A method for preventing door jamming, an automobile and a computer readable storage medium

Abstract

The application discloses a method for preventing a car door from being stuck, a car and a computer readable storage medium. The method for preventing a car door from being stuck is applied to a system for preventing a car door from being stuck, and the system for preventing a car door from being stuck comprises a hydraulic device. The method comprises the following steps: in response to receiving a collision occurrence signal and detecting that a current vehicle speed is a preset vehicle speed, displaying door state information; and in response to a target object selecting the door state information as a door opening, controlling the hydraulic device to output a target resultant force to push the door open. According to the technical scheme, when the car door is subjected to extrusion deformation, the car door can be quickly opened, and the problem that the car door cannot be opened in time due to the extrusion deformation of the car door can be avoided.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, specifically to a method for preventing car doors from jamming, a car, and a computer-readable storage medium. Background Technology

[0002] When a car is subjected to a huge impact on the road, causing the car door to be crushed and deformed, people outside the car usually use tools to help. However, the crushed and deformed door makes rescue difficult and makes it impossible to rescue the people inside the car in a short time, especially in cases where the tank of a gasoline car is damaged and leaking oil or the battery of an electric car is collided and short-circuited, causing a fire. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a method for preventing car doors from jamming, an automobile, and a computer-readable storage medium, to solve the problem in the prior art where car doors cannot be opened in time due to compression and deformation.

[0004] According to one aspect of the present invention, a method for preventing a vehicle door from jamming is provided. The method is applied to a vehicle door jamming prevention system, the system including a hydraulic device. The method includes: in response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, displaying door status information; and in response to the target object selecting the door status information as door opening, controlling the hydraulic device to output a target force to push the door open.

[0005] In one alternative approach, prior to the step of controlling the hydraulic device to output a target resultant force to push open the vehicle door, the method includes: dividing the door frame surface where the door lock is located into multiple door frame regions; and determining the target resultant force based on the regional pressure of each door frame region, the output lever arm of the hydraulic device, and the friction lever arm of the door lock on the door frame surface.

[0006] In one alternative approach, the step of determining the target resultant force based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the frictional lever arm of the door lock on the door frame surface includes: using the sum of the regional pressures of each door frame area as the target frictional force of the door lock on the door frame surface; calculating a first product between the target frictional force and the frictional lever arm; and using the ratio between the first product and the output lever arm of the hydraulic device as the target resultant force.

[0007] In one optional embodiment, the door frame region includes a first door frame sub-region and a second door frame region, so the regional pressure of the door frame region includes the first sub-region pressure corresponding to the first door frame sub-region and the second sub-region pressure corresponding to the second door frame region; before the step of determining the target resultant force based on the regional pressure of each door frame region, the output arm of the hydraulic device, and the frictional arm of the door lock on the door frame surface, the method further includes: obtaining a first normal vector of the first door frame sub-region; determining the first sub-region pressure based on the first normal vector, a second normal vector of the horizontal plane where the vehicle is located, a third normal vector of the vertical plane, and the average pressure of the first door frame region, wherein the horizontal plane where the vehicle is located is perpendicular to the vertical plane.

[0008] In one alternative approach, the step of determining the pressure of the first sub-region based on the first normal vector, the second normal vector of the horizontal plane where the vehicle is located, the third normal vector of the vertical plane, and the average pressure of the first door frame sub-region includes: taking half of the absolute value of the first normal vector as the area of ​​the first door frame sub-region; determining a first angle between the door frame surface where the door lock is located and the horizontal plane based on the first and second normal vectors; determining a second angle between the door frame surface where the door lock is located and the vertical plane based on the first and third normal vectors; taking a second product of the cosine of the first angle, the sine of the second angle, and the average pressure of the first door frame sub-region as the target pressure of the door lock on the horizontal plane; and taking a third product of the target pressure and the area of ​​the first door frame sub-region as the pressure of the first sub-region.

[0009] In one alternative approach, the step of determining the first angle between the door frame surface where the door lock is located and the horizontal plane based on the first normal vector and the second normal vector includes: calculating a fourth product between the first normal vector and the second normal vector, and calculating a fifth product between the absolute values ​​of the first normal vector and the second normal vector; and using the inverse cosine of the ratio between the fourth product and the fifth product as the first angle.

[0010] In one alternative approach, the method further includes: maintaining the door state in response to the target object selecting the vehicle status information as the door closed; or, controlling the hydraulic device to output a target resultant force of a preset multiple in response to no selection operation from the target object within a preset time.

[0011] In one alternative embodiment, the anti-door jamming system further includes a door frame comprising a first side, a second side, a third side, and a fourth side. The first side is rotatably mounted on the vehicle body, and the door lock is mounted on the second side, which is opposite to the first side. The third side is higher than the fourth side on the horizontal plane. The hydraulic device includes a first hydraulic unit, a second hydraulic unit, and a third hydraulic unit. The first hydraulic unit and the second hydraulic unit are respectively disposed on both sides of the door lock. The first hydraulic unit, the second hydraulic unit, and the door lock are located on the second side of the door frame. The first hydraulic unit, the second hydraulic unit, and the door lock are located on the same straight line; the third hydraulic unit is located on the fourth side; the step of controlling the hydraulic device to output a target force to push open the door in response to the target object selecting the door status information as the door open includes: in response to the target object selecting the door status information as the door open, controlling the first hydraulic unit and the second hydraulic unit to output the target force to push open the door at a uniform speed; in response to detecting that the door lock has reached the target position, controlling the third hydraulic unit to push the door open to the target opening degree.

[0012] According to another aspect of the present invention, an automobile is provided, including a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the anti-door jamming method described in any of the preceding embodiments.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided having program instructions stored thereon, which, when executed by a processor, implement the anti-door jamming method described in any of the preceding claims.

[0014] This invention provides an anti-door jamming system with a hydraulic device. In response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, the system displays door status information. In response to the target object selecting the door status information as "door open", the system controls the hydraulic device to output the target force to push the door open. This enables the door to open quickly when it is squeezed and deformed, avoiding the problem of the door being unable to open in time due to squeezing and deformation.

[0015] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a flowchart of an exemplary embodiment of the method for preventing a car door from jamming, as shown in this application; Figure 2 This is a schematic diagram illustrating the effect of the hydraulic device in the method for preventing car doors from jamming as shown in this application; Figure 3 yes Figure 1 A flowchart illustrating an exemplary embodiment of the method for preventing a car door from jamming, prior to step 120; Figure 4 This is a schematic diagram illustrating the effect of the pressure sensor and position sensor on the door frame surface where the door lock is located in the anti-door jamming method shown in this application; Figure 5 yes Figure 4 A schematic diagram illustrating the effect of an exemplary embodiment of the method for preventing door jamming in the door frame area; Figure 6 This is a block diagram illustrating an anti-door jamming system as shown in an exemplary embodiment of this application; Figure 7 This is a schematic diagram of the structure of an embodiment of the automobile of this application; Figure 8 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0017] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0018] Figure 1 A flowchart illustrating an exemplary embodiment of the anti-door jamming method of this application is shown. This method can be executed by an anti-door jamming system within a vehicle or by a server. This embodiment is described with the anti-door jamming system as the executing entity. Figure 1 As shown, the method includes the following steps: Step S110: In response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, the door status information is displayed.

[0019] The collision signal, also known as the airbag module (ABM) collision signal, is generated when a car is impacted or crushed. It should be noted that the collision signal can be acquired by sensors installed on the car. For example, sensors can be installed at the front, rear, or sides of the vehicle. Furthermore, it should be noted that if a collision occurs while the car is in motion, it can easily lead to rear-end collisions due to following vehicles failing to avoid the impact. Therefore, the anti-door jamming system of this application embodiment can activate the car's hazard lights upon receiving a collision signal to warn following vehicles to avoid the colliding vehicle and reduce the risk of chain-reaction accidents.

[0020] The current vehicle speed can be obtained by a speed sensor installed on the car. The speed sensor can be located at the front, rear, or side of the vehicle.

[0021] The preset vehicle speed is the speed manually set when the car leaves the factory. In a specific embodiment, the preset vehicle speed can be 0.

[0022] Door status information includes whether the door is open or closed. This information can be displayed on the car's screen; for example, an anti-lock system might display "Yes" or "No" in the door open / closed options. It can also be displayed via voice commands.

[0023] The anti-door jamming system continuously monitors collision signals and vehicle speed during operation. In response to a collision signal detected and the vehicle's current speed being at a preset speed, the system displays door status information to remind occupants to select the appropriate door position. This prevents accidental door opening when a collision signal is received and the vehicle's current speed is at the preset speed. As an example, in response to a collision signal detected and the vehicle's current speed being at the preset speed, the system can also verbally announce the door status to prevent occupants from quickly opening the door when they are immobilized.

[0024] In step S120, in response to the target object selecting the door status information as open, the hydraulic device is controlled to output the target force to push the door open.

[0025] The target audience is the people inside the vehicle, including the driver and passengers.

[0026] The target resultant force is the force output by the hydraulic device. For example, to facilitate the output of the target resultant force by the hydraulic device, this application embodiment can provide two hydraulic devices, that is, two hydraulic units, and the two hydraulic units are located on both sides of the door lock, so as to facilitate the output of the target resultant force by the two hydraulic units to push the door open.

[0027] For details, please refer to Figure 2 , Figure 2The image shows a car door frame 20, which includes a first side 21, a second side 22, a third side 23, and a fourth side 24. The first side 21 and second side 22 are positioned opposite each other, as are the third side 23 and fourth side 24. The third side 23 is higher than the fourth side 24 on the horizontal plane. Specifically, the first side 21 is rotatably mounted on the vehicle body (not shown), and a door lock 25 is installed on the second side. A first hydraulic unit 26 and a second hydraulic unit 27 are respectively located on both sides of the door lock 25. In a specific embodiment, the distance between the second hydraulic unit 27 and the fourth side 24 can be 5 cm to ensure that the two hydraulic units provide sufficient torque to open the door successfully. Please continue reading. Figure 2 To prevent the door from springing back and closing after the combined force of the first and second hydraulic units opens it, a third hydraulic unit 28 can be installed on the fourth side. The distance between the third hydraulic unit 28 and the first side 21 can be 5cm, allowing the third hydraulic unit to control the door opening after the first and second hydraulic units have successfully opened the door, thus preventing it from springing back. It should be noted that the first hydraulic unit 26, the second hydraulic unit 27, and / or the third hydraulic unit 28 can open the door at a preset, uniform speed to reduce further damage to the door and avoid accidentally injuring other vehicles or rescue personnel outside the vehicle. It should also be noted that the horizontal plane refers to the plane where the vehicle is located.

[0028] When an occupant clicks on the door status information displayed on the screen to open the door, the anti-door jamming system receives the occupant's selection and controls the hydraulic device to output a target combined force to push the door open. Specifically, upon receiving the occupant's selection, the anti-door jamming system controls the first and second hydraulic units to jointly output a target combined force to push the door open. In other embodiments, the hydraulic device also includes a third hydraulic unit. Upon receiving the occupant's selection, the anti-door jamming system controls the first and second hydraulic units to jointly output a target combined force to push the door open at a uniform speed. The anti-door jamming system detects the door lock position; in response to detecting that the door lock has reached the target position, it controls the third hydraulic unit to push the door open to the target opening degree. It should be noted that the target position can be a manually set position to facilitate rescue personnel opening the door, and the target opening degree can be a manually set door opening degree to prevent the door from springing back.

[0029] It should also be noted that if a person inside the vehicle clicks on the door status information displayed on the screen and selects "Door Closed," the door will remain in the closed state.

[0030] If the vehicle door jams and does not receive a selection operation from the target object within a preset time, the hydraulic device is controlled to output a target resultant force that is a preset multiple. This preset multiple can be 99%.

[0031] As can be seen, the anti-door jamming method of this application embodiment sets up a hydraulic device in the anti-door jamming system. In response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, it displays the door status information; and in response to the target object selecting the door status information as the door is open, it controls the hydraulic device to output the target force to push the door open. This enables the door to open quickly when the car door is squeezed and deformed, avoiding the problem that the door cannot be opened in time due to being squeezed and deformed.

[0032] Based on the above embodiments, the embodiments of this application adopt... Figure 3 The flowchart shown illustrates in detail how to determine the target resultant force. Please refer to [link / reference]. Figure 3 , Figure 3 yes Figure 1 The illustrated flowchart shows an exemplary embodiment of the anti-door jamming method prior to step 120. Specifically, before step S120, where the hydraulic device is controlled to output a target combined force to push the door open, the anti-door jamming method of this embodiment further includes the following steps: Step S210: Divide the door frame surface where the door lock is located into multiple door frame areas.

[0033] Considering that the pressure at various points on the door after deformation due to impact or compression is impossible to determine, this embodiment divides the door frame surface where the door lock is located into multiple door frame areas. Position sensors and pressure sensors installed on the door frame surface determine the pressure on the deformed door frame surface. It should be noted that, to accurately determine the pressure on the deformed door frame surface, the position sensors and pressure sensors on the door frame surface in this embodiment should be arranged as evenly and densely as possible. See also... Figure 4 , Figure 4 The diagram shows an example of the setup for the pressure sensor and position sensor on the door frame surface where the door lock is located. Figure 4 The small and medium-sized squares are pressure sensors, such as 5, 6, 7, and 8 shown in the figure; the large squares are position sensors, such as 1, 2, 3, and 4 shown in the figure, to facilitate the acquisition of pressure at various positions on the frame surface where the door lock is located. The door frame area is defined based on the door frame surface where the door lock is located. For details, please refer to [link / reference]. Figure 5 , Figure 5 The image shows a schematic diagram of a door frame area. Figure 5 It includes position sensors A, B, C, and D, and pressure sensors E, F, G, and H.

[0034] Step S220: Determine the target resultant force based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the friction lever arm of the door lock on the door frame surface.

[0035] The regional pressure of the door frame area can be obtained from the pressure sensors installed in each door frame area.

[0036] The output lever arm and friction lever arm of the hydraulic device can be obtained directly through measurement.

[0037] When a car is impacted or crushed, the deformation of the car door mainly occurs on the door lock side; deformation on the upper and lower sides of the door does not affect opening. Therefore, this embodiment considers the frictional force on the door lock side and the situation where the hydraulic device pushes the door outward vertically, i.e., the horizontal frictional force. Using the car door as a lever, the target resultant force is determined based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the frictional lever arm of the door lock on the door frame surface. Specifically, the sum of the regional pressures of each door frame area is taken as the target frictional force of the door lock on the door frame surface; the first product between the target frictional force and the frictional lever arm is calculated; the ratio between the first product and the output lever arm of the hydraulic device is taken as the target resultant force.

[0038] Specifically, the combined force of goals Satisfy the following formula:

[0039] in, This is expressed as the target frictional force, which is the sum of the regional pressures in each door frame area. It is represented as the friction lever arm. This refers to the output lever arm of a hydraulic device.

[0040] Regarding the method for determining the target frictional force of the door lock on the door frame surface, as an example, this application embodiment can divide each door frame area into a first door frame sub-area and a second door frame area. For further details, please refer to [the relevant documentation / reference]. Figure 5 , Figure 5 In the diagram, ABC represents the first door frame sub-region, and ACD represents the second door frame region. The regional pressure of door frame region ABCD is the sum of the regional pressures of the first sub-region corresponding to the first door frame sub-region ABC and the second sub-region corresponding to the second door frame region ACD.

[0041] Specifically, the pressure in the door frame areas ABCD Satisfy the following formula:

[0042] in, This indicates the pressure in the first sub-region corresponding to the first door frame sub-region ABC. This indicates the pressure in the second sub-region corresponding to the second door frame sub-region ACD.

[0043] For example, to determine the pressure of the first sub-region, the anti-door jamming system can obtain the first normal vector of the first door frame sub-region, and determine the pressure of the first sub-region based on the first normal vector, the second normal vector of the horizontal plane where the car is located, the third normal vector of the vertical plane, and the average pressure of the first door frame sub-region, where the horizontal plane and the vertical plane are perpendicular to each other. Specifically, the anti-door jamming system uses half of the absolute value of the first normal vector as the area of ​​the first door frame sub-region; determines the first angle between the door frame surface where the door lock is located and the horizontal plane based on the first and second normal vectors; determines the second angle between the door frame surface where the door lock is located and the vertical plane based on the first and third normal vectors; uses the second product of the cosine of the first angle, the sine of the second angle, and the average pressure of the first door frame sub-region as the target pressure of the door lock on the horizontal plane; and uses the third product of the target pressure and the area of ​​the first door frame sub-region as the pressure of the first sub-region.

[0044] Specifically, the area of ​​the first door frame region satisfies the following formula:

[0045] in, This represents the area of ​​the first door frame region. This represents the first normal vector of the first door frame sub-region.

[0046] Specifically, the calculation method for the first included angle between the door frame surface where the door lock is located and the horizontal plane involves the anti-door jamming system calculating the fourth product between the first and second normal vectors, and the fifth product between the absolute values ​​of the first and second normal vectors; the inverse cosine of the ratio between the fourth and fifth products is taken as the first included angle. Therefore, the first included angle between the door frame surface where the door lock is located and the horizontal plane... Satisfy the following formula:

[0047] in, This represents the first normal vector of the first door frame sub-region. Represents the second normal vector of the horizontal plane. This represents the fourth product between the first normal vector and the second normal vector. This represents the fifth product between the absolute values ​​of the first and second normal vectors.

[0048] Specifically, the second included angle between the door frame surface where the door lock is located and the vertical plane. Satisfy the following formula:

[0049] in, This represents the first normal vector of the first door frame sub-region. This represents the third normal vector of the vertical plane.

[0050] Specifically, regarding the target pressure of the car door lock on the horizontal plane... Satisfy the following formula:

[0051] in, This represents the cosine value of the first included angle. Let represent the sine value of the second included angle, and p represent the average pressure in the first door frame area.

[0052] For average pressure, the anti-door jamming system can obtain three points located on the same plane but not on a straight line from the first door frame sub-region, and use the average pressure of the three points as the average pressure of the first door frame region. (Continue reading...) Figure 5 ,from Figure 5 Points E, F, and G are selected. Therefore, the average pressure in the first door frame sub-region satisfies the following formula:

[0053] in, This indicates the pressure at point E. This indicates the pressure at point F. This represents the pressure at point G.

[0054] Specifically, the anti-door jamming system uses the third product of the target pressure and the area of ​​the first door frame sub-region as the first sub-region pressure. First sub-region pressure Satisfy the following formula:

[0055] in, This indicates the target pressure of the car door lock on the horizontal plane. This represents the area of ​​the first door frame region.

[0056] As can be seen, the anti-door jamming method of this application divides the door frame surface where the door lock is located into multiple door frame areas; the target resultant force is determined according to the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the friction lever arm of the door lock on the door frame surface; in response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, the door status information is displayed; and in response to the target object selecting the door status information as door open, the hydraulic device is controlled to output the target resultant force to push the door open, which can realize the rapid opening of the door when the car door is squeezed and deformed, avoiding the problem that the door cannot be opened in time due to squeezing and deformation.

[0057] Figure 6 This is a block diagram illustrating an anti-door jamming system, as shown in an exemplary embodiment of this application. Figure 6As shown, the exemplary anti-door jamming system 600 includes a detection module 610 and a control module 620. Specifically: The detection module 610 is used to display door status information in response to receiving a collision signal and detecting that the current vehicle speed is a preset speed.

[0058] The control module 620 is used to control the hydraulic device to output the target force to push the car door open in response to the target object selecting the door status information.

[0059] In this exemplary anti-door jamming system, a hydraulic device is installed in the system. In response to receiving a collision signal and detecting that the current vehicle speed is a preset speed, the system displays door status information. In response to the target object selecting the door status information as open, the system controls the hydraulic device to output the target force to push the door open. This enables the door to open quickly when it is squeezed and deformed, avoiding the problem of the door being unable to open in time due to squeezing and deformation.

[0060] The functions of each module can be found in the embodiment of the engine abnormal start control method based on hybrid electric vehicles, and will not be repeated here.

[0061] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an embodiment of the automobile of this application. The automobile 70 includes a memory 71 and a processor 72. The processor 72 is used to execute program instructions stored in the memory 71 to implement the steps in any of the above embodiments of the anti-door jamming method. In a specific implementation scenario, the automobile 70 may include, but is not limited to, a microcomputer, a server, etc. In addition, the automobile 70 may also include mobile devices such as laptops and tablets, which are not limited here.

[0062] Specifically, processor 72 controls itself and memory 71 to implement the steps in any of the above-described embodiments of the anti-door jamming method. Processor 72 can also be referred to as a CPU (Central Processing Unit). Processor 72 may be an integrated circuit chip with signal processing capabilities. Processor 72 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 72 can be implemented using integrated circuit chips.

[0063] The above solution, by incorporating a hydraulic device into the anti-door jamming system, displays door status information in response to receiving a collision signal and detecting that the current vehicle speed is a preset speed; and in response to the target object selecting the door status information as open, controls the hydraulic device to output the target force to push the door open. This enables the door to open quickly when it is squeezed and deformed, avoiding the problem of the door being unable to open in time due to squeezing and deformation.

[0064] Please see Figure 8 , Figure 8 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 80 stores program instructions 81 that can be executed by a processor. The program instructions 81 are used to implement the steps in any of the above embodiments of the anti-door jamming method.

[0065] The above solution, by incorporating a hydraulic device into the anti-door jamming system, displays door status information in response to receiving a collision signal and detecting that the current vehicle speed is a preset speed; and in response to the target object selecting the door status information as open, controls the hydraulic device to output the target force to push the door open. This enables the door to open quickly when it is squeezed and deformed, avoiding the problem of the door being unable to open in time due to squeezing and deformation.

[0066] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0067] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0068] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0069] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for preventing a car door from jamming, characterized in that, The method for preventing vehicle door jamming is applied to a vehicle door jamming prevention system, the vehicle door jamming prevention system including a hydraulic device, and the method comprising: Upon receiving a collision signal and detecting that the current vehicle speed is a preset speed, the door status information is displayed. The door frame surface where the door lock is located is divided into multiple door frame areas; The target resultant force is determined based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the friction lever arm of the door lock on the door frame surface. In response to the target object selecting the door status information as the door open, the hydraulic device is controlled to output the target force to push the door open; The step of determining the target resultant force based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the friction lever arm of the door lock on the door frame surface includes: The sum of the regional pressures of each door frame area is taken as the target frictional force of the door lock on the door frame surface; Calculate the first product between the target frictional force and the frictional force arm; The ratio between the first product and the output lever arm of the hydraulic device is taken as the target resultant force.

2. The method for preventing car doors from jamming according to claim 1, characterized in that, The door frame area includes a first door frame sub-area and a second door frame area, and the area pressure of the door frame area includes the first sub-area pressure corresponding to the first door frame sub-area and the second sub-area pressure corresponding to the second door frame area; Before the step of determining the target resultant force based on the regional pressure of each door frame area, the output lever arm of the hydraulic device, and the frictional lever arm of the door lock on the door frame surface, the method further includes: Obtain the first normal vector of the first door frame sub-region; The pressure in the first sub-region is determined based on the first normal vector, the second normal vector of the horizontal plane where the car is located, the third normal vector of the vertical plane, and the average pressure in the first door frame sub-region, wherein the horizontal plane where the car is located is perpendicular to the vertical plane.

3. The method for preventing car doors from jamming according to claim 2, characterized in that, The step of determining the pressure in the first sub-region based on the first normal vector, the second normal vector of the horizontal plane where the car is located, the third normal vector of the vertical plane, and the average pressure in the first door frame sub-region includes: Half of the absolute value of the first normal vector is taken as the area of ​​the first door frame sub-region. The first angle between the door frame surface where the door lock is located and the horizontal plane is determined based on the first normal vector and the second normal vector. The second included angle between the door frame surface where the door lock is located and the vertical plane is determined based on the first normal vector and the third normal vector; The second product of the cosine of the first included angle, the sine of the second included angle, and the average pressure of the first door frame area is taken as the target pressure of the door lock on the horizontal plane. The third product between the target pressure and the area of ​​the first door frame sub-region is taken as the pressure of the first sub-region.

4. The method for preventing car doors from jamming according to claim 3, characterized in that, The step of determining the first angle between the door frame surface where the door lock is located and the horizontal plane based on the first normal vector and the second normal vector includes: Calculate the fourth product between the first normal vector and the second normal vector, and calculate the fifth product between the absolute value of the first normal vector and the absolute value of the second normal vector; The arccosine of the ratio between the fourth product and the fifth product is taken as the first included angle.

5. The method for preventing car doors from jamming according to claim 1, characterized in that, The method further includes: In response to the target object selecting the door status information as "door closed", the door status is maintained; or, If no selection operation of the target object is received within a preset time, the hydraulic device is controlled to output 99% of the target resultant force.

6. The method for preventing vehicle doors from jamming according to claim 2, characterized in that, The anti-door jamming system also includes a door frame, which includes a first side, a second side, a third side, and a fourth side. The first side is rotatably mounted on the vehicle body, and the second side, which is opposite to the first side, is equipped with the door lock. The third side is higher than the fourth side on the horizontal plane. The hydraulic device includes a first hydraulic unit, a second hydraulic unit, and a third hydraulic unit. The first hydraulic unit and the second hydraulic unit are respectively disposed on both sides of the door lock. The first hydraulic unit, the second hydraulic unit, and the door lock are located on the second side of the door frame, and the first hydraulic unit, the second hydraulic unit, and the door lock are located on the same straight line. The third hydraulic unit is disposed on the fourth side; The step of controlling the hydraulic device to output a target force to push open the car door in response to the target object selecting the door status information as open includes: In response to the target object selecting the door status information as the door to be opened, the first hydraulic unit and the second hydraulic unit are controlled to output the target resultant force to push the door open at a uniform speed; In response to detecting that the door lock has reached the target position, the third hydraulic unit is controlled to push the door open to the target opening degree.

7. A car, characterized in that, The device includes a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the anti-door jamming method according to any one of claims 1-6.

8. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the anti-door jamming method according to any one of claims 1-6.

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