Vehicle door control method and device and vehicle having the same

Abstract

The present disclosure relates to a vehicle door control method and device, and a vehicle having the same, and relates to the technical field of autonomous driving. The method comprises: obtaining a state signal of the vehicle; wherein the state signal comprises a gear signal and a door signal; in a case where it is determined according to the gear signal that the gear of the vehicle is in a target gear, identifying whether a target obstacle exists around the vehicle and obtaining an identification result; wherein the target obstacle is an obstacle that affects the opening and closing of the door of the vehicle; determining a first door position corresponding to the door according to the door signal; and controlling the door according to the first door position and the identification result. The present disclosure can identify whether a target obstacle exists around the vehicle when the gear of the vehicle is in a target gear. In a case where a target obstacle exists around the vehicle, the door that is opening and closing is controlled based on the door signal, which reduces the possibility of the door colliding with the target obstacle to a certain extent and improves the safety of the opening and closing of the door of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a door control method, device, and vehicle having the same. Background Technology

[0002] In both news reports and real life, incidents frequently occur where people fail to check their surroundings before opening car doors, leading to scrapes or even collisions with pedestrians or other vehicles, sometimes resulting in serious injuries or fatalities. Therefore, improving the safety of car door opening and closing is a pressing issue that needs to be addressed to prevent such accidents. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a door control method, device, and vehicle having the same.

[0004] According to a first aspect of the present disclosure, a door control method is provided, comprising:

[0005] Acquire vehicle status signals; wherein, the status signals include gear position signals and door signals;

[0006] If the gear position of the vehicle is determined to be in the target gear based on the gear position signal, the system identifies whether there is a target obstacle around the vehicle and obtains the identification result; wherein, the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors.

[0007] The position of the corresponding first door is determined based on the door signal;

[0008] Based on the position of the first door and the recognition result, the corresponding door is controlled accordingly.

[0009] In some embodiments of this disclosure, identifying whether a target obstacle exists around the vehicle includes: acquiring image detection information around the vehicle; wherein the image detection information includes at least the moving speed of the obstacle and its distance from the vehicle; and identifying whether the target obstacle exists around the vehicle based on the image detection information.

[0010] In some embodiments of this disclosure, obtaining image detection information around the vehicle includes: determining whether an image acquisition device in the vehicle is turned on; the image acquisition device is used to acquire images around the vehicle to form the image detection information; if the image acquisition device is determined to be off, turning on the image acquisition device and obtaining the output result of the image acquisition device to obtain the image detection information around the vehicle; or, if the image acquisition device is determined to be on, obtaining the output result of the image acquisition device to obtain the image detection information around the vehicle.

[0011] In some embodiments of this disclosure, the step of controlling the corresponding door according to the first door position and the recognition result includes: in response to the recognition result indicating the presence of the target obstacle around the vehicle, determining the position of the second door affected by the target obstacle; determining whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle; if the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, issuing a warning reminder, and / or prohibiting the door corresponding to the first door position from opening or closing according to the door signal.

[0012] In some embodiments of this disclosure, the method further includes: displaying a settings interface; the settings interface is used to provide the user with a setting option for automatic door locking; in response to the door signal being a door opening signal, and determining that the user has set the door to automatically lock, controlling the door corresponding to the first door position to automatically lock.

[0013] In some embodiments of this disclosure, preventing the door corresponding to the first door position from opening according to the door signal includes: controlling the door corresponding to the first door position to open to a first angle; wherein the first angle is less than the maximum opening angle of the door corresponding to the first door position.

[0014] In some embodiments of this disclosure, the method further includes: when the target obstacle is detected to be moving continuously without affecting the opening or closing of the door corresponding to the first door position, deactivating the warning reminder, and allowing the door corresponding to the first door position to open or close according to the door signal.

[0015] In some embodiments of this disclosure, the door signal is a door opening signal, and when determining the corresponding first door position based on the door signal, the method further includes: maintaining the door corresponding to the first door position in a closed state.

[0016] According to a second aspect of the present disclosure, a vehicle door control device is provided, comprising:

[0017] An acquisition module is used to acquire vehicle status signals; wherein, the status signals include gear position signals and door signals;

[0018] The identification module is used to identify whether there is a target obstacle around the vehicle when the vehicle is determined to be in the target gear according to the gear position signal, and to obtain the identification result; wherein the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors;

[0019] The determination module is used to determine the position of the corresponding first door based on the door signal;

[0020] The control module is used to control the corresponding door according to the position of the first door and the recognition result.

[0021] In some embodiments of this disclosure, the identification module is specifically used to: acquire image detection information around the vehicle; wherein the image detection information includes at least the moving speed of the obstacle and its distance from the vehicle; and identify whether the target obstacle exists around the vehicle based on the image detection information.

[0022] In some embodiments of this disclosure, the identification module is further configured to: determine whether the image acquisition device in the vehicle is turned on; the image acquisition device is configured to acquire images of the area around the vehicle and form the image detection information; if the image acquisition device is not turned on, turn on the image acquisition device and obtain the output result of the image acquisition device to obtain the image detection information of the area around the vehicle; or, if the image acquisition device is turned on, obtain the output result of the image acquisition device to obtain the image detection information of the area around the vehicle.

[0023] In some embodiments of this disclosure, the control module is specifically configured to: in response to the recognition result including the presence of the target obstacle around the vehicle, determine the position of the second door affected by the target obstacle; determine whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle; if the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, issue a warning reminder, and / or prohibit the door corresponding to the first door position from opening or closing according to the door signal.

[0024] In some embodiments of this disclosure, the device further includes a setting module; wherein the setting module is configured to: display a setting interface; the setting interface is configured to provide the user with a setting option for automatic door locking; wherein the control module is further configured to: respond to the door signal being a door opening signal, and determine that the user has set the door to automatically lock, control the door corresponding to the first door position to automatically lock.

[0025] In some embodiments of this disclosure, the control module is specifically used to: control the door corresponding to the first door position to open to a first angle; wherein the first angle is less than the maximum opening angle of the door corresponding to the first door position.

[0026] In some embodiments of this disclosure, the device further includes: a deactivation module, configured to deactivate the warning reminder when the target obstacle is detected to continue moving without affecting the opening or closing of the door corresponding to the first door position, and to allow the door corresponding to the first door position to open or close according to the door signal.

[0027] In some embodiments of this disclosure, the door signal is a door opening signal. When determining the corresponding first door position based on the door signal, the control module is further configured to: maintain the door corresponding to the first door position in a closed state.

[0028] According to a third aspect of the present disclosure, a vehicle is provided, comprising: an image acquisition device for acquiring images of the area surrounding the vehicle and forming image detection information; a processor; and a memory for storing processor-executable instructions; wherein the instructions are executed by the processor to enable the processor to perform the door control method described in the first aspect.

[0029] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, characterized in that, when the instructions in the storage medium are executed by a processor of a terminal device, the terminal device is able to perform the door control method described in the first aspect.

[0030] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: when the vehicle is in the target gear, it identifies whether there is a target obstacle around the vehicle. When a target obstacle exists around the vehicle, based on the door signal, it controls the opening and closing of the door accordingly, reducing the possibility of a collision between the door and the target obstacle to a certain extent, lowering the accident rate, and improving the safety of opening and closing the vehicle doors.

[0031] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 This is a flowchart illustrating a door control method according to an exemplary embodiment.

[0034] Figure 2 This is a flowchart illustrating another door control method according to an exemplary embodiment.

[0035] Figure 3 This is a flowchart illustrating yet another door control method according to an exemplary embodiment.

[0036] Figure 4 This is a schematic diagram of the structure of a door control device according to an exemplary embodiment.

[0037] Figure 5 This is a schematic diagram of another door control device according to an exemplary embodiment.

[0038] Figure 6 This is a schematic diagram of the structure of another door control device according to an exemplary embodiment.

[0039] Figure 7 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0041] This disclosure provides a door control method, device, and vehicle having the same. Figure 1 This is a flowchart illustrating a door control method according to an exemplary embodiment, such as... Figure 1 As shown, the method includes the following steps.

[0042] Step 101: Obtain the vehicle's status signals. These status signals include gear position signals and door signals.

[0043] It should be noted that door signals are used to indicate whether a door has opened or closed. For example, when the left front door of a vehicle is open, the door signal is "left front door open".

[0044] Step 102: If the vehicle's gear is determined to be in the target gear based on the gear position signal, identify whether there are target obstacles around the vehicle and obtain the identification result. The target obstacle is any obstacle that affects the opening and closing of the vehicle's doors.

[0045] In some embodiments of this disclosure, taking an automatic transmission vehicle as an example, the target gear can be P or N (for a manual transmission vehicle, the target gear can correspond to neutral). When the vehicle is in P or N, the vehicle is parked, and it is highly likely that people will get in or out of the vehicle, thus opening or closing the doors. In this gear, the vehicle's surroundings are identified. Optionally, considering that in practice, it is possible that occupants inside the vehicle may attempt to open the doors while the vehicle is in motion, the target gear can be D or R.

[0046] As one possible implementation, in some embodiments of this disclosure, a camera configured on the vehicle can be used to collect image detection information of the area around the vehicle, thereby identifying whether there are target obstacles around the vehicle.

[0047] Step 103: Determine the position of the corresponding first door based on the door signal.

[0048] For example, when the door signal is "left front door open", the corresponding first door position is the position of the left front door.

[0049] Step 104: Based on the position of the first door and the recognition result, perform corresponding control on the corresponding door.

[0050] As one possible implementation, when there is a target obstacle around the vehicle, the opening or closing of the door corresponding to the first door can be prohibited. For example, to prevent serious accidents such as a door opening and hitting a cyclist traveling in the same direction, when there is a target obstacle around the vehicle and the door signal is a door open signal, the door corresponding to the first door position can be kept closed when the door position is determined based on the door signal.

[0051] As an example, when the left rear door is opened, if a target obstacle is detected at the left rear of the vehicle, the left rear door will remain closed, and a warning element will be displayed on the screen inside the cabin, or a voice warning will be played through the in-vehicle audio system for a short period of time, such as issuing a voice warning for 5 seconds. Only after sufficient warning has been given to the people inside the vehicle can they be allowed to open the door freely.

[0052] As another possible implementation, when there are target obstacles around the vehicle, the opening angle of the first door can be limited to prevent the door from opening to the maximum angle at once, thereby reducing the possibility of the target obstacle colliding with the first door.

[0053] According to the door control method of this disclosure, when the vehicle is in a target gear, it identifies whether there is a target obstacle around the vehicle. If a target obstacle exists around the vehicle, based on a door signal, it controls the opening and closing of the door accordingly, thereby reducing the possibility of a collision between the door and the target obstacle, lowering the accident rate, and improving the safety of opening and closing the vehicle doors.

[0054] Figure 2 This is a flowchart illustrating another door control method according to an exemplary embodiment, such as... Figure 2 As shown, the method includes the following steps.

[0055] Step 201: Obtain the vehicle's status signals. These status signals include gear position signals and door signals.

[0056] Step 202: If the vehicle is determined to be in the target gear based on the gear position signal, acquire image detection information about the area around the vehicle. This image detection information includes at least the moving speed and distance of obstacles from the vehicle.

[0057] It should be noted that image detection information refers to the detection information generated after images of the vehicle's surroundings are captured by an image acquisition device. This image acquisition device can be a surround-view camera or other sensor devices capable of capturing images of the vehicle's surroundings.

[0058] Optionally, in some embodiments of this disclosure, when the vehicle is in the target gear, it can be predetermined whether the image acquisition device in the vehicle is turned on. The image acquisition device is used to acquire images of the area around the vehicle to form image detection information. If it is determined that the image acquisition device is not turned on, the image acquisition device is turned on, and the output result of the image acquisition device is obtained to obtain the image detection information of the area around the vehicle; if it is determined that the image acquisition device is turned on, the output result of the image acquisition device is obtained to obtain the image detection information of the area around the vehicle.

[0059] Step 203: Based on the image detection information, identify whether there are target obstacles around the vehicle and obtain the identification results; wherein, the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors.

[0060] As an example, when the image detection information includes the moving speed of an obstacle, the decision to designate that obstacle as a target obstacle is based on that speed. For instance, when the front left door of a vehicle opens, image detection information of the area around the vehicle at that moment is collected, including the moving speed of obstacles. If the obstacle's moving speed exceeds a preset threshold, a collision may occur before the front left door fully opens. If the obstacle's moving speed does not exceed the preset threshold, it can be determined that the obstacle will not collide with the vehicle before the front left door fully opens. Therefore, based on the image detection information, obstacles with moving speeds exceeding the preset threshold can be designated as target obstacles.

[0061] As another example, when the image detection information includes the distance of an obstacle from the vehicle, the determination of whether to designate that obstacle as a target obstacle is based on that distance. For instance, when the right rear door of the vehicle opens, image detection information of the area around the vehicle at that moment is collected, including the distance of obstacles from the vehicle. If the distance of the obstacle to the vehicle is less than a preset threshold, i.e., the obstacle is too close to the vehicle, a collision may occur before the right rear door fully opens. If the distance of the obstacle to the vehicle does not exceed the preset threshold, it can be determined that the obstacle will not collide with the vehicle before the right rear door fully opens. Therefore, based on the image detection information, obstacles whose distance from the vehicle is less than the preset threshold can be designated as target obstacles.

[0062] As another example, when the image detection information includes the obstacle's moving speed and its distance from the vehicle, the system determines whether to designate the obstacle as a target obstacle based on these two parameters. For instance, based on the image detection information, obstacles whose moving speed exceeds a preset threshold and whose distance from the vehicle is less than a preset threshold are designated as target obstacles.

[0063] Step 204: Determine the position of the corresponding first door based on the door signal.

[0064] Step 205: Based on the position of the first door and the recognition result, perform corresponding control on the corresponding door.

[0065] It should be noted that, in the embodiments of this disclosure, steps 201, 204, and 205 can be implemented in any of the embodiments of this disclosure, and this disclosure does not limit them.

[0066] According to the door control method of this disclosure, when the vehicle is in a target gear, the presence of a target obstacle around the vehicle is identified based on image detection information of the vehicle's surroundings. The image detection information includes at least the obstacle's moving speed and its distance from the vehicle. If a target obstacle is present around the vehicle, the door is controlled accordingly for opening or closing based on a door signal. This application can more accurately identify the presence of target obstacles around the vehicle, further reducing the possibility of collisions between the door and the target obstacle, lowering the accident rate, and improving the safety of vehicle door opening and closing.

[0067] Figure 3 This is a flowchart illustrating yet another door control method according to an exemplary embodiment, such as... Figure 3 As shown, the method includes the following steps.

[0068] Step 301: Obtain the vehicle's status signals. These status signals include gear position signals and door signals.

[0069] Step 302: If the gear position of the vehicle is determined to be in the target gear position based on the gear position signal, identify whether there is a target obstacle around the vehicle and obtain the identification result; wherein, the target obstacle is an obstacle that affects the opening and closing of the vehicle door.

[0070] Step 303: Determine the position of the corresponding first door based on the door signal.

[0071] Step 304: In response to the recognition result including the existence of a target obstacle around the vehicle, determine the position of the second door that the target obstacle affects opening and closing.

[0072] As an example, assuming a target obstacle is detected at the left rear of the vehicle, it can be determined that the door corresponding to the second door position affected by the target obstacle is the left rear door, or the door corresponding to the second door position can also be the left front door and the left rear door.

[0073] Step 305: Determine whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle.

[0074] As an example, if the door corresponding to the first door position is the left front door, and the doors corresponding to the second door position are the left front door and the left rear door, then it is determined that the doors corresponding to the first door position and the doors corresponding to the second door position are on the same side of the vehicle.

[0075] As another example, if the door corresponding to the first door position is the right front door and the door corresponding to the second door position is the left rear door, then it is determined that the door corresponding to the first door position and the door corresponding to the second door position are not on the same side of the vehicle.

[0076] Step 306: If the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, issue a warning and / or prohibit the door corresponding to the first door position from opening or closing based on the door signal.

[0077] Optionally, in some embodiments of this application, when the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, a warning reminder is issued. For example, a warning element is displayed on the in-vehicle screen, or a voice warning is played through the in-vehicle audio system.

[0078] Optionally, in some embodiments of this application, when the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, the door corresponding to the first door position can be prohibited from opening or closing based on the door signal. For example, when the door signal is a door opening signal (such as a door opening signal from the inside of the vehicle), if a vehicle is detected approaching from behind, the door is prohibited from opening from the inside of the vehicle; when the door signal is a door closing signal, if an obstacle affecting the closing of the door is detected within the opening angle of the door corresponding to the first door position (such as detecting a child or pet within the opening angle of the door corresponding to the first door position), the door is prohibited from closing.

[0079] As one possible implementation, when the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, when the door signal is a door open signal, the door corresponding to the first door position can be controlled to open to a first angle. This first angle is less than the maximum opening angle of the door corresponding to the first door position.

[0080] It should be noted that the first angle can be determined based on the moving speed of the target obstacle and / or its distance from the vehicle. For example, the greater the moving speed of the target obstacle or the smaller its distance from the vehicle, the smaller the first angle; conversely, the smaller the moving speed of the target obstacle or the larger its distance from the vehicle, the larger the first angle. Optionally, a pre-established correspondence between the door opening angle, the moving speed of the target obstacle, and the distance of the target obstacle from the vehicle can be established, and the specific value of the first angle can be determined based on this correspondence.

[0081] As another possible implementation, when the door signal is a door open signal, the door corresponding to the first door position can be automatically locked based on the automatic door locking setting. The automatic door locking setting is configured by the user through a settings interface. Optionally, this settings interface can be pre-displayed, providing the user with automatic door locking options. Alternatively, the settings interface can be displayed when the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, providing the user with automatic door locking options.

[0082] Optionally, in some embodiments of this application, when the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, a warning is given to the user, and the door corresponding to the first door position is prohibited from opening or closing according to the door signal.

[0083] Optionally, in some embodiments of this application, if the target obstacle is detected to be moving continuously without affecting the opening or closing of the door corresponding to the first door position, the warning reminder is lifted, and the door corresponding to the first door position is allowed to open or close according to the door signal.

[0084] Step 307: If the door corresponding to the first door position and the door corresponding to the second door position are not on the same side of the vehicle, issue a warning.

[0085] It should be noted that, in the embodiments of this disclosure, steps 301-303 can be implemented in any of the embodiments of this disclosure, and this disclosure does not limit them.

[0086] According to the door control method of this disclosure, when the vehicle is in a target gear, it identifies whether there is a target obstacle around the vehicle. It further determines whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle. If the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, a warning is issued, and / or the door corresponding to the first door position is controlled accordingly. If the door corresponding to the first door position and the door corresponding to the second door position are not on the same side of the vehicle, a warning is issued. This application can more accurately issue warnings or control the door corresponding to the first door position based on the location of the target obstacle, reducing the possibility of collision between the door and the target obstacle, lowering the accident rate, and further improving the safety of vehicle door opening and closing.

[0087] To implement the above embodiments, this disclosure provides a door control device. Figure 4 This is a schematic diagram illustrating the structure of a vehicle door control device according to an exemplary embodiment. Figure 4 As shown, the door control device includes: an acquisition module 401, an identification module 402, a determination module 403, and a control module 404. Among them,

[0088] The acquisition module 401 is used to acquire the vehicle's status signals; wherein, the status signals include gear position signals and door signals;

[0089] The identification module 402 is used to identify whether there is a target obstacle around the vehicle when the vehicle is determined to be in the target gear according to the gear signal, and to obtain the identification result; wherein, the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors.

[0090] The determination module 403 is used to determine the position of the corresponding first door based on the door signal;

[0091] The control module 404 is used to control the corresponding door according to the position of the first door and the recognition result.

[0092] In some embodiments of this disclosure, the identification module 402 is specifically used to: acquire image detection information around the vehicle; wherein the image detection information includes at least the moving speed of the obstacle and its position relative to the vehicle; and identify whether there is a target obstacle around the vehicle based on the image detection information.

[0093] In some embodiments of this disclosure, the identification module 402 is further configured to: determine whether the image acquisition device in the vehicle is turned on; the image acquisition device is used to acquire images of the area around the vehicle to form image detection information; if it is determined that the image acquisition device is not turned on, turn on the image acquisition device and obtain the output result of the image acquisition device to obtain image detection information of the area around the vehicle; or, if it is determined that the image acquisition device is turned on, obtain the output result of the image acquisition device to obtain image detection information of the area around the vehicle.

[0094] In some embodiments of this disclosure, the control module 404 is specifically configured to: in response to the recognition result including the presence of a target obstacle around the vehicle, determine the position of the second door affected by the target obstacle; determine whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle; if the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, issue a warning reminder, and / or prohibit the door corresponding to the first door position from opening or closing based on the door signal.

[0095] In some embodiments of this disclosure, the control module 404 is specifically used to: control the door corresponding to the first door position to open to a first angle; wherein the first angle is less than the maximum opening angle of the door corresponding to the first door position.

[0096] In some embodiments of this disclosure, the door signal is a door opening signal. When determining the corresponding first door position based on the door signal, the control module 404 is also used to: maintain the closed state of the door corresponding to the first door position.

[0097] Optionally, in some embodiments of this disclosure, such as Figure 5 As shown, the door control device may further include a setting module 505. The setting module 505 is used to: display a setting interface; the setting interface provides the user with settings options for automatic door locking; the control module 504 is also used to: respond to a door signal as a door opening signal, and determine that the user has set automatic door locking, control the door corresponding to the first door position to automatically lock. Figure 5 501-504 and Figure 4 401-404 have the same function and structure.

[0098] Optionally, in some embodiments of this disclosure, such as Figure 6As shown, the door control device may further include a deactivation module 606. The deactivation module 606 is used to deactivate the warning alert when a target obstacle is detected to be continuously moving without affecting the opening or closing of the door corresponding to the first door position, and to allow the door corresponding to the first door position to open or close according to the door signal. Figure 6 China 601-605 and Figure 5 The 501-505 series have the same function and structure.

[0099] 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.

[0100] According to the door control device of this disclosure, when the vehicle is in a target gear, it identifies whether there is a target obstacle around the vehicle. If a target obstacle exists around the vehicle, it controls the opening and closing of the door based on a door signal, thereby reducing the possibility of a collision between the door and the target obstacle, lowering the accident rate, and improving the safety of opening and closing the vehicle doors.

[0101] Figure 7 This is a block diagram illustrating a vehicle according to an exemplary embodiment. (Refer to...) Figure 7 The vehicle 700 may include one or more of the following components: an image acquisition device 701, a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input / output (I / O) interface 712, a sensor component 714, and a communication component 716.

[0102] Image acquisition device 701 is used to acquire images of the area around the vehicle and form image detection information. Processing component 702 typically controls the overall operation of vehicle 700, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above-described method. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.

[0103] Memory 704 is configured to store various types of data to support operation on vehicle 700. Examples of this data include instructions for any application or method operating on vehicle 700, contact data, phonebook data, messages, pictures, videos, etc. Memory 704 can be implemented by 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.

[0104] The electrical component 706 provides power to various components of the vehicle 700. The electrical component 706 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the vehicle 700.

[0105] The multimedia component 708 includes a screen that provides an output interface between the vehicle 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 708 includes a front-facing camera and / or a rear-facing camera. When the vehicle 700 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0106] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when vehicle 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 716. In some embodiments, audio component 710 also includes a speaker for outputting audio signals.

[0107] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0108] Sensor assembly 714 includes one or more sensors for providing state assessments of various aspects of vehicle 700. For example, sensor assembly 714 can detect the on / off state of vehicle 700, the relative positioning of components such as the display and keypad of vehicle 700, changes in the position of vehicle 700 or a component of vehicle 700, the presence or absence of user contact with vehicle 700, the orientation or acceleration / deceleration of vehicle 700, and temperature changes of vehicle 700. Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 714 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0109] Communication component 716 is configured to facilitate wired or wireless communication between vehicle 700 and other devices. Vehicle 700 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 716 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 716 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0110] In an exemplary embodiment, the vehicle 700 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 methods described above.

[0111] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, which can be executed by a processor 720 of a vehicle 700 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0112] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0113] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A door control method, characterized in that, include: Acquire vehicle status signals; wherein, the status signals include gear position signals and door signals; If the gear position of the vehicle is determined to be in the target gear based on the gear position signal, the system identifies whether there is a target obstacle around the vehicle and obtains the identification result; wherein, the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors. The position of the corresponding first door is determined based on the door signal; In response to the recognition result including the presence of the target obstacle around the vehicle, the position of the second door affected by the target obstacle is determined; Determine whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle; If the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, a warning reminder shall be given, and / or the door corresponding to the first door position shall be prohibited from opening or closing based on the door signal.

2. The method as described in claim 1, characterized in that, The process of identifying whether there are target obstacles around the vehicle includes: Acquire image detection information around the vehicle; wherein, the image detection information includes at least the moving speed of the obstacles and their distance from the vehicle; Based on the image detection information, identify whether the target obstacle exists around the vehicle.

3. The method as described in claim 2, characterized in that, The acquisition of image detection information around the vehicle includes: Determine whether the image acquisition device in the vehicle is turned on; the image acquisition device is used to acquire images of the area around the vehicle and then form the image detection information. If it is determined that the image acquisition device is not turned on, turn on the image acquisition device and obtain the output result of the image acquisition device to obtain image detection information around the vehicle; Alternatively, if the image acquisition device is determined to be turned on, the output of the image acquisition device can be obtained to acquire image detection information around the vehicle.

4. The method as described in claim 1, characterized in that, Also includes: The settings interface is used to provide users with settings options for automatic door locking. In response to the door signal being a door open signal, and upon determining that the user has set the door to automatically lock, the door corresponding to the first door position is controlled to automatically lock.

5. The method as described in claim 1, characterized in that, The door signal is used to prevent the door corresponding to the first door position from opening, including: The door corresponding to the first door position is controlled to open to a first angle; wherein the first angle is less than the maximum opening angle of the door corresponding to the first door position.

6. The method according to any one of claims 1 to 5, characterized in that, Also includes: If the target obstacle is detected to continue moving without affecting the opening or closing of the door corresponding to the first door position, the warning reminder is deactivated, and the door corresponding to the first door position is allowed to open or close according to the door signal.

7. The method as described in claim 1, characterized in that, The door signal is a door opening signal. When determining the position of the corresponding first door based on the door signal, the method further includes: Keep the door corresponding to the first door position closed.

8. A vehicle door control device, characterized in that, include: An acquisition module is used to acquire vehicle status signals; wherein, the status signals include gear position signals and door signals; The identification module is used to identify whether there is a target obstacle around the vehicle when the vehicle is determined to be in the target gear according to the gear position signal, and to obtain the identification result; wherein the target obstacle is an obstacle that affects the opening and closing of the vehicle's doors; The determination module is used to determine the position of the corresponding first door based on the door signal; The control module is configured to, in response to the recognition result including the presence of the target obstacle around the vehicle, determine the position of the second door affected by the target obstacle; determine whether the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle; if the door corresponding to the first door position and the door corresponding to the second door position are on the same side of the vehicle, issue a warning reminder, and / or, prohibit the door corresponding to the first door position from opening or closing according to the door signal.

9. The apparatus as claimed in claim 8, characterized in that, The identification module is specifically used for: Acquire image detection information around the vehicle; wherein, the image detection information includes at least the moving speed of the obstacles and their distance from the vehicle; Based on the image detection information, identify whether the target obstacle exists around the vehicle.

10. The apparatus as claimed in claim 9, characterized in that, The identification module is also used for: Determine whether the image acquisition device in the vehicle is turned on; the image acquisition device is used to acquire images of the area around the vehicle and then form the image detection information. If it is determined that the image acquisition device is not turned on, turn on the image acquisition device and obtain the output result of the image acquisition device to obtain image detection information around the vehicle; Alternatively, if the image acquisition device is determined to be turned on, the output of the image acquisition device can be obtained to acquire image detection information around the vehicle.

11. The apparatus as claimed in claim 8, characterized in that, It also includes a settings module; wherein the settings module is used for: The settings interface is used to provide users with settings options for automatic door locking. The control module is further used for: In response to the door signal being a door open signal, and upon determining that the user has set the door to automatically lock, the door corresponding to the first door position is controlled to automatically lock.

12. The apparatus as claimed in claim 8, characterized in that, The control module is specifically used to: control the door corresponding to the first door position to open to a first angle; wherein the first angle is less than the maximum opening angle of the door corresponding to the first door position.

13. The apparatus as claimed in any one of claims 8 to 12, characterized in that, Also includes: The deactivation module is used to deactivate the warning reminder when the target obstacle is detected to be moving continuously without affecting the opening or closing of the door corresponding to the first door position, and to allow the door corresponding to the first door position to open or close according to the door signal.

14. The apparatus as claimed in claim 8, characterized in that, The door signal is a door opening signal. When determining the position of the corresponding first door based on the door signal, the control module is further configured to: Keep the door corresponding to the first door position closed.

15. A vehicle, characterized in that, include: An image acquisition device is used to acquire images of the area around the vehicle and then generate image detection information. processor; A memory for storing processor-executable instructions; wherein the instructions are executed by the processor to enable the processor to perform the door control method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the terminal device, the terminal device is able to perform the door control method according to any one of claims 1 to 7.

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