Control Method, Device, Equipment and Medium for Electric Door Safe Opening and Closing

Abstract

The present invention discloses a control method, device, equipment and medium for safe opening and closing of an electric door. The control method includes: when the vehicle receives an opening instruction in a parked state, detecting whether there are obstacles in the movement path of the door and whether there are other obstacles that will enter the movement path of the door within a first time threshold; when it is detected that there are no obstacles in the movement path of the door and no other obstacles will enter the movement path of the door within the first time threshold, determining that the door opening safety level is the first safety level; when it is detected that there are obstacles in the movement path of the door, if the obstacle is an adult with a moving speed less than a set speed threshold and no other obstacles will enter the movement path of the door within the first time threshold, determining that the door opening safety level is the second safety level; performing corresponding door opening actions according to different door opening safety levels. This method eliminates the interference of obstacles that do not affect door opening, making the opening of the electric vehicle door more intelligent and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety, and particularly to a control method, device, equipment and medium for safe opening and closing of electric doors. Background Art

[0002] With the increasing improvement of vehicle electrification and intelligence, vehicles have begun to be equipped with electrically opened doors. Compared with traditional doors, electrically opened doors provide convenience for passengers to enter and exit the passenger compartment; from the perspective of comfort, electrically opened doors are also far superior to traditional manually opened doors. However, while automotive design engineers focus on the convenience and comfort of electric doors, they also need to pay attention to the safety of electrically opened doors.

[0003] Currently, in order to prevent collisions during the door opening process, it is detected whether there are obstacles outside the door and behind the vehicle body. If there are obstacles, the door will be stopped immediately to prevent safety accidents such as collisions.

[0004] However, the above anti-collision detection method is not accurate enough. Sometimes, a situation where the door can be opened is judged as a situation where the door cannot be opened, resulting in the need for manual secondary confirmation of the surrounding environment of the door and then restarting the door opening function, making the opening of electric doors less intelligent and less convenient to use, and affecting the user experience. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide a control method, device, equipment and medium for safe opening and closing of electric doors that overcome the above problems or at least partially solve the above problems. By detecting whether there are obstacles in the door movement path, when there are obstacles, judging whether the obstacles are target obstacles, and combining with an analysis of whether there are other obstacles that will enter the door movement path within the first time threshold, so as to more accurately judge the conditions for opening the door. Excluding the situation where there is an adult with a moving speed less than the set speed threshold in the door movement path makes the judgment of the door opening conditions more intelligent. And when different door opening conditions are met, different door opening safety levels are divided according to different door opening speeds to achieve the opening of the door, which can further improve the user experience.

[0006] In a first aspect, the present invention provides a control method for safe opening and closing of electric doors, the control method comprising:

[0007] When the vehicle receives a door opening instruction in a parked state, detecting whether there are obstacles in the door movement path and whether there are other obstacles that will enter the door movement path within the first time threshold;

[0008] When it is detected that there is no obstacle in the movement path of the vehicle door and no other obstacle will enter the movement path of the vehicle door within the first time threshold, determine that the door opening safety level is the first safety level;

[0009] When it is detected that there is an obstacle in the movement path of the vehicle door, determine whether the obstacle is a target obstacle, where the target obstacle is an adult with a moving speed less than the set speed threshold;

[0010] When it is determined that the obstacle is the target obstacle and no other obstacle will enter the movement path of the vehicle door within the first time threshold, determine that the door opening safety level is the second safety level;

[0011] Execute corresponding door opening actions according to different door opening safety levels;

[0012] Among them, the door opening speed corresponding to the second safety level is less than the door opening speed corresponding to the first safety level.

[0013] Optionally, the control method further includes:

[0014] When it is detected that there is an obstacle in the movement path of the vehicle door and the obstacle is not the target obstacle, give a first alarm prompt to the user, where the first alarm prompt is used to remind the user that there is the target obstacle in the movement path of the vehicle door and the user needs to confirm again whether to open the door within the second time threshold;

[0015] When the user confirms to open the door within the second time threshold, determine that the door opening safety level is the second safety level.

[0016] Optionally, the control method further includes:

[0017] When it is detected that other obstacles will enter the movement path of the vehicle door within the first time threshold, detect whether the vehicle door is in the fully closed state;

[0018] When the vehicle door is in the fully closed state, give a second alarm prompt to the user, where the second alarm prompt is used to prompt the user that other obstacles will enter the movement path of the vehicle door within the first time threshold;

[0019] When the vehicle door is not in the fully closed state, control the vehicle door to move outside the first movement path, where the first movement path is the movement path of other obstacles entering the movement path of the vehicle door within the first time threshold.

[0020] Optionally, the executing corresponding door opening actions according to different door opening safety levels includes:

[0021] Detect whether the vehicle door lock is in the unlocked state;

[0022] When the vehicle door lock is in the unlocked state, control the vehicle door driving mechanism to drive the vehicle door to open at the opening speed corresponding to the opening safety level until the vehicle door is in the fully open state.

[0023] Optionally, the control method further includes:

[0024] After the vehicle receives a door closing instruction, detect whether the vehicle door driving mechanism is started;

[0025] When the vehicle door driving mechanism is started, obtain the rotational speed of the motor in the vehicle door driving mechanism, where the motor is used to provide driving force for opening or closing the vehicle door;

[0026] When the rotational speed of the motor is greater than or equal to a set rotational speed threshold, control the vehicle door to perform a closing action;

[0027] When the rotational speed of the motor is less than the rotational speed threshold, control the motor to stop working.

[0028] Optionally, the controlling the vehicle door to perform a closing action includes:

[0029] Detect whether the vehicle door lock is in the unlocked state;

[0030] When the vehicle door lock is in the unlocked state, control the vehicle door driving mechanism to drive the vehicle door to close until the vehicle door is in the fully closed state.

[0031] Optionally, the control method further includes:

[0032] Obtain the vehicle speed signal and the gear signal of the transmission;

[0033] According to the vehicle speed signal and the gear signal of the transmission, determine whether the vehicle is in the parked state.

[0034] In a second aspect, the present invention provides a control device for electrically safe opening and closing of a vehicle door. The control device includes:

[0035] An obstacle detection module, configured to detect whether there is an obstacle in the movement path of the vehicle door and whether there is any other obstacle that will enter the movement path of the vehicle door within a first time threshold when the vehicle receives an opening instruction in the parked state;

[0036] A first determination module, configured to determine that the opening safety level is a first safety level when it is detected that there is no obstacle in the movement path of the vehicle door and no other obstacle will enter the movement path of the vehicle door within the first time threshold;

[0037] A second determination module, configured to determine whether the obstacle is a target obstacle when it is detected that there is an obstacle in the movement path of the vehicle door, where the target obstacle is an adult with a movement speed less than a set speed threshold;

[0038] A third determination module, configured to determine that the door opening safety level is the second safety level when it is determined that the obstacle is the target obstacle and no other obstacles will enter the movement path of the vehicle door within the first time threshold;

[0039] A door opening action execution module, configured to execute corresponding door opening actions according to different door opening safety levels;

[0040] Wherein, the door opening speed corresponding to the second safety level is less than the door opening speed corresponding to the first safety level.

[0041] In a third aspect, the present invention provides an electronic device, including: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the control method as described in the first aspect.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the control method as described in the first aspect.

[0043] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0044] A control method, device, equipment and medium for safe opening and closing of electric doors provided by an embodiment of the present invention. When the vehicle receives an opening instruction in a parked state, it determines whether the door is in a state where it can be opened at the current moment by detecting whether there are obstacles in the movement path of the door. By detecting whether there are other obstacles that will enter the movement path of the door within the first time threshold, it further determines whether there will be a situation that affects the opening of the door within the first time threshold. By comprehensively judging the above two detection conditions, it is possible to more accurately judge the conditions for opening the door and make it more intelligent. Specifically, when it is detected that there are no obstacles in the movement path of the door and no other obstacles will enter the movement path of the door within the first time threshold, it is determined that the door can be opened and the door opening safety level is the first safety level; when it is detected that there are obstacles in the movement path of the door, it is necessary to further determine whether the obstacle is a target obstacle to judge whether the obstacle will affect the opening of the door. When it is determined that the obstacle is a target obstacle and no other obstacles will enter the movement path of the door within the first time threshold, since the target obstacle is an adult with a moving speed less than the set speed threshold and has a certain ability to avoid, it can be determined that the situation is a situation where the door can be opened. However, in this case, the door opening safety level can be further set to the second safety level with a slower opening speed. Finally, according to the opening speed corresponding to different door opening safety levels, the corresponding opening actions are executed, which can further improve the user experience.

[0045] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specifically illustrates the specific embodiments of the present invention. Brief Description of the Drawings

[0046] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components.

[0047] In the drawings:

[0048] Figure 1 is a flowchart of a control method for safe opening and closing of electric doors provided by an embodiment of the present invention;

[0049] Figure 2 is a flowchart of the execution of the opening action in a control method for safe opening and closing of electric doors provided by an embodiment of the present invention;

[0050] Figure 3 is a flowchart of the execution of the closing action in a control method for safe opening and closing of electric doors provided by an embodiment of the present invention;

[0051] Figure 4 is a flowchart of another control method for safe opening and closing of an electric door provided by an embodiment of the present invention;

[0052] Figure 5 is a structural block diagram of a control device for safe opening and closing of an electric door provided by an embodiment of the present invention. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0054] Before introducing in detail the control method for safe opening and closing of an electric door provided by an embodiment of the present invention, the implementation environment related to the embodiment of the present invention will be introduced first.

[0055] The control method for safe opening and closing of an electric door in the embodiment of the present invention is applicable to an electric vehicle door, and the electric vehicle door includes: a door driving mechanism, a door assembly and a door lock.

[0056] The door driving mechanism includes a motor for providing driving force for the door assembly. When the motor rotates forward, the door driving mechanism can drive the door assembly to rotate around a fixed axis in a first direction to open the door. When the motor rotates in reverse, the door driving mechanism can drive the door assembly to rotate around a fixed axis in a second direction to close the door. The door driving mechanism can provide a motor speed signal and a door opening angle signal. The door lock is an electric door lock. When the vehicle receives an open door instruction, the door lock can be changed to an unlocked state to facilitate opening of the door; when the vehicle receives a close door instruction, the door lock can be changed to a locked state to lock the door. A signal switch for transmitting the door lock state signal is also provided inside the electric vehicle door, and the door lock state signal includes at least an unlocked state signal and a locked state signal. In this embodiment, a Hall sensor for detecting the motor speed signal and a potentiometer for detecting the door opening angle signal are also provided inside the electric vehicle door.

[0057] Now, the control method for safe opening and closing of an electric door provided by an embodiment of the present invention will be introduced in detail with reference to the accompanying drawings.

[0058] Figure 1 is a flowchart of a control method for safe opening and closing of an electric door provided by an embodiment of the present invention. As Figure 1 shown, the control method includes:

[0059] Step S110, when the vehicle receives an open door instruction in a parked state, detect whether there are obstacles in the door movement path and whether there are other obstacles that will enter the door movement path within a first time threshold.

[0060] In this embodiment, before performing step S110, the control method may include:

[0061] Collect vehicle status signals in advance. Determine whether the vehicle is in a parked state and whether an opening door instruction is received according to the collected vehicle status signals.

[0062] Among them, the vehicle status signals at least include vehicle speed signals, gear signals of the transmission, door opening angle signals, motor speed signals, unlocking status signals, locking status signals, door fully closed status signals, door fully open status signals, on-vehicle camera image signals, on-vehicle radar signals, etc.

[0063] Exemplarily, the motor speed signal can be collected by a Hall sensor; the door opening angle can be collected by a potentiometer; the fully locked status signal and fully open status signal of the door lock can be collected by a signal switch; the door fully closed status signal and door fully open status signal can be collected by a sensor.

[0064] Exemplarily, it can be determined whether an opening door instruction or a closing door instruction is received through signals sent by a car key or physical buttons provided on the vehicle, or virtual buttons on related electronic devices (such as mobile phones, in-vehicle screens, etc.). Or it can be determined whether there is an opening door instruction through the collected door opening angle signal.

[0065] Specifically, when the user presses the car key or the physical door opening button provided on the vehicle or the virtual door opening button on the electronic device, an opening door instruction will be received, indicating that the user wants to open the door at this time. Or when the door opening angle signal indicates that the opening angle of the door is increasing, it means that the vehicle has received an opening door instruction. Similarly, when the user presses the car key or the physical door closing button provided on the vehicle or the virtual door closing button on the electronic device, a closing door instruction will be received, indicating that the user wants to close the door at this time. Or when the door opening angle signal indicates that the opening angle of the door is decreasing, it means that the vehicle has received a closing door instruction.

[0066] Optionally, before performing step S110, the control method further includes:

[0067] Obtain the vehicle speed signal and the gear signal of the transmission.

[0068] Determine whether the vehicle is in a parked state according to the vehicle speed signal and the gear signal of the transmission.

[0069] Specifically, when the vehicle speed is less than the set vehicle speed threshold and the gear of the transmission is the set gear, it is determined that the vehicle is in a parked state.

[0070] In this embodiment, when the vehicle speed is greater than or equal to the set vehicle speed threshold, a first reminder message is sent to the user to remind the user to stop the vehicle within the first set time so that the vehicle speed is less than the set vehicle speed threshold within the first set time. When it is detected that the vehicle speed is less than the set vehicle speed threshold within the first set time, the gear is further determined. On the contrary, when it is detected that the vehicle speed is still greater than or equal to the set vehicle speed threshold within the first set time, it is determined that the vehicle is not in a parked state, indicating that the door cannot be opened, and at this time, the process of the control method of the present invention can be ended.

[0071] When the gear of the transmission is not the set gear, a second reminder message is sent to the user to remind the user to switch gears; then, it is judged whether the gear is the set gear within the second set time; when the gear is the set gear within the second set time, it is determined that the vehicle is in a parked state. When the gear is not the set gear within the second set time, it is determined that the vehicle is not in a parked state, indicating that the door cannot be opened, and at this time, the process of the control method of the present invention can be ended.

[0072] Among them, the vehicle speed threshold, the set gear, the first set time, and the second set time can be set according to the actual situation. For example, the vehicle speed threshold can be 0, the set gear can be the P gear, the first set time can be 5 seconds, and the second set time can be 5 seconds.

[0073] In this embodiment, through the in-vehicle camera image and the in-vehicle radar, it can be identified whether there are obstacles in the movement path of the vehicle door, and it can be predicted whether other obstacles will enter the movement path of the vehicle door within the first time threshold.

[0074] Among them, by analyzing the image signal or the radar signal, it can be known whether there are other obstacles moving towards the vehicle door. If so, it can also analyze the distance and moving speed of the other obstacles moving towards the vehicle door from the vehicle door, and calculate how long it takes for the other obstacles moving towards the vehicle door to move into the movement path of the vehicle door according to the distance and the moving speed. By comparing the moving time with the first time threshold, it can be judged whether other obstacles will enter the movement path of the vehicle door within the first time threshold, so as to judge whether the other obstacles moving towards the vehicle door will affect the opening of the door. When the moving time is less than or equal to the first time threshold, it means that the obstacle may collide with the vehicle door and affect the opening of the door; when the moving time is greater than the first time threshold, it means that the obstacle will not collide with the vehicle door and does not affect the opening of the door. The first time threshold can be set according to the time required for the vehicle door to open.

[0075] Step S120: When it is detected that there are no obstacles in the movement path of the vehicle door and no other obstacles will enter the movement path of the vehicle door within the first time threshold, determine that the door opening safety level is the first safety level.

[0076] In this embodiment, the obstacle may include an object and a person. When there is no object or person blocking the opening of the vehicle door in the movement path of the vehicle door, and there will be no collision between the obstacle and the vehicle door or the passenger during the opening of the vehicle door, it is relatively safe to open the door, and the door opening safety level is determined to be the first safety level. Among them, the door opening speed corresponding to the first safety level is the first speed. The specific door opening speed value can be set according to the vehicle model and user requirements.

[0077] Step S130: When an obstacle is detected in the movement path of the vehicle door, determine whether the obstacle is a target obstacle, where the target obstacle is an adult with a moving speed less than the set speed threshold.

[0078] In this embodiment, by analyzing the image signal, it is possible to determine whether the obstacle is a person or an object, and whether the person is an adult. For example, an image recognition module can be used to analyze whether the obstacle is a person or an object. After identifying that the obstacle is a person, a face recognition module can be used to recognize the face to determine whether the obstacle is an adult. Alternatively, after identifying that the obstacle is a person, the height and body shape of the person can also be detected by a sensor, and combined with the face recognition module, to comprehensively determine whether the obstacle is an adult. The specific recognition method is not limited in the present invention, but no matter which method is used to identify whether the obstacle is a person or an object, and whether the obstacle is an adult, it belongs to the protection scope of the present invention.

[0079] In this embodiment, when it is detected that the obstacle is an adult, by analyzing the image signal or radar signal, the moving speed of the adult is calculated. When the moving speed of the adult is less than the set speed threshold, the obstacle is determined to be a target obstacle. When it is detected that the obstacle is not an adult, it is determined that the obstacle is not a target obstacle; or when it is detected that the obstacle is an adult, but the moving speed of the adult is greater than or equal to the set speed threshold, it is determined that the obstacle is not a target obstacle.

[0080] Step S140: When it is determined that the obstacle is a target obstacle and no other obstacles will enter the movement path of the vehicle door within the first time threshold, determine that the door opening safety level is the second safety level.

[0081] In this embodiment, when there is only a target obstacle in the movement path of the vehicle door, and there will be no collision between the obstacle and the vehicle door or the passenger during the opening of the vehicle door. Since the target obstacle is an adult with a moving speed less than the set speed threshold and has a certain ability to avoid, it is determined that this is a situation where the door can be opened, and the door opening safety level is determined to be the second safety level with a slower door opening speed, which can increase the reaction time of the target obstacle to prevent the door from opening too fast for the target obstacle to avoid in time. Among them, the door opening speed corresponding to the second safety level is the second speed, and the second speed is less than the first speed.

[0082] In one implementation of this embodiment, the second speed can be set according to the moving speed of the target obstacle. For example, the second speed can be set to be less than the moving speed of the target obstacle.

[0083] Optionally, the control method further includes:

[0084] When an obstacle is detected within the movement path of the vehicle door and the obstacle is not the target obstacle, a first alarm prompt is given to the user. The first alarm prompt is used to remind the user that there is a target obstacle within the movement path of the vehicle door and the user needs to confirm again whether to open the door within the second time threshold; when the user confirms to open the door within the second time threshold, the door opening safety level is determined to be the second safety level.

[0085] In this embodiment, when the obstacle is not the target obstacle, it means that other types of obstacles may block the opening of the vehicle door, that is, during the door opening process, other types of obstacles may collide with the vehicle door. Therefore, at this time, the user can be reminded to actively confirm the specific situation of other types of obstacles and whether there are obstacles moving into the vehicle door path, so that the user can actively judge whether the door can be opened. When the user confirms to open the door within the second time threshold, it means that no obstacle will affect the door opening.

[0086] Optionally, the control method further includes:

[0087] When it is detected that other obstacles will enter the movement path of the vehicle door within the first time threshold, it is detected whether the vehicle door is in the fully closed state.

[0088] When the vehicle door is in the fully closed state, a second alarm prompt is given to the user. The second alarm prompt is used to prompt the user that other obstacles will enter the movement path of the vehicle door within the first time threshold.

[0089] When the vehicle door is not in the fully closed state, the vehicle door is controlled to move outside the first movement path. The first movement path is the movement path of other obstacles entering the movement path of the vehicle door within the first time threshold.

[0090] In this embodiment, when it is detected that other obstacles will enter the movement path of the vehicle door within the first time threshold, it means that during the door opening process, other obstacles may collide with the vehicle door. Therefore, at this time, if the vehicle door is in the fully closed state, the vehicle door is controlled to remain closed and a prompt is given to the user to inform the user of the reason for not opening the door. If the vehicle door is not in the fully closed state, it means that the vehicle door may be in the open state. To prevent collisions, the vehicle door drive mechanism is controlled to close the vehicle door to an area where there is no interference with the movement path of other obstacles. The movement path of other obstacles can be analyzed through image signals or radar signals, and then compared with the movement path of the vehicle door to obtain the area where there is no interference between the movement path of other obstacles and the movement path of the vehicle door.

[0091] Among them, when the full-closed state signal of the vehicle door is collected, it indicates that the vehicle door is in the full-closed state. When the fully-open state signal of the vehicle door is collected, it indicates that the vehicle door is in the fully-open state.

[0092] Step S150: Execute corresponding door-opening actions according to different door-opening safety levels.

[0093] Optionally, step S150 includes:

[0094] Detect whether the vehicle door lock is in the unlocked state; when the vehicle door lock is in the unlocked state, control the vehicle door drive mechanism to drive the vehicle door to open at the door-opening speed corresponding to the door-opening safety level until the vehicle door is in the fully-open state.

[0095] Figure 2 It is a flowchart of the execution of the door-opening action in a control method for electrically safe opening and closing of a vehicle door provided by an embodiment of the present invention. As Figure 2 shown, the process S200 of the execution of the door-opening action is as follows:

[0096] Step S201: Determine whether the vehicle door lock is in the unlocked state. If the determination result is yes, go to step S206; if the determination result is no, go to step S202.

[0097] Step S202: Control the vehicle door lock to be unlocked and enter S203.

[0098] Step S203: Determine whether the vehicle door lock is unlocked successfully. If the determination result is yes, go to step S206; if the determination result is no, go to step S204.

[0099] Step S204: Send a message indicating that the unlocking of the vehicle door lock fails and enter step S205.

[0100] In this embodiment, when the vehicle door is frozen or the vehicle door lock mechanism is abnormal, the vehicle door lock may fail to unlock. At this time, it is possible to determine whether the vehicle door lock is normally unlocked according to the signal collected by the signal switch.

[0101] Step S205: End the process.

[0102] Step S206: Determine whether the vehicle door drive mechanism is started. If the determination result is yes, go to step S208; if the determination result is no, go to step S207.

[0103] Step S207: Start the vehicle door drive mechanism and control the vehicle door drive mechanism to rotate forward, and enter step S208.

[0104] Step S208: Determine whether the vehicle door drive mechanism rotates forward. If the determination result is yes, go to step S210; if the determination result is no, go to step S209.

[0105] Step S209: Control the door driving mechanism to stop working, wait according to the first waiting time, and then enter S207. Among them, the first waiting time can be 500 ms.

[0106] Step S210: Control the door opening speed according to the door opening safety level. Among them, the corresponding door opening speed can be matched according to the door opening safety level, and control the door driving mechanism to open the door at the corresponding door opening speed.

[0107] Step S211: Determine whether the door is in the fully open state. If the determination result is yes, enter step S212; if the determination result is no, enter step S206.

[0108] Step S212: Control the door driving mechanism to stop working.

[0109] Optionally, before executing step S150, the control method further includes:

[0110] Detect whether the door driving mechanism is started.

[0111] When the door driving mechanism is started, obtain the rotation speed of the motor in the door driving mechanism. The motor is used to provide driving force for opening or closing the door.

[0112] When the rotation speed of the motor is greater than or equal to the set rotation speed threshold, control the door to perform the door opening action, that is, execute step S150.

[0113] When the rotation speed of the motor is less than the rotation speed threshold, control the motor to stop working, and at this time, the process of the control method of the present invention ends.

[0114] Optionally, the control method further includes:

[0115] When the vehicle receives a door closing instruction, detect whether the door driving mechanism is started.

[0116] When the door driving mechanism is started, obtain the rotation speed of the motor in the door driving mechanism. The motor is used to provide driving force for opening or closing the door.

[0117] When the rotation speed of the motor is greater than or equal to the set rotation speed threshold, control the door to perform the door closing action.

[0118] When the rotation speed of the motor is less than the rotation speed threshold, control the motor to stop working.

[0119] In this embodiment, when it is detected that the rotation speed of the motor is less than the set rotation speed threshold, it indicates that the motor may be stuck or other faults occur. At this time, it is necessary to control the motor to stop working to protect the motor. When it is detected that the rotation speed of the motor is greater than or equal to the rotation speed threshold, it indicates that the motor is operating normally and can continue to provide driving force for opening and closing the door.

[0120] It should be noted that during the process of performing the door opening action or the door closing action, the motor speed can also be detected in real time to determine whether the motor is jammed or other faults occur according to the motor speed, so as to control the normal operation or stop of the motor.

[0121] Optionally, controlling the vehicle door to perform the door closing action includes:

[0122] Detecting whether the vehicle door lock is in the unlocked state; when the vehicle door lock is in the unlocked state, controlling the vehicle door drive mechanism to drive the vehicle door to close until the vehicle door is in the fully closed state.

[0123] Figure 3 It is a flowchart of the execution of the door closing action in a control method for safe opening and closing of an electric door provided by an embodiment of the present invention. As Figure 3 shown, the process S300 of the execution of the door closing action is as follows:

[0124] Step S301, determining whether the vehicle door lock is in the unlocked state. If the determination result is yes, go to step S306; if the determination result is no, go to step S302.

[0125] Step S302, controlling the vehicle door lock to be unlocked and entering S303.

[0126] Step S303, determining whether the vehicle door lock is unlocked successfully. If the determination result is yes, go to step S306; if the determination result is no, go to step S304.

[0127] Step S304, sending a message indicating that the unlocking of the vehicle door lock fails and entering step S305.

[0128] Step S305, ending the process.

[0129] Step S306, determining whether the vehicle door drive mechanism is started. If the determination result is yes, go to step S308; if the determination result is no, go to step S307.

[0130] Step S307, starting the vehicle door drive mechanism and controlling the vehicle door drive mechanism to reverse, and entering step S308.

[0131] Step S308, determining whether the vehicle door drive mechanism is reversing. If the determination result is yes, go to step S310; if the determination result is no, go to step S309.

[0132] Step S309, controlling the vehicle door drive mechanism to stop working, waiting according to the second waiting time, and then entering S307. Among them, the second waiting time can be 500 ms.

[0133] Step S310: Determine whether the vehicle door is in the fully closed state. If the determination result is yes, proceed to step S311; if the determination result is no, proceed to step S306.

[0134] Step S311: Control the vehicle door drive mechanism to stop working.

[0135] Figure 4 It is a flowchart of another control method for safe opening and closing of electric vehicle doors provided by an embodiment of the present invention. As Figure 4 shown, for a better understanding of the present invention, the following will be combined with the attached Figure 4 to elaborate in detail the specific process of the control method for safe opening and closing of electric vehicle doors provided by the embodiment of the present invention:

[0136] Step S401: Determine whether there is an opening instruction. If the determination result is yes, proceed to step S404; if the determination result is no, proceed to step S402.

[0137] Step S402: Determine whether there is a closing instruction. If the determination result is yes, proceed to step S427; if the determination result is no, proceed to step S403.

[0138] Step S403: Stop the vehicle door opening and closing action.

[0139] Step S404: Determine whether the vehicle speed is less than the vehicle speed threshold. If the determination result is yes, proceed to step S408; if the determination result is no, proceed to step S405. Among them, the vehicle speed threshold can be 0.

[0140] Step S405: Send a first reminder message to the user to remind the user to stop the vehicle.

[0141] Step S406: Determine whether the user stops the vehicle within the specified time threshold. If the determination result is yes, proceed to step S408; if the determination result is no, proceed to step S407. Among them, the time threshold can be 5s.

[0142] Step S407: End the process.

[0143] Step S408: Determine whether the gear position of the transmission is the specified gear position. If the determination result is yes, proceed to step S412; if the determination result is no, proceed to step S413. Among them, the specified gear position can be the P gear.

[0144] Step S409: Send a second reminder message to the user to remind the user to change the gear position state.

[0145] Step S410: Determine whether the user changes the gear to the set gear position within the specified time threshold. If the determination result is yes, proceed to step S412; if the determination result is no, proceed to step S411. Among them, the time threshold can be 5s.

[0146] Step S411, end the process.

[0147] Step S412, determine whether there are no obstacles in the movement path of the vehicle door. If the determination result is yes, go to step S417; if the determination result is no, go to step S413.

[0148] Step S413, determine whether the obstacle is an adult with a moving speed less than the set speed threshold. If the determination result is yes, go to step S420; if the determination result is no, go to step S414. Among them, the threshold of the moving speed can be set by each vehicle factory according to requirements.

[0149] Step S414, give the user a first alarm prompt, and require the user to confirm again whether to open the door within the specified time threshold, and then go to step S415.

[0150] Step S415, determine whether the user confirms to open the door again within the specified time threshold. If the determination result is yes, go to step S423; if the determination result is no, go to step S416.

[0151] Step S416, end the process.

[0152] Step S417, determine whether no object enters the movement path of the vehicle door within the specified time threshold. If the determination result is yes, go to step S421; if the determination result is no, go to step S418.

[0153] Step S418, determine whether the vehicle door is in the fully closed state. If the determination result is yes, go to step S422; if the determination result is no, go to step S419.

[0154] Step S419, control the vehicle door drive mechanism to reverse to close the vehicle door to an area where it does not interfere with the movement path of the moving object.

[0155] Step S420, determine whether no object enters the movement path of the vehicle door within the specified time threshold. If the determination result is yes, go to step S423; if the determination result is no, go to step S418.

[0156] Step S421, record the safety level as 1, and then go to step S424.

[0157] Step S422, remind the user of the reason for not opening the door, and end the process.

[0158] Step S423, record the safety level as 2, and then go to step S424.

[0159] Step S424: Determine whether the motor is started. If the determination result is yes, proceed to step S425; if the determination result is no, proceed to step S426.

[0160] Step S425: Determine whether the motor speed is greater than or equal to the speed threshold. If the determination result is yes, proceed to step S427; if the determination result is no, proceed to step S426.

[0161] Step S426: Control the motor to stop working.

[0162] Step S427: Perform the door opening action.

[0163] Step S428: Determine whether the motor is started. If the determination result is yes, proceed to step S429; if the determination result is no, proceed to step S430.

[0164] Step S429: Determine whether the motor speed is greater than or equal to the speed threshold. If the determination result is yes, proceed to step S431; if the determination result is no, proceed to step S430.

[0165] Step S430: Control the motor to stop working.

[0166] Step S431: Perform the door closing action.

[0167] Based on the same inventive concept, an embodiment of the present invention further provides a control device for safe opening and closing of an electric door. Figure 5 It is a structural block diagram of a control device for safe opening and closing of an electric door provided by an embodiment of the present invention, as Figure 5 shown. The control device 500 includes an obstacle detection module 501, a first determination module 502, a second determination module 503, a third determination module 504, and a door opening action execution module 505.

[0168] The obstacle detection module 501 is configured to detect whether there are obstacles in the door movement path and whether there are other obstacles that will enter the door movement path within the first time threshold when the vehicle receives a door opening instruction in the parking state.

[0169] The first determination module 502 is configured to determine that the door opening safety level is the first safety level when it is detected that there are no obstacles in the door movement path and no other obstacles will enter the door movement path within the first time threshold.

[0170] The second determination module 503 is configured to determine whether the obstacle is a target obstacle when it is detected that there is an obstacle in the door movement path. The target obstacle is an adult with a moving speed less than the set speed threshold.

[0171] A third determination module 504, configured to determine that the door opening safety level is the second safety level when it is determined that the obstacle is the target obstacle and no other obstacles will enter the door movement path within the first time threshold.

[0172] A door opening action execution module 505, configured to execute corresponding door opening actions according to different door opening safety levels.

[0173] Wherein, the door opening speed corresponding to the second safety level is less than the door opening speed corresponding to the first safety level.

[0174] Optionally, the control device 500 further includes:

[0175] A fourth determination module, configured to, when it is detected that there is an obstacle in the door movement path and the obstacle is not the target obstacle, give a first alarm prompt to the user, where the first alarm prompt is used to remind the user that there is a target obstacle in the door movement path and the user needs to confirm again whether to open the door within the second time threshold.

[0176] A fifth determination module, configured to determine that the door opening safety level is the second safety level when the user confirms to open the door within the second time threshold.

[0177] Optionally, the control device 500 further includes:

[0178] A door state detection module, configured to detect whether the door is in a fully closed state when it is detected that other obstacles will enter the door movement path within the first time threshold.

[0179] An alarm prompt module, configured to give a second alarm prompt to the user when the door is in a fully closed state, where the second alarm prompt is used to prompt the user that other obstacles will enter the door movement path within the first time threshold.

[0180] A door closing control module, when the door is not in a fully closed state, controls the door to move outside the first movement path, where the first movement path is the movement path of other obstacles entering the door movement path within the first time threshold.

[0181] Optionally, the door opening action execution module 505 further includes:

[0182] A first detection unit, configured to detect whether the door lock is in an unlocked state.

[0183] A door opening control unit, when the door lock is in an unlocked state, controls the door drive mechanism to drive the door to open at the door opening speed corresponding to the door opening safety level until the door is in a fully open state.

[0184] Optionally, the control device 500 further includes:

[0185] A door driving mechanism detection module, configured to detect whether the door driving mechanism starts after the vehicle receives a door closing instruction.

[0186] A motor speed acquisition module, configured to acquire the speed of a motor in the door driving mechanism when the door driving mechanism starts, where the motor is used to provide driving force for opening or closing the door.

[0187] A door closing action execution module, configured to control the door to execute a door closing action when the speed of the motor is greater than or equal to a set speed threshold.

[0188] A motor control module, configured to control the motor to stop working when the speed of the motor is less than the speed threshold.

[0189] Optionally, the door closing action execution module further includes:

[0190] A second detection unit, configured to detect whether the door lock is in an unlocked state.

[0191] A door closing control unit, configured to control the door driving mechanism to drive the door to close until the door is in a fully closed state when the door lock is in an unlocked state.

[0192] Optionally, the control device 500 further includes:

[0193] A parking state determination module, configured to acquire a vehicle speed signal and a gear signal of a transmission; and determine whether the vehicle is in a parking state according to the vehicle speed signal and the gear signal of the transmission.

[0194] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, where the processor and the memory may be communicatively connected to each other through a bus or other means.

[0195] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0196] The memory may include a mass storage for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the electronic device. In a particular embodiment, the memory may be a non-volatile solid-state memory.

[0197] In one example, the memory may be a read only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0198] The processor reads and executes the computer program instructions stored in the memory to implement any one of the control methods for electrically opening and safely closing the door in the above embodiments.

[0199] In one example, the electronic device may further include a communication interface and a bus. Among them, the processor, the memory, and the communication interface are connected through the bus and complete communication with each other. The communication interface is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application. Where appropriate, the bus may include one or more buses.

[0200] In addition, in combination with the control method for electrically opening and safely closing the door in the above embodiments, the embodiments of the present invention may provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by the processor, any one of the control methods for electrically opening and safely closing the door in the above embodiments is implemented.

[0201] The technical solutions in the embodiments of the present application described above have at least the following technical effects or advantages:

[0202] A control method, device, equipment and medium for safe opening and closing of an electric door provided by an embodiment of the present invention, when the vehicle receives an opening instruction in a parked state, determines whether the door is in an openable state at the current moment by detecting whether there are obstacles in the movement path of the door. By detecting whether there are other obstacles that will enter the movement path of the door within the first time threshold, it is further determined whether there will be a situation that affects the opening of the door within the first time threshold. By comprehensively judging the above two detection conditions, the openable conditions can be judged more accurately and more intelligently. Specifically, when it is detected that there are no obstacles in the movement path of the door and no other obstacles will enter the movement path of the door within the first time threshold, it is determined that the door can be opened, and the door opening safety level is the first safety level; when it is detected that there are obstacles in the movement path of the door, it is necessary to further determine whether the obstacle is a target obstacle to judge whether the obstacle will affect the opening of the door. When it is determined that the obstacle is a target obstacle and no other obstacles will enter the movement path of the door within the first time threshold, since the target obstacle is an adult with a moving speed less than the set speed threshold and has a certain avoidance ability, therefore, the situation can be determined as a situation where the door can be opened. However, in this case, the door opening safety level can be further set to the second safety level with a slower opening speed. Finally, according to the opening speeds corresponding to different door opening safety levels, the corresponding opening actions are executed, which can further improve the user experience.

[0203] In the specification provided herein, a large number of specific details are set forth. It is, however, understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail so as not to obscure an understanding of the present specification.

[0204] Similarly, it should be understood that in order to streamline the present disclosure and assist in understanding one or more of the various inventive aspects, in the foregoing description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that: the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0205] It should be noted that the above embodiments are illustrative of the present invention and not restrictive thereof, and alternative embodiments can be designed by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In the unit claims listing several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

Claims

1. A control method for safe opening and closing of an electric door, characterized in that, The control method includes: When the vehicle receives a door opening instruction in a parked state, detect whether there are obstacles in the movement path of the door and whether there are other obstacles that will enter the movement path of the door within a first time threshold; When it is detected that there are no obstacles in the movement path of the door and no other obstacles will enter the movement path of the door within the first time threshold, determine that the door opening safety level is the first safety level; When it is detected that there are obstacles in the movement path of the door, determine whether the obstacle is a target obstacle, where the target obstacle is an adult with a moving speed less than a set speed threshold; When it is determined that the obstacle is the target obstacle and no other obstacles will enter the movement path of the door within the first time threshold, determine that the door opening safety level is the second safety level; Execute corresponding door opening actions according to different door opening safety levels; Among them, the door opening speed corresponding to the second safety level is less than the door opening speed corresponding to the first safety level; When it is detected that there are obstacles in the movement path of the door and the obstacle is not the target obstacle, give a first alarm prompt to the user, and the first alarm prompt is used to remind the user that there is the target obstacle in the movement path of the door and the user needs to confirm again whether to open the door within a second time threshold; When the user confirms to open the door within the second time threshold, determine that the door opening safety level is the second safety level.

2. The control method according to claim 1, characterized in that The control method further includes: When it is detected that there are other obstacles that will enter the movement path of the door within the first time threshold, detect whether the door is in a fully closed state; When the door is in the fully closed state, give a second alarm prompt to the user, and the second alarm prompt is used to prompt the user that there are other obstacles that will enter the movement path of the door within the first time threshold; When the door is not in the fully closed state, control the door to move outside a first movement path, where the first movement path is the movement path of other obstacles entering the movement path of the door within the first time threshold.

3. The control method according to claim 1, characterized in that The executing corresponding door opening actions according to different door opening safety levels includes: Detect whether the door lock is in an unlocked state; When the door lock is in the unlocked state, control the door driving mechanism to drive the door to open at the door opening speed corresponding to the door opening safety level until the door is in a fully open state.

4. The control method according to claim 1, wherein The control method further includes: After the vehicle receives a door closing instruction, detect whether the door driving mechanism starts; When the door driving mechanism starts, obtain the rotation speed of the motor in the door driving mechanism, where the motor is used to provide driving force for opening or closing the door; When the rotation speed of the motor is greater than or equal to a set rotation speed threshold, control the door to execute a door closing action; When the rotation speed of the motor is less than the rotation speed threshold, control the motor to stop working.

5. The control method according to claim 4, wherein The controlling the door to execute a door closing action includes: Detect whether the door lock is in an unlocked state; When the door lock is in the unlocked state, control the door driving mechanism to drive the door to close until the door is in a fully closed state.

6. The control method according to claim 1, wherein The control method further includes: Obtain the vehicle speed signal of the vehicle and the gear signal of the transmission; Determine whether the vehicle is in the parking state according to the vehicle speed signal and the gear signal of the transmission.

7. A control device for electrically opening and closing a door safely, characterized in that, The control device includes: An obstacle detection module, configured to detect whether there are obstacles in the movement path of the door and whether there are other obstacles that will enter the movement path of the door within a first time threshold when the vehicle receives a door opening instruction in the parking state; A first determination module, configured to determine that the door opening safety level is the first safety level when it is detected that there are no obstacles in the movement path of the door and no other obstacles will enter the movement path of the door within the first time threshold; A second determination module, configured to determine whether the obstacle is a target obstacle when it is detected that there is an obstacle in the movement path of the door, and the target obstacle is an adult with a moving speed less than a set speed threshold; A third determination module, configured to determine that the door opening safety level is the second safety level when it is determined that the obstacle is the target obstacle and no other obstacles will enter the movement path of the door within the first time threshold; A door opening action execution module, configured to execute corresponding door opening actions according to different door opening safety levels; wherein, the door opening speed corresponding to the second safety level is less than the door opening speed corresponding to the first safety level; A fourth determination module, configured to give a first alarm prompt to the user when it is detected that there is an obstacle in the movement path of the door and the obstacle is not the target obstacle, and the first alarm prompt is used to remind the user that there is the target obstacle in the movement path of the door and the user needs to confirm again whether to open the door within a second time threshold; A fifth determination module, configured to determine that the door opening safety level is the second safety level when the user confirms to open the door within the second time threshold.

8. An electronic device, characterized in that, Includes: A memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the control method according to any one of claims 1-6.

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