Vehicle door control method and device, vehicle, readable storage medium

Abstract

This invention provides a vehicle door control method and device, a vehicle, and a readable storage medium. Belonging to the field of vehicle control technology, the vehicle door control method includes: responding to a user's electric control of the vehicle door by acquiring environmental data of the vehicle's current location; the aforementioned environmental data includes ambient temperature, the slope of the vehicle's current location, ambient noise, and the degree of bumpiness at the vehicle's current location; determining the vehicle door opening / closing duration based on the environmental data; wherein the door opening / closing duration is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked; and electrically controlling the door based on the door opening / closing duration. This invention can effectively ensure the safety of people and vehicles and improve user comfort.

Description

Technical Field

[0001] This invention belongs to the field of vehicle control technology, and more specifically, relates to a door control method and device, a vehicle, and a readable storage medium. Background Technology

[0002] With the continuous improvement of living standards, cars have gradually become the preferred mode of transportation. Consequently, people's demands for car convenience are also increasing, leading to the development of electric door systems. Electric door systems allow users to electrically control car doors. However, in the actual use of electric door systems, the inventors of this application have discovered the following problems:

[0003] In existing technologies, the opening and closing time of car doors is basically fixed when they are electrically controlled. That is to say, the time it takes for a car door to go from unlocking to fully opening or from fully opening to locking is basically fixed. However, in some driving scenarios, the aforementioned fixed time is not reasonable and may affect the safety of people and vehicles as well as the comfort of users.

[0004] Therefore, the present invention aims to solve the above problems in order to further ensure the safety of people and vehicles and improve the comfort of users. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle door control method and device, a vehicle, and a readable storage medium to solve the problem of affecting the safety of people and vehicles and the comfort of users caused by the fixed opening and closing time of vehicle doors in the prior art.

[0006] A first aspect of the present invention provides a door control method, comprising:

[0007] In response to the user's trigger operation of the electric control door, the system acquires environmental data of the vehicle's current location; wherein, the environmental data includes ambient temperature, slope of the vehicle's current location, ambient noise, and bumpiness of the vehicle's current location.

[0008] The vehicle door opening and closing time is determined based on the environmental data; wherein the vehicle door opening and closing time is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked.

[0009] The vehicle doors are electrically controlled based on the door opening and closing duration.

[0010] In one possible implementation, determining the vehicle door opening / closing duration based on the environmental data includes:

[0011] Calculate the door opening / closing duration for each environmental data point;

[0012] The door opening and closing time of the vehicle is calculated based on the door opening and closing time corresponding to each environmental data point and the preset weight corresponding to each environmental data point.

[0013] In one possible implementation, the method for calculating the door opening / closing time corresponding to the ambient temperature is as follows:

[0014] Determine whether the ambient temperature falls within a preset temperature range;

[0015] If the ambient temperature is within a preset temperature range, the preset default door opening and closing time will be used as the door opening and closing time corresponding to the ambient temperature.

[0016] If the ambient temperature is not within the preset temperature range, the temperature difference between the ambient temperature and the preset temperature range is calculated, and the door opening / closing time corresponding to the ambient temperature is determined based on the temperature difference.

[0017] In one possible implementation, the slope, the ambient noise, or the degree of bumpiness are all recorded as target environmental data; the method for calculating the door opening / closing time corresponding to the target environmental data is as follows:

[0018] Determine the magnitude of the target environment data and its corresponding preset environment threshold;

[0019] If the target environment data is not greater than its corresponding preset environment threshold, the door opening and closing time corresponding to the target environment data is determined based on the preset linear relationship between the target environment data and the door opening and closing time.

[0020] If the target environment data is greater than its corresponding preset environment threshold, then the preset minimum door opening and closing time will be used as the door opening and closing time corresponding to the target environment data.

[0021] In one possible implementation, calculating the vehicle door opening / closing duration based on the door opening / closing duration corresponding to each environmental data item and a preset weight corresponding to each environmental data item includes:

[0022] The door opening and closing times of the vehicle are obtained by weighting and summing the door opening and closing times corresponding to each environmental data point based on the preset weights of each environmental data point.

[0023] In one possible implementation, determining the vehicle door opening / closing duration based on the environmental data includes:

[0024] The duration of opening and closing the first door of the vehicle is determined based on the slope and the degree of bumpiness.

[0025] The opening and closing time of the first door is finely adjusted based on the ambient temperature and ambient noise to obtain the opening and closing time of the vehicle door.

[0026] In one possible implementation, the electric control of the vehicle doors based on the door opening / closing duration includes:

[0027] The driving force of the first motor is determined based on the duration of the door opening and closing.

[0028] The tilt angle of the vehicle is determined based on the slope.

[0029] The direction of door movement when the electric control door is activated is determined based on the triggering operation of the electric control door.

[0030] The first motor driving force is corrected based on the tilt angle and the direction of movement of the door to obtain the second motor driving force;

[0031] The door is driven by the second motor.

[0032] A second aspect of the present invention provides a vehicle door control device, comprising:

[0033] The data acquisition module is used to acquire environmental data of the vehicle's current location in response to the user's electric control door trigger operation; wherein, the environmental data includes ambient temperature, slope of the vehicle's current location, ambient noise, and bumpiness of the vehicle's current location.

[0034] The duration determination module is used to determine the door opening and closing duration of the vehicle based on the environmental data; wherein, the door opening and closing duration is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked.

[0035] The door control module is used to electrically control the doors of the vehicle based on the duration of the door opening and closing.

[0036] A third aspect of the present invention provides a vehicle, the vehicle including a control terminal, the control terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described door control method.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described door control method.

[0038] The beneficial effects of the door control method and device, vehicle, and readable storage medium provided in the embodiments of the present invention are as follows:

[0039] Unlike existing technologies that use a fixed door opening / closing time, this invention proposes a scheme to determine the door opening / closing time based on environmental data. In other words, the door opening / closing time in this invention is adjustable. The opening / closing time can be calculated based on ambient temperature, the slope of the vehicle's current location, ambient noise, and the degree of bumpiness at the vehicle's current location. Specifically, this invention considers slope and bumpiness, which can solve the problem of vehicle damage and personal safety issues caused by doors not closing promptly when the vehicle is traversing slopes or bumpy roads. It also considers ambient temperature and noise, which can solve the problem of reduced user comfort caused by doors not closing promptly when the ambient temperature is too high / low or the ambient noise is too high. In other words, the solution based on this invention can effectively solve the problems in existing technologies, effectively ensuring the safety of people and vehicles and improving user comfort. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic flowchart of a door control method provided in an embodiment of the present invention;

[0042] Figure 2 This is a structural block diagram of a door control device provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic block diagram of a control terminal provided in an embodiment of the present invention. Detailed Implementation

[0044] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0046] The vehicle described in this invention is equipped with an electric door system, allowing users to electrically control the vehicle doors. Based on this, please refer to... Figure 1 , Figure 1This is a flowchart illustrating a door control method according to an embodiment of the present invention. The method includes:

[0047] S101: In response to the user's electric control of the vehicle door, obtain environmental data of the vehicle's current location.

[0048] In this embodiment, when a user wishes to electrically control the vehicle door, they can trigger the electric control process by pressing the electric button, pulling the door handle, or other feasible methods. Based on this, if the system detects that the user needs to electrically control the door, it acquires environmental data about the vehicle's current location and uses this data to perform subsequent door control.

[0049] In this embodiment, environmental data includes, but is not limited to, ambient temperature, slope of the vehicle's current location, ambient noise, and the degree of bumpiness at the vehicle's current location. Among these, the degree of bumpiness at the vehicle's current location mainly measures the smoothness of the vehicle's movement, which can be characterized by the number of vertical vibrations of the vehicle per unit time.

[0050] S102: Determine the vehicle door opening and closing time based on environmental data. The door opening and closing time is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked.

[0051] In this embodiment, the duration of vehicle door opening and closing can be calculated based on environmental data, thereby adapting the door opening and closing duration to the current environment of the vehicle to avoid potential safety issues for people and vehicles, as well as issues affecting user comfort.

[0052] S103: Electric control of vehicle doors based on door opening and closing time.

[0053] In this embodiment, after determining the door opening and closing time under the current environment, the driving force of the motor driving the door in the electric vehicle system can be determined based on the door opening and closing time under the current environment, and then the automatic control of the door can be realized based on the driving force.

[0054] As described above, unlike existing technologies that use a fixed door opening / closing time, this invention proposes a scheme to determine the door opening / closing time based on environmental data. In other words, the door opening / closing time in this invention is adjustable. In this invention, the door opening / closing time can be calculated based on ambient temperature, the slope of the vehicle's current location, ambient noise, and the degree of bumpiness at the vehicle's current location. Specifically, this invention considers slope and bumpiness, which can solve the problem of vehicle damage and personal safety issues caused by doors not closing promptly when the vehicle passes over slopes or bumpy roads. This invention also considers ambient temperature and ambient noise, which can solve the problem of reduced user comfort caused by doors not closing promptly when the ambient temperature is too high / low or the ambient noise is too loud. In other words, the solution based on this invention can effectively solve the problems in the prior art, effectively ensure the safety of people and vehicles, and improve user comfort.

[0055] In one possible implementation, determining the vehicle door opening and closing duration based on environmental data includes:

[0056] Calculate the door opening and closing time corresponding to each environmental data point.

[0057] The vehicle door opening and closing time is calculated based on the door opening and closing time corresponding to each environmental data point and the preset weight corresponding to each environmental data point.

[0058] In this embodiment, a door opening / closing time can be calculated for each environmental data point, and then the final vehicle door opening / closing time can be calculated based on these individual door opening / closing times. Specifically, the door opening / closing times under the influence of ambient temperature, slope, ambient noise, and bumpiness can be calculated separately. Then, a weighted average of these door opening / closing times is calculated based on preset weights for ambient temperature, slope, ambient noise, and bumpiness to obtain the final vehicle door opening / closing time. In other words, after calculating the door opening / closing time for each environmental data point, the door opening / closing times for each environmental data point can be weighted and summed based on preset weights to obtain the vehicle door opening / closing time.

[0059] In one possible implementation, the method for calculating the door opening / closing time corresponding to the ambient temperature is as follows:

[0060] Determine whether the ambient temperature falls within the preset temperature range.

[0061] If the ambient temperature is within the preset temperature range, the preset default door opening and closing time will be used as the door opening and closing time corresponding to the ambient temperature.

[0062] If the ambient temperature is not within the preset temperature range, the temperature difference between the ambient temperature and the preset temperature range is calculated, and the door opening and closing time corresponding to the ambient temperature is determined based on the temperature difference.

[0063] In this embodiment, the method for calculating the temperature difference between the ambient temperature and the preset temperature range is as follows:

[0064] If the ambient temperature is lower than the minimum temperature within the preset temperature range, the difference between the minimum temperature and the ambient temperature is taken as the temperature difference between the ambient temperature and the preset temperature range. If the ambient temperature is higher than the maximum temperature within the preset temperature range, the difference between the ambient temperature and the maximum temperature is taken as the temperature difference between the ambient temperature and the preset temperature range.

[0065] In this embodiment, the determination of the door opening / closing time corresponding to the ambient temperature based on the temperature difference can be detailed as follows:

[0066] When the temperature difference is not greater than a preset temperature difference threshold, the door opening / closing time corresponding to the ambient temperature is determined based on a preset linear relationship between ambient temperature and door opening / closing time. When the temperature difference is greater than the preset temperature difference threshold, the preset minimum door opening / closing time is used as the door opening / closing time corresponding to the ambient temperature.

[0067] In this embodiment, the method for calculating the door opening and closing time corresponding to the ambient temperature can also be described in detail as follows:

[0068]

[0069] Where t1 is the door opening / closing time corresponding to the ambient temperature, t0 is the preset default door opening / closing time, T is the ambient temperature at the current location of the vehicle, T1 and T2 are both preset temperature values, [T1,T2] represents the preset temperature range, e is the temperature difference between the ambient temperature at the current location of the vehicle and the preset temperature range, t' is the preset adjustment step size corresponding to the ambient temperature, and E is the preset temperature difference threshold. min The preset minimum door opening / closing time, t', can be set to the millisecond level, where t0 - e*t' ≥ t min .

[0070] In one possible implementation, slope, ambient noise, or bumpiness are all recorded as target environmental data. The method for calculating the door opening / closing time corresponding to the target environmental data is as follows:

[0071] Determine the target environment data and its corresponding preset environment threshold.

[0072] If the target environment data is not greater than its corresponding preset environment threshold, the door opening and closing time corresponding to the target environment data is determined based on the preset linear relationship between the target environment data and the door opening and closing time.

[0073] If the target environment data is greater than its corresponding preset environment threshold, then the preset minimum door opening and closing time will be used as the door opening and closing time corresponding to the target environment data.

[0074] In this embodiment, the calculation methods for the door opening and closing time corresponding to the slope, the door opening and closing time corresponding to the ambient noise, and the door opening and closing time corresponding to the degree of bumpiness are the same. It should be noted that the direction of the slope is not distinguished when calculating the door opening and closing time corresponding to the slope. That is to say, whether it is uphill or downhill, the door opening and closing time is the same when the slope is the same.

[0075] In this embodiment, the method for calculating the door opening and closing time corresponding to the target environment data can also be described in detail as follows:

[0076]

[0077] Where t2 is the door opening / closing duration corresponding to the target environmental data, t0 is the preset default door opening / closing duration, s is the target environmental data, t” is the preset adjustment step size corresponding to the target environmental data, S is the preset temperature difference threshold, and t min The preset minimum door opening / closing time, t”, can be set to the millisecond level, where s*t”≥t min .

[0078] In one possible implementation, the duration of vehicle door opening and closing is determined based on environmental data, including:

[0079] The duration of opening and closing the vehicle's first door is determined based on the slope and the degree of bumpiness.

[0080] The opening and closing time of the first door is finely adjusted based on ambient temperature and ambient noise to obtain the vehicle door opening and closing time.

[0081] In this embodiment, the slope and bumpiness are mainly considered for the safety of people and vehicles, while the ambient temperature and ambient noise are mainly considered for the comfort of users. Therefore, the door opening and closing time can be determined based on the principle of prioritizing the safety of people and vehicles and secondarily considering the comfort of users.

[0082] In this embodiment, the duration of opening and closing the vehicle's first door is determined based on the slope and the degree of bumpiness, which can be described in detail as follows:

[0083] The opening and closing time of the first door is determined directly based on the pre-defined mapping relationship between slope, bumpiness, and door opening and closing time.

[0084] Alternatively, the road condition index of the vehicle's location can be calculated based on the slope and the degree of bumpiness. This road condition index describes the current road conditions. The preset default door opening and closing time can then be adjusted based on the calculated road condition index to obtain the first door opening and closing time.

[0085] The road condition index is positively correlated with gradient and bumpiness; the greater the gradient and the greater the bumpiness, the higher the road condition index. The first door opening / closing time is negatively correlated with the road condition index; the higher the road condition index, the shorter the first door opening / closing time. Based on this, the road condition index can be calculated using existing methods such as establishing linear relationships and employing statistical methods (normal distribution, percentile method), which will not be elaborated upon here.

[0086] In this embodiment, after determining the opening and closing duration of the first door, the opening and closing duration of the first door can be fine-tuned based on ambient temperature and ambient noise to obtain the final door opening and closing duration of the vehicle. The specific method for fine-tuning one parameter to another can be found in existing technologies and will not be elaborated here.

[0087] The improvement of this invention is that, firstly, the opening and closing time of the vehicle's first door is calculated using the slope and the degree of bumps to ensure the safety of people and vehicles. On this basis, the user's comfort is also taken into consideration, and the opening and closing time of the first door is finely adjusted using ambient temperature and ambient noise, thereby more reasonably determining the opening and closing time of the vehicle's doors.

[0088] In one possible implementation, the vehicle doors are electrically controlled based on the duration of door opening and closing, including:

[0089] The driving force of the first motor is determined based on the duration of the door opening and closing.

[0090] The vehicle's tilt angle is determined based on the slope.

[0091] The direction of door movement when the electric control door is activated is determined based on the triggering operation of the electric control door.

[0092] The driving force of the first motor is corrected based on the tilt angle and the direction of door movement to obtain the driving force of the second motor.

[0093] The car door is driven by the force of a second motor.

[0094] In this embodiment, the first motor driving force is first determined based on the door opening and closing time. The first motor driving force is essentially the driving force required for the vehicle to achieve the door opening and closing time when the vehicle is on a flat slope (slope of 0).

[0095] Based on this, considering the force conditions of the vehicle on a slope (the driving force required to achieve the same door opening and closing time is different on a slope compared to a flat slope; the driving force required to open and close the same door on a slope will differ; and the driving force required for different doors on a slope may also differ), this invention also determines the vehicle's tilt angle based on the slope of the vehicle's location and determines the door's movement direction when the electric door is controlled based on the trigger operation. Furthermore, the first motor driving force can be corrected based on this tilt angle and the door's movement direction to obtain the final motor driving force, i.e., the second motor driving force, thereby controlling the door's movement based on the second motor driving force. The solution based on this invention can achieve more accurate drive control, improving user experience while ensuring vehicle and pedestrian safety.

[0096] The process of determining the direction of door movement when the electric door is electrically controlled, based on the triggering operation, can be detailed as follows: The triggering operation generates a control signal. From this signal, the door to be controlled and its type (open or close) can be determined. Based on this, the final direction of door movement when the door is electrically controlled can be determined. Furthermore, the correction of the first motor's driving force based on the tilt angle and the door's direction of movement can be achieved through physical force analysis, which will not be elaborated upon here.

[0097] Corresponding to the door control method in the above embodiment, Figure 2 This is a structural block diagram of a vehicle door control device according to an embodiment of the present invention. For ease of explanation, only the parts relevant to the embodiment of the present invention are shown. (See references) Figure 2 The door control device 20 includes: a data acquisition module 21, a duration determination module 22, and a door control module 23.

[0098] The data acquisition module 21 is used to acquire environmental data of the vehicle's current location in response to the user's electric control of the vehicle door. This environmental data includes ambient temperature, the slope of the vehicle's current location, ambient noise, and the degree of bumpiness at the vehicle's current location.

[0099] The duration determination module 22 is used to determine the vehicle door opening and closing duration based on environmental data. The door opening and closing duration is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked.

[0100] The door control module 23 is used to electrically control the vehicle doors based on the duration of door opening and closing.

[0101] In one possible implementation, the duration determination module 22 is specifically used for:

[0102] Calculate the door opening and closing time corresponding to each environmental data point.

[0103] The vehicle door opening and closing time is calculated based on the door opening and closing time corresponding to each environmental data point and the preset weight corresponding to each environmental data point.

[0104] In one possible implementation, the duration determination module 22 is specifically used for:

[0105] Determine whether the ambient temperature falls within the preset temperature range.

[0106] If the ambient temperature is within the preset temperature range, the preset default door opening and closing time will be used as the door opening and closing time corresponding to the ambient temperature.

[0107] If the ambient temperature is not within the preset temperature range, the temperature difference between the ambient temperature and the preset temperature range is calculated, and the door opening and closing time corresponding to the ambient temperature is determined based on the temperature difference.

[0108] In one possible implementation, slope, ambient noise, or bumpiness are all recorded as target environmental data. Based on this, the duration determination module 22 is specifically used for:

[0109] Obtain the preset linear relationship corresponding to the target environment data, wherein the preset linear relationship corresponding to the target environment data is the linear relationship between the target environment data and the door opening and closing time.

[0110] The door opening / closing duration corresponding to the target environment data is determined based on a preset linear relationship.

[0111] In one possible implementation, the duration determination module 22 is specifically used for:

[0112] The door opening and closing times of the vehicle are obtained by weighting and summing the door opening and closing times corresponding to each environmental data point based on the preset weights.

[0113] In one possible implementation, the duration determination module 22 is specifically used for:

[0114] The duration of opening and closing the vehicle's first door is determined based on the slope and the degree of bumpiness.

[0115] The opening and closing time of the first door is finely adjusted based on ambient temperature and ambient noise to obtain the vehicle door opening and closing time.

[0116] In one possible implementation, the door control module 23 is specifically used for:

[0117] The driving force of the first motor is determined based on the duration of the door opening and closing.

[0118] The vehicle's tilt angle is determined based on the slope.

[0119] The direction of door movement when the electric control door is activated is determined based on the triggering operation of the electric control door.

[0120] The driving force of the first motor is corrected based on the tilt angle and the direction of door movement to obtain the driving force of the second motor.

[0121] The car door is driven by the force of a second motor.

[0122] This invention also provides a vehicle, which includes a control terminal, see below. Figure 3 , Figure 3 This is a schematic block diagram of a control terminal provided in an embodiment of the present invention. Figure 3 The terminal 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules / units in the above-described device embodiments, such as... Figure 2 The functions of modules 21 to 23 are shown.

[0123] It should be understood that, in this embodiment of the invention, the processor 301 may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0124] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0125] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store device type information.

[0126] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of the present invention can execute the implementation methods described in the first and second embodiments of the door control method provided in the embodiments of the present invention, or they can execute the implementation methods of the terminal described in the embodiments of the present invention, which will not be repeated here.

[0127] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. The computer program can also instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0128] The computer-readable storage medium can be an internal storage unit of the terminal in any of the foregoing embodiments, such as the terminal's hard disk or memory. The computer-readable storage medium can also be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the terminal. The computer-readable storage medium is used to store computer programs and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0129] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0130] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the terminals and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed terminals and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or units, or it may be an electrical, mechanical, or other form of connection.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0133] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0134] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle door control method characterized by, include: In response to the user's trigger operation of the electric control door, the system acquires environmental data of the vehicle's current location; wherein, the environmental data includes ambient temperature, slope of the vehicle's current location, ambient noise, and bumpiness of the vehicle's current location. The vehicle door opening and closing time is determined based on the environmental data; wherein the vehicle door opening and closing time is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked. The vehicle doors are electrically controlled based on the door opening and closing duration.

2. The vehicle door control method according to claim 1, characterized by, The step of determining the vehicle door opening / closing duration based on the environmental data includes: Calculate the door opening / closing duration for each environmental data point; The door opening and closing time of the vehicle is calculated based on the door opening and closing time corresponding to each environmental data point and the preset weight corresponding to each environmental data point.

3. The vehicle door control method according to claim 2, characterized by, The method for calculating the door opening and closing time corresponding to the ambient temperature is as follows: Determine whether the ambient temperature falls within a preset temperature range; If the ambient temperature is within a preset temperature range, the preset default door opening and closing time will be used as the door opening and closing time corresponding to the ambient temperature. If the ambient temperature is not within the preset temperature range, the temperature difference between the ambient temperature and the preset temperature range is calculated, and the door opening / closing time corresponding to the ambient temperature is determined based on the temperature difference.

4. The vehicle door control method according to claim 2, characterized by, The slope, the ambient noise, and the degree of bumpiness are all recorded as target environmental data; the method for calculating the door opening and closing time corresponding to the target environmental data is as follows: Determine the magnitude of the target environment data and its corresponding preset environment threshold; If the target environment data is not greater than its corresponding preset environment threshold, the door opening and closing time corresponding to the target environment data is determined based on the preset linear relationship between the target environment data and the door opening and closing time. If the target environment data is greater than its corresponding preset environment threshold, then the preset minimum door opening and closing time will be used as the door opening and closing time corresponding to the target environment data.

5. The vehicle door control method according to claim 2, characterized by, The calculation of the vehicle door opening / closing duration based on the door opening / closing duration corresponding to each environmental data point and the preset weight corresponding to each environmental data point includes: The door opening and closing times of the vehicle are obtained by weighting and summing the door opening and closing times corresponding to each environmental data point based on the preset weights of each environmental data point.

6. The vehicle door control method according to claim 1, characterized by, The step of determining the vehicle door opening / closing duration based on the environmental data includes: The duration of opening and closing the first door of the vehicle is determined based on the slope and the degree of bumpiness. The opening and closing time of the first door is finely adjusted based on the ambient temperature and ambient noise to obtain the opening and closing time of the vehicle door.

7. The door control method according to any one of claims 1 to 6, characterized in that, The method of electrically controlling the vehicle doors based on the door opening and closing duration includes: The driving force of the first motor is determined based on the duration of the door opening and closing. The tilt angle of the vehicle is determined based on the slope. The direction of door movement when the electric control door is activated is determined based on the triggering operation of the electric control door. The first motor driving force is corrected based on the tilt angle and the direction of movement of the door to obtain the second motor driving force; The door is driven by the second motor.

8. A vehicle door control device characterized by comprising: include: The data acquisition module is used to acquire environmental data of the vehicle's current location in response to the user's electric control of the vehicle door; wherein, the environmental data includes ambient temperature, slope of the vehicle's current location, ambient noise, and bumpiness of the vehicle's current location. The duration determination module is used to determine the door opening and closing duration of the vehicle based on the environmental data; wherein, the door opening and closing duration is the time required for the door to go from unlocked to fully open, or the time required for the door to go from fully open to locked. The door control module is used to electrically control the doors of the vehicle based on the duration of the door opening and closing.

9. A vehicle characterized by comprising: include: Control terminal; The control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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