Door opening control methods, systems and storage media

Abstract

This invention discloses a method, system, and storage medium for controlling the opening of a vehicle door. The method includes: determining the shortest distance to obstacles during the door opening process using ultrasonic radars located on the upper and lower outer sides of the door; calculating the maximum swing angle and the maximum scissor angle based on the shortest distance fed back by the radar; comparing the opening angles corresponding to the two door opening methods; and providing feedback on the most suitable door opening method and opening angle; and controlling the door to complete the movement based on the feedback information. This application alleviates the problem that existing semi-automatic door opening methods cannot adaptively avoid obstacles outside the door, resulting in insufficient convenience and flexibility of existing semi-automatic door opening methods.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a method and device for controlling the opening of a vehicle door. Background Technology

[0002] Automation control technology is widely used in various industries due to its convenience. For example, electric doors in the automotive industry require manual selection of the opening method and are semi-automatic control doors under human triggering.

[0003] With the continuous improvement of automation control technology, the automotive industry has increasingly higher requirements for semi-automatic car doors. For example, the patent document CN206859969U, published on January 9, 2018, entitled "A Voice-Controlled Automatic Car Door System," discloses a voice-controlled automatic car door system, including an in-vehicle device and a portable device. The in-vehicle device includes a control box, a drive servo, an arc-shaped drive rod, and a support. The portable device includes a microprocessor, a microphone, a memory, and a main Bluetooth module. The control box contains a main controller, a slave Bluetooth module, and a servo drive circuit. The control box is installed on the inside of the car body, and the support is installed on the inside of the car door. This voice-controlled automatic car door system utilizes wireless communication between the main Bluetooth module and the slave Bluetooth module, allowing the user to open the door with their voice only when they are near the car. This effectively prevents accidental operation and enhances safety. The microphone acquires the user's audio signal and compares it with pre-stored user audio in the memory. If the similarity exceeds a set threshold, it is determined to be the user's voice, thus realizing the user's audio control.

[0004] Similar door control systems require user intervention and are considered semi-automatic door opening systems. However, such semi-automatic doors cannot select the opening method based on the surrounding environment, lacking convenience and flexibility, which to some extent affects the user experience. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to realize a clever opening method and related device for car doors, so as to alleviate the problem that the existing semi-automatic car door opening method cannot adaptively avoid obstacles outside the car door, resulting in insufficient convenience and flexibility and poor user experience of the existing semi-automatic car door.

[0006] To achieve the above objectives, the technical solution adopted by this invention is: a door opening control method:

[0007] Step 1: Receive the door opening command or meet the door opening conditions;

[0008] Step 2: Obtain environmental information outside the car door that is about to be opened, and find the shortest distance to obstacles in the area outside the car door and the area outside the scissor door.

[0009] Step 3: Calculate the maximum opening angle of the swing door based on the shortest distance to obstacles in the outer area of ​​the swing door, and calculate the maximum opening angle of the scissor door based on the shortest distance to obstacles in the outer area of ​​the scissor door.

[0010] Step 4: Select the door opening method with the largest maximum opening angle and control the door to complete the opening action.

[0011] In steps 1 and 2, each door on the vehicle independently determines whether to open the door and independently obtains information about obstacles around the door.

[0012] In step 4, the distance information of obstacles in the outer area of ​​the door is obtained in real time during the door opening process, and the door opening is stopped when the distance between the door and the obstacle reaches the lower limit.

[0013] In step 4, the door opening angle is divided into two segments during the opening process: the first part is the acceleration segment, and the second part is the deceleration segment.

[0014] The door opening control system, including

[0015] The outer area detection module of the car door is an ultrasonic radar used to acquire environmental data within the area where the car door is open.

[0016] The detection data calculation module calculates the maximum opening angle of the swing door and the scissor door based on the shortest distance to the obstacle determined by the ultrasonic radar in the lower and upper areas of the door. The second step is to compare the opening angles of the swing door and the scissor door. The third step is to provide feedback on the opening method and the maximum opening angle.

[0017] The opening method control module, based on the door opening method and maximum opening angle fed back by the detection data calculation module, controls the door to complete the opening and open to the accurate angle.

[0018] The vehicle door has a door body, a door frame, and a middle door frame. The middle door frame is connected to the door frame by a swing electric hinge. An electric door lock is provided between the middle door frame and the door frame. The door body is connected to the middle door frame by a scissor door electric hinge. An electric door lock is provided between the middle door frame and the door body.

[0019] The detection module for the outer area of ​​the vehicle door:

[0020] The outer area detection module of the swing-open door is used to acquire environmental data outside the swing-open door and determine the shortest distance to obstacles outside the swing-open door based on the ultrasonic radar echo data of the lower area of ​​the door.

[0021] as well as;

[0022] The scissor door outer area detection module is used to acquire environmental data outside the scissor door and determine the shortest distance to obstacles outside the scissor door based on ultrasonic radar echo data of the upper area of ​​the door.

[0023] The vehicle door can be a door of a pure electric vehicle, a gasoline vehicle, a range-extended electric vehicle, a hybrid vehicle, or a hydrogen fuel cell vehicle.

[0024] A storage medium, the storage medium being a computer-readable storage medium for storing software program code, the software program code being for executing a door opening control method.

[0025] This invention alleviates the problem that existing semi-automatic door opening methods cannot adaptively avoid obstacles outside the door, resulting in insufficient convenience and flexibility of existing semi-automatic doors. Attached Figure Description

[0026] The following is a brief explanation of the content represented by each figure in this specification:

[0027] Figure 1 A flowchart illustrating the door opening control method;

[0028] Figure 2 This is a schematic diagram of the door opening mechanism. Detailed Implementation

[0029] The following description, with reference to the accompanying drawings, details the specific implementation of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use methods, to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0030] The vehicle door opening method provided in this invention, upon receiving an opening command with an unspecified opening method, calculates the maximum opening angle of the door under both a swing door and a scissor door opening mode by using the shortest distance to obstacles outside the door detected by ultrasonic radar. If the maximum opening angle of the swing door is larger, it is selected as the most suitable opening mode. Finally, the control module controls the door to perform the corresponding action based on the most suitable opening mode and the maximum opening angle. This solution is simple to operate and highly accurate, improving the convenience and flexibility of vehicle doors to a certain extent.

[0031] Therefore, this embodiment can alleviate the problem that existing semi-automatic door opening methods cannot adaptively avoid obstacles outside the door, resulting in insufficient convenience and flexibility of existing semi-automatic doors.

[0032] The door opening control system, such as Figure 2 As shown, it includes:

[0033] The outer area detection module 201 for the swing-open door uses ultrasonic radar to detect obstacle information in the environment outside the swing-open door and provides feedback on the shortest distance to the nearest obstacle. The ultrasonic radar of this module is directed towards the outside of the vehicle. It is preferable to set multiple radars at different heights to improve the accuracy of detection, such as one at the top, one in the middle and one at the bottom. The detection direction of these ultrasonic radars is the path of the swing-open door.

[0034] The scissor door outer area detection module 202 uses ultrasonic radar to detect obstacle information in the environment outside the scissor door in the upper area of ​​the door, and provides feedback on the shortest distance to the nearest obstacle. The ultrasonic radar of this module is directed towards the top of the vehicle, slightly outward. It is preferable to set multiple ultrasonic radars at different positions above the door frame to improve detection accuracy. For example, one ultrasonic radar can be set at the front, middle and rear of the door frame. The detection direction of these ultrasonic radars is the path of the scissor door.

[0035] The detection data calculation module 203 calculates the maximum opening angle of the swing door based on the shortest distance fed back by module 201, and calculates the maximum opening angle of the scissor door based on the shortest distance fed back by module 202. Then, it compares the maximum opening angles corresponding to the two door opening methods and feeds back the appropriate door opening method and maximum opening angle.

[0036] The opening mode control module 204 is used to control the door to move according to the door opening mode and opening angle fed back by module 203.

[0037] Each door of a vehicle using this system has two opening methods: a swing door and a scissor door, thus adapting to the aforementioned control system. To enable the door to have two opening methods, various methods can be adopted. For example, an intermediate door frame can be set up. The intermediate door frame is a hollow frame structure that can be combined with the vehicle body to form an independent door, or the door body can be opened relative to the intermediate door frame. That is, the intermediate door frame is connected to the door frame by a swing door electric hinge, and an electric door lock is installed between the intermediate door frame and the door frame. The door body is connected to the intermediate door frame by a scissor door electric hinge, and an electric door lock is installed between the intermediate door frame and the door body. Using an intermediate door frame, two opening methods for a single door can be achieved simply and effectively.

[0038] The above is one embodiment of a door-opening device provided in this application. The following is an embodiment of a computer-readable storage medium provided in this application. The computer-readable storage medium stores program code for a door-opening method, which is used to execute any of the door-opening methods described in the above method embodiments.

[0039] like Figure 1 The clever way to open a car door includes the following steps:

[0040] Step 101: The opening mode control module receives an opening command for a non-explicit opening mode;

[0041] The received opening command did not specify whether it was to open the swing door or the scissor door, so the control module did not know how to open the door.

[0042] Step 102: The ultrasonic radar begins to detect the environment outside the car door and determine the shortest distance to obstacles;

[0043] The ultrasonic radars in the lower and upper areas on the outside of the car door start working, detecting information about obstacles in the environment outside the car door, and reporting the shortest distance to the nearest obstacle.

[0044] Step 103: The detection data calculation module calculates and compares data to provide feedback on the most suitable opening method and maximum opening angle for the car door.

[0045] The detection data calculation module calculates the maximum opening angle of the swing door based on the shortest distance between the obstacle and the door when the door is opened in the swing door mode. Similarly, it calculates the maximum opening angle of the scissor door. By comparing the door opening angles corresponding to the two door opening modes, it provides feedback on the most suitable door opening mode and maximum opening angle.

[0046] Step 104: The opening method control module controls the door to open and open to the correct angle;

[0047] The opening method control module controls the door to open according to the most suitable door opening method based on feedback, and accurately opens the door to the most suitable opening angle.

[0048] During the process, each door on the vehicle independently determines whether to open the door and independently obtains information about obstacles around the door. In addition, it obtains information about the distance to obstacles in the outer area of ​​the door in real time during the opening process, and stops opening the door when the distance between the door and the obstacle reaches the lower limit. This can ensure the safety of opening the vehicle door in real time, and at the same time, it can adjust the opening angle in time when the obstacle and the door move relative to each other.

[0049] In addition, the door opening angle is divided into two parts during the opening process: the first part is the acceleration section and the second part is the deceleration section. For example, if the first 80% of the planned opening angle is used as the acceleration section and the remaining 20% ​​is used as the deceleration section, the door can be opened quickly in the early stage, and sufficient stopping and braking time can be left. Through reasonable allocation, the door opening efficiency can be improved, giving users a smooth experience of opening the vehicle door.

[0050] The above is an embodiment of a cleverly opening method for a car door provided in this application. The following is an embodiment of a cleverly opening device for a car door provided in this application.

[0051] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A method for controlling the opening of a vehicle door, characterized in that: Step 1: Receive the door opening command or meet the door opening conditions; Step 2: Obtain environmental information outside the car door that is about to be opened, and find the shortest distance to obstacles in the area outside the car door and the area outside the scissor door. Step 3: Calculate the maximum opening angle of the swing door based on the shortest distance to obstacles in the outer area of ​​the swing door, and calculate the maximum opening angle of the scissor door based on the shortest distance to obstacles in the outer area of ​​the scissor door. Step 4: Select the door opening method with the largest maximum opening angle and control the door to complete the opening action; In steps 1 and 2, each door on the vehicle independently determines whether to open the door and independently obtains information about obstacles around the door. In step 4, the distance information of obstacles in the outer area of ​​the door is obtained in real time during the door opening process, and the door opening is stopped when the distance between the door and the obstacle reaches the lower limit. In step 4, the door opening angle is divided into two segments during the opening process: the first part is the acceleration segment, and the second part is the deceleration segment.

2. A door opening control system, characterized in that, include The door outer area detection module is used to acquire environmental data within the area where the door is open. The detection data calculation module calculates the maximum opening angle of the swing door and the scissor door based on the shortest distance to the obstacle determined by the ultrasonic radar in the lower and upper areas of the door. The second step is to compare the opening angles of the swing door and the scissor door. The third step is to provide feedback on the opening method and the maximum opening angle. The opening method control module calculates the opening method and maximum opening angle fed back by the detection data calculation module, and controls the car door to complete the opening and open to the accurate angle. The door opening control system executes the door opening control method as described in claim 1.

3. The door opening control system according to claim 2, characterized in that: The vehicle door has a door body, a door frame, and a middle door frame. The middle door frame is connected to the door frame by a swing electric hinge. An electric door lock is provided between the middle door frame and the door frame. The door body is connected to the middle door frame by a scissor door electric hinge. An electric door lock is provided between the middle door frame and the door body.

4. The door opening control system according to claim 2 or 3, characterized in that: The detection module for the outer area of ​​the vehicle door: The outer area detection module of the swing-open door is used to acquire environmental data outside the swing-open door and determine the shortest distance to obstacles outside the swing-open door based on the ultrasonic radar echo data of the lower area of ​​the door. as well as; The scissor door outer area detection module is used to acquire environmental data outside the scissor door and determine the shortest distance to obstacles outside the scissor door based on ultrasonic radar echo data of the upper area of ​​the door.

5. The door opening control system according to claim 4, characterized in that: The vehicle door can be a door of a pure electric vehicle, a gasoline vehicle, a range-extended electric vehicle, a hybrid vehicle, or a hydrogen fuel cell vehicle.

6. A storage medium, said storage medium being a computer-readable storage medium for storing software program code, characterized in that: The software program code is used to execute the door opening control method as described in claim 1.

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