A vehicle door control method and device, electronic equipment and storage medium

Abstract

This disclosure relates to a vehicle door control method, device, electronic device, and storage medium. The method includes acquiring the speed of an external obstacle, the distance between the external obstacle and the vehicle, and a door opening request; determining a door delay opening time based on the external obstacle speed, the distance between the external obstacle and the vehicle, and a door delay opening time model; and, after determining that a door opening request has been acquired, controlling the vehicle door according to the door opening request and the door delay opening time. This disclosure can accurately calculate the door delay opening time based on the real-time acquired external obstacle speed, the distance between the external obstacle and the vehicle, and the door delay opening time model, thereby allowing the door to open at the appropriate time and avoiding collisions when the door is open.

Description

Technical Field

[0001] This disclosure relates to the field of automotive technology, specifically to a door control method, device, electronic device, and storage medium. Background Technology

[0002] With economic development, the number of cars on the road has been increasing year by year. Along with the widespread use of cars, the rate of traffic accidents has also risen. Improper car door opening is a frequent cause of traffic accidents.

[0003] Most car door collisions occur because passengers opening the door without observing the surrounding traffic or making misjudgments. Passengers, especially those in the back seats, should check for pedestrians or obstacles on the sides, in front, and behind the car before opening the door. Only after confirming there are no pedestrians or obstacles should the door be opened to avoid collisions. However, passengers often open the door without proper observation, which can lead to pedestrians being unable to avoid the impact, resulting in the door being damaged by a vehicle behind, or the passenger being injured or even killed.

[0004] Therefore, due to the limited field of vision, collisions are prone to occur when passengers open the car door to exit the vehicle, especially with existing technology. Furthermore, when passengers try to open the door themselves, they cannot accurately judge whether surrounding vehicles or pedestrians will collide with it, making it difficult to determine the appropriate time to open the door. This greatly increases the likelihood of collisions with approaching vehicles or pedestrians, causing vehicle damage and endangering personal safety. Summary of the Invention

[0005] To address at least one problem existing in the prior art, at least one embodiment of this disclosure provides a door control method, apparatus, electronic device, and storage medium.

[0006] In a first aspect, embodiments of this disclosure provide a door control method, including:

[0007] Obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and door opening requests;

[0008] The door delay opening time is determined based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model.

[0009] The door is controlled according to the door opening request and the door opening delay time.

[0010] Optionally, determining the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model includes:

[0011] If the distance between the external obstacle and the vehicle is greater than a first threshold, the door opening delay time is determined to be zero.

[0012] Optionally, determining the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model includes:

[0013] The acceleration of the external obstacle at two adjacent acquisition times is determined based on the velocity of the external obstacle.

[0014] The door delay opening time is determined based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door delay opening time model.

[0015] Optionally, it also includes: obtaining a pre-set door delay opening time model;

[0016] The door delay opening time model includes a mapping table of the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the door delay opening time. The greater the distance between the external obstacle and the vehicle, the greater the door delay opening time. The greater the acceleration of the external obstacle at two adjacent acquisition times, the smaller the door delay opening time.

[0017] The distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent acquisition times, are both divided into multiple range intervals.

[0018] Optionally, it also includes: using machine learning methods to train a door delay opening time model based on historical distance data between external obstacles and the vehicle, acceleration data of external obstacles at two adjacent historical acquisition times, and historical door delay opening time data.

[0019] Optional, also includes:

[0020] Obtain information about the people inside the vehicle and determine the door to be opened based on that information;

[0021] The step of controlling the vehicle door based on the door opening request and the door delay opening time includes:

[0022] The door to be opened is controlled according to the door opening request and the door delay opening time.

[0023] Optionally, obtaining the information about the people inside the vehicle includes:

[0024] Acquire in-vehicle image information and / or weight information on the seats;

[0025] The information of the people inside the vehicle is determined based on the in-vehicle image information and / or the weight information on the seats.

[0026] Optionally, before acquiring the speed of external obstacles, the distance between the external obstacles and the vehicle, and the door opening request, the following may also be included:

[0027] Get the vehicle's speed;

[0028] When the vehicle's speed is less than the second threshold, the system will trigger the acquisition of the speed of external obstacles, the distance between the external obstacles and the vehicle, and the door opening request.

[0029] Optionally, while acquiring the speed of external obstacles and the distance between external obstacles and the vehicle, information on occupants inside the vehicle is acquired and the door to be opened is determined based on the information on occupants inside the vehicle; and / or, a door opening request is acquired.

[0030] Optionally, after receiving a door opening request, the vehicle may obtain the speed of external obstacles and the distance between external obstacles and the vehicle, and / or obtain information on occupants and determine the door to be opened based on the occupant information.

[0031] Optionally, after receiving the door opening request, but before obtaining the speed of the external obstacle and the distance between the external obstacle and the vehicle, the vehicle occupant information is obtained and the door to be opened is determined based on the vehicle occupant information.

[0032] Optionally, when controlling the door based on the door opening request and the door delay opening time, the method further includes:

[0033] If the door opening delay time exceeds the third threshold, a voice prompt will be given.

[0034] Secondly, embodiments of this disclosure provide a door control device, comprising:

[0035] The monitoring module is used to obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and door opening requests;

[0036] The logic module is used to determine the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model.

[0037] An execution module is used to control the door based on the door opening request and the door opening delay time.

[0038] Thirdly, embodiments of this disclosure provide an electronic device, comprising:

[0039] One or more processors;

[0040] A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the door control method as described in the first aspect above.

[0041] Fourthly, embodiments of this disclosure provide a computer-readable storage medium including program instructions, which, when executed by a computer processor, are used to perform the door control method as described in the first aspect above.

[0042] As can be seen, in at least one embodiment of this disclosure, by acquiring the speed of the external obstacle and the distance between the external obstacle and the vehicle, and then determining the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and a door delay opening time model, the vehicle door can be controlled according to the door opening request and the door delay opening time. Since the door delay opening time can be accurately calculated based on the door delay opening time model, the door can be intelligently opened at the appropriate time, avoiding collisions when the door is opened. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0044] Figure 1 A schematic flowchart of a door control method provided in an embodiment of this disclosure;

[0045] Figure 2 A schematic flowchart illustrating yet another door control method provided in this disclosure embodiment;

[0046] Figure 3 A schematic flowchart illustrating yet another door control method provided in this disclosure embodiment;

[0047] Figure 4 A schematic flowchart illustrating yet another door control method provided in this disclosure embodiment;

[0048] Figure 5 A schematic flowchart illustrating yet another door control method provided in this disclosure embodiment;

[0049] Figure 6 A schematic diagram of a door control logic provided in this disclosure embodiment;

[0050] Figure 7 A structural block diagram of a door control device provided in an embodiment of this disclosure;

[0051] Figure 8 This is a block diagram of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0052] To better understand the above-described objectives, features, and advantages of this disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are only some, not all, of the embodiments of this disclosure. The specific embodiments described herein are merely for explaining this disclosure and are not intended to limit it. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure are within the scope of protection of this disclosure.

[0053] It should be noted that in this article, relational terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0054] Most car door-opening collisions are caused by passengers failing to observe their surroundings or misjudging the situation before opening the door. Passengers, especially those in the back seats, need to check for pedestrians or obstacles on the sides, in front, and behind the car before opening the door. Opening the door only after confirming there are no pedestrians or obstacles in these areas will prevent collisions. However, due to limited visibility, passengers sometimes open the door without noticing, increasing the risk of pedestrians being unable to avoid the collision, resulting in the door being damaged by a vehicle behind, and injuries or even death to the exiting passenger. Therefore, due to limited visibility, current technology makes collisions more likely when passengers open car doors. Furthermore, passengers cannot accurately judge whether surrounding vehicles or pedestrians will collide with the door when opening it, making it difficult to determine the appropriate time to open the door. This increases the risk of collisions with approaching vehicles or pedestrians, causing vehicle damage and personal injury.

[0055] In view of the shortcomings of the prior art described above, this disclosure provides a vehicle door control method. Before detailing the specific implementation of this disclosure, the application scenarios of this disclosure are first described below. This disclosure can be applied to vehicles, which can be autonomous or non-autonomous vehicles. The vehicle door control method provided in this disclosure can be applied to various scenarios, such as when passengers open the door to get out of the vehicle and when passengers open the door to get on the vehicle.

[0056] Figure 1 This is a schematic flowchart illustrating a door control method provided in an embodiment of this disclosure. Figure 1 As shown, the door control methods include S110 to S130:

[0057] S110: Obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and door opening requests.

[0058] External obstacles include, for example, vehicles and pedestrians. The speed of these external obstacles and their distance from the vehicle can be obtained using sensors. This disclosure does not limit the location of the sensors; they can be installed on the doors, for example, sensors on all four doors. Sensors may include, for example, millimeter-wave radar to acquire the speed of external obstacles and their distance from the vehicle. Furthermore, the sensors may also include other auxiliary ranging or speed measuring devices besides millimeter-wave radar, such as binocular cameras, to more accurately acquire information about obstacles around the vehicle. This disclosure does not limit the type or number of sensors.

[0059] It should be noted that the embodiments of the present invention do not limit the order in which the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request are obtained. For example, the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request can be obtained simultaneously; the speed of the external obstacle and the distance between the external obstacle and the vehicle can be obtained first, and then the door opening request can be obtained; or the door opening request can be obtained first, and then the speed of the external obstacle and the distance between the external obstacle and the vehicle can be obtained.

[0060] S120. Determine the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model.

[0061] The door delay opening time refers to the time during which the door is delayed from opening after receiving a door opening request. The door delay opening time model can be preset. This model can be in the form of a mapping table or generated through model training. In this step, the door delay opening time is automatically determined based on the speed of external obstacles, the distance between the external obstacles and the vehicle, and the door delay opening time model, without requiring passengers to observe the external environment of the vehicle.

[0062] S130. Control the door according to the door opening request and the door delay opening time.

[0063] The door opening request can be based on a specific passenger action, such as pulling the door handle, touching or pressing a button on the vehicle, or a voice command detected by a voice sensing device. Examples include "get off," "open the door," "open the door," and "I want to get off." The door opening request can be triggered by an interrupt or collected periodically.

[0064] Based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model, it is predicted that an obstacle approaching the vehicle may collide with it after the door is opened. Therefore, the door can be locked according to the door delay opening time calculated in the above steps, and the door will not be opened temporarily until the external obstacle has passed.

[0065] This embodiment of the disclosure accurately determines the door delay opening time by real-time acquisition of the speed of external obstacles, the distance between the external obstacles and the vehicle, and a pre-set door delay opening time model. It selects an appropriate moment to open the door, and then controls the door to open only after the approaching vehicle or pedestrian has passed. This embodiment eliminates the need for passengers to assess the external environment, thus avoiding the potential for collisions caused by passengers relying on their own judgment to open the door.

[0066] In some embodiments, optionally, step S120, which determines the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model, may include: if the distance between the external obstacle and the vehicle is greater than a first threshold, determining that the door delay opening time is zero.

[0067] If the distance between an external obstacle and the vehicle is greater than a first threshold, it indicates that the external obstacle is relatively far from the vehicle. In this case, the external obstacle (vehicle or pedestrian) has sufficient time to change its path or slow down to avoid a collision with the vehicle. Therefore, this embodiment of the present disclosure can respond to door opening requests immediately, i.e., the door opening delay time is zero, without waiting for the external obstacle to pass before opening the door, thus avoiding long waiting times for passengers.

[0068] It should be noted that the first threshold mentioned above can be set according to the actual situation, and this embodiment does not limit it.

[0069] In some embodiments, optionally, step S120, which determines the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model, may include:

[0070] S121. Determine the acceleration of the external obstacle at two adjacent acquisition times based on the velocity of the external obstacle.

[0071] S122. Determine the door delay opening time based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the door delay opening time model.

[0072] This embodiment of the disclosure can collect the speed of external obstacles and the distance between the external obstacles and the vehicle at a certain frequency. For example, if the speed of the external obstacle at two adjacent collection times are v(k-1) and v(k), then the acceleration of the external obstacle at two adjacent collection times is a = (v(k) - v(k-1)) / Δt. The distance between the external obstacle and the vehicle at time k is p(k). Wherein, a represents the acceleration of the external obstacle at two adjacent collection times, and Δt represents the time interval between two adjacent collection times. In this embodiment of the disclosure, the door delay opening time model includes two input quantities, namely the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent collection times. The door delay opening time model finally outputs the door delay opening time.

[0073] In this embodiment, the acceleration of the external obstacle at two adjacent acquisition times can reflect the movement trend of the external obstacle, such as whether it is accelerating or decelerating, and the degree of acceleration or deceleration. The distance between the external obstacle and the vehicle can reflect how close the external obstacle is to the vehicle. Since the input of the door delay opening time model in this embodiment comprehensively considers the movement trend of the external obstacle and its distance from the vehicle, the method of predicting the trend of the external obstacle approaching the vehicle door based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the preset door delay opening time model can more accurately determine the timing of door opening.

[0074] In some embodiments, optionally, the method may also include obtaining a pre-set door delay opening time model.

[0075] This embodiment of the disclosure can pre-set a door delay opening time model, which can be in the form of a mapping table. That is, the door delay opening time model includes a mapping table of the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door delay opening time. Specifically, the greater the distance between the external obstacle and the vehicle, the greater the door delay opening time; conversely, the greater the acceleration of the external obstacle at two adjacent data collection times, the smaller the door delay opening time.

[0076] In this embodiment, the door opening delay time and the distance between the external obstacle and the vehicle are positively correlated; the door opening delay time and the acceleration of the external obstacle at two adjacent data collection times are negatively correlated. A greater distance between the external obstacle and the vehicle indicates a greater distance between the external obstacle and the vehicle door, thus the external obstacle takes longer to pass the vehicle door, and therefore the door opening delay time should be set larger. Conversely, a greater acceleration of the external obstacle at two adjacent data collection times indicates that the external obstacle is accelerating, thus the external obstacle takes shorter to pass the vehicle door, and therefore the door opening delay time should be set smaller.

[0077] This embodiment of the disclosure establishes a door delay opening time model in the form of a pre-built mapping table. This model characterizes the mapping relationship between the door delay opening time, the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent acquisition times. After acquiring the speed of the external obstacle and the distance between the external obstacle and the vehicle in real time, the door delay opening time corresponding to these speeds and distances can be accurately determined by looking up the table.

[0078] In some embodiments, optionally, since the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times, are both continuous variables, the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times, can be divided into multiple range intervals. The three parameters in the mapping table are the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door opening delay time. The distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times are both divided into multiple range intervals. Since the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times, are continuous values, this embodiment divides the distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times, into multiple range intervals in the mapping table. By searching for the range intervals in the mapping table corresponding to the real-time determined distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent data collection times, the door opening delay time is determined.

[0079] The following section will provide a detailed explanation using a mapping table example.

[0080] Table 1 provides an exemplary mapping table of the distance between an external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door opening delay time. Referring to Table 1, the distance *p* between the external obstacle and the vehicle is divided into eight progressively increasing range intervals: SSS, SS, S, MS, BS, SB, B, and MB. Specifically, SSS represents 0m ≤ p < 1m; SS represents 1m ≤ p < 2m; S represents 2m ≤ p < 3m; MS represents 3m ≤ p < 4m; BS represents 4m ≤ p < 5m; SB represents 5m ≤ p < 6m; B represents 6m ≤ p < 7m; and MB represents p ≥ 7m.

[0081] Table 1: Mapping table of distance between external obstacles and the vehicle, acceleration of external obstacles at two adjacent data collection times, and door opening delay time.

[0082]

[0083] The external obstacle acceleration *a* between two adjacent data acquisition times is divided into seven progressively increasing range intervals: NB, NM, NS, Z, PS, PM, and PB. The external obstacle acceleration between adjacent data acquisition times can be positive or negative. The external obstacle acceleration between adjacent data acquisition times in ranges NB, NM, and NS is negative. The external obstacle acceleration between adjacent data acquisition times in ranges PS, PM, and PB is positive. Range Z represents a time interval where the external obstacle acceleration between adjacent data acquisition times is zero. Negative external obstacle acceleration between adjacent data acquisition times indicates deceleration, while positive external obstacle acceleration between adjacent data acquisition times indicates acceleration.

[0084] The door delay opening time D includes nine sequentially increasing door delay opening time values: O, SSO, SO, MSO, BSO, SBO, BO, MBO, and BBO. O represents a door delay opening time of zero.

[0085] It should be noted that the values ​​of the distances between external obstacles and the vehicle in Table 1 are merely illustrative examples, and this disclosure does not limit the scope of the embodiments. Furthermore, Table 1 does not specify the exact values ​​of the external obstacle acceleration at two adjacent acquisition times, nor does it specify the exact values ​​of the door delay opening times in the mapping table. Those skilled in the art can set the exact values ​​of the distances between external obstacles and the vehicle, the exact values ​​of the external obstacle acceleration at two adjacent acquisition times, and the exact values ​​of the door delay opening times in the mapping table according to actual conditions. For example, if the distance p between the external obstacle and the vehicle is within the range MB (i.e., the distance p is greater than or equal to 7m), indicating that the external obstacle is far from the vehicle, the door delay opening time can be set to zero. If the distance p is within the range MS, and the external obstacle acceleration a at two adjacent acquisition times is within the range PS, then the door delay opening time D can be determined as MSO according to the mapping table. If the distance p between the acquired external obstacle and the vehicle is within the range B, and the acceleration a of the external obstacle at two adjacent acquisition times is within the range NM, then the door delay opening time D can be determined as MBO based on the mapping table.

[0086] In some embodiments, optionally, the method further includes using machine learning to train a door delay opening time model based on historical distance data between external obstacles and the vehicle, acceleration data of external obstacles at two adjacent historical acquisition times, and historical door delay opening time data. That is, a door delay opening time model is established through model training.

[0087] This disclosure does not limit the type of machine learning method. It takes the distance data between historical external obstacles and the vehicle, as well as the acceleration data of external obstacles at two adjacent historical acquisition times, as input information and the historical door delay opening time data as output information. It establishes the correspondence between the historical distance data between historical external obstacles and the vehicle, the acceleration data of external obstacles at two adjacent historical acquisition times, and the historical door delay opening time data to obtain the door delay opening time model.

[0088] In some embodiments, optionally, the method may further include: obtaining information about occupants inside the vehicle and determining the door to be opened based on the information about occupants inside the vehicle.

[0089] Accordingly, in step S130, controlling the door according to the door opening request and the door delay opening time includes: controlling the door to be opened according to the door opening request and the door delay opening time.

[0090] Sometimes the vehicle is not full of passengers, or only some passengers intend to get off. Therefore, it is not necessary to open all the doors. In this embodiment, the information of the people inside the vehicle can be obtained, and the doors to be opened (i.e., the doors to be opened) can be determined based on the information of the people inside the vehicle. In the subsequent control process, only the doors to be opened can be controlled according to the door opening request and the door delay time, without controlling all the doors to be opened.

[0091] Optionally, in-vehicle image information and / or weight information on the seats can be acquired first, and the occupant information can be determined based on the in-vehicle image information and / or weight information on the seats. For example, in-vehicle image information can be acquired through an in-vehicle camera, and the in-vehicle image information can be analyzed to determine which passenger at which door has the intention to get out of the vehicle. For example, information such as passengers getting up, turning around, or unfastening their seat belts can be collected. Alternatively, pressure sensors can be installed on the seats to detect weight information on the seats, thereby determining the occupant's intention to open the door and get out of the vehicle, and thus identifying the door to be opened. This embodiment of the present disclosure can determine the door to be opened based on the occupant information, thereby allowing the passenger to open the corresponding door based on their true intention.

[0092] Figure 2 This is a flowchart illustrating yet another door control method provided in an embodiment of this disclosure. Figure 2 As shown, in some embodiments, optionally, the process includes obtaining the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request before proceeding:

[0093] S101, Get the vehicle speed.

[0094] S102. Determine whether the vehicle speed is less than the second threshold.

[0095] When the vehicle speed is less than the second threshold, step S110 is triggered to obtain the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request.

[0096] The vehicle speed can be monitored periodically via the vehicle's CAN bus. A second threshold is greater than zero. The specific value of this second threshold is not specifically limited in this embodiment and can be set according to actual needs. For example, in practical applications, the second threshold can be set to a small value, so that step S110 is triggered only when the vehicle speed is below this second threshold to obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and the door opening request. When the vehicle speed is greater than the second threshold, the doors remain locked, and passengers cannot disembark. If the vehicle speed is greater than the second threshold, it indicates that the vehicle speed is too high, and it is not suitable for the doors to be opened for passengers to get on and off. Therefore, in this embodiment, when the vehicle speed is less than the second threshold, it is considered that the vehicle has decelerated and is preparing to stop. At this time, step S110 is triggered to obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and the door opening request, monitoring the surrounding environment of the vehicle and improving vehicle safety performance.

[0097] The present invention also provides several implementation embodiments for obtaining the speed of external obstacles, the distance between external obstacles and the vehicle, obtaining a door opening request, and obtaining information on occupants inside the vehicle and determining the operation to be opened based on the information on occupants inside the vehicle. These embodiments are described in detail below with reference to the exemplary accompanying drawings.

[0098] Optionally, while acquiring the speed of external obstacles and the distance between external obstacles and the vehicle, information on occupants inside the vehicle is acquired and the door to be opened is determined based on the information on occupants inside the vehicle; and / or, a door opening request is acquired. Figure 3 This is a flowchart illustrating yet another door control method provided in an embodiment of this disclosure. Figure 3 As shown, exemplary setup steps S111, S112, and S113 can be executed in parallel. Specifically, S111, S112, and S113 are as follows:

[0099] S111: Obtain the speed of external obstacles and the distance between the external obstacles and the vehicle.

[0100] S112, Obtain the door opening request.

[0101] S113. Obtain information about the people inside the vehicle and determine the door to be opened based on the information about the people inside the vehicle.

[0102] After obtaining the speed of the external obstacle and the distance between the external obstacle and the vehicle in step S111, step 120 is executed to determine the door delay opening time based on the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door delay opening time model. Then, step 130 is executed to control the door to be opened based on the door opening request and the door delay opening time.

[0103] This embodiment of the disclosure can shorten the calculation time of the door control logic by setting steps S111, S112, and S113 to be executed simultaneously, making the door control response faster and reducing the operating load.

[0104] Optionally, after receiving a door opening request, the vehicle may obtain the speed of external obstacles and the distance between external obstacles and the vehicle, and / or obtain information on occupants and determine the door to be opened based on the occupant information.

[0105] Figure 4 This is a flowchart illustrating yet another door control method provided in an embodiment of this disclosure. Figure 4 As shown, after obtaining the door opening request in S112, S111 is executed to obtain the speed of the external obstacle and the distance between the external obstacle and the vehicle, and S113 is executed to obtain the information of the people inside the vehicle and determine the door to be opened based on the information of the people inside the vehicle.

[0106] In this embodiment, after receiving a door opening request, the speed of external obstacles and the distance between the external obstacles and the vehicle are acquired, as well as information on occupants inside the vehicle, and the door to be opened is determined based on this information. This setup avoids the vehicle continuously monitoring the speed of external obstacles and the distance between them, as well as monitoring occupants inside the vehicle. The operations of acquiring these parameters and determining the door to be opened are only performed after receiving the door opening request, thus reducing power consumption. Furthermore, after receiving the door opening request in step S112, step S113 is executed to acquire occupant information and determine the door to be opened based on it. Alternatively, only the door to be opened can be controlled based on the door opening request and the door delay time, without needing to control all doors.

[0107] Optionally, after receiving the door opening request, but before obtaining the speed of the external obstacle and the distance between the external obstacle and the vehicle, the vehicle occupant information is obtained and the door to be opened is determined based on the vehicle occupant information.

[0108] Accordingly, the speed of external obstacles and the distance between external obstacles and the vehicle are obtained, including: the speed of external obstacles corresponding to the door to be opened and the distance between external obstacles and the vehicle.

[0109] Figure 5This is a schematic flowchart illustrating another door control method provided in this embodiment of the disclosure. See also... Figure 5 After obtaining the door opening request in step S112, step S113 is executed to obtain the information of the occupants inside the vehicle and determine the door to be opened based on the occupants' information. Then, step S111 is executed to obtain the speed of the external obstacle corresponding to the door to be opened and the distance between the external obstacle and the vehicle. This setting allows obtaining the occupants' information to be triggered after obtaining the door opening request, thereby determining the door to be opened. For example, if only 2 out of 4 doors are doors to be opened, then in the subsequent step S111, only the speed of the external obstacle corresponding to the door to be opened and the distance between the external obstacle and the vehicle can be obtained. This avoids detecting the speed of the external obstacle and the distance between the external obstacle and the vehicle for doors that do not need to be opened.

[0110] In some embodiments, optionally, when controlling the door according to the door opening request and the door delay opening time, the method further includes:

[0111] If the door opening delay exceeds the third threshold, a voice prompt will be given.

[0112] If the door opening delay is too long, there may be no response for an extended period after a passenger issues a door opening command. This could make it difficult for passengers to distinguish between a delayed door opening and a damaged door. Therefore, in this embodiment, a voice prompt is issued when the door opening delay exceeds a third threshold, such as displaying the message "Please be careful, sir / madam, please wait 2 minutes." The specific value of the third threshold can be calibrated online, and this embodiment does not limit this. In some embodiments, the third threshold can also be set to zero, meaning that a voice prompt is issued whenever the door opening delay is greater than zero, so that passengers are aware of the waiting time.

[0113] Figure 6 This is a schematic diagram of a vehicle door control logic provided in an embodiment of this disclosure. Figure 6 As shown, the door control method in this embodiment can be executed by an AFDC (Adaptive Fuzzy Logical open Door Controller). The AFDC can serve as a node in an electronic control unit (ECU) of the vehicle, implementing an intelligent door opening algorithm with stable performance and reliable safety.

[0114] AFDC is divided into three main modules: monitoring module, logic module, and execution module. The monitoring module periodically monitors signals such as vehicle speed, door opening requests (e.g., touch or button switch signals for door opening, voice signals for door opening), speed of external obstacles, distance between external obstacles and the vehicle, and information about occupants, and outputs these signals to the logic and execution modules of AFDC.

[0115] The AFDC logic module includes an arithmetic unit, an AFDC control unit, and a PWM door opening control signal output unit. The arithmetic unit calculates the external obstacle acceleration *a* between two adjacent acquisition times based on the external obstacle's speed and outputs the distance *p* between the external obstacle and the vehicle, as well as the external obstacle acceleration *a* between two adjacent acquisition times, to the control unit. The control unit outputs the door delay opening time *D* based on the distance *p* between the external obstacle and the vehicle, the external obstacle acceleration *a* between two adjacent acquisition times, and the door delay opening time model. The door opening control signal output unit generates a PWM door opening control signal based on the door opening request, the results of occupant monitoring (e.g., determining the door to be opened based on occupant information), and the door delay opening time *D*.

[0116] The AFDC control unit has two inputs: the distance *p* between the external obstacle and the vehicle, and the acceleration *a* of the external obstacle at two adjacent data acquisition moments. The output control quantity is the door delay opening time *D*. The greater the distance between the external obstacle and the vehicle, the greater the door delay opening time; conversely, the greater the acceleration of the external obstacle at two adjacent data acquisition moments, the smaller the door delay opening time. Based on this principle, fuzzification processing is performed, defining the fuzzy sets and universes of discourse for the input and output quantities of the AFDC control unit. The input values ​​of the AFDC control unit used in this invention are quantized by corresponding quantization factors and mapped to the corresponding fuzzy set universes of discourse *p* and *a*, which are defined as follows:

[0117] p=﹛SSS,SS,S,MS,BS,SB,SB,B,MB﹜;

[0118] a = {NB, NM, NS, Z, PS, PM, PB}

[0119] D={O,SSO,SO,MSO,BSO,SBO,BO,MBO,BBO}

[0120] The subset of output variable D, as shown above, can also be calibrated using software. A mapping table, as shown in Table 1, is created based on the aforementioned theory. Finally, defuzzification is performed using the mapping table to output the door delay opening time D.

[0121] The AFDC execution module includes a voice output unit and an AFDC door opening actuator. The inputs to the AFDC execution module include the vehicle door opening touch signal, button switch signal, and vehicle door opening voice signal. These three signals are triggered by an interrupt. Upon receiving an interrupt signal, and simultaneously referencing occupant information such as the left front seat, right front seat, left rear seat, and right rear seat, the door opening actuator performs the corresponding door opening action when the output door delay opening time D is 0 (as shown in Table 1). When the output door delay opening time D is not 0 (as shown in Table 1), i.e., it is still in states such as SSO, SO, MSO, BSO, SBO, BO, MBO, or BBO, the door opening actuator does not operate, and the voice output unit outputs a prompt message such as "Please be careful, wait X minutes," where X is a positive number greater than zero. The door opening actuator performs the corresponding door opening action only when the door delay opening time D is 0 (as shown in Table 1).

[0122] The various units and components described above can communicate with each other using any one or more of the following: buses, networks, and other wired or wireless interconnects. Examples include I2C, SPI, PS / 2, Universal Serial Bus (USB), Bluetooth, RF, and IRDA.

[0123] This disclosure also provides a vehicle door control device. Figure 7 This is a structural block diagram of a vehicle door control device provided in an embodiment of this disclosure. Figure 7 As shown, it includes: a monitoring module 11, a logic module 12, and an execution module 13.

[0124] The monitoring module 11 is used to acquire the speed of external obstacles, the distance between the external obstacles and the vehicle, and the door opening request. The logic module 12 is used to determine the door delay opening time based on the speed of the external obstacles, the distance between the external obstacles and the vehicle, and the door delay opening time model. The execution module 13 is used to control the door according to the door opening request and the door delay opening time.

[0125] This embodiment of the disclosure collects data in real time on the speed of external obstacles, the distance between the external obstacles and the vehicle, and door opening requests. Based on a pre-set door delay opening time model, the door delay opening time can be accurately determined. The door is opened only after the approaching vehicle or pedestrian has passed, thereby avoiding collisions caused by door opening.

[0126] Optionally, the logic module 12 is also used to determine that the door delay opening time is zero if the distance between the external obstacle and the vehicle is greater than a first threshold.

[0127] Optionally, the logic module 12 is also used to determine the external obstacle acceleration at two adjacent acquisition times based on the external obstacle speed; and to determine the door delay opening time based on the distance between the external obstacle and the vehicle, the external obstacle acceleration at two adjacent acquisition times, and the door delay opening time model.

[0128] Optionally, the door control device also includes a model building module for building a door delay opening time model;

[0129] The door delay opening time model includes a mapping table of the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door delay opening time. The greater the distance between the external obstacle and the vehicle, the greater the door delay opening time. The greater the acceleration of the external obstacle at two adjacent data collection times, the smaller the door delay opening time.

[0130] Optionally, the mapping table includes the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door opening delay time; the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent data collection times are both divided into multiple range intervals.

[0131] Optionally, the door control device also includes a model building module, which uses machine learning methods to train a door delay opening time model based on historical distance data between external obstacles and the vehicle, acceleration data of external obstacles at two adjacent historical acquisition times, and historical door delay opening time data.

[0132] Optionally, the monitoring module 11 is also used to acquire information about the people inside the vehicle and determine the door to be opened based on the information. Correspondingly, the execution module 13 is used to control the door to be opened based on the door opening request and the door delay opening time.

[0133] Optionally, the monitoring module 11 is specifically used to acquire in-vehicle image information and / or weight information on the seats; determine in-vehicle occupant information based on the in-vehicle image information and / or weight information on the seats; and determine the door to be opened based on the in-vehicle occupant information.

[0134] Optionally, the monitoring module 11 is also used to acquire the vehicle speed before acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request, and to trigger the operation of acquiring the speed of the external obstacle, the distance between the external obstacle and the vehicle, and the door opening request when the vehicle speed is less than the second threshold.

[0135] Optionally, the door control device also includes a voice prompt module for providing voice prompts when the door opening delay time exceeds a third threshold.

[0136] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0137] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0138] Figure 8 This is a block diagram of an electronic device provided according to an embodiment of this disclosure. (As shown...) Figure 8 As shown, the electronic device may include a processor 21 and a memory 22. Additionally, optionally, the electronic device may also include one or more of a multimedia component 23, an input / output (I / O) interface 24, and a communication component 25.

[0139] The processor 21 controls the overall operation of the electronic device to complete all or part of the steps in the aforementioned door control method. The memory 22 stores various types of data to support the operation of the electronic device. This data may include, for example, instructions for any application or method used to operate on the electronic device, as well as application-related data. The memory 22 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 23 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 22 or transmitted via communication component 25. The audio component also includes at least one speaker for outputting audio signals. I / O interface 24 provides an interface between processor 21 and other interface modules. These buttons may be virtual buttons or physical buttons. Communication component 25 is used for wired or wireless communication between the electronic device and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, or 5G, or one or more combinations thereof, may be used; therefore, the corresponding communication component 25 may include: a Wi-Fi module, a Bluetooth module, or an NFC module.

[0140] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method for determining the vehicle door control.

[0141] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described method for determining a vehicle door control. For example, the computer-readable storage medium may be the memory 22 including the program instructions, which may be executed by the processor 21 of an electronic device to complete the above-described method for determining a vehicle door control.

[0142] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art will understand that the embodiments of this disclosure are not limited to the described order of actions, because according to the embodiments of this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art will understand that the embodiments described in the specification are all optional embodiments.

[0143] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0144] Those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of this disclosure and form different embodiments.

[0145] Those skilled in the art will understand that the descriptions of the various embodiments have different focuses, and for parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] Although embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A vehicle door control method characterized by, include: Get the vehicle's speed; When the vehicle speed is less than the second threshold, obtain the speed of external obstacles, the distance between external obstacles and the vehicle, and the door opening request; The acceleration of the external obstacle at two adjacent acquisition times is determined based on the velocity of the external obstacle. The door delay opening time is determined based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door delay opening time model. The door is controlled according to the door opening request and the door opening delay time; wherein... The step of determining the door delay opening time based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the door delay opening time model includes: quantizing the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition times based on a quantization factor to obtain the distance fuzzy set universe of discourse and the acceleration fuzzy set universe of discourse, and defuzzifying based on the distance fuzzy set universe of discourse, the acceleration fuzzy set universe of discourse, and the mapping table to determine the door delay opening time.

2. The vehicle door control method according to claim 1, characterized by, The door delay opening time is determined based on the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent data collection times, and the door delay opening time model, including: If the distance between the external obstacle and the vehicle is greater than a first threshold, the door opening delay time is determined to be zero.

3. The door control method according to claim 1, characterized in that, Also includes: Obtain the pre-set door delay opening time model; The door delay opening time model includes a mapping table of the distance between the external obstacle and the vehicle, the acceleration of the external obstacle at two adjacent acquisition times, and the door delay opening time. The greater the distance between the external obstacle and the vehicle, the greater the door delay opening time. The greater the acceleration of the external obstacle at two adjacent acquisition times, the smaller the door delay opening time.

4. The door control method according to claim 3, characterized in that, The distance between the external obstacle and the vehicle, and the acceleration of the external obstacle at two adjacent acquisition times, are both divided into multiple range intervals.

5. The door control method according to claim 1, characterized in that, Also includes: The door delay opening time model is trained using machine learning methods based on historical distance data between external obstacles and the vehicle, acceleration data of external obstacles at two adjacent historical acquisition times, and historical door delay opening time data.

6. The door control method according to claim 1, characterized in that, Also includes: Obtain information about the people inside the vehicle and determine the door to be opened based on that information; The step of controlling the vehicle door based on the door opening request and the door delay opening time includes: The door to be opened is controlled according to the door opening request and the door delay opening time.

7. The door control method according to claim 6, characterized in that, The acquisition of information about people inside the vehicle includes: Acquire in-vehicle image information and / or weight information on the seats; The information of the people inside the vehicle is determined based on the in-vehicle image information and / or the weight information on the seats.

8. The door control method according to claim 6, characterized in that, When acquiring the speed of the external obstacle and the distance between the external obstacle and the vehicle, acquire the information of the occupants inside the vehicle and determine the door to be opened based on the information of the occupants inside the vehicle; and / or acquire the door opening request.

9. The door control method according to claim 6, characterized in that, After receiving the door opening request, the vehicle obtains the speed of the external obstacle and the distance between the external obstacle and the vehicle, and / or obtains the information of the occupants and determines the door to be opened based on the information of the occupants.

10. The door control method according to claim 6, characterized in that, After receiving the door opening request, and before receiving the speed of the external obstacle and the distance between the external obstacle and the vehicle, the vehicle occupant information is obtained, and the door to be opened is determined based on the vehicle occupant information.

11. The door control method according to claim 1, characterized in that, When controlling the door according to the door opening request and the door opening delay time, the method further includes: If the door opening delay time exceeds the third threshold, a voice prompt will be given.

12. A vehicle door control device, characterized in that, include: The monitoring module is used to obtain the vehicle speed. When the vehicle speed is less than the second threshold, it obtains the speed of external obstacles, the distance between the external obstacles and the vehicle, and the door opening request. The logic module is used to determine the external obstacle acceleration at two adjacent acquisition times based on the external obstacle speed, and to determine the door delay opening time based on the distance between the external obstacle and the vehicle, the external obstacle acceleration at two adjacent acquisition times, and the door delay opening time model. The execution module is used to control the vehicle door according to the door opening request and the door opening delay time; wherein, The logic module is further configured to quantize the distance between the external obstacle and the vehicle and the acceleration of the external obstacle at two adjacent acquisition times based on a quantization factor, so as to obtain the distance fuzzy set universe of discourse and the acceleration fuzzy set universe of discourse, and to perform defuzzification based on the distance fuzzy set universe of discourse, the acceleration fuzzy set universe of discourse and the mapping table to determine the door delay opening time.

13. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the door control method as described in any one of claims 1-11.

14. A computer-readable storage medium including program instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the door control method as described in any one of claims 1-11.

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