Door opening control method and control device, vehicle controller

Abstract

The present invention discloses a control method and control device for opening a vehicle door, and a vehicle controller, wherein the control method comprises: collecting a knocking signal; when determining that the knocking signal is valid according to the knocking signal, obtaining vehicle status information, wherein the status information comprises: vehicle door status, vehicle speed, and vehicle insurance status; when determining that the vehicle status information meets a preset condition, responding to the knocking signal, and controlling the vehicle door to open. The control method of the present invention opens the vehicle door by knocking, and the action is simple, and the human-computer interaction process is more interesting. In addition, the knocking opening method can maintain the original appearance of the vehicle and save modification costs.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method for controlling door opening, a device for controlling door opening, a vehicle controller and a computer-readable storage medium. Background Art

[0002] As people's demand for cars increases, the side doors of cars, as a mechanism for passengers to get on and off the car, are increasingly calling for automated and intelligent electric side doors. Traditional side doors require people to pull the door handle outside to unlock the door lock through a mechanical structure. After unlocking, they still need to push the side door open to get on and off the car. The process is cumbersome, especially when the passengers' hands are occupied and it is inconvenient to operate the side door handle, it will be more difficult to get on and off the car.

[0003] In the related art, for the automatic door system without handles, a vehicle with handleless doors is proposed, that is, the vehicle door is not provided with handles, but the door is unlocked by a button device on the B-pillar or C-pillar of the vehicle, replacing the traditional handle. For the electric door opening function of the automatic door system, by adopting different control strategies, a precise control method for automatic induction door opening without manual operation is studied.

[0004] However, the above control strategy has a series of problems such as sealing of sheet metal or decorative panel openings, which makes it difficult to deploy. In addition, in order to accurately identify the user's intention to open the door, a more complex algorithm is generally required, and the hardware cost is also high. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a control method for opening a car door, which can open the car door by knocking, with simple actions and more interesting human-computer interaction. In addition, the knocking control method is based on the principles of mechanics and the like, and the algorithm is simpler, which can maintain the original appearance of the whole vehicle and has lower cost.

[0006] A second object of the present invention is to provide a control device for opening a vehicle door.

[0007] A third object of the present invention is to provide a vehicle controller.

[0008] A fourth object of the present invention is to provide a vehicle.

[0009] A fifth object of the present invention is to provide a computer-readable storage medium.

[0010] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a control method for opening a vehicle door, comprising: collecting a knocking signal; when determining that the knocking signal is valid based on the knocking signal, obtaining status information of the vehicle, wherein the status information includes: door status, vehicle speed and vehicle insurance status; when determining that the status information of the vehicle meets preset conditions, responding to the knocking signal and controlling the door to open.

[0011] According to the control method for opening a vehicle door of an embodiment of the present invention, a knocking signal is first collected, and then, when the knocking signal is determined to be valid according to the knocking signal, the vehicle status information is obtained, wherein the status information includes: vehicle door status, vehicle speed and vehicle insurance status, and finally, when it is determined that the vehicle status information meets the preset conditions, the knocking signal is responded to and the vehicle door is controlled to open. The control method opens the vehicle door by knocking, and the action is simple, and it is more interesting in the human-computer interaction process. In addition, the knocking opening method can maintain the original appearance of the vehicle and save the modification cost.

[0012] In addition, the door opening control method according to the above embodiment of the present invention may also have the following additional technical features:

[0013] According to an embodiment of the present invention, determining that the knocking signal is valid according to the knocking signal includes: when the knocking force value corresponding to the knocking signal is greater than a preset knocking force value, determining that the knocking signal is valid.

[0014] According to another embodiment of the present invention, determining whether a knocking signal is valid based on the knocking signal includes: when the number of knocking signals collected within a first preset time reaches a set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, determining that the knocking signal is valid.

[0015] According to another embodiment of the present invention, determining that a knock signal is valid based on the knock signal includes: when the number of knock signals collected within a first preset time reaches a set number and the knock force value corresponding to each knock signal collected is greater than the preset knock force value, and the knocking action does not occur within a second preset time after the vehicle door is opened and closed, determining that the knock signal is valid.

[0016] According to one embodiment of the present invention, when the vehicle door is in a closed state, the vehicle is in a disarmed state, and the vehicle speed is less than a preset speed, it is determined that the vehicle status information meets the preset condition.

[0017] According to one embodiment of the present invention, before controlling the vehicle door to open, the method further includes: acquiring road condition information around the vehicle; and determining whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.

[0018] According to one embodiment of the present invention, when there is no obstacle outside the vehicle door, the vehicle door is controlled to unlock and start to open.

[0019] According to one embodiment of the present invention, during the process of opening the vehicle door, the method further includes: when it is determined that there is an obstacle outside the vehicle door, controlling the vehicle door to hover.

[0020] According to one embodiment of the present invention, during the process of opening the vehicle door, the above-mentioned vehicle door opening control method further includes: when it is determined that there is no obstacle outside the vehicle door, controlling the vehicle door to open to a preset maximum angle.

[0021] To achieve the above-mentioned purpose, the second aspect of the embodiment of the present invention proposes a control device for opening a vehicle door, including: an acquisition module, used to collect knocking signals; a determination module, used to obtain vehicle status information when it is determined that the knocking signal is valid based on the knocking signal, wherein the status information includes: vehicle door status, vehicle speed and vehicle insurance status; a control module, used to respond to the knocking signal and control the opening of the vehicle door when it is determined that the vehicle status information meets preset conditions.

[0022] According to the control device for opening the door of the embodiment of the present invention, the acquisition module collects the knocking signal, and when the determination module determines that the knocking signal is valid according to the knocking signal, the vehicle status information is obtained, wherein the status information includes: the door status, the vehicle speed and the vehicle insurance status. When it is determined that the vehicle status information meets the preset conditions, the control module responds to the knocking signal and controls the door to open. The device opens the door by knocking, and the action is simple. At the same time, it is more interesting in the human-computer interaction process. In addition, the knocking opening method can maintain the original appearance of the whole vehicle and save the modification cost.

[0023] In order to achieve the above-mentioned purpose, a vehicle controller proposed in an embodiment of the third aspect of the present invention includes: a memory, a processor, and a door opening control program stored in the memory and executable on the processor. When the processor executes the door opening control program, the above-mentioned door opening control method is implemented.

[0024] According to the vehicle controller of the embodiment of the present invention, the processor executes the control program for opening the door to realize the above-mentioned control method for opening the door. The action is simple and the human-computer interaction process is more interesting. In addition, the knocking opening method can maintain the original appearance of the vehicle and save modification costs.

[0025] To achieve the above objectives, a fifth aspect of the present invention provides a vehicle, comprising the above-mentioned vehicle controller.

[0026] The vehicle of the embodiment of the present invention can increase the fun in the process of human-computer interaction through the above-mentioned vehicle controller, while maintaining the original appearance of the entire vehicle, saving the modification cost.

[0027] In order to achieve the above-mentioned purpose, a fifth aspect of the present invention proposes a computer-readable storage medium, on which a control program for opening a vehicle door is stored. When the control program for opening a vehicle door is executed by a processor, the above-mentioned control method for opening a vehicle door is implemented.

[0028] According to the computer-readable storage medium of an embodiment of the present invention, when the processor executes the door opening control program stored thereon, the above-mentioned door opening control method is implemented, the action is simple, and the human-computer interaction process is more interesting. In addition, the knocking opening method is adopted to maintain the original appearance of the whole vehicle and save the modification cost.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a flow chart of a method for controlling door opening according to an embodiment of the present invention;

[0031] Figure 2 is a flow chart of a method for controlling door opening according to a specific embodiment of the present invention;

[0032] Figure 3 is a block diagram of a control device for opening a vehicle door according to an embodiment of the present invention;

[0033] Figure 4 is a block diagram of a vehicle controller according to an embodiment of the present invention;

[0034] Figure 5 FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] The following describes a method for controlling door opening, a device for controlling door opening, a vehicle controller, and a computer-readable storage medium provided in embodiments of the present invention with reference to the accompanying drawings.

[0037] Figure 1 Flow chart of a method for controlling door opening according to an embodiment of the present invention.

[0038] like Figure 1 As shown, the door opening control method of the embodiment of the present invention includes:

[0039] S1, collects knocking signals.

[0040] Specifically, when the user taps the tapping sensing area, the sensing surface of the tapping sensor receives the tapping force and transmits the tapping signal to the vehicle controller through the wiring harness. The tapping sensor can be a force value detection sensor, which distinguishes effective tapping signals by detecting the tapping force value.

[0041] In one embodiment of the present invention, the knock sensor can be installed between the door outer panel and the door inner panel. On the inner side of the sheet metal of the door outer panel, the sensing surface is in contact with the inner side of the door outer panel and can be fixed with a corresponding bracket. The bracket is connected and fixed to the sheet metal by an adhesive-type connecting material, thereby achieving the purpose of fastening. In addition, by hiding the knock sensor on the inner side of the sheet metal of the door outer panel, the door outer panel does not need to be opened, eliminating a series of problems such as the sealing of the sheet metal or decorative panel openings, and the layout is simple and cost-saving. The inner side of the door outer panel provides a sensing surface mounting surface for the knock sensor to form a knock sensing area. Users can use different stickers to remind in the knock sensing area on the outer side of the door outer panel according to their individual needs.

[0042] S2, when it is determined according to the knocking signal that the knocking signal is valid, obtaining the status information of the vehicle, wherein the status information includes: the status of the vehicle door, the vehicle speed and the vehicle insurance status.

[0043] According to an embodiment of the present invention, determining whether the knocking signal is valid according to the knocking signal may include: when a knocking force value corresponding to the knocking signal is greater than a preset knocking force value, determining that the knocking signal is valid.

[0044] Specifically, the knocking force value of a single knocking signal is used as a validity judgment condition. For example, the preset knocking force value is set to F, and the knocking force value of the knocking signal acquired by the knocking sensor in real time is f. The knocking force value f is compared with the pre-stored F (preset knocking force value). If f is greater than F, the knocking signal is valid; if f is less than or equal to F, it is considered an invalid signal.

[0045] In order to improve the accuracy of the judgment, according to another embodiment of the present invention, determining that the knocking signal is valid according to the knocking signal may include: when the number of knocking signals collected within the first preset time reaches the set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, determining that the knocking signal is valid. The first preset time can be calibrated according to actual conditions, for example, the first preset time can be 1s, and the set number can be 2 times.

[0046] Specifically, the number of effective knocking signals and the knocking force value within the first preset time are used as the effective judgment conditions. For example, when two knocking signals are collected within the first preset time, and the knocking force value of each knocking signal collected is greater than the preset knocking force value, the knocking signal is considered to be valid. If two knocking signals are not collected within the first preset time, or the knocking force value of the knocking signal collected does not reach the preset knocking force value, the knocking signal is considered to be invalid.

[0047] In order to further improve the accuracy of the judgment, according to another embodiment of the present invention, determining that the knocking signal is valid according to the knocking signal may include: when the number of knocking signals collected within the first preset time reaches the set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, and the knocking action does not occur within the second preset time after the door is opened and closed, determining that the knocking signal is valid. The preset knocking force value, the first preset time and the second preset time can be pre-set and stored according to actual applications. For example, the first preset time can be 1s and the second preset time can be 500ms.

[0048] Specifically, the number of knocks within the first preset time, the knocking force value, and the time of the first knocking action are used as effective judgment conditions. For example, according to the above judgment on the number of knocking signals within the first preset time, when the number of knocks within the first preset time reaches the set number, and the knocking force value corresponding to each knocking signal is greater than the preset knocking force value, in order to improve the accuracy of whether the knocking signal is valid, the time of the first knocking signal is also obtained to determine whether the time is within a period of time from the door opening to the door closing. If not, it means that the current knocking signal is caused by the vibration after the door is closed. If so, it means that the knocking signal is valid. This method can avoid the situation where the vibration caused by closing the door is regarded as a knocking signal.

[0049] In addition, in the above manner, the timing operation started by the system when the door is opened to closed can be automatically stopped when the timing is greater than the second set time and the first knocking signal does not occur, that is, the subsequent knocking operations all meet the requirement that the knocking action occurs within the second preset time after the door is opened to closed, and then the validity of the knocking signal is judged according to the determination method using the number of valid knocking signals and the knocking force value within the first preset time as the effective judgment conditions. The above timing operation is automatically started after the door is opened to closed, and then the validity of the knocking signal is re-determined according to the above determination method. It is understandable that the above timing operation is reset or restarted the next time the door is opened to closed.

[0050] It should be noted that the judgment methods of the above three embodiments can all implement the vehicle door control method of the present application. Different judgment methods can be selected according to the actual working conditions of the vehicle. The accuracy of judging whether the knocking signal is valid in the above embodiments gradually increases.

[0051] According to an embodiment of the present invention, when the vehicle door is closed, the vehicle is in the insurance disengaged state, and the vehicle speed is less than a preset speed, it is determined that the vehicle status information meets the preset condition. The preset speed can be preset according to actual conditions, for example, the preset speed can be 3 km / h.

[0052] Specifically, when the knock signal is determined to be a valid signal, the door state, vehicle speed and vehicle insurance state are obtained respectively. When the door is closed, the vehicle is in an unlocked state, i.e., the insurance is released, and the current vehicle speed is less than a preset speed, the vehicle state information meets the preset conditions.

[0053] S3, when it is determined that the status information of the vehicle meets the preset conditions, respond to the knocking signal and control the door to open.

[0054] Specifically, when it is determined that the vehicle's status signal meets the preset conditions, it responds to the knocking signal, controls the door to unlock, controls the corresponding drive mechanism (side door drive mechanism) to drive the motor to run, drives the door to move away from the body, and realizes the door opening action.

[0055] According to one embodiment of the present invention, before controlling the vehicle door to open, the method further includes: acquiring road condition information around the vehicle; and determining whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.

[0056] Specifically, the left and right cameras respectively installed on the rearview mirror of the vehicle can capture image information within the same angle as the rearview mirror, and process the image information to determine whether there are obstacles or pedestrians within the range. Alternatively, the millimeter-wave radar installed at the rear of the vehicle can collect rear image information to determine whether there is an oncoming vehicle behind the vehicle based on the rear image information. In addition, the ultrasonic radar installed on the vehicle body can also collect image information on both sides of the vehicle.

[0057] Among them, millimeter-wave radar can detect people and objects 20 meters away, and ultrasonic radar can detect people and objects within 2 meters, falling objects, and nearby small obstacles. Through the camera installed on the vehicle's rearview mirror, the ultrasonic radar on the vehicle body, and the millimeter-wave radar behind the vehicle, all-round detection of road conditions around the vehicle can be achieved.

[0058] According to one embodiment of the present invention, when there is an obstacle outside the door, the door is controlled to be unlocked. That is, when it is determined that there is an obstacle outside the door, the door is first controlled to be unlocked, but not opened, and then it is determined whether the distance between the obstacle and the vehicle is greater than a preset distance, such as the door can be opened at a certain angle so that people can get on and off the vehicle. If it is greater, it is considered that the door can be opened, and then the angle of the door opening is controlled according to the distance between the obstacle and the vehicle.

[0059] According to one embodiment of the present invention, when there is no obstacle outside the vehicle door, the vehicle door is controlled to unlock and start to open.

[0060] Specifically, when the knock signal is a valid signal and the vehicle status information meets the preset conditions, before the corresponding door assembly is controlled to open, the side door detection radar installed on the corresponding door is first awakened, and the side door detection radar determines the obstacle outside the door, and feeds back the obstacle signal and the distance of the obstacle to the domain control, and then obtains the road condition information around the vehicle based on the feedback information, and determines whether there is an obstacle outside the door. For example, the system can pre-store a safety distance based on the area required for the door to open. If the obstacle distance obtained by the side door detection radar is less than or equal to the safety distance, that is, the obstacle is in the door opening area, and the door is likely to collide with the obstacle when it is opened, it is determined that there is an obstacle outside the door, and the door is controlled to be unlocked, but the drive signal is not output to the side door drive mechanism, and the door is kept closed. If the distance obtained by the side door detection radar is greater than the safety distance, that is, the obstacle is outside the door opening area, and the obstacle will not collide with the obstacle during the door opening process, it is determined that there is no obstacle outside the door, and the door is controlled to be unlocked and the side door drive mechanism performs the door opening action. In one embodiment, a speed sensor or an acceleration sensor is provided on the side door driving mechanism, and the speed sensor or the acceleration sensor is connected to the vehicle controller to provide real-time feedback of the door opening status to the vehicle controller.

[0061] It can be understood that the structure for unlocking the vehicle door in the embodiment of the present invention is an electric unlocking structure.

[0062] It should be noted that the above safety distance can be set according to the actual opening direction of the door and the size of the door, with the normal opening of the door as the premise for setting.

[0063] In order to prevent emergencies from occurring, according to an embodiment of the present invention, during the process of opening the vehicle door, the method further includes: when it is determined that there is an obstacle outside the vehicle door, controlling the vehicle door to hover.

[0064] That is to say, when an obstacle is detected outside the door during the door opening process, for example, the obstacle is a pedestrian who approaches the vehicle during the door opening process, or there is a falling object or a small obstacle, the door is controlled to stop immediately, that is, the door is controlled to hover. This can avoid the risk of hitting pedestrians or causing bumps in unexpected situations.

[0065] According to one embodiment of the present invention, during the process of opening the vehicle door, the method further includes: when it is determined that there is no obstacle outside the vehicle door, controlling the vehicle door to open to a preset maximum angle.

[0066] Specifically, when the side door driving mechanism opens the door, the side door detection radar detects obstacles outside the door in real time, and feeds back the obstacle signal and distance to the vehicle controller in real time. The vehicle controller then determines the surrounding road conditions based on the obstacle information fed back in real time. If it is determined that there is no obstacle outside the door, the door is controlled to open to a preset maximum angle. As a specific example of a door opening control method of the present invention, Figure 2 As shown, the control method for opening the door includes:

[0067] S201, start signal detection.

[0068] S202: Whether a knocking signal is collected. If yes, execute step S03; if no, execute step S201.

[0069] S203, determining whether the knocking force value f of the knocking signal is greater than a preset knocking force value F. If yes, executing step S204; if no, executing step S201.

[0070] S204, determining whether two valid knocking signals are collected within the first preset time 1s. If yes, execute step S205; if no, execute step S201.

[0071] S205, determining whether the first knock signal is collected within 500ms after the door is opened and closed. If yes, execute step S206; if no, execute step S201.

[0072] S206, determine whether the door is in a closed state. If so, execute step S207; if not, execute step S208.

[0073] S207, determine whether the vehicle is in the insurance release state. If yes, execute step S209; if not, execute step S208.

[0074] S208, do not respond to the knocking door opening request signal.

[0075] S209, determine whether the current vehicle speed v is less than the set vehicle speed of 3 km / h. If so, execute step S210; if not, execute step S208.

[0076] S210, determine whether there is an obstacle outside the vehicle door. If yes, execute step S211; if not, execute step S212.

[0077] S211, the door is unlocked, and the door opening action is not performed.

[0078] S212, the vehicle door is unlocked, and the side door driving mechanism performs the door opening action.

[0079] S213, determining whether there is an obstacle outside the door during the door opening process. If so, executing step S214; if not, executing step S215.

[0080] S214, the side door driving mechanism stops driving and the door is suspended.

[0081] S215, determining whether the door opening angle reaches the maximum opening angle. If yes, executing step S216; if no, executing step S212.

[0082] S216, the side door driving mechanism stops driving and the door opening operation is completed.

[0083] In summary, compared with the traditional automobile opening method, the knocking opening method, the control method of the present application is simple in action and more interesting in the human-computer interaction process. In addition, the existing opening method using external handles or buttons often requires opening holes in the sheet metal or trim during the layout process for the installation of the opening device. At the same time, the opening position requires special sealing to meet the requirements of waterproof and dustproof of the whole vehicle, which is costly and affects the overall appearance and is inconvenient for styling. The layout method of the present application does not require opening holes and is directly hidden inside the sheet metal or trim, eliminating a series of problems such as opening holes and sealing, saving costs, not damaging the appearance of the whole vehicle, and facilitating styling.

[0084] According to the control method for opening a vehicle door of an embodiment of the present invention, a knocking signal is first collected, and then, when it is determined that the knocking signal is valid based on the knocking signal, the vehicle status information is obtained, wherein the status information includes: vehicle door status, vehicle speed and vehicle insurance status, and finally, when it is determined that the vehicle status information meets the preset conditions, the knocking signal is responded to and the vehicle door is controlled to open. Compared with the traditional automobile opening method, this method uses the method of opening the door by knocking, which is simple in action and more interesting in the human-computer interaction process. In addition, the knocking opening method can maintain the original appearance of the vehicle and save modification costs. Corresponding to the above embodiment, the present invention also proposes a control device for opening a vehicle door.

[0085] like Figure 3As shown, the vehicle door opening control device according to the embodiment of the present invention may include: a collection module 10 , a determination module 20 and a control module 30 .

[0086] The acquisition module 10 is used to acquire the knock signal. The determination module 20 is used to obtain the vehicle status information when the knock signal is determined to be valid according to the knock signal, wherein the status information includes: the door status, the vehicle speed and the vehicle insurance status. The control module 30 is used to respond to the knock signal and control the door to open when it is determined that the vehicle status information meets the preset conditions.

[0087] According to an embodiment of the present invention, the determination module 20 determines whether the knocking signal is valid based on the knocking signal, and is specifically used to: determine that the knocking signal is valid when the knocking force value corresponding to the knocking signal is greater than a preset knocking force value.

[0088] According to another embodiment of the present invention, the determination module 20 determines that the knocking signal is valid based on the knocking signal, and is specifically used to: determine that the knocking signal is valid when the number of knocking signals collected within the first preset time reaches a set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value.

[0089] According to another embodiment of the present invention, the determination module 20 determines that the knocking signal is valid based on the knocking signal, and is specifically used to: determine that the knocking signal is valid when the number of knocking signals collected within the first preset time reaches the set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, and the knocking action does not occur within the second preset time after the vehicle door is opened to closed.

[0090] According to an embodiment of the present invention, when the vehicle door is in a closed state, the vehicle is in an armed state, and the vehicle speed is less than a preset speed, the control module 30 determines that the vehicle status information meets a preset condition.

[0091] According to an embodiment of the present invention, before controlling the vehicle door to open, the control module 30 is further used to: obtain road condition information around the vehicle; and determine whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.

[0092] According to an embodiment of the present invention, when there is no obstacle outside the vehicle door, the control module 30 controls the vehicle door to unlock and start to open.

[0093] According to an embodiment of the present invention, during the process of opening the vehicle door, the control module 30 is further configured to: control the vehicle door to hover when it is determined that there is an obstacle outside the vehicle door.

[0094] According to an embodiment of the present invention, during the process of opening the vehicle door, the control module 30 is further specifically used to: when it is determined that there is no obstacle outside the vehicle door, control the vehicle door to open to a preset maximum angle.

[0095] It should be noted that for details not disclosed in the control device for opening a vehicle door in an embodiment of the present invention, please refer to the details disclosed in the control method for opening a vehicle door in the above-mentioned embodiment of the present invention, and the details will not be repeated here.

[0096] In summary, according to the control device for opening the door of the embodiment of the present invention, the acquisition module collects the knocking signal, and when the determination module determines that the knocking signal is valid according to the knocking signal, the vehicle status information is obtained, wherein the status information includes: the door status, the vehicle speed and the vehicle insurance status. When it is determined that the vehicle status information meets the preset conditions, the control module responds to the knocking signal and controls the door to open. The device opens the door by knocking, and the action is simple. At the same time, it is more interesting in the human-computer interaction process. In addition, the knocking opening method can maintain the original appearance of the whole vehicle and save the modification cost.

[0097] Corresponding to the above embodiment, the present invention also proposes a vehicle controller.

[0098] like Figure 4 As shown, the vehicle controller 300 of the embodiment of the present invention includes: a memory 310, a processor 320, and a door opening control program stored in the memory 310 and executable on the processor. When the processor 320 executes the door opening control program, the above-mentioned door opening control method is implemented.

[0099] According to the vehicle controller of the embodiment of the present invention, the processor executes the control program for opening the door to realize the above-mentioned control method for opening the door. The action is simple and the human-computer interaction process is more interesting. In addition, the knocking opening method can maintain the original appearance of the vehicle and save modification costs.

[0100] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0101] like Figure 5 As shown, the vehicle 400 according to the embodiment of the present invention includes: the above-mentioned vehicle controller 300.

[0102] The vehicle of the embodiment of the present invention can increase the fun in the process of human-computer interaction through the above-mentioned vehicle controller, while maintaining the original appearance of the entire vehicle, saving the modification cost.

[0103] Corresponding to the above embodiment, the present invention also proposes a computer-readable storage medium.

[0104] The computer-readable storage medium of the embodiment of the present invention stores a control program for opening a vehicle door, and when the control program for opening a vehicle door is executed by a processor, the control method for opening a vehicle door is implemented.

[0105] According to the computer-readable storage medium of an embodiment of the present invention, the above-mentioned door opening control method is implemented when a processor executes a door opening control program stored thereon, and a knocking opening method is adopted, which can maintain the original appearance of the vehicle and save modification costs.

[0106] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0107] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0111] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the opening of a vehicle door, characterized in that: include: Collect knocking signals; When it is determined that the knock signal is valid according to the knock signal, obtaining the vehicle status information, wherein the status information includes: vehicle door status, vehicle speed and vehicle insurance status; When it is determined that the state information of the vehicle meets a preset condition, responding to the knocking signal and controlling the door to open; When the vehicle door is in a closed state, the vehicle is in a released insurance state, and the vehicle speed is less than a preset speed, determining that the state information of the vehicle meets the preset condition; Determining, according to the knock signal, that the knock signal is valid includes: When the number of knocking signals collected within the first preset time reaches the set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, and the knocking action does not occur within the second preset time after the vehicle door is opened to closed, the knocking signal is determined to be valid.

2. The door opening control method according to claim 1, characterized in that: Determining, according to the knock signal, that the knock signal is valid includes: When the knocking force value corresponding to the knocking signal is greater than a preset knocking force value, it is determined that the knocking signal is valid.

3. The door opening control method according to claim 1, characterized in that: Determining, according to the knock signal, that the knock signal is valid includes: When the number of knocking signals collected within the first preset time reaches a set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, it is determined that the knocking signal is valid.

4. The door opening control method according to claim 1, characterized in that: Before controlling the vehicle door to open, the method further includes: Acquiring road condition information around the vehicle; It is determined whether there is an obstacle outside the vehicle door according to the road condition information around the vehicle.

5. The door opening control method according to claim 4, characterized in that: When there is no obstacle outside the vehicle door, the vehicle door is controlled to unlock and start to open.

6. The door opening control method according to claim 5, characterized in that: During the process of opening the vehicle door, the method further comprises: When it is determined that there is an obstacle outside the vehicle door, the vehicle door is controlled to hover.

7. The vehicle door opening control method according to claim 5, characterized in that: During the process of opening the vehicle door, the method further comprises: When it is determined that there is no obstacle outside the vehicle door, the vehicle door is controlled to open to a preset maximum angle.

8. A door opening control device, characterized in that: include: A collection module, used for collecting knocking signals; A determination module, configured to obtain vehicle status information when determining that the knock signal is valid according to the knock signal, wherein the status information includes: vehicle door status, vehicle speed and vehicle insurance status; A control module, for responding to the knocking signal and controlling the door to open when it is determined that the state information of the vehicle meets a preset condition; When the vehicle door is in a closed state, the vehicle is in a released insurance state, and the vehicle speed is less than a preset speed, determining that the state information of the vehicle meets the preset condition; Determining, according to the knock signal, that the knock signal is valid includes: When the number of knocking signals collected within the first preset time reaches the set number and the knocking force value corresponding to each knocking signal collected is greater than the preset knocking force value, and the knocking action does not occur within the second preset time after the vehicle door is opened to closed, the knocking signal is determined to be valid.

9. A vehicle controller, characterized in that: include: A memory, a processor, and a door opening control program stored in the memory and executable on the processor. When the processor executes the door opening control program, a door opening control method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising a vehicle controller as claimed in claim 9.

11. A computer-readable storage medium, characterized in that: A vehicle door opening control program is stored thereon, and when the vehicle door opening control program is executed by the processor, a vehicle door opening control method according to any one of claims 1-7 is implemented.

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