Intelligent control method, system and storage medium for opening vehicle door

Abstract

The present invention provides an intelligent control method, system, and computer-readable storage medium for opening a vehicle door, relating to the fields of autonomous driving and the automotive industry. The method comprises utilizing at least one sensing device to acquire sensing data of at least one monitored object within a predetermined distance from the vehicle door; when the vehicle door is in a first open state, a detection device receives the sensing data; based on the sensing data, the detection device determines the movement speed and distance of each of the at least one monitored object within the predetermined distance from the vehicle door relative to the vehicle door, and obtains a first collision risk level based on the maximum value Vmax of the movement speed and the distance; and based on the first collision risk level, determines the second open state of the vehicle door. The present invention can improve safety when the vehicle door is opened. The present invention also discloses an intelligent control system and a computer-readable storage medium for opening the vehicle door.

Description

Technical Field

[0001] The present invention relates to the fields of autonomous driving and the automotive industry, and in particular to an intelligent control method, system, and storage medium for opening a vehicle door. Background Art

[0002] Cars have become a convenient means of transportation in contemporary society and have entered people's daily lives. In addition to smooth opening and upward opening, most existing car doors rotate along the axis of the car door. They are simple mechanical structures without any limiting devices. This type of car door without any limiting devices is very easy to open and close, making it convenient for people to get on and off the car. However, while making it convenient for people to travel, it also causes irreparable harm to some people, especially the "open door killing". "Open door killing" refers to the harm caused to passing pedestrians or cyclists due to the opening of the car door when the vehicle is temporarily stopped. Because cyclists not only have speed but are also close to the driving lane, they are very likely to be hit by the car door into the driving lane, which in turn puts them at risk of health risks or even life threats.

[0003] Controlling the tiered opening of vehicle doors is a key approach to preventing injuries to cyclists. If a limit switch could be added to the existing door mechanical structure, creating a two- or multi-stage door opening mechanism, this could prevent accidental injuries to cyclists while preserving mobility. However, existing door structures often fail to implement tiered door opening. Therefore, designing an intelligent door opening control method and system is crucial. Summary of the Invention

[0004] The present invention provides an intelligent control method and system for opening a vehicle door, and a computer-readable storage medium, for improving the safety of the vehicle door when it is opened.

[0005] In a first aspect, an intelligent control method for opening a vehicle door is provided, the method comprising: utilizing at least one sensing device to obtain sensing data of at least one monitored object within a predetermined distance of the vehicle door; when the vehicle door is in a first opening state, a detection device receives the sensing data, wherein the first opening state is that the edge of the vehicle door is opened with the door axis as the center and the arc length is only the thickness of the vehicle door; based on the sensing data, the detection device determines the moving speed and distance of at least one monitored object within the predetermined distance of the vehicle door relative to the vehicle door, and obtains a first collision risk level based on the maximum value Vmax of the moving speed and the distance; based on the first collision risk level, determines a second opening state of the vehicle door; wherein, when the second opening state changes with the change of the collision risk level, the detection device needs to obtain the maximum value Vmax of the moving speed and the distance again to obtain a second collision risk level.

[0006] Optionally, when the second collision risk level is higher than the first collision risk level, the second opening state of the vehicle door is controlled to be smaller than the first opening state; or, when the second collision risk level is lower than the first collision risk level, the second opening state of the vehicle door is controlled to be larger than the first opening state.

[0007] Optionally, at least one sensing device is used to obtain sensing data of at least one monitored object within a predetermined distance from the vehicle door, including: starting the at least one sensing device to enter a scanning state; and using the at least one sensing device to scan at least one monitored object within the predetermined distance from the vehicle door and moving toward the vehicle door.

[0008] Optionally, starting the at least one sensing device to enter the scanning state includes at least one of the following: a state change of the limit switch of the vehicle door; a combined trigger of a state change of the door-control switch of the vehicle door and a state change of the limit switch; after the door-control switch state changes, a delayed triggering of the limit switch change; or a combined triggering of a state change of the door-control switch of the vehicle door and a delayed triggering of the limit switch change.

[0009] Optionally, the at least one monitored object includes: a moving vehicle, pedestrian or obstacle that is within a predetermined distance from the vehicle door and moves toward the vehicle door.

[0010] Optionally, the detection device determines the moving speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, including: if the moving speed and distance of the at least one monitored object relative to the vehicle door do not change within two adjacent time intervals δt of the detection device, then it is considered that the at least one monitored object is a static target and there is no collision risk; or, if the moving speed and distance of the at least one monitored object relative to the vehicle door change within two adjacent time intervals δt of the detection device, then it is considered that the at least one monitored object is a moving target, and the time of arrival at the vehicle door is predicted based on the moving speed and distance relative to the vehicle door of the two scans and the two adjacent time intervals δt.

[0011] In a second aspect, an intelligent control system for opening a vehicle door based on any of the above-mentioned intelligent control methods for opening a vehicle door is provided, the system comprising: a sensing device for obtaining sensing data of at least one monitored object within a predetermined distance of the vehicle door; a detection device for receiving the sensing data when the vehicle door is in a first opening state, wherein the first opening state is that the edge of the vehicle door is opened with the door axis as the center and the arc length of only the thickness of the vehicle door is opened; based on the sensing data, the moving speed and distance of at least one monitored object within the predetermined distance of the vehicle door relative to the vehicle door are judged, and a first collision risk level is obtained based on the maximum value Vmax of the moving speed and the distance; based on the first collision risk level, a second opening state of the vehicle door is determined; wherein, when the second opening state changes with the change of the collision risk level, the detection device needs to obtain the maximum value Vmax of the moving speed and the distance again to obtain the second collision risk level; a limiting device for controlling the vehicle door to be in the first opening state or the second opening state.

[0012] In a third aspect, a computer-readable storage medium is provided, characterized in that a program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the above-mentioned intelligent control method for opening a vehicle door.

[0013] The beneficial effects brought about by the method and system provided by the present invention include at least:

[0014] 1) The method and system described in this invention can directly prevent personal injury and indirectly reduce economic losses. By using the first and second opening states of the vehicle door, the present invention allows for rapid door opening when no moving objects are present, while also enabling graded control of door opening when moving objects are present, protecting cyclists and others from injury.

[0015] 2) The method and system of the present invention have little reliance on existing functions or structures, are highly compatible, and are easy to implement. On one hand, the present invention adds a door stopper, eliminating the need to redesign the door structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a flow chart of an intelligent control method for opening a vehicle door provided by an embodiment of the present invention;

[0018] Figure 2This is a block diagram of an intelligent control system for opening a vehicle door provided by an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the structure of an intelligent control device for opening a vehicle door provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] In a first aspect, an embodiment of the present invention provides an intelligent control method for opening a vehicle door, such as Figure 1 As shown, the method includes: using at least one sensing device to obtain sensing data of at least one monitored object within a predetermined distance of the vehicle door; when the vehicle door is in a first open state, the detection device receives the sensing data, wherein the first open state is that the edge of the vehicle door is opened with the door axis as the center and the arc length is only the thickness of the vehicle door; based on the sensing data, the detection device determines the moving speed and distance of at least one monitored object within the predetermined distance of the vehicle door relative to the vehicle door, and obtains a first collision risk level based on the maximum value Vmax of the moving speed and the distance; based on the first collision risk level, determines the second open state of the vehicle door; wherein, when the second open state changes with the change of the collision risk level, the detection device needs to obtain the maximum value Vmax of the moving speed and the distance again to obtain a second collision risk level.

[0022] An intelligent control method for opening a vehicle door according to an embodiment of the present invention is described in detail below.

[0023] The goal of the embodiments of the present invention is to control the door opening amplitude and time to prevent the door from accidentally hitting a rider, a vehicle, or an obstacle when it opens.

[0024] To achieve this goal, an embodiment of the present invention provides an intelligent control method for opening a vehicle door, the method comprising:

[0025] S101. Acquire sensing data of at least one monitored object within a predetermined distance from the vehicle door, that is, acquire sensing data of at least one monitored object within a predetermined distance from the vehicle door using at least one sensing device.

[0026] In some embodiments, the sensing device may be a radar, an infrared sensor, etc. Using at least one sensing device to obtain sensing data of at least one monitoring object within a predetermined distance from the vehicle door may include: starting the at least one sensing device to enter a scanning state; using the at least one sensing device to scan at least one monitoring object within a predetermined distance from the vehicle door and moving toward the vehicle door. Starting the at least one sensing device to enter a scanning state may include at least one of the following: (1) a state change of the limit switch of the vehicle door; (2) a combined triggering of a state change of the door control switch of the vehicle door and a state change of the limit switch; (3) a delayed triggering of the limit switch change after the door control switch state changes; or (4) a combined triggering of a state change of the door control switch of the vehicle door and a delayed triggering of the limit switch change.

[0027] In some embodiments, the detection device determines the moving speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, including: if the moving speed and distance of the at least one monitored object relative to the vehicle door do not change within two adjacent time intervals δt of the detection device, then it is considered that the at least one monitored object is a static target and there is no collision risk; or, if the moving speed and distance of the at least one monitored object relative to the vehicle door change within two adjacent time intervals δt of the detection device, then it is considered that the at least one monitored object is a moving target, and the time of arrival at the vehicle door is predicted based on the moving speed and distance relative to the vehicle door of the two scans and the two adjacent time intervals δt.

[0028] Vehicle doors can have a staged opening structure, allowing for two or more stages of opening. Door limit switches control whether each stage of opening is permitted. These limit switches should have at least two stages: the first stage restricts the first stage of opening, while the second stage restricts the second or subsequent stages. The first stage of opening should be as small as possible, for example, only the thickness of the door itself.

[0029] The purpose of this step is to give people who are about to get off the car a reaction time. At the same time, if the scanning device is integrated into the inside of the car door, this amplitude makes it easier for the scanning device to scan a certain range of space in front and behind the car.

[0030] S102. When the vehicle door is in a first open state, the detection device receives the sensing data, that is, when the vehicle door is in a first open state, the detection device receives the sensing data, wherein the first open state is that the edge of the vehicle door is opened with the door axis as the center and the arc length is only the thickness of the vehicle door.

[0031] In some embodiments, a false-collision control terminal (including a detection device) can be configured to monitor changes in the state of the first-stage door limit switch in real time. Upon detecting a change in the state of the first-stage door limit switch, a scanning device is immediately activated to scan for moving targets within a certain range in front of and behind the vehicle. The scanning device can employ radar-based scanning or visual perception-based scanning, and can be located within the door panels or in the left and right rearview mirrors. There are no specific requirements, as long as it can cover a certain range in front of and behind the vehicle and meet the scanning function requirements.

[0032] The at least one monitoring object includes: a moving vehicle, a pedestrian or an obstacle that is within a predetermined distance from the vehicle door and moves toward the vehicle door.

[0033] The purpose of this step is to enable the accidental collision control terminal to drive the scanning device to scan the moving targets within a certain range in front and behind the vehicle through a certain triggering method, and receive the data returned by the scanning device.

[0034] S103. Obtain a first collision risk level based on the maximum value Vmax of the moving speed and the distance. That is, based on the sensing data, the detection device determines the moving speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, and obtains the first collision risk level based on the maximum value Vmax of the moving speed and the distance.

[0035] The false collision control terminal runs the target detection and speed judgment algorithm based on the scanning results of the scanning device at every two adjacent times to obtain all moving targets and the time when they arrive at the vehicle door.

[0036] The target detection and speed judgment algorithm is as follows:

[0037] (1) If the scanning results of the scanning device do not change between two adjacent times, it is considered that the targets within the current range are all static targets;

[0038] (2) If the scanning results of the scanning device change between two adjacent times, it is considered that there is a moving target within the current range, and the moving speed and the time required to reach the door are calculated based on the difference between the two scanning results and the interval time.

[0039] Since weather phenomena such as wind can cause changes in the scanning results of some static objects at adjacent times, in order to avoid such interference, filtering methods such as delay filtering can be used in combination when using algorithms for moving target detection.

[0040] The purpose of this step is that the false collision control terminal uses the target detection and speed judgment algorithm to detect the moving targets within a certain range and the time when each moving target arrives at the door based on the results returned by the scanning device.

[0041] S104. Determine a second opening state of the vehicle door based on the first collision risk level, that is, determine the second opening state of the vehicle door based on the first collision risk level; wherein, when the second opening state changes with the change of the collision risk level, the detection device needs to obtain the maximum value Vmax of the moving speed and the distance again to obtain the second collision risk level.

[0042] The safety time threshold is the time within which the door can be opened without striking a moving object. The selection of the safety time threshold is directly related to the scanning range of the scanning device. This threshold can be calculated once the scanning range is determined. The specific calculation method is determined by the ratio of the scanning range to the maximum speed of the vehicle to be protected. This threshold can be manually set by the vehicle user as needed.

[0043] If the time taken by any moving target to reach the target is less than the safety time threshold, the accidental collision control terminal will impose a limit constraint on the second-level door limit switch; conversely, the accidental collision control terminal may not impose a constraint on the second-level door limit switch and smoothly transition to the second stage of door opening drive.

[0044] The purpose of this step is for the accidental touch control terminal to determine the second-level opening amplitude and time of the door based on the results output by the algorithm.

[0045] In some embodiments, the intelligent control method for opening the vehicle door may also include: when the second collision risk level is higher than the first collision risk level, controlling the second opening state of the vehicle door to be smaller than the first opening state; or, when the second collision risk level is lower than the first collision risk level, controlling the second opening state of the vehicle door to be larger than the first opening state.

[0046] Through the above steps, the embodiment of the present invention can achieve the goal of controlling the opening amplitude and time of the door to prevent the door from accidentally hitting the rider when it opens.

[0047] In a second aspect, an embodiment of the present invention further provides an intelligent control system for opening a vehicle door, such as Figure 2 As shown, the system includes:

[0048] A sensing device 210 is configured to obtain sensing data of at least one monitoring object within a predetermined distance from the vehicle door;

[0049] Detection device 220 is configured to receive sensing data when the vehicle door is in a first open state, wherein the first open state is when the edge of the vehicle door is open by an arc length equal to the thickness of the vehicle door, centered around the door axis; determine, based on the sensing data, the movement speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, and obtain a first collision risk level based on the maximum value Vmax of the movement speed and the distance; determine a second open state of the vehicle door based on the first collision risk level; wherein, when the second open state changes with changes in the collision risk level, the detection device needs to again obtain the maximum value Vmax of the movement speed and the distance to obtain a second collision risk level;

[0050] The limiting device 230 is used to control the vehicle door to be in the first open state or the second open state.

[0051] In some embodiments, when the second collision risk level is higher than the first collision risk level, the limiting device 230 controls the second opening state of the vehicle door to be smaller than the first opening state; or, when the second collision risk level is lower than the first collision risk level, the limiting device 230 controls the second opening state of the vehicle door to be larger than the first opening state.

[0052] In some embodiments, the sensing device 210 is further used to scan at least one monitoring object that is within a predetermined distance from the vehicle door and moves toward the vehicle door.

[0053] The present invention also discloses a computer-readable storage medium, characterized in that the computer-readable storage medium stores program code, which can be called by a processor to execute the above-mentioned intelligent control method for opening a vehicle door. It should also be understood that the memory in the embodiments of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0054] Figure 3 FIG. 3 is a schematic diagram of a structure of an intelligent control device 300 for opening a vehicle door provided by an embodiment of the present invention. Figure 3 As shown, the intelligent control device 300 for opening the door may include the above Figure 2 Optionally, the intelligent control device 300 for opening a vehicle door may include a first processor 2001 .

[0055] Optionally, the intelligent control device 300 for opening a vehicle door may further include a memory 2002 and a transceiver 2003 .

[0056] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0057] The following combination Figure 3The components of the intelligent control device 300 for opening the vehicle door are described in detail:

[0058] The first processor 2001 is the control center of the intelligent door opening control device 300 and can be a single processor or a collective term for multiple processing elements. For example, the first processor 2001 can be one or more central processing units (CPUs), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0059] Optionally, the first processor 2001 can execute various functions of the intelligent control device 300 for opening the vehicle door by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002.

[0060] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Figure 3 CPU0 and CPU1 are shown in FIG.

[0061] In a specific implementation, as an embodiment, the intelligent control device 300 for opening the door may also include multiple processors, such as Figure 3 1 and 2. The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0062] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled by the first processor 2001 for execution. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0063] The above embodiments can be implemented in whole or in part via software, hardware (e.g., circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired means (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0064] It is readily understood that, since the system provided in the above-described device embodiment is a system capable of implementing the method for preventing a vehicle door from accidentally opening and striking a cyclist as described in the embodiments of the present invention, those skilled in the art will be able to understand the specific implementation and various variations of the system provided in this embodiment based on the method for preventing a vehicle door from accidentally opening and striking a cyclist as described in the embodiments of the present invention. Any system implemented by those skilled in the art using the method for preventing a vehicle door from accidentally opening and striking a cyclist as described in the embodiments of the present invention falls within the scope of protection of this application.

[0065] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0066] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.

[0067] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed herein may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0068] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments. For example, in the claims below, any of the claimed embodiments may be used in any combination.

[0069] It should be noted that the above embodiments illustrate rather than limit the invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0070] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may modify the technical solutions described in the aforementioned embodiments or substitute equivalent features for some of the technical features therein. Such modifications or substitutions do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent control method for opening a vehicle door, characterized in that: The method comprises: acquiring sensing data of at least one monitored object within a predetermined distance from the vehicle door using at least one sensing device; When the vehicle door is in a first open state, the detection device receives the sensing data, wherein the first open state is that the edge of the vehicle door is opened with the door axis as the center by an arc length of only the thickness of the vehicle door; Based on the sensing data, the detection device determines the movement speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, and determines a first collision risk level based on the maximum value Vmax of the movement speed and the distance; According to the first collision risk level, determining the second opening state of the vehicle door; wherein, When the second on state changes with the change of the collision risk level, the detection device needs to obtain the maximum value Vmax of the moving speed and the distance again to obtain the second collision risk level; When the second collision risk level is higher than the first collision risk level, controlling the second opening state of the vehicle door to be smaller than the first opening state; or When the second collision risk level is lower than the first collision risk level, the second opening state of the vehicle door is controlled to be greater than the first opening state.

2. The intelligent control method for opening a vehicle door according to claim 1, characterized in that: Acquiring sensing data of at least one monitoring object within a predetermined distance from the vehicle door using at least one sensing device includes: Activating the at least one sensing device to enter a scanning state; The at least one sensing device is used to scan at least one monitoring object that is within a predetermined distance from the vehicle door and moves toward the vehicle door.

3. The intelligent control method for opening a vehicle door according to claim 2, characterized in that: Starting the at least one sensing device to enter a scanning state includes at least one of the following: a change in the state of the door limit switch; The combination of the door control switch state change and the limit switch state change triggers; After the door control switch state of the vehicle door changes, the limit switch is triggered to change with a delay; or, The combination of the door control switch state change and the delayed triggering of the limit switch change is triggered.

4. The intelligent control method for opening a vehicle door according to claim 2, characterized in that: The at least one monitoring object includes: A moving vehicle or pedestrian that is within a predetermined distance from the vehicle door and moves toward the vehicle door.

5. The intelligent control method for opening a vehicle door according to claim 1, characterized in that: The detection device determines the moving speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, including: If the detection device detects no change in the moving speed and distance of the at least one monitored object relative to the vehicle door within two adjacent time intervals δt, it is considered that the at least one monitored object is a static target and there is no collision risk; or If the detection device changes the moving speed and distance of the at least one monitored object relative to the vehicle door within two adjacent time intervals δt, the at least one monitored object is considered to be a moving target, and the estimated time of arrival at the vehicle door is calculated based on the moving speed and distance relative to the vehicle door during the two scans and the two adjacent time intervals δt.

6. An intelligent control system for opening a vehicle door based on the intelligent control method for opening a vehicle door according to any one of claims 1 to 5, characterized in that: The system comprises: a sensing device for acquiring sensing data of at least one monitoring object within a predetermined distance from the vehicle door; a detection device configured to receive sensing data when the vehicle door is in a first open state, wherein the first open state is when the edge of the vehicle door is open by an arc length equal to the thickness of the vehicle door, centered around the door axis; determine, based on the sensing data, the moving speed and distance of at least one monitored object within a predetermined distance from the vehicle door relative to the vehicle door, and obtain a first collision risk level based on a maximum value Vmax of the moving speed and the distance; and determine a second open state of the vehicle door based on the first collision risk level; wherein, when the second open state changes with changes in the collision risk level, the detection device needs to again obtain the maximum value Vmax of the moving speed and the distance to obtain a second collision risk level; The limiting device is used to control the vehicle door to be in a first open state or a second open state.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code can be called by a processor to execute the intelligent control method for opening a vehicle door as described in any one of claims 1 to 5.

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