is received;

[0102] Determining a corresponding target door according to the forced unlocking instruction, and determining a safety range and at least one safety point within the safety range according to the collision warning information, wherein the safety range is used to indicate a range within which the current vehicle maintains a safe distance from the external environment indicated by the collision warning information when the target door is opened;

[0103] The door controller is controlled to unlock the target door so that the target door moves away from one end of the body of the current vehicle and reaches the safety point.

[0104] Preferably, in combination with the above embodiment, the method further includes:

[0105] When the door controller receives the forced unlocking instruction, it collects the interior environment of the vehicle and determines the target user who initiates the forced unlocking instruction and the target body shape and target weight of the target user according to the interior environment;

[0106] determining a door opening angle required by the target user based on a target weight and a target body size of the target user, wherein the door opening angle indicates an angle between the target door and the body of the current vehicle when the target door is opened;

[0107] Obtaining a target angle between the target door and the body of the current vehicle when the end of the target door away from the body of the current vehicle reaches the safety point, and determining whether the door opening angle is less than or equal to the target angle;

[0108] If yes, controlling the door controller to unlock the target door according to the door opening angle;

[0109] If not, control the door controller to unlock the target door according to the target angle.

[0110] As a specific implementation of the above embodiment, the step of collecting the in-vehicle environment includes: collecting second image information of the in-vehicle environment; determining the target user who initiates the forced unlocking instruction and the target body shape of the target user based on the second image information of the in-vehicle environment; and collecting the target weight of the target user.

[0111] It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The sub-steps or stages are not necessarily executed sequentially, but may be executed in rotation or alternation with other steps or at least some of the sub-steps or stages of other steps. The specific definition of the vehicle door control system can be found in the definition of the vehicle door control method above, and will not be repeated here.

[0112] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for controlling a car door is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0113] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0114] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed:

[0115] When the vehicle is currently stopped, the vehicle's external environment within a preset sensing range is collected, and collision warning information is generated based on the external environment;

[0116] Determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction;

[0117] When it is determined that opening the door at the current moment will not cause a collision, a safety warning voice is issued, or when it is determined that opening the door at the current moment will cause a collision, a collision warning voice is issued;

[0118] When it is determined that a collision will not occur when the door is opened at the current moment, the door controller is controlled to unlock the door; when it is determined that a collision will occur when the door is opened at the current moment, the door controller is controlled to lock the door;

[0119] Perform voice interaction with the current user to determine whether to unlock according to the instruction of the current user.

[0120] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0121] Sending a voice inquiry about whether to unlock, receiving a voice response from the current user in response to the voice inquiry, and determining whether to unlock based on the content of the voice response;

[0122] If not, keep the vehicle doors locked and continue to perform the step of collecting the vehicle's external environment within the preset sensing range;

[0123] If so, determining whether a collision will occur when the door is opened at the current moment based on the collision warning information;

[0124] If not, unlock the car door and issue the safety prompt voice;

[0125] If so, the doors remain locked, and the collision warning voice and the inquiry voice asking whether to unlock the doors are issued.

[0126] In one embodiment, when the processor executes the computer program, it also implements the following steps: collecting first image information of the external environment within the perception range; collecting the relative distance between the target object indicated by the external environment and the current vehicle, wherein the relative distance includes a first distance in the driving direction and / or a second distance perpendicular to the driving direction; and generating collision warning information based on the first image information of the external environment and the relative distance.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] When it is determined that a collision will occur when the door is opened at the current moment and the door is locked, a forced unlocking instruction is received;

[0129] Determining a corresponding target door according to the forced unlocking instruction, and determining a safety range and at least one safety point within the safety range according to the collision warning information, wherein the safety range is used to indicate a range within which the current vehicle maintains a safe distance from the external environment indicated by the collision warning information when the target door is opened;

[0130] The door controller is controlled to unlock the target door so that the target door moves away from one end of the body of the current vehicle and reaches the safety point.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] When the door controller receives the forced unlocking instruction, it collects the interior environment of the vehicle and determines the target user who initiates the forced unlocking instruction and the target body shape and target weight of the target user according to the interior environment;

[0133] determining a door opening angle required by the target user based on a target weight and a target body size of the target user, wherein the door opening angle indicates an angle between the target door and the body of the current vehicle when the target door is opened;

[0134] Obtaining a target angle between the target door and the body of the current vehicle when the end of the target door away from the body of the current vehicle reaches the safety point, and determining whether the door opening angle is less than or equal to the target angle;

[0135] If yes, controlling the door controller to unlock the target door according to the door opening angle;

[0136] If not, control the door controller to unlock the target door according to the target angle.

[0137] In one embodiment, when the processor executes the computer program, it also implements the following steps: collecting second image information of the interior vehicle environment; determining the target user who initiates the forced unlocking instruction and the target body shape of the target user based on the second image information of the interior vehicle environment; and collecting the target weight of the target user.

[0138] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0139] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A control system for a car door, characterized in that: The system comprises: A first environment perception module is configured to collect information about the external environment within a preset perception range when the vehicle is currently stopped, and generate collision warning information based on the external environment; an information processing module, electrically connected to the first environment perception module and the door controller, respectively, for determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction received by the door controller; a voice interaction module electrically connected to the information processing module, configured to issue a safety warning voice when the information processing module determines that a collision will not occur if the vehicle door is opened at the current moment, or to issue a collision warning voice when the information processing module determines that a collision will occur if the vehicle door is opened at the current moment; a control module, electrically connected to the information processing module and the door controller, respectively, for controlling the door controller to unlock the door when the information processing module determines that a collision will not occur if the door is opened at the current moment, and for controlling the door controller to lock the door when the information processing module determines that a collision will occur if the door is opened at the current moment; The voice interaction module is electrically connected to the control module and is used to perform voice interaction with the current user to determine whether to unlock the vehicle door according to the instruction of the current user; a second environment sensing module, electrically connected to the information processing module, the control module, and the door controller, respectively, for collecting information about the interior environment of the vehicle when the door controller receives a forced unlocking command, and determining a target user who initiates the forced unlocking command, as well as a target body size and a target weight of the target user based on the interior environment; The information processing module is further configured to determine a door opening angle required by the target user based on the target weight and target body size of the target user, wherein the door opening angle indicates the angle between the target door and the body of the current vehicle when the target door is opened; Obtaining a target angle between the target door and the body of the current vehicle when the end of the target door away from the body of the current vehicle reaches a safety point, and determining whether the door opening angle is less than or equal to the target angle, wherein the safety point can maintain a safe distance from the external environment; If so, calling the control module, wherein the control module is used to control the door controller to unlock the target door according to the door opening angle; If not, the control module is called, wherein the control module is used to control the door controller to unlock the target door according to the target angle.

2. The automobile door control system according to claim 1, characterized in that: The voice interaction module is further configured to perform voice interaction with the current user to determine whether to unlock the device according to the instruction of the current user, including: The voice interaction module is further configured to issue a voice inquiry regarding whether to unlock the device, receive a voice response from the current user in response to the voice inquiry, and determine whether to unlock the device based on the content of the voice response. If not, calling the control module and the first environment perception module, wherein the control module is used to keep the vehicle door locked, the first environment perception module is used to continue to perform the step of collecting the external environment within a preset perception range, and the voice interaction module is electrically connected to the first environment perception module; If so, calling the information processing module, wherein the information processing module is used to determine whether a collision will occur when the door is opened at the current moment according to the collision warning information; If not, calling the control module and the voice interaction module, wherein the control module is used to unlock the car door, and the voice interaction module is used to issue the safety prompt voice; If so, the control module and the voice interaction module are called, wherein the control module is used to keep the door locked, and the voice interaction module is used to issue the collision warning voice and the inquiry voice whether to unlock the door.

3. The automobile door control system according to claim 1, characterized in that: The first environment perception module includes: a first camera, configured to capture first image information of an external environment of the vehicle within the sensing range; a radar, configured to collect a relative distance between a target object indicated by the external environment and the current vehicle, wherein the relative distance includes a first distance in a traveling direction and / or a second distance perpendicular to the traveling direction; a collision warning controller, electrically connected to the first camera and the radar, respectively, and configured to generate collision warning information based on the first image information of the external environment and the relative distance; An interface module, one end of which is electrically connected to the first camera, the radar, and the collision warning controller via a controller area network, and the other end of which is electrically connected to the information processing module.

4. The automobile door control system according to claim 1, characterized in that: The door controller is further configured to receive a forced unlocking instruction when the information processing module determines that a collision will occur if the door is opened at the current moment and the control module locks the door; The information processing module is further configured to determine a corresponding target door according to the forced unlocking instruction, and to determine a safety range and at least one safety point within the safety range according to the collision warning information, wherein the safety range indicates a range within which the current vehicle maintains a safe distance from the external environment indicated by the collision warning information when the target door is opened; The control module is further configured to control the door controller to unlock the target door, so that the target door moves away from one end of the body of the current vehicle and reaches the safety point.

5. The automobile door control system according to claim 1, characterized in that: The second environment perception module includes: A second camera is used to collect second image information of the vehicle interior environment; An information processing unit is configured to determine a target user who initiates the forced unlocking instruction and a target body type of the target user based on the second image information of the vehicle interior environment; The seat sensor is used to collect the target weight of the target user.

6. The automobile door control system according to any one of claims 1 to 5, characterized in that: The vehicle door controller includes controllers for controlling each side door and a tailgate of the current vehicle.

7. A method for controlling a car door, characterized in that: The method applied to the control system of a vehicle door according to any one of claims 1 to 6 comprises: When the vehicle is currently stopped, the vehicle's external environment is collected within a preset sensing range, and collision warning information is generated based on the external environment; Determining whether a collision will occur when the door is opened at the current moment based on the collision warning information and the door opening instruction; When it is determined that opening the door at the current moment will not cause a collision, a safety warning voice is issued, or when it is determined that opening the door at the current moment will cause a collision, a collision warning voice is issued; When it is determined that a collision will not occur when the door is opened at the current moment, the door controller is controlled to unlock the door; when it is determined that a collision will occur when the door is opened at the current moment, the door controller is controlled to lock the door; Perform voice interaction with the current user to determine whether to unlock according to the instruction of the current user.

8. The method for controlling a vehicle door according to claim 7, wherein: The step of performing voice interaction with the current user to determine whether to unlock according to the current user's instruction includes: Sending a voice inquiry about whether to unlock, receiving a voice response from the current user in response to the voice inquiry, and determining whether to unlock based on the content of the voice response; If not, keep the vehicle doors locked and continue to perform the step of collecting the vehicle's external environment within the preset sensing range; If so, determining whether a collision will occur when the door is opened at the current moment based on the collision warning information; If not, unlock the car door and issue the safety prompt voice; If so, the doors remain locked, and the collision warning voice and the inquiry voice asking whether to unlock the doors are issued.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the vehicle door control method according to any one of claims 7 to 8 are implemented.

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