Vehicle door control method and device, domain controller and vehicle

Abstract

The application discloses a vehicle door control method and device, a domain controller, and a vehicle, and is applied to an automatic vehicle door. The method comprises the following steps: when an automatic vehicle door control request signal is acquired, the speed of the vehicle and the state of the automatic vehicle door are acquired; and the automatic vehicle door is controlled according to the speed of the vehicle and the state of the automatic vehicle door, so that the opening, closing or hovering of the automatic vehicle door is realized. The method can improve the human-machine experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a door control method, device, domain controller, and vehicle. Background Technology

[0002] As people's living standards improve, vehicles are playing an increasingly indispensable role in their lives. How to make vehicles intelligent to improve user experience is receiving increasing attention from developers. However, in related technologies, vehicle door opening and closing operating systems are complex, and users are reluctant to touch dirty door handles, resulting in a poor human-machine experience. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a vehicle door control method to improve the human-machine interface experience.

[0004] The second objective of this invention is to provide a domain controller.

[0005] The third objective of this invention is to provide a door control device.

[0006] The fourth objective of this invention is to provide a vehicle.

[0007] To achieve the above objectives, a first aspect of the present invention provides a vehicle door control method applied to an automatic vehicle door. The method includes: upon receiving an automatic vehicle door control request signal, acquiring the vehicle speed and the state of the automatic vehicle door; and controlling the automatic vehicle door according to the vehicle speed and the state of the automatic vehicle door to realize the opening, closing, or hovering of the automatic vehicle door.

[0008] To achieve the above objectives, a second aspect of the present invention provides a domain controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the above-described door control method.

[0009] To achieve the above objectives, a third aspect of the present invention provides a vehicle door control device for use in an automatic vehicle door. The device includes: an acquisition module, used to acquire the vehicle speed and the state of the automatic vehicle door when an automatic vehicle door control request signal is acquired; and a control module, used to control the automatic vehicle door according to the vehicle speed and the state of the automatic vehicle door, so as to realize the opening, closing or hovering of the automatic vehicle door.

[0010] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle including the aforementioned door control device.

[0011] The door control method, device, domain controller, and vehicle of this invention acquire the vehicle speed and automatic door status upon receiving the automatic door control request signal, and then control the automatic door accordingly based on the vehicle speed and automatic door status. Therefore, the user only needs to have the vehicle acquire the automatic door request signal to control the automatic door; the opening and closing operation is simple and does not require touching the door handle, improving the human-machine experience.

[0012] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0013] Figure 1 This is a flowchart of a door control method according to an embodiment of the present invention;

[0014] Figure 2 This is a flowchart of an example of a door control method according to the present invention;

[0015] Figure 3 This is a flowchart of another example of a door control method according to the present invention;

[0016] Figure 4 This is a flowchart of another example of a door control method according to the present invention;

[0017] Figure 5 This is a flowchart of another example of a door control method according to the present invention;

[0018] Figure 6 This is a schematic diagram of the structure of the door control device according to an embodiment of the present invention;

[0019] Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0020] The following description, with reference to the accompanying drawings, outlines an embodiment of a door control method, apparatus, domain controller, and vehicle according to the present invention. Throughout the description, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The embodiments described with reference to the accompanying drawings are exemplary and should not be construed as limiting the invention.

[0021] Figure 1 This is a flowchart of a door control method according to an embodiment of the present invention.

[0022] In this embodiment of the invention, the door control method is applied to an automatic car door, which is equipped with a sensing element, an electrolytic lock, and an electric limiter. The sensing element can sense the actions performed by the user within its sensing range and generate sensing information based on the user's actions, meaning the user can trigger the sensing element through a contactless action. The automatic car door can be, for example, a butterfly door, a side-opening door, a sliding door, or other electric doors. The sensing element is disposed on the corresponding automatic car door; for example, if the automatic car door to be controlled is a butterfly door on the side of the vehicle, the sensing element is disposed on the side surface of the vehicle. The sensing element can also be disposed in other locations on the vehicle where a switch can be installed, allowing the user to more conveniently trigger the sensing element and control the automatic car door corresponding to the sensing element. The sensing element may include a capacitive switch.

[0023] like Figure 1 As shown, the door control method includes:

[0024] S101: When an automatic door control request signal is received, the vehicle speed and the status of the automatic door are obtained.

[0025] The automatic door control request signal is sent by the sensing element when it determines that the collected sensing information is valid.

[0026] Specifically, after the user performs a trigger action and the sensing element is triggered to generate sensing information, the first step is to determine whether the sensing information is valid. Specifically, it is necessary to obtain the user's trigger action based on the sensing information, determine whether the trigger action occurred within the specified touch range, and whether the trigger action is a preset action. The sensing information is considered valid only if the trigger action occurs within the specified touch range and is a preset action, thereby preventing the sensing element from being accidentally touched.

[0027] When the sensing information is deemed valid, the sensing element generates and sends an automatic door control request signal to the control center, which may be, for example, a domain controller installed on the vehicle.

[0028] After receiving the automatic door control request signal, the control center obtains the vehicle speed to determine whether the automatic door can be opened or closed. It also obtains the status of the electrolytic lock and the electric limit switch to obtain the status of the automatic door, and then determines the control method for the automatic door based on the status of the automatic door.

[0029] S102 controls the automatic door according to the vehicle speed and the status of the automatic door, so as to realize the opening, closing or hovering of the automatic door.

[0030] Specifically, after obtaining the vehicle's speed, the control center determines whether the vehicle is currently in operation based on the speed. If the vehicle is currently in operation, it assumes that the sensor has been accidentally triggered and does not respond to the automatic door control request signal. If the vehicle is not in operation, it responds to the automatic door control request signal.

[0031] After confirming the automatic door control request signal, the control center determines the current state of the automatic door based on the status of the electrolytic lock and the electric limit switch, and then performs corresponding control on the automatic door according to the current state of the automatic door.

[0032] Therefore, by receiving an automatic door control request signal sent by the sensing element when it determines that the collected sensing information is valid, and upon receiving this automatic door control request signal, acquiring the vehicle speed, the state of the electrolytic lock, and the state of the electric limit switch, the system determines whether to respond to the automatic door control request signal based on the vehicle speed. If the system responds, it acquires the automatic door state based on the states of the electrolytic lock and the electric limit switch, and then controls the automatic door accordingly. Thus, the user only needs to trigger the sensing element to control the automatic door, making opening and closing the door simple and eliminating the need to touch the door handle, thereby improving the human-machine interface experience.

[0033] In one embodiment of the present invention, the conditions for determining the validity of the sensing information include: Condition 1: the distance between the triggering position of the sensing information and the sensing element is less than a distance threshold, the triggering trajectory of the sensing information is consistent with the target's movement, and the coverage of the triggering area of ​​the sensing information over the preset detection area is greater than a coverage threshold. It also includes: Condition 2: the duration of the above-mentioned Condition 1 is within a preset time range.

[0034] Specifically, after the user triggers the sensing element, the sensing element generates sensing information and analyzes this information. First, the sensing information is analyzed to obtain the distance between the trigger position of the user's action and the sensing element. If the distance between the trigger position of the user's action and the sensing element is less than a distance threshold, it is determined that the trigger action occurred within a specified touch range. The value of this distance threshold ranges from 10 to 30 mm, for example, it can be 20 mm.

[0035] After determining that the distance is less than a distance threshold, the sensing information is analyzed to determine whether the user's triggered action is a preset action. Specifically, the sensing information is analyzed to obtain the trajectory of the action, the coverage of the action in the preset detection area, and the duration of the action.

[0036] An action is defined as a preset action when its trajectory is a preset trajectory, its coverage of a preset detection area is greater than a coverage threshold, and its duration is within a preset time range. This trajectory can be, for example, an action performed according to the orientation of the sensing element. The coverage rate can be, for example, 80%. The coverage rate of the action to the preset detection area can be the coverage rate of parameters such as the area and length of the preset detection area. For instance, if the sensing element is horizontally positioned and the preset detection area is a horizontal strip, then when the user's sliding motion reaches 80% of the length of the preset detection area, the action's coverage of the preset detection area is determined to be greater than the coverage threshold. The preset time range can be, for example, 500ms to 1s.

[0037] In one embodiment of the present invention, controlling the automatic door based on vehicle speed and the state of the automatic door includes: determining whether the vehicle speed is less than a preset vehicle speed threshold; if so, controlling the automatic door based on its state, i.e., when the vehicle speed is less than the preset vehicle speed threshold, the vehicle can be considered not to be in motion, and the control center can respond to the automatic door control request signal. The preset vehicle speed threshold ranges from 2.5 to 3.5 km / h, for example, it can be 3 km / h.

[0038] This prevents automatic doors, such as side doors, from opening while the vehicle is running at high speed, thus ensuring the safe operation of the vehicle.

[0039] In one embodiment of the present invention, the automatic door is controlled according to its state, including: determining whether the automatic door is in a fully locked state; if the automatic door is in a fully locked state, obtaining the vehicle's logical locking / unlocking state; if the vehicle's logical locking / unlocking state is a logical unlocked state, controlling the automatic door to open to a target position. It also includes: if the vehicle's logical locking / unlocking state is a logical locked state, obtaining the location information of the vehicle key; if the vehicle key is within the target detection range, controlling the automatic door to open to the target position. The aforementioned logical unlocked state is when the user has issued an unlock command to the vehicle. For example, when the user presses the vehicle key and the vehicle responds with a sound, it enters the logical unlocked state. At this time, although the vehicle is in a fully locked state, the user only needs to pull the door handle to open the door. The aforementioned logical locked state is when the user has not issued an unlock command to the vehicle, and the user cannot open the door by pulling the door handle. The aforementioned fully locked state refers to the state where the electrolytic lock has completed engagement and locked the door. Correspondingly, the non-fully locked state refers to the state where the electrolytic lock has not completed engagement.

[0040] If the automatic door is not fully locked, the system determines whether the door is open; based on this determination, it controls the door accordingly. Specifically, if the door is open, it checks if the door is in motion; if so, it stops the door. If the door is not in motion, it checks if it is fully open; if so, it closes. If the door is neither in motion nor fully open, it checks if the door's last movement was an opening action; if not, it opens the door to a target position; otherwise, it closes. This target position can be, for example, the maximum preset position. The "open" state refers to the vehicle being unlocked, while the "closed" state refers to the vehicle not being unlocked.

[0041] It should be noted that if the automatic door is not in the open position, the automatic door will be opened to the target position.

[0042] Specifically, after determining that an automatic door control request signal needs to be responded to, the control center judges whether the automatic door is in a fully locked state by collecting the status of the electrolytic lock. When the automatic door is in a fully locked state, if the automatic door control request signal is responded to, the automatic door control request signal is assumed to open the automatic door. At this time, it is necessary to determine the current logical lock / unlock status of the vehicle based on the overall vehicle status. If the vehicle is currently in a logical unlocked state, the automatic door control request signal can be responded to directly, and the control center drives the electrolytic lock to perform the unlocking action. After unlocking, the electric limit switch is then driven to open the automatic door to the maximum set position.

[0043] If the vehicle is currently in a logically locked state, it is necessary to determine the identity of the user who triggered the sensing element. Specifically, the location information of the vehicle key can be obtained. The vehicle key is a pre-set device that can be sensed by the vehicle and can indicate preset identity information. For example, it can be a remote key that can be carried by a preset user. That is, if the vehicle key is within the target detection range when the vehicle is currently in a logically locked state, it is determined that the preset user triggered the sensing element and responded to the automatic door control request signal. The control center drives the electrolytic lock to perform the unlocking action. After unlocking, the electric limit switch is driven to open the automatic door to the maximum set position.

[0044] If the automatic door is not currently fully locked, the system further acquires the door's status and controls it accordingly. Specifically, if the automatic door is in motion—that is, if the user triggers the sensor again very shortly after triggering it—and the system determines that a situation such as someone approaching from the side or rear, or the door opening angle has reached the user's desired level, the system needs to stop the automatic door. The control center then stops driving the electric limit switch, causing the automatic door to immediately hover in its current position.

[0045] If the automatic door is not in motion, it is determined whether the automatic door is fully open. If the automatic door is fully open, the current automatic door control request signal is determined to request the automatic door to be closed. The control center immediately reverses the drive of the electric limit switch to close the automatic door until the automatic door enters the half-lock state and then stops driving.

[0046] If the automatic door is not fully open, the system retrieves the last action of the automatic door and determines the action for the current action based on that action. Specifically, if the last action was opening, the current action is determined to be closing, and the control center immediately sends the selection of which drive electric limit switch to close the automatic door until it enters a half-lock position and then stops driving. If the last action was closing, the current action is determined to be opening, and the control center immediately drives the electric limit switch to open the automatic door to the maximum set position.

[0047] In one embodiment of the present invention, the vehicle is equipped with ambient lighting, and the method further includes: obtaining the execution result of the automatic door's action; determining the illumination mode of the ambient lighting based on the execution result; and controlling the ambient lighting based on the illumination mode.

[0048] Therefore, appropriate feedback can be given to the user after the user triggers the sensing element, further improving the human-computer experience.

[0049] The embodiments of the present invention will be described in detail below with reference to a specific example.

[0050] See this specific example. Figure 2The vehicle in question includes electric butterfly doors. The electric butterfly door system, used to control these doors, comprises a domain controller, an electrolytic lock, an electric limit switch, and a capacitive switch. The domain controller, installed inside the vehicle and interconnected with the entire vehicle via a CAN (Controller Area Network) line, analyzes and processes automatic door control request signals and provides power output to the electric limit switch motor of the butterfly door system, driving the automatic door to perform opening or closing actions. The electrolytic lock, installed inside the automatic door panel, works with the side locking ring to lock the automatic door and can also electrolytically unlock and engage the automatic door lock using the driving force provided by the domain controller. The electric limit switch, installed between the automatic door and the side panel, can act on the automatic door using the driving force provided by the domain controller, enabling the automatic door to open and close. The capacitive switch, installed on the side panel surface, can recognize swipe gestures, sense and trigger actions, and send the processed and valid automatic door control request signal to the domain controller, allowing the user to operate the automatic door through contactless swipe gestures. The remote key, which the user carries with them, provides the domain controller with the information to determine if the user is the vehicle owner. In other words, the remote key is only used to identify the vehicle owner and can open and close automatic doors without a physical key. Of course, it can refer to more than just a remote key; any device that can identify the vehicle owner is acceptable. Ambient lighting refers to the exterior lighting devices of the vehicle. Through different driving methods of the domain controller, it can respond with different colors, brightness, and effects, providing feedback to the user.

[0051] Specifically, for the aforementioned capacitor switch, see [link to relevant documentation]. Figure 3 The capacitive switch continuously collects sensing information and determines whether sensing information has been collected. If sensing information is collected, the capacitor module inside the capacitive switch will be activated. The capacitor module will analyze the sensing information to determine whether the sensing information is valid. If no sensing information is collected, the collection process will continue.

[0052] After collecting the sensing information, the capacitive switch determines whether the trigger action is within the specified touch range. Specifically, the capacitive switch analyzes the trigger distance based on the strength of the sensing information, and is only considered valid when the distance between the hand and the switch is less than or equal to 20mm.

[0053] After collecting the sensing information, the capacitive switch determines whether the triggering action has reached the specified sliding distance. Specifically, the capacitive switch determines whether the signal is valid based on the travel and sequence of the capacitor triggering action. Only when the sensing information is triggered from the beginning to the end or from the end to the beginning and the coverage rate reaches more than 80%, it is considered valid.

[0054] After collecting the sensing information, the capacitive switch determines whether the touch swipe is completed within a specified time. Specifically, the capacitive switch automatically times the swipe; if it is not triggered within the specified time of 500ms to 1s, it is considered invalid.

[0055] Once the sensing information is valid, the capacitive switch sends an automatic door control request signal to the domain controller, which then processes and determines whether the automatic door-related actions can be executed.

[0056] For the domain controllers mentioned above, see Figure 4 The domain controller monitors the automatic door control request signal, determines whether it has received the automatic door control request signal, and processes the signal if it has been received; otherwise, it continues to monitor.

[0057] The domain controller determines whether the vehicle speed is greater than 3 km / h by collecting CAN bus signals. If it is, it does not respond to the automatic door control request signal; otherwise, it responds to the automatic door control request signal.

[0058] The domain controller determines whether the automatic door is fully locked by collecting the status of the electrolytic lock. If it is fully locked, it needs to determine the vehicle's overall logic lock / unlock status. If it is not fully locked, it determines whether the automatic door is in motion.

[0059] If the automatic door is not fully locked and is in motion, it will immediately stop. If the automatic door is fully open, it will directly close. Otherwise, it will need to determine the last action performed. If the last action was opening, it will close; if the last action was closing, it will open.

[0060] When the automatic doors are fully locked, the domain controller determines the vehicle's logical lock / unlock status by collecting CAN bus signals. If the door is in the logical unlocked state, it directly responds to the request signal from the capacitive switch. If the door is in the logical locked state, it needs to determine the position of the remote key and decide whether to open the door based on the key's position. If the key is within the detection range, the user's identity is considered legitimate, and the domain controller drives the electrolytic lock to unlock and drives the electric limit switch to open the automatic door to the maximum set position.

[0061] For the aforementioned ambient lighting, see Figure 5 The domain controller continuously monitors the signals in the aforementioned electric butterfly door system to determine whether sensor information has been collected. After determining whether to execute an action upon receiving sensor information, if the domain controller controls the electrolytic lock and / or electric limit switch to execute the relevant action, it drives the corresponding ambient light to perform the corresponding lighting effect. If the domain controller does not respond, the corresponding ambient light performs a lighting effect where the sensor information is invalid.

[0062] In summary, the door control method of this invention receives an automatic door control request signal sent by a sensing element when the collected sensing information is deemed valid. Upon receiving the automatic door control request signal, the method acquires the vehicle speed, the state of the electrolytic lock, and the state of the electric limit switch. Based on the vehicle speed, it determines whether to respond to the automatic door control request signal. If the method responds, it acquires the state of the automatic door based on the states of the electrolytic lock and the electric limit switch, and then controls the automatic door accordingly. Therefore, the user only needs to trigger the sensing element to control the automatic door, eliminating the need for key unlocking or other actions. The door opening and closing operation is simple and does not require touching the door handle, improving the human-machine interface experience.

[0063] Furthermore, this invention proposes a domain controller.

[0064] In this embodiment of the invention, the domain controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the above-described door control method.

[0065] The domain controller in this embodiment of the invention, by implementing the above-described door control method, can receive an automatic door control request signal sent by a sensing element when the collected sensing information is deemed valid. Upon receiving the automatic door control request signal, it acquires the vehicle speed, the state of the electrolytic lock, and the state of the electric limit switch. Based on the vehicle speed, it determines whether to respond to the automatic door control request signal. If it responds to the automatic door control request signal, it acquires the state of the automatic door based on the states of the electrolytic lock and the electric limit switch, and performs corresponding control on the automatic door based on the state of the automatic door. Therefore, the user only needs to trigger the sensing element to control the automatic door, making the opening and closing operation simple and eliminating the need to touch the door handle, thus improving the human-machine experience.

[0066] Figure 6 This is a schematic diagram of the structure of the door control device according to an embodiment of the present invention.

[0067] like Figure 6 As shown, the door control device 100 is applied to an automatic door and includes: an acquisition module 101 and a control module 102.

[0068] Specifically, the acquisition module 101 is used to acquire the vehicle speed and the status of the automatic door when an automatic door control request signal is received; the control module 102 is used to control the automatic door according to the vehicle speed and the status of the automatic door, so as to realize the opening, closing or hovering of the automatic door.

[0069] In one embodiment of the present invention, the automatic door control request signal is issued by the sensing element when it determines that the collected sensing information is valid.

[0070] In one embodiment of the present invention, the conditions for determining the validity of the sensing information include: Condition 1: the distance between the triggering position of the sensing information and the sensing element is less than a distance threshold, the triggering trajectory of the sensing information is the same as the target action, and the coverage of the triggering area of ​​the sensing information over the preset detection area is greater than a coverage threshold.

[0071] In one embodiment of the present invention, the condition for determining that the sensing information is valid further includes: Condition 2: The duration of Condition 1 is within a preset time range.

[0072] In one embodiment of the present invention, the control module 102 is specifically used to: determine whether the vehicle speed is less than a preset vehicle speed threshold; if so, control the automatic door according to the state of the automatic door.

[0073] In one embodiment of the present invention, the control module 102 is further configured to: determine whether the automatic door is in a fully locked state; if the automatic door is in a fully locked state, obtain the vehicle's logical lock / unlock state; if the vehicle's logical lock / unlock state is a logical unlock state, control the automatic door to open to the target position.

[0074] In one embodiment of the present invention, the control module 102 is further configured to: if the vehicle's logical unlocking state is a logical locking state, then obtain the location information of the vehicle key; if the vehicle key is within the target detection range, then control the automatic door to open to the target position.

[0075] In one embodiment of the present invention, the control module 102 is further configured to: determine whether the automatic door is in an open state if the automatic door is not in a fully locked state; and control the automatic door according to the determination result.

[0076] In one embodiment of the present invention, the control module 102 is further configured to: determine whether the automatic door is in motion if the automatic door is in an open state; and control the automatic door to hover if the automatic door is in motion.

[0077] In one embodiment of the present invention, the control module 102 is further configured to: determine whether the automatic door is in a fully open state if the automatic door is not in motion; and control the automatic door to close if the automatic door is in a fully open state.

[0078] In one embodiment of the present invention, the control module 102 is further configured to: if the automatic door is not in motion and the automatic door is not in a fully open state, determine whether the last movement action of the automatic door was an opening action; if not, control the automatic door to open to the target position, otherwise control the automatic door to close.

[0079] In one embodiment of the present invention, the vehicle is equipped with ambient lighting, and the method further includes: obtaining the execution result of the automatic door's action; determining the illumination mode of the ambient lighting based on the execution result; and controlling the ambient lighting based on the illumination mode.

[0080] In one embodiment of the present invention, the sensing element includes a capacitive switch.

[0081] It should be noted that other specific embodiments of the door control device of the present invention can be found in the door control method described above.

[0082] The door control device of this invention can receive an automatic door control request signal sent by a sensing element when the collected sensing information is deemed valid. Upon receiving the automatic door control request signal, the device acquires the vehicle speed, the state of the electrolytic lock, and the state of the electric limit switch. Based on the vehicle speed, it determines whether to respond to the automatic door control request signal. If it responds to the automatic door control request signal, it acquires the state of the automatic door based on the states of the electrolytic lock and the electric limit switch, and controls the automatic door accordingly. Therefore, the user only needs to trigger the sensing element to control the automatic door, making the opening and closing operation simple and eliminating the need to touch the door handle, thus improving the human-machine experience.

[0083] Furthermore, the present invention proposes a vehicle.

[0084] Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0085] like Figure 7 As shown, the vehicle 1000 includes the aforementioned door control device 100.

[0086] In this embodiment of the invention, the vehicle, through the aforementioned door control device, can receive an automatic door control request signal sent by a sensing element when the collected sensing information is deemed valid. Upon receiving the automatic door control request signal, the device acquires the vehicle speed, the state of the electrolytic lock, and the state of the electric limit switch. Based on the vehicle speed, it determines whether to respond to the automatic door control request signal. If the device responds, it acquires the automatic door state based on the states of the electrolytic lock and the electric limit switch, and then controls the automatic door accordingly. Therefore, the user only needs to trigger the sensing element to control the automatic door, making the opening and closing operation simple and eliminating the need to touch the door handle, thus improving the human-machine experience.

[0087] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein can be considered as a ordered list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0088] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0089] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] In the description of this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and should not be construed as limiting the present invention.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] In this specification, unless otherwise stated, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0094] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A door control method, characterized in that, Applied to automatic car doors, the method includes: Upon receiving an automatic door control request signal, the vehicle speed and the status of the automatic door are obtained. Based on the vehicle speed and the state of the automatic door, the automatic door is controlled to open, close, or hover. The automatic door control request signal is issued by the sensing element when it determines that the collected sensing information is valid; The conditions for determining that the sensing information is valid include: Condition 1: The distance between the trigger position of the sensing information and the sensing element is less than a distance threshold; the trigger trajectory of the sensing information is the same as the target action trajectory; and the coverage of the trigger area of ​​the sensing information over the preset detection area is greater than a coverage threshold. Wherein, the coverage rate is the coverage rate of the area or length of the preset detection area, and the sensing element includes a capacitive switch; The step of controlling the automatic door based on the vehicle speed and the state of the automatic door includes: If the automatic door is not fully locked and is in motion, then control the automatic door to hover.

2. The door control method according to claim 1, characterized in that, The conditions for determining the validity of the sensing information also include: Condition 2: The duration of Condition 1 is within a preset time range.

3. The door control method according to claim 1, characterized in that, The step of controlling the automatic door based on the vehicle speed and the state of the automatic door includes: Determine whether the vehicle speed is less than a preset vehicle speed threshold; If so, the automatic door is controlled according to its state.

4. The door control method according to claim 3, characterized in that, The step of controlling the automatic door according to its state includes: Determine whether the automatic door is in a fully locked state; If the automatic door is in a fully locked state, then obtain the vehicle's logic lock / unlock status; If the vehicle's logical unlocking state is the logical unlocking state, then the automatic door is controlled to open to the target position.

5. The door control method according to claim 4, characterized in that, The method further includes: If the vehicle's logical unlocking state is a logical locking state, then obtain the vehicle key's location information; If the vehicle key is within the target detection range, the automatic door is controlled to open to the target position.

6. The door control method according to claim 3, characterized in that, The step of controlling the automatic door according to its state includes: If the automatic door is not in a fully locked state, then determine whether the automatic door is in an open state; The automatic door is controlled based on the judgment result.

7. The door control method according to claim 6, characterized in that, If the automatic door is in the open state, the method further includes: If the automatic door is not in motion, then determine whether the door is in a fully open state; If the automatic door is in the fully open state, then control the automatic door to close.

8. The door control method according to claim 7, characterized in that, The method further includes: If the automatic door is not in motion and is not fully open, then determine whether the last movement of the automatic door was an opening action. If not, the automatic door is opened to the target position; otherwise, the automatic door is closed.

9. The door control method according to any one of claims 1-8, characterized in that, The vehicle is equipped with ambient lighting, and the method further includes: Obtain the execution result of the automatic door's action; The illumination mode of the ambient light is determined based on the execution result; The ambient light is controlled according to the light emission method.

10. The door control method according to claim 1, characterized in that, The sensing element includes a capacitive switch.

11. A controller, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, it implements the door control method as described in any one of claims 1-10.

12. A vehicle door control device, characterized in that, The device, used in automatic car doors, includes: The acquisition module is used to acquire the vehicle speed and the status of the automatic door when an automatic door control request signal is received; The control module is used to control the automatic door according to the vehicle speed and the state of the automatic door, so as to realize the opening, closing or hovering of the automatic door; The automatic door control request signal is issued by the sensing element when it determines that the collected sensing information is valid; The conditions for determining that the sensing information is valid include: Condition 1: The distance between the trigger position of the sensing information and the sensing element is less than a distance threshold; the trigger trajectory of the sensing information is the same as the target action trajectory; and the coverage of the trigger area of ​​the sensing information over the preset detection area is greater than a coverage threshold. Wherein, the coverage rate is the coverage rate of the area or length of the preset detection area; The control module is specifically used for: If the automatic door is not fully locked and is in motion, then control the automatic door to hover.

13. A vehicle, characterized in that, Includes the door control device as described in claim 12.

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