Vehicle door control method, device and vehicle

Abstract

This application discloses a vehicle door control method, device, and vehicle. The method includes: responding to a received vehicle door opening request, controlling the vehicle door to open; during the door opening process, acquiring a reference distance between the vehicle door and an obstacle in real time; determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship; determining a reference speed corresponding to the reference distance based on a second preset mapping relationship; determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient; and controlling the vehicle door to stop opening when the reference distance is less than a preset safety distance. This method allows the speed attenuation coefficient and reference speed to be determined based on the reference distance, the first preset mapping relationship, and the second preset mapping relationship to obtain the target speed. Since a smaller reference distance results in a smaller speed attenuation coefficient, controlling the vehicle door to stop opening when the door is at a low speed can reduce door vibration when it stops.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a door control method, device, and vehicle. Background Technology

[0002] With the continuous development of vehicle technology, the automation of vehicle door opening has become a research hotspot. Among the related methods, vehicles can be equipped with electric doors, which can automatically open and close the doors. However, in this method, there is still a problem of obvious shaking when the door stops. Summary of the Invention

[0003] In view of the above problems, this application proposes a door control method, device and vehicle to improve the above problems.

[0004] In a first aspect, this application provides a vehicle door control method, the method comprising: responding to receiving a vehicle door opening request, controlling the vehicle door to open; during the vehicle door opening process, acquiring in real time a reference distance between the vehicle door and an obstacle, the reference distance being the distance between the vehicle door and the nearest obstacle; determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, wherein the first preset mapping relationship characterizes the mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance; determining a reference speed corresponding to the reference distance based on a second preset mapping relationship, wherein the second preset mapping relationship characterizes the mapping relationship between the reference distance and the reference speed, and the reference speed is the opening speed corresponding to different opening positions of the vehicle door when there are no obstacles outside the vehicle; determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, the target speed being the opening speed of the vehicle door at the reference distance; and controlling the vehicle door to stop opening when the reference distance is less than a preset safety distance.

[0005] Secondly, this application provides a vehicle door control device, the device comprising: a distance acquisition module, configured to acquire in real time a reference distance between the vehicle door and an obstacle during the opening of the vehicle door, the reference distance being the distance between the vehicle door and the nearest obstacle; a speed acquisition module, configured to determine a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, wherein the first preset mapping relationship characterizes the mapping relationship between the reference distance and the speed attenuation coefficient, the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance; a speed acquisition module, configured to determine a reference speed corresponding to the reference distance based on a second preset mapping relationship, wherein the second preset mapping relationship characterizes the mapping relationship between the reference distance and the reference speed, the reference speed being the opening speed of the vehicle door at different opening positions when there are no obstacles outside the vehicle; and a control module, configured to control the vehicle door to open in response to receiving a vehicle door opening request; and to control the vehicle door to pause opening when the reference distance is less than a preset safety distance.

[0006] Thirdly, this application provides a vehicle including one or more processors, doors, and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the methods described above.

[0007] Fourthly, this application provides a computer-readable storage medium storing program code, wherein the above-described method is executed when the program code is run.

[0008] This application provides a door control method, device, and vehicle. Upon receiving a door opening request, the method controls the door to open. During the door opening process, a reference distance representing the distance between the door and the nearest obstacle is acquired in real time. Based on a first preset mapping relationship representing the mapping between the reference distance and a speed attenuation coefficient, a speed attenuation coefficient corresponding to the reference distance is determined. The smaller the reference distance, the smaller the speed attenuation coefficient. Based on a second preset mapping relationship representing the mapping between the reference distance and a reference speed, a reference speed corresponding to the reference distance is determined. The reference speed is the opening speed of the door in different opening positions when there are no obstacles outside the vehicle. Based on the reference speed and the speed attenuation coefficient, a target speed corresponding to the reference distance is determined. The target speed is the opening speed of the door at the reference distance. When the reference distance is less than a preset safety distance, the method controls the door to stop opening. The above method enables the reference distance between the car door and the obstacle to be obtained in real time during the door opening process. Based on the first preset mapping relationship and the second preset mapping relationship, the speed attenuation coefficient and the reference speed are obtained respectively, so as to obtain the target speed corresponding to the reference distance. This allows the car door to be controlled to open at the target speed corresponding to the reference distance. Since the smaller the reference distance, the smaller the speed attenuation coefficient, the car door can be controlled to stop opening when the car door is at a low speed, thereby reducing the shaking when the car door stops. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A flowchart of a door control method proposed in this application embodiment;

[0011] Figure 2 A schematic diagram of a security threshold distance proposed in this application is shown;

[0012] Figure 3 A flowchart of a door control method according to another embodiment of this application is shown;

[0013] Figure 4 A flowchart of a preferred embodiment of the present application is shown;

[0014] Figure 5 This paper shows a structural block diagram of a door control device according to an embodiment of the present application;

[0015] Figure 6 A structural block diagram of a vehicle proposed in this application is shown. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0017] In this application embodiment, the inventors propose a door control method, device, and vehicle. Upon receiving a door opening request, the method controls the door to open. During the door opening process, a reference distance representing the distance between the door and the nearest obstacle is acquired in real time. Based on a first preset mapping relationship representing the mapping relationship between the reference distance and a speed attenuation coefficient, a speed attenuation coefficient corresponding to the reference distance is determined. The smaller the reference distance, the smaller the speed attenuation coefficient. Based on a second preset mapping relationship representing the mapping relationship between the reference distance and a reference speed, a reference speed corresponding to the reference distance is determined. The reference speed is the opening speed of the door in different opening positions when there are no obstacles outside the vehicle. Based on the reference speed and the speed attenuation coefficient, a target speed corresponding to the reference distance is determined. The target speed is the opening speed of the door at the reference distance. When the reference distance is less than a preset safety distance, the method controls the door to stop opening. The above method enables the reference distance between the car door and the obstacle to be obtained in real time during the door opening process. Based on the first preset mapping relationship and the second preset mapping relationship, the speed attenuation coefficient and the reference speed are obtained respectively, so as to obtain the target speed corresponding to the reference distance. This allows the car door to be controlled to open at the target speed corresponding to the reference distance. Since the smaller the reference distance, the smaller the speed attenuation coefficient, the car door can be controlled to stop opening when the car door is at a low speed, thereby reducing the shaking when the car door stops.

[0018] Please see Figure 1 This application provides a door control method, the method comprising:

[0019] S110: In response to receiving a door opening request, control the door to open.

[0020] Among them, the door opening request can be used to inform the vehicle that a door opening operation needs to be performed, and the door opening request can be obtained based on the user's usage needs.

[0021] In one approach, the vehicle can respond to a received door opening request and control the door to open.

[0022] Optionally, in response to the user's operation of the door handle, the controller (Electronic Control Unit, ECU) corresponding to the door handle may be triggered to send a door opening request to the vehicle control unit (VCU); in response to the user's operation of the central control display screen, the central control display screen may be triggered to send a door opening request to the vehicle control unit (VCU); in response to the user's operation of the remote key unlock button, the controller (Electronic Control Unit, ECU) corresponding to the remote key may be triggered to send a door opening request to the vehicle control unit (VCU).

[0023] In this embodiment of the application, the opening method of the car door can be selected according to the user's actual needs and specific usage scenarios.

[0024] S120: During the opening of the vehicle door, a reference distance between the vehicle door and the obstacle is obtained in real time, wherein the reference distance is the distance between the vehicle door and the nearest obstacle.

[0025] The phrase "car door opening process" can refer to the process in which the car door is in the act of opening. Obstacles can include pedestrians, roadblocks, objects, and curbs.

[0026] As one approach, radar sensors can be installed on the car doors to obtain the distance between the car door and the nearest obstacle in real time.

[0027] Optionally, since radar sensors may be affected by noise or other interference, the distance signal acquired by the radar sensor can be smoothed and filtered (such as by Kalman filtering) to remove high-frequency components from the distance signal, making the distance signal smoother. By filtering the distance signal obtained in real time through smoothing and filtering, a reference distance between the car door and the obstacle can be obtained, thereby making the obtained reference distance more accurate.

[0028] S130: Based on the first preset mapping relationship, determine the speed attenuation coefficient corresponding to the reference distance, wherein the first preset mapping relationship characterizes the mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance.

[0029] Among them, the speed attenuation coefficient can refer to the coefficient used to control the decrease of the door speed as the reference distance decreases during the opening process.

[0030] As one approach, if the reference distance is greater than or equal to the safety threshold distance, the speed attenuation coefficient corresponding to the reference distance is determined as a first preset value, where the safety threshold distance is the maximum distance between the door and the vehicle body when there are no obstacles outside the vehicle; if the reference distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is determined as a second preset value, where the preset safety distance is less than the safety threshold distance and the second preset value is less than the first preset value; if the reference distance is less than the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is determined as a third preset value, where the third preset value is less than the second preset value.

[0031] The preset safety distance refers to the shortest distance between the car door and an obstacle, set in advance to prevent the door from being scratched by the obstacle. The safety threshold distance refers to the maximum distance between the car door and the car body when the door is in its fully open position.

[0032] For example, such as Figure 2 As shown, the opening positions of the car door can include OA1, OA2, OA3, and OA4. OA1 can be used to represent the maximum distance between the car door and the car body, which can be represented as D1, where D1 is the length of the car door. OA2 can be used to represent the car door when it is opened to the first opening position, where the distance between the car door and the car body can be represented as D2, where D2 is the shortest distance from point A2 to OA4. OA3 can be used to represent the car door when it is opened to the second opening position, where the distance between the car door and the car body can be represented as D3, where D3 is the shortest distance from point A3 to OA4. OA4 can be used to represent the car door coinciding with the car body, where the distance between the car door and the car body can be represented as D4, and D4 is 0. In this embodiment, D1 > D2 > D3 > D4 = 0.

[0033] Optionally, the preset safety distance and safety threshold distance can be pre-calibrated based on vehicle type or multi-vehicle test results.

[0034] In this embodiment of the application, the first preset value can be set to 1, the range of the second preset value can be (0, 1), and the third preset value can be set to 0.

[0035] Optionally, when the reference distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the smaller the reference distance, the smaller the second preset value of the speed attenuation coefficient corresponding to the reference distance.

[0036] One approach is to divide the reference distance between the preset safe distance and the safe threshold distance into multiple reference distance segments. Each reference distance segment corresponds to a speed attenuation coefficient, and the attenuation magnitude of the speed attenuation coefficient can be the same.

[0037] For example, as shown in Table 1, the preset safe distance for a vehicle can be 20cm, and the safe threshold distance can be 100cm. This can be divided into four reference distance segments: 20-40cm, 40-60cm, 60-80cm, and 80-100cm. Then, the speed attenuation coefficient corresponding to 20-40cm can be 0.05, the speed attenuation coefficient corresponding to 40-60cm can be 0.3, the speed attenuation coefficient corresponding to 60-80cm can be 0.55, and the speed attenuation coefficient corresponding to 80-100cm can be 0.75.

[0038] Table 1

[0039] Reference distance Velocity attenuation coefficient 20-40cm 0.05 40-60cm 0.3 60-80cm 0.55 80-100cm 0.75

[0040] One approach is to divide the reference distance between the preset safe distance and the safe threshold distance into multiple reference distance segments. Each reference distance segment corresponds to a speed attenuation coefficient, and the attenuation rate of the speed attenuation coefficient can be increased incrementally.

[0041] For example, as shown in Table 2, the preset safe distance for a vehicle can be 20cm, and the safe threshold distance can be 100cm. This can be divided into four reference distance segments: 20-40cm, 40-60cm, 60-80cm, and 80-100cm. The speed attenuation coefficient corresponding to 20-40cm can be 0.05, the speed attenuation coefficient corresponding to 40-60cm can be 0.45, the speed attenuation coefficient corresponding to 60-80cm can be 0.75, and the speed attenuation coefficient corresponding to 80-100cm can be 0.95.

[0042] Table 2

[0043] Reference distance Velocity attenuation coefficient 20-40cm 0.05 40-60cm 0.45 60-80cm 0.75 80-100cm 0.95

[0044] One approach is to divide the reference distance between the preset safe distance and the safe threshold distance into multiple reference distance segments. Each reference distance segment corresponds to a speed attenuation coefficient, and the attenuation rate of the speed attenuation coefficient can be increased incrementally.

[0045] For example, as shown in Table 3, the preset safe distance for a vehicle can be 20cm, and the safe threshold distance can be 100cm. This can be divided into four reference distance segments: 20-30cm, 30-40cm, 40-60cm, and 60-100cm. Then, the speed attenuation coefficient corresponding to 20-30cm can be 0.05, the speed attenuation coefficient corresponding to 30-40cm can be 0.45, the speed attenuation coefficient corresponding to 40-60cm can be 0.8, and the speed attenuation coefficient corresponding to 60-100cm can be 0.9.

[0046] Table 3

[0047] Reference distance Velocity attenuation coefficient 20-30cm 0.05 30-40cm 0.45 40-60cm 0.8 60-100cm 0.9

[0048] One approach is to determine the distance between the car door and the car body based on a reference distance, thereby identifying the reference speed corresponding to that distance.

[0049] The second preset mapping relationship can be the mapping relationship between the distance between the car door and the car body and the reference speed.

[0050] One approach is to divide the distance between the car door and the car body into multiple distance segments, each corresponding to a reference speed.

[0051] For example, as shown in Table 4, the maximum distance between the car door and the car body can be set to 100cm, which can be divided into five reference distance segments: 0-20cm, 20-40cm, 40-60cm, 60-80cm, and 80-100cm. The reference speed corresponding to 0-20cm can be 2m / s, the reference speed corresponding to 20-40cm can be 1.2m / s, the reference speed corresponding to 40-60cm can be 0.8m / s, the reference speed corresponding to 60-80cm can be 0.2m / s, and the reference speed corresponding to 80-100cm can be 0.01m / s.

[0052] Table 4

[0053] Distance between car door and body Reference speed 0-20cm 2m / s 20-40cm 1.2m / s 40-60cm 0.8m / s 60-80cm 0.2m / s 80-100cm 0.01m / s

[0054] Optionally, the distance between the door and the vehicle body at the corresponding reference distance can be obtained, and the reference speed corresponding to the reference distance can be determined based on the distance between the door and the vehicle body and the second preset mapping relationship.

[0055] Optionally, the mapping relationship between reference distance and reference speed can be positively correlated, while the mapping relationship between reference speed and the distance between the door and the body can be negatively correlated. That is, when the reference distance decreases, the distance between the door and the body increases, and the reference speed corresponding to the reference distance is smaller.

[0056] Optionally, the opening position of the door can be determined based on the angle between the door and the body. The larger the angle, the smaller the reference speed. Furthermore, the opening position of the door can be determined based on the distance between the door and the body.

[0057] S150: Based on the reference speed and the speed attenuation coefficient, determine the target speed corresponding to the reference distance, where the target speed is the opening speed of the door at the reference distance.

[0058] One method is to obtain the target velocity at the reference distance by multiplying the reference velocity at the reference distance by the velocity attenuation coefficient at the reference distance. The formula for calculating the target velocity can be expressed as:

[0059] V n =v n *a n

[0060] Where V can be used to represent the target velocity corresponding to the reference distance, v n It can be used to represent the reference velocity at the nth obtained reference distance, a n It can be used to represent the velocity attenuation coefficient at the nth obtained reference distance.

[0061] For example, such as Figure 2 As shown, if the door moves to OA1, and the reference speed corresponding to this reference distance is v1, and the speed attenuation coefficient corresponding to this reference distance is a1, then the target speed corresponding to this reference distance is V1 = v1 * a1; if the door moves to OA2, and the reference speed corresponding to this reference distance is v2, and the speed attenuation coefficient corresponding to this reference distance is a2, then the target speed corresponding to this reference distance is V2 = v2 * a2.

[0062] In this embodiment, if the reference distance is greater than or equal to the safety threshold distance, the speed attenuation coefficient corresponding to the reference distance is 1, the reference speed corresponding to the reference distance is v, and the target speed corresponding to the reference distance is V = v. That is, the door can open based on the reference speed. If the reference distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the speed attenuation coefficient a corresponding to the reference distance is in the range of (0,1), the reference speed corresponding to the reference distance is v, and the target speed corresponding to the reference distance is V = v * a. That is, the door can decelerate based on the reference speed and the speed attenuation coefficient. If the reference distance is less than the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is 0, the reference speed corresponding to the reference distance is v, and the target speed corresponding to the reference distance is V = 0. That is, the door stops opening.

[0063] S160: When the reference distance is less than the preset safety distance, control the door to stop opening.

[0064] The methods for stopping the car door can include hard stopping and soft stopping.

[0065] Optionally, a hard stop can refer to stopping the car door immediately by disconnecting the power supply or braking the motor, while a soft stop can refer to gradually reducing the speed of the car door to zero by gradually controlling the electromagnetic force of the motor.

[0066] As one method, when the reference distance is less than the preset safety distance, the door can be stopped from opening by using a hard stop or soft stop.

[0067] In this embodiment, as the reference distance gradually decreases, the target speed corresponding to the door also decreases continuously, so that the speed of the door gradually decreases, reducing the shaking when the door stops. Therefore, before the door is stopped by using soft stop or hard stop, the speed of the door has approached zero. In other words, there is little difference between the door stopping methods of hard stop and soft stop in this application. The user can choose soft stop or hard stop to stop the door opening based on the user's usage habits, thereby improving user participation.

[0068] This embodiment provides a vehicle door control method. Upon receiving a vehicle door opening request, the method controls the door to open. During the door opening process, a reference distance is used to represent the distance between the door and the nearest obstacle in real time. Based on a first preset mapping relationship representing the mapping between the reference distance and a speed attenuation coefficient, a speed attenuation coefficient corresponding to the reference distance is determined. The smaller the reference distance, the smaller the speed attenuation coefficient. Based on a second preset mapping relationship representing the mapping between the reference distance and a reference speed, a reference speed corresponding to the reference distance is determined. The reference speed is the opening speed of the door at different opening positions when there are no obstacles outside the vehicle. Based on the reference speed and the speed attenuation coefficient, a target speed corresponding to the reference distance is determined. The target speed is the opening speed of the door at the reference distance. When the reference distance is less than a preset safety distance, the method controls the door to stop opening. By employing the above method, the reference distance between the car door and the obstacle can be obtained in real time during the door opening process. Based on the first and second preset mapping relationships, the speed attenuation coefficient and reference speed can be obtained respectively, thus determining the target speed corresponding to the reference distance. This allows the car door to be controlled to open at the target speed corresponding to the reference distance. Since the smaller the reference distance, the smaller the speed attenuation coefficient, the door can be stopped from opening when it is at a low speed, thereby reducing the shaking when the door stops.

[0069] Please see Figure 3 This application provides a door control method, the method comprising:

[0070] S210: In response to receiving the door opening request, determine whether the current vehicle status meets the target conditions.

[0071] The vehicle status can include the vehicle power mode status, the vehicle's driving status, and the door status. The vehicle power mode status refers to the operating state of the vehicle's power supply, which can include driving status, standby status, and off status. The vehicle's driving status can include moving status and stationary status; moving status means the vehicle's speed is not zero, and stationary status means the vehicle's speed is zero. The door status can include unlocked status and locked status. The target condition refers to the conditions that must be met for the vehicle to open the door; the target condition can include the vehicle's power mode status being standby, the vehicle being stationary, and the door being unlocked.

[0072] In one approach, in response to a received door opening request, the vehicle can obtain the vehicle status, including the overall vehicle power mode status, the vehicle's driving status, and the door status, and determine whether the current vehicle status is the same as the target condition. If the vehicle's overall power mode status is in standby mode, the vehicle is stationary, and the door is unlocked, then the current vehicle status is the same as the target condition.

[0073] S220: If the vehicle status meets the target condition, control the door to open.

[0074] In one approach, the vehicle can respond to a received door opening request. If the current vehicle state is that the vehicle's overall power mode is in standby mode, the vehicle is stationary, and the door is unlocked, then the vehicle state meets the target conditions, and the door can be opened.

[0075] Optionally, if the current vehicle status does not meet any of the following conditions: the vehicle's power mode is in standby mode, the vehicle is stationary, or the door is unlocked, then the door opening request can be rejected, and information about the specific condition of the current vehicle status can be provided so that the user can adjust the current vehicle status and re-execute the door opening operation.

[0076] As one approach, if the vehicle's state meets the target conditions, the initial distance between the door and the obstacle is obtained; based on the initial distance, the initial speed is determined, and the door is controlled to open at the initial speed.

[0077] The initial distance refers to the distance between the car door and the nearest obstacle when the door is not open. The initial speed includes a first initial speed or a second initial speed, with the first initial speed being greater than the second initial speed. The first initial speed is the opening speed corresponding to different distances between the car door and the car body when there are no obstacles outside the vehicle. The second initial speed is the opening speed corresponding to different distances between the car door and the car body when there are obstacles outside the vehicle.

[0078] Optionally, when the door is not open, the radar sensor can obtain the initial distance between the door and the nearest obstacle in real time, determine the initial speed based on the initial distance, and control the door to open at the initial speed corresponding to the initial distance.

[0079] As one approach, if the initial distance is greater than or equal to the preset safety distance, the initial speed is determined based on the initial distance, and the door is controlled to open at the initial speed.

[0080] Optionally, if the initial distance is greater than the safety threshold distance, the initial speed is determined as the first initial speed, and the door is controlled to open at the first initial speed.

[0081] Among them, the safety threshold distance is the maximum distance between the car door and the vehicle body when there are no obstacles outside the vehicle, and the first initial speed is the reference speed when the car door just opens when there are no obstacles outside the vehicle.

[0082] Optionally, if the initial distance is greater than the safety threshold distance, the first initial speed corresponding to the initial distance can be obtained based on the initial distance, thereby controlling the door to open at the first initial speed.

[0083] Optionally, if the initial distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the initial speed is determined as the second initial speed, and the door is controlled to open at the second initial speed.

[0084] Optionally, if the initial distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the first initial speed and the speed attenuation coefficient corresponding to the initial distance can be determined based on the initial distance, thereby obtaining the second initial speed, and controlling the door to open at the second initial speed.

[0085] As another method, if the initial distance is less than the preset safe distance, the door is kept closed and a prompt message is sent to the user terminal, indicating that the current position of the vehicle is not suitable for opening the door.

[0086] In this embodiment, if the user is inside the vehicle, the user terminal may include a central control display screen and / or a speaker. That is, the central control display screen can display a prompt message that the current position of the vehicle is not suitable for opening the door, and the speaker can also provide a voice prompt that the current position of the vehicle is not suitable for opening the door. If the user is outside the vehicle, the user terminal may include a mobile phone and / or tablet and / or wristband. That is, the mobile phone and / or tablet and / or wristband can display a prompt message that the current position of the vehicle is not suitable for opening the door, so that the user can adjust the current position of the vehicle and thus re-execute the door opening operation.

[0087] S230: During the opening of the vehicle door, a reference distance between the vehicle door and an obstacle is obtained in real time, wherein the reference distance is the distance between the vehicle door and the nearest obstacle.

[0088] S240: Based on the first preset mapping relationship, determine the speed attenuation coefficient corresponding to the reference distance, wherein the first preset mapping relationship characterizes the mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance.

[0089] S250: Based on the second preset mapping relationship, determine the reference speed corresponding to the reference distance, wherein the second preset mapping relationship represents the mapping relationship between the reference distance and the reference speed, and the reference speed is the opening speed corresponding to the door being in different opening positions when there are no obstacles outside the vehicle.

[0090] S260: Based on the reference speed and the speed attenuation coefficient, determine the target speed corresponding to the reference distance, wherein the target speed is the opening speed of the door at the reference distance.

[0091] S270: When the reference distance is less than the preset safety distance, control the door to stop opening.

[0092] This embodiment provides a positioning method that, through the aforementioned approach, allows for real-time acquisition of the reference distance between the vehicle door and an obstacle during the door opening process. Based on a first preset mapping relationship and a second preset mapping relationship, a speed attenuation coefficient and a reference speed are obtained respectively, leading to a target speed corresponding to the reference distance. This allows the vehicle door to be controlled to open at the target speed corresponding to the reference distance. Since a smaller reference distance results in a smaller speed attenuation coefficient, the vehicle door can be stopped opening at a lower speed, thus reducing door shaking when stopping. Furthermore, in this embodiment, when the control responds to a door opening request, it can first determine the vehicle status, the initial distance between the vehicle and the obstacle, and the initial vehicle speed to control the vehicle to open at the initial speed corresponding to the initial distance. The closer the vehicle is to the obstacle, the slower the door opening speed becomes, thereby reducing the possibility of the door scraping other obstacles due to an excessive opening distance. It is also necessary to ensure that the vehicle status meets the target conditions before controlling the door to open, thus ensuring vehicle safety.

[0093] To better understand the solutions in the embodiments of this application, the process of a preferred implementation is described below.

[0094] Please see Figure 4If the vehicle state meets the target conditions based on step S1, the initial distance between the door and the obstacle can be obtained based on step S2, thereby determining the initial speed of the door and controlling the vehicle to open at the initial speed; if the vehicle does not meet the target conditions based on step S1, the process can return to the beginning until step S1 determines that the vehicle state meets the target conditions.

[0095] After executing step S2, the reference distance between the door and the obstacle can be obtained in real time based on step S3. Then, the speed attenuation coefficient and reference speed corresponding to the current reference distance are obtained based on step S4. Finally, the target speed corresponding to the current reference distance is obtained based on step S5, allowing the door to open based on the target speed. If step S6 determines that the distance between the door and the obstacle is less than a preset safety distance, step S8 can be executed to suspend the door opening. Alternatively, if step S6 determines that the distance between the door and the obstacle is greater than the preset safety distance, step S7 can determine whether the door has reached the target opening position. If step S7 determines that the door has reached the target opening position, then step S8 can be executed to suspend the door opening. If step S7 determines that the door has not reached the target opening position, the process returns to S6 until step S6 determines that the distance between the door and the obstacle is less than the preset safety distance, at which point step S8 is executed to suspend the door opening.

[0096] Please see Figure 5 This application provides a door control device 800, the device 800 comprising:

[0097] The distance acquisition module 810 is used to acquire a reference distance between the car door and an obstacle in real time during the opening of the car door. The reference distance is the distance between the car door and the nearest obstacle.

[0098] The speed acquisition module 820 is used to determine the speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, wherein the first preset mapping relationship represents the mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance; it is also used to determine the reference speed corresponding to the reference distance based on a second preset mapping relationship, wherein the second preset mapping relationship represents the mapping relationship between the reference distance and the reference speed, and the reference speed is the opening speed of the vehicle door in different opening positions when there are no obstacles outside the vehicle; and it is also used to determine the target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, wherein the target speed is the opening speed of the vehicle door at the reference distance.

[0099] The control module 830 is used to control the door to open in response to receiving a door opening request; and to control the door to pause opening when the reference distance is less than a preset safety distance.

[0100] In one manner, the speed acquisition module 820 is specifically used to determine the speed attenuation coefficient corresponding to the reference distance as follows: if the reference distance is greater than or equal to a safety threshold distance, the speed attenuation coefficient corresponding to the reference distance is determined to be a first preset value, wherein the safety threshold distance is the maximum distance between the vehicle door and the vehicle body when there are no obstacles outside the vehicle; if the reference distance is less than the safety threshold distance but greater than or equal to the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is determined to be a second preset value, wherein the preset safety distance is less than the safety threshold distance and the second preset value is less than the first preset value; if the reference distance is less than the preset safety distance, the speed attenuation coefficient corresponding to the reference distance is determined to be a third preset value, wherein the third preset value is less than the second preset value.

[0101] In one approach, the control module 830 is specifically configured to, in response to receiving the door opening request, determine whether the current vehicle state meets the target conditions; if the vehicle state meets the target conditions, control the door to open.

[0102] Optionally, the target conditions include the vehicle's overall power mode being in standby mode, the vehicle being stationary, and the doors being unlocked.

[0103] In one approach, the control module 830 is specifically used to, when controlling the vehicle to open its door, if the vehicle state meets the target condition, obtain the initial distance between the door and the obstacle; determine the initial speed based on the initial distance; and control the door to open at the initial speed.

[0104] Optionally, the initial velocity includes a first initial velocity or a second initial velocity, wherein the first initial velocity is greater than the second initial velocity.

[0105] In one manner, the control module 830 is specifically used to control the car door to open at the initial speed. If the initial distance is greater than the safety threshold distance, the initial speed is determined to be a first initial speed, and the car door is controlled to open at the first initial speed. The safety threshold distance is the maximum distance between the car door and the car body when there are no obstacles outside the vehicle, and the first initial speed is a reference speed when the car door just opens when there are no obstacles outside the vehicle. If the initial distance is less than the safety threshold distance and greater than or equal to a preset safety distance, the initial speed is determined to be a second initial speed, and the car door is controlled to open at the second initial speed.

[0106] In one manner, the control module 830 is specifically used to, when controlling the door to open at the initial speed, determine the initial speed based on the initial distance if the initial distance is greater than or equal to the preset safety distance, and control the door to open at the initial speed; if the initial distance is less than the preset safety distance, control the door to remain in an unopened state and send a prompt message to the user terminal, the prompt message being used to indicate that the current position of the vehicle is not suitable for opening the door.

[0107] The following will combine Figure 6 This application describes one type of vehicle.

[0108] Please see Figure 6 Based on the above-described positioning method and apparatus, this application embodiment also provides another vehicle 100 capable of executing the aforementioned door control method. The vehicle 100 includes a processor 102, a memory 104, and a door 106. The memory 104 stores a program capable of executing the contents of the aforementioned embodiments, and the processor 102 can execute the program stored in the memory 104.

[0109] The processor 102 may include one or more processing cores. The processor 102 connects to various parts within the vehicle 100 using various interfaces and lines, and performs various functions and processes data of the vehicle 100 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and by calling data stored in the memory 104. Optionally, the processor 102 may be implemented using at least one of the following hardware forms: a Neural Network Processing Unit (NPU), a Digital Signal Processing Unit (DSP), a Field-Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA). The processor 102 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Neural Network Processing Unit (NPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; the NPU handles multimedia data such as video and images; and the modem handles wireless communication. It is understandable that the aforementioned modem may not be integrated into the processor 102, but may be implemented using a separate communication chip.

[0110] The memory 104 may include random access memory (RAM), read-only memory (ROM), and double data rate synchronous dynamic random access memory (DDR). The memory 104 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below. The data storage area may also store data created during the use of the vehicle 100 (such as phonebooks, audio and video data, chat log data, etc.).

[0111] This application provides a computer-readable storage medium 1000. The computer-readable storage medium 1000 stores program code, which can be called by a processor to execute the methods described in the above method embodiments.

[0112] The computer-readable storage medium 1000 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 1000 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 1000 has storage space for program code 1010 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 1010 may be compressed, for example, in a suitable form.

[0113] In summary, the vehicle door control method, device, and vehicle provided in this application, upon receiving a door opening request, control the door to open. During the door opening process, a reference distance representing the distance between the door and the nearest obstacle is acquired in real time. Based on a first preset mapping relationship representing the mapping relationship between the reference distance and a speed attenuation coefficient, a speed attenuation coefficient corresponding to the reference distance is determined. The smaller the reference distance, the smaller the speed attenuation coefficient. Based on a second preset mapping relationship representing the mapping relationship between the reference distance and a reference speed, a reference speed corresponding to the reference distance is determined. The reference speed is the opening speed of the door in different opening positions when there are no obstacles outside the vehicle. Based on the reference speed and the speed attenuation coefficient, a target speed corresponding to the reference distance is determined. The target speed is the opening speed of the door at the reference distance. When the reference distance is less than a preset safety distance, the door is controlled to stop opening. The above method enables the reference distance between the car door and the obstacle to be obtained in real time during the door opening process. Based on the first preset mapping relationship and the second preset mapping relationship, the speed attenuation coefficient and the reference speed are obtained respectively, so as to obtain the target speed corresponding to the reference distance. This allows the car door to be controlled to open at the target speed corresponding to the reference distance. Since the smaller the reference distance, the smaller the speed attenuation coefficient, the car door can be controlled to stop opening when the car door is at a low speed, thereby reducing the shaking when the car door stops.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle door control method characterized by, The method comprises: in response to receiving a vehicle door opening request, controlling the vehicle door to open; during the vehicle door opening process, acquiring a reference distance between the vehicle door and an obstacle in real time, the reference distance being a distance between the vehicle door and a closest obstacle; determining a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, wherein the first preset mapping relationship represents a mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance, the smaller the speed attenuation coefficient corresponding to the reference distance; determining a reference speed corresponding to the reference distance based on a second preset mapping relationship, wherein the second preset mapping relationship represents a mapping relationship between the reference distance and the reference speed, and the reference speed is an opening speed of the vehicle door corresponding to different opening positions of the vehicle door in the case of no obstacle outside the vehicle; determining a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, the target speed being an opening speed of the vehicle door under the reference distance; when the reference distance is less than a preset safety distance, controlling the vehicle door to stop opening.

2. The method of claim 1, wherein, The determination of the speed attenuation coefficient corresponding to the reference distance based on the first preset mapping relationship comprises: if the reference distance is greater than or equal to a safety threshold distance, determining the speed attenuation coefficient corresponding to the reference distance as a first preset value, wherein the safety threshold distance is the maximum distance between the vehicle door and the vehicle body in the case of no obstacle outside the vehicle; if the reference distance is less than the safety threshold distance and greater than or equal to the preset safety distance, determining the speed attenuation coefficient corresponding to the reference distance as a second preset value, the preset safety distance being less than the safety threshold distance, and the second preset value being less than the first preset value; if the reference distance is less than the preset safety distance, determining the speed attenuation coefficient corresponding to the reference distance as a third preset value, the third preset value being less than the second preset value.

3. The method of claim 1, wherein, The control of the vehicle door to open in response to receiving the vehicle door opening request comprises: in response to receiving the vehicle door opening request, determining whether the current vehicle state meets a target condition; if the vehicle state meets the target condition, controlling the vehicle door to open.

4. The method of claim 3, wherein, The target condition comprises that the vehicle power supply mode state of the vehicle is in standby state, the vehicle is in stationary state, and the vehicle door is in unlocked state.

5. The method of claim 4, wherein, The control of the vehicle door to open if the vehicle state meets the target condition comprises: if the vehicle state meets the target condition, acquiring an initial distance between the vehicle door and the obstacle; determining an initial speed based on the initial distance and controlling the vehicle door to open at the initial speed.

6. The method of claim 5, wherein, The initial speed comprises a first initial speed or a second initial speed, the first initial speed being greater than the second initial speed, and the determination of the initial speed based on the initial distance and the control of the vehicle door to open at the initial speed comprise: If the initial distance is greater than a safety threshold distance, the initial speed is determined as a first initial speed, and the vehicle door is controlled to open at the first initial speed, the safety threshold distance being a maximum distance between the vehicle door and the vehicle body in a case that there is no obstacle outside the vehicle, and the first initial speed being a reference speed when the vehicle door is just opened in the case that there is no obstacle outside the vehicle. If the initial distance is less than the safety threshold distance and greater than or equal to a preset safety distance, the initial speed is determined as a second initial speed, and the vehicle door is controlled to open at the second initial speed.

7. The method of claim 5, wherein, The determining the initial speed based on the initial distance and controlling the vehicle door to open at the initial speed includes: If the initial distance is greater than or equal to the preset safety distance, the initial speed is determined based on the initial distance, and the vehicle door is controlled to open at the initial speed. If the initial distance is less than the preset safety distance, the vehicle door is controlled to be in a non-opening state, and a prompt information is sent to a user terminal, the prompt information being used to prompt that a current position of the vehicle is not suitable for opening the vehicle door.

8. A vehicle door control device characterized by comprising: The apparatus includes: a distance obtaining module configured to obtain a reference distance between the vehicle door and an obstacle in real time during opening of the vehicle door, the reference distance being a distance between the vehicle door and a closest obstacle; a speed obtaining module configured to determine a speed attenuation coefficient corresponding to the reference distance based on a first preset mapping relationship, wherein the first preset mapping relationship represents a mapping relationship between the reference distance and the speed attenuation coefficient, and the smaller the reference distance is, the smaller the speed attenuation coefficient corresponding to the reference distance is, to determine a reference speed corresponding to the reference distance based on a second preset mapping relationship, wherein the second preset mapping relationship represents a mapping relationship between the reference distance and the reference speed, the reference speed being an opening speed of the vehicle door corresponding to different opening positions in a case that there is no obstacle outside the vehicle, and to determine a target speed corresponding to the reference distance based on the reference speed and the speed attenuation coefficient, the target speed being an opening speed of the vehicle door under the reference distance; a control module configured to control the vehicle door to open in response to receiving a vehicle door opening request, and to control the vehicle door to pause opening when the reference distance is less than a preset safety distance.

9. A vehicle characterized by comprising: include one or more processors, a vehicle door, and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium has program code stored therein, wherein the program code performs the method of any one of claims 1-7 when the program code is executed.

Images