Vehicle door control method, device and system and intelligent driving equipment

Abstract

According to a vehicle door control method, device and system and intelligent driving equipment, a vehicle door control device is in communication connection with an air bag controller of a vehicle, and the vehicle door control device is in communication connection with a vehicle integration unit of the vehicle. And the vehicle door control device is in communication connection with each door lock actuator in at least one door lock actuator of the vehicle. More specifically, the vehicle door control device comprises a control module and a power supply module, the power supply module is used for supplying power to the control module, and the control module controls at least one door lock actuator to execute vehicle door unlocking when receiving a collision signal from an airbag controller and / or a vehicle integrated unit; the collision signal indicates a collision of the vehicle. The technical scheme can be applied to the field of vehicle safety related to intelligent vehicles such as electric vehicles and new energy vehicles, the vehicle door unlocking success rate can be increased under the condition that the vehicles collide, and therefore the safety of drivers and passengers in the vehicles is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety, and more specifically, to a door control method, device, system and intelligent driving equipment. Background Art

[0002] In the event of a vehicle collision, in order to reduce the difficulty of rescue by rescue personnel outside the vehicle, it is necessary to ensure that at least one door of the vehicle can be unlocked so that at least one door can be opened. For mechanical doors, after the door is unlocked, the rescue personnel can open the door by pulling the door handle from outside the door. For electric release doors, two levels of unlocking are required to open the door, wherein the first level of unlocking is used to control the door to be in a state that can be opened by the electric release door motor, and the second level of unlocking is used to unlock the door lock of the electric release door by the electric release door motor.

[0003] However, in the current door control system architecture, after a collision, the collision signal of the airbag controller will be transmitted to the vehicle controller, so that the controller sends a door unlocking command to the door lock actuator to control the door unlocking. However, if a power outage occurs during the unlocking process of the door lock actuator, the door unlocking will fail, thereby increasing the difficulty and time of rescue and affecting the safety of the occupants. Summary of the invention

[0004] The present application provides a door control method, device, system and intelligent driving equipment, which help to improve the success rate of door unlocking in the event of a vehicle collision, thereby improving the safety of drivers and passengers in the vehicle.

[0005] In a first aspect, a door control device is provided, the device comprising a first interface communicatively connected to an airbag controller of a vehicle, the device comprising a second interface communicatively connected to a vehicle integrated unit of the vehicle, and the device comprising a third interface communicatively connected to each of at least one door lock actuator of the vehicle; wherein the device comprises a control module and a power supply module, the power supply module being used to supply power to the control module, and the control module controlling at least one door lock actuator to unlock the door when receiving a collision signal from the airbag controller and / or the vehicle integrated unit.

[0006] In some implementations, the communication connection between the door control device and the airbag controller is a hard-wired connection, and the communication connection between the door control device and the door lock actuator is also a hard-wired connection, that is, the first interface and the third interface are interfaces for connecting hard wiring. The communication connection between the door control device and the vehicle integrated unit is a controller area network (CAN) connection, that is, the second interface is a CAN interface.

[0007] It should be noted that the door unlocking involved here refers to unlocking the central door lock, or may also include unlocking the child lock, or for hidden door handles, it also includes the operation of popping out the door handle. In other words, for mechanical doors, the door unlocking here refers to unlocking to a state where the door can be opened by pulling the door handle from inside or outside the door; for electric release doors, the door unlocking here refers to unlocking to a state where the door can be opened by pulling the door handle from inside or outside the door when the door handle sensor and the electric release door motor of the electric release door are powered normally. In other words, for electric release doors, after at least one door lock actuator executes door unlocking, the electric release door will not open directly, and the door motor will not operate to open the door until it receives a signal from the door handle sensor; if the door handle sensor and / or the electric release door motor of the electric release door are powered off, the door cannot be opened by pulling the door handle from outside the door.

[0008] In the above technical solution, there is a communication connection between the door control device and the airbag controller. When a collision occurs, even if the door control device cannot obtain a collision signal from the vehicle integrated unit, the door control device can still control the door to be unlocked, which helps to improve the reliability of the door control system and increase the success rate of door unlocking when a collision occurs, thereby reducing the difficulty of rescue.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the device is arranged between an A-pillar and a C-pillar of the vehicle.

[0010] In the above technical solution, the door control device is arranged in a relatively safe area between the A-pillar and the C-pillar, which can reduce the risk of failure of the door control device in a collision scenario. It is arranged between the A-pillar and the C-pillar to ensure that in a rear-end collision or side collision scenario, when the power supply on one side is instantly cut off, there are still some power supply lines on the opposite side of the accident to ensure that the doors at the corresponding positions can be opened; it can also ensure to the greatest extent that when the vehicle is sandwiched on both sides, such as being rear-ended and causing the vehicle in front to rear-end, front and rear collisions, and other extreme situations, the device itself is not damaged, and at least the corresponding power supply circuit is retained.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the vehicle door is an electrically released door, the control module is used to communicate with at least one door handle sensor of the vehicle, and each of the at least one door handle sensor is used to activate a motor of the electrically released door; a first switch is arranged between the power supply module and the at least one door handle sensor, and when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

[0012] In some implementations, the control module communicates with at least one door handle sensor via hard wiring. In addition, the control module is used to control the motor of the electric release door associated with the first door handle sensor to perform unlocking when receiving an unlocking request from the first door handle sensor.

[0013] In some implementations, the motor of the electric release door is activated so that the vehicle door is in a state where it can be opened by the electric release door motor (such as controlled by a micro switch or a capacitive switch). Each door handle sensor is used to detect whether the outer door handle of an electric release door is pulled, wherein when the vehicle is in the first level unlocking state, when the outer door handle is pulled, the door handle sensor can send a door pulling signal generated by the outer door handle being pulled to the control module, and the control module controls the electric release door motor to unlock and reset according to the door pulling signal (which can be regarded as an example of the aforementioned unlocking request). After the electric release door motor is unlocked and reset, the electric release door can pop open. In the aforementioned situation, the power supply module can also supply power to the electric release door motor so that the electric release door motor can operate. The above-mentioned first-level unlocking state means that the vehicle door is in a state where it can be opened by electrically releasing the door motor (such as controlled by a micro switch or a capacitor switch). In other words, the first-level unlocking state is a state where both the central door lock and the child lock are unlocked. When the door handle is a hidden door handle, the first-level unlocking state is a state where both the central door lock and the child lock are unlocked and the hidden door handle has popped out.

[0014] In the above technical solution, when the first switch is closed, the door control device can supply power to the door handle sensor and the electric release door motor, so that in the event of a vehicle integrated unit failure and / or abnormal battery power supply, the door handle sensor and the electric release door motor can obtain a continuous power supply, thereby increasing the probability of the door being opened from outside the vehicle and reducing the difficulty of rescue.

[0015] In combination with the first aspect, in certain implementations of the first aspect, after the control module receives a collision signal, the control module receives status information from the vehicle integrated unit; when the control module does not receive status information from the vehicle integrated unit within a first time period, the first switch is controlled to be closed.

[0016] In some implementations, after receiving the collision signal, the vehicle integrated unit may periodically send status information to the door control device, and the status information may indicate that the vehicle integrated unit is in a normal working state, wherein when the vehicle integrated unit is in a normal working state, it can control the door to be unlocked. If the vehicle door control device does not receive status information within a period of time after receiving the collision signal, or if the vehicle door control device does not receive status information within a period of time after receiving status information from the door control device, it may be determined that the vehicle integrated unit itself has a fault and / or the power supply is interrupted.

[0017] In some implementations, the status information may be actively sent by the door control device; or, the status information may also be response information sent by the door control device in response to a heartbeat message sent by the door control device.

[0018] In the above technical solution, when the vehicle integrated unit can no longer receive status information from the vehicle integrated unit, the first switch is controlled to close, which can not only ensure that the door handle sensor and the electric release door motor can obtain continuous power supply, but also ensure the duration of power supply for the door handle sensor and the electric release door motor of the entire vehicle, which helps to extend the time the vehicle waits for rescue.

[0019] In combination with the first aspect, in certain implementations of the first aspect, after receiving the collision signal, the control module controls each door lock actuator of the at least one door lock actuator to unlock the vehicle door in sequence.

[0020] In the above technical solution, controlling each door lock actuator to perform door unlocking in sequence helps to reduce the voltage drop when the power supply module discharges, thereby improving the battery life of the power supply module, increasing the number of unlocking times, and improving the unlocking success rate.

[0021] In combination with the first aspect, in certain implementations of the first aspect, the device starts controlling at least one door lock actuator to unlock the vehicle door at a first moment after receiving a collision signal; wherein a first time threshold is separated from the first moment and the moment when the device receives the collision signal.

[0022] In the above technical solution, the door control device waits for a period of time after receiving the collision signal before executing the door unlocking operation, which can avoid conflicts between the door unlocking control command issued by the door control device and the door unlocking control command issued by the vehicle integrated unit.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the power supply module includes at least one capacitor, and a total capacitance of the at least one capacitor is greater than or equal to 25 farads.

[0024] In the above technical solution, the discharge life of the capacitor is generally long (for example, more than 15 years). Using capacitors for power supply can reduce the frequency of replacing the power supply module during the life cycle of the vehicle, and may even eliminate the need to replace the power supply module. In addition, the small size of the capacitor makes it easier to arrange the door control device in the collision safety area, reducing the risk of failure of the door control device in a collision scenario. In addition, the capacitor has low cost and no risk of thermal failure after a collision.

[0025] In a second aspect, a door control system is provided, which includes a door control device, an airbag controller, a vehicle integrated unit, and at least one door lock actuator of the vehicle; there is a communication connection between the door control device and the airbag controller, there is a communication connection between the door control device and the vehicle integrated unit, and there is a communication connection between the door control device and each door lock actuator in the at least one door lock actuator; wherein the door control device includes a control module and a power supply module, the power supply module is used to supply power to the control module, and when the control module receives a collision signal from the airbag controller and / or the vehicle integrated unit, the control module controls at least one door lock actuator to unlock the door; when the vehicle integrated unit receives a collision signal from the airbag controller, the control module controls at least one door lock actuator to unlock the door; the collision signal indicates that a collision has occurred in the vehicle.

[0026] In the above technical solution, both the door control device and the vehicle integrated unit can control the door lock actuator to unlock the door, which helps to improve the unlocking success rate. In addition, the door control device is connected to the airbag controller through hard wiring. When a collision occurs, even if the CAN network in the car is paralyzed and the door control device cannot obtain the collision signal from the vehicle integrated unit, the door control device can still control the door unlocking, which helps to improve the reliability of the door control system and increase the door unlocking success rate when a collision occurs, thereby reducing the difficulty of rescue.

[0027] In combination with the second aspect, in certain implementations of the second aspect, the door control device is arranged between an A-pillar and a C-pillar of the vehicle.

[0028] In combination with the second aspect, in certain implementations of the second aspect, the system also includes at least one door handle sensor of the vehicle, the door of the vehicle is an electric release door, there is a communication connection between the control module and the at least one door handle sensor, and each of the at least one door handle sensor is used to activate a motor of the electric release door; a first switch is arranged between the power supply module and the at least one door handle sensor, and when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

[0029] In combination with the second aspect, in certain implementations of the second aspect, after the control module receives a collision signal, the control module receives status information from the vehicle integrated unit; when the control module does not receive status information from the vehicle integrated unit within a first time period, the first switch is controlled to close.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the system further includes a battery, and the battery is used to supply power to the vehicle integrated unit and the at least one door handle sensor respectively.

[0031] In the above technical solution, before the first switch is closed, the door handle sensor and the electric release door motor can be powered by the battery. After the first switch is closed, the door handle sensor and the electric release door motor are powered by the power supply module in the door control device, so that the battery can provide continuous power supply for the door handle sensor and the electric release door motor, and can also ensure the duration of power supply for the door handle sensor and the electric release door motor of the entire vehicle, which helps to extend the time the vehicle waits for rescue.

[0032] In combination with the second aspect, in certain implementations of the second aspect, when both the vehicle integrated unit and the door control device receive a collision signal, the vehicle integrated unit starts to control at least one door lock actuator to unlock the door at a second moment, and the door control device starts to control at least one door lock actuator to unlock the door at a first moment; wherein the first moment is later than the second moment, and a first time threshold is separated from the first moment and the moment when the door control device receives the collision signal.

[0033] In the above technical solution, the door control device waits for a period of time after receiving the collision signal before executing the door unlocking operation, which can avoid the conflict between the door unlocking control command issued by the door control device and the door unlocking control command issued by the vehicle integration unit, and help to simplify the control logic of the entire system and reduce the complexity of system design.

[0034] In combination with the second aspect, in certain implementations of the second aspect, after receiving the collision signal, the control module controls each door lock actuator of the at least one door lock actuator to unlock the vehicle door in sequence.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the power supply module includes at least one capacitor, and a total capacitance of the at least one capacitor is greater than or equal to 25 farads.

[0036] In a third aspect, a door control method is provided, which is applied to a door control device of a vehicle, and the method includes: receiving a collision signal from an airbag controller of the vehicle and / or a vehicle integrated unit of the vehicle, the collision signal indicating that a collision has occurred in the vehicle; and controlling at least one door lock actuator of the vehicle to unlock the door according to the collision signal.

[0037] In combination with the third aspect, in certain implementations of the third aspect, at least one door of the vehicle is an electrically released door, the door control device includes a power supply module, a first switch is arranged between the power supply module and at least one door handle sensor of the vehicle, each of the at least one door handle sensor is used to activate a motor of an electrically released door, the method includes: when a collision signal is received, sending a first heartbeat message to a vehicle integrated unit, the collision signal indicating that a vehicle collision has occurred; when no response information to the first heartbeat message is received from the vehicle integrated unit within a first time period, controlling the first switch to close; wherein, when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

[0038] In some implementations, the response information of the first heartbeat message may be the status information from the vehicle integrated unit in the aforementioned first aspect and / or second aspect.

[0039] In the above technical solution, when the door control device can no longer receive the status information from the vehicle integrated unit, the first switch is controlled to close, which can not only ensure that the door handle sensor and the electric release door motor can obtain continuous power supply, but also ensure the duration of the vehicle powering the door handle sensor and the electric release door motor, which helps to extend the time the vehicle waits for rescue. In addition, when the vehicle does not collide, the vehicle integrated unit may enter a silent state due to restart, initialization, etc., and thus does not send or receive information. Therefore, sending a heartbeat message to the vehicle integrated unit after receiving the collision signal can avoid the situation where the door control device cannot receive the response information of the heartbeat message due to reasons such as the restart of the vehicle integrated unit, avoid unnecessary closure of the first switch, and help improve the reliability of the door control system.

[0040] In combination with the third aspect, in certain implementations of the third aspect, controlling at least one door lock actuator of the vehicle to unlock the door according to a collision signal includes: starting to control at least one door lock actuator to unlock the door at a first moment after receiving the collision signal; wherein a first time threshold is separated from the first moment and the moment when the collision signal is received.

[0041] In combination with the third aspect, in certain implementations of the third aspect, at least one door lock actuator of the vehicle is controlled to unlock the door according to a collision signal, and the method also includes: when a collision signal is received, each door lock actuator of the at least one door lock actuator is controlled to unlock the door in sequence.

[0042] In combination with the third aspect, in certain implementations of the third aspect, at least one vehicle door is an electric release door, and the method further includes: upon receiving an unlock request from the first door handle sensor, controlling the motor of the electric release door associated with the first door handle sensor to perform unlocking.

[0043] Among them, the beneficial effects not described in detail in the second and third aspects can be referred to the description in the first aspect and will not be repeated here.

[0044] In a fourth aspect, a control device is provided, which is arranged in a door control device of a vehicle, and the device includes a transceiver unit and a processing unit, wherein the transceiver unit is used to: receive a collision signal from an airbag controller of the vehicle and / or a vehicle integrated unit of the vehicle, the collision signal indicating that the vehicle has collided; and the processing unit is used to: control at least one door lock actuator of the vehicle to unlock the door according to the collision signal.

[0045] It can be understood that the control device can be a control module in any possible implementation of the first aspect or the second aspect.

[0046] In combination with the fourth aspect, in certain implementations of the fourth aspect, at least one door of the vehicle is an electrically released door, the door control device includes a power supply module, and a first switch is provided between the power supply module and at least one door handle sensor. The transceiver unit is also used to: upon receiving a collision signal, send a first heartbeat message to the vehicle integrated unit, the collision signal indicating that the vehicle has collided; the processing unit is also used to: upon receiving a collision signal, send a first heartbeat message to the vehicle integrated unit, the collision signal indicating that the vehicle has collided; when no response information to the first heartbeat message from the vehicle integrated unit is received within a first time period, control the first switch to close; wherein, when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

[0047] In combination with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is used to: start controlling at least one door lock actuator to unlock the vehicle door at the first moment after the transceiver unit receives the collision signal; wherein, a first time threshold is separated from the first moment and the moment when the collision signal is received.

[0048] In combination with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is used to: when the transceiver unit receives the collision signal, control each door lock actuator of at least one door lock actuator to unlock the vehicle door in sequence.

[0049] In combination with the fourth aspect, in certain implementations of the fourth aspect, at least one vehicle door is an electric release door, and the processing unit is also used to: when the transceiver unit receives an unlocking request from the first door handle sensor, control the motor of the electric release door associated with the first door handle sensor to perform unlocking.

[0050] In a fifth aspect, a control device is provided, comprising: a processor, configured to execute a computer program stored in the memory, so that the device executes the method in any possible implementation of the third aspect.

[0051] In combination with the fifth aspect, in certain implementations of the fifth aspect, the device also includes a memory.

[0052] In a sixth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code runs on a computer or a processor, the computer or the processor executes the method in any possible implementation of the third aspect.

[0053] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a storage medium, wherein the storage medium may be packaged together with the processor or separately from the processor.

[0054] In a seventh aspect, a computer-readable storage medium is provided, wherein the computer-readable medium stores instructions, and when the instructions are executed by a processor, the processor implements the method in any possible implementation of the third aspect.

[0055] In an eighth aspect, a chip is provided, the chip comprising a circuit, the circuit being used to execute the method in any possible implementation of the third aspect above.

[0056] In a ninth aspect, an intelligent driving device is provided, which includes an apparatus as in any possible implementation of the first aspect, or the intelligent driving device includes a system as in any possible implementation of the second aspect, or the intelligent driving device includes an apparatus as in any possible implementation of the fourth to fifth aspects, or the intelligent driving device includes a computer-readable storage as in any possible implementation of the seventh aspect, or the intelligent driving device includes a chip as in any possible implementation of the eighth aspect, or the intelligent driving device is loaded with a computer program code as in any possible implementation of the sixth aspect.

[0057] In combination with the ninth aspect, in certain implementations of the ninth aspect, the intelligent driving device is a vehicle.

[0058] For the beneficial effects not described in detail in the fourth to ninth aspects, reference can be made to the descriptions in the first to third aspects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a schematic block diagram of a door control system;

[0060] Figure 2 It is a schematic diagram of the division of different collision safety areas in a vehicle;

[0061] Figure 3 is a schematic block diagram of a door control system provided in an embodiment of the present application;

[0062] Figure 4 is another schematic block diagram of a door control system provided in an embodiment of the present application;

[0063] Figure 5 is another schematic block diagram of a door control system provided in an embodiment of the present application;

[0064] Figure 6 is another schematic block diagram of a door control system provided in an embodiment of the present application;

[0065] Figure 7 It is a timing diagram of unlocking performed by a door control system provided by an embodiment of the present application when a collision occurs;

[0066] Figure 8 is a schematic flow chart of a door control method provided in an embodiment of the present application;

[0067] Fig. 9 is a schematic block diagram of a control device provided in an embodiment of the present application;

[0068] Fig.10 This is another schematic block diagram of the control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] As described above, when a vehicle collision occurs, in order to reduce the rescue difficulty of rescue personnel outside the vehicle, it is necessary to ensure that at least one door of the vehicle can be unlocked so that at least one door can be opened. Figure 1 A schematic block diagram of a door control system under the current technical background is shown, and the system includes a battery, a power distribution box, a vehicle integration unit (VIU), an air bag module (ABM) and a door lock actuator. Among them, the battery supplies power to the VIU through the power distribution box, and the ABM is connected to the vehicle integration unit, the VIU and the door lock actuator respectively through hard wiring. When the ABM detects a collision signal, it sends a collision signal to the VIU, and the VIU controls the door lock actuator to unlock according to the collision signal. After the door lock actuator executes the unlocking signal, the door can be opened by pulling the door handle from outside the door or triggering the micro switch associated with the door handle to close. However, for Figure 1 In the system shown, before the unlocking action performed by the door lock actuator is completed, any failure of the battery, distribution box, and VIU will cause the unlocking to fail, and then the door cannot be opened. Generally speaking, the battery, distribution box, and VIU are deployed in the vehicle. Figure 2 In the region b1 and / or region b2 shown, the failure risk of these regions in the event of a collision is smaller than the failure risk of the region c1 and region c2, but greater than the failure risk of the region a. Figure 1The reliability and safety of the system shown still need to be improved.

[0070] In addition, with the development of vehicles, the doors of vehicles have gradually developed from mechanical doors to electric release doors. The difference between electric release doors and mechanical doors is that for mechanical doors, after the door is unlocked (i.e., the central door lock and child lock are unlocked), the rescuer can open the door by pulling the door handle from the outside of the door, and this process does not require battery power. For electric release doors, two levels of unlocking are required to open the door, wherein the first level of unlocking is used to control the door to be in a state that can be opened by the electric release door motor (such as controlled by a micro switch or a capacitor switch), such as unlocking the central door lock and the child lock. The second level of unlocking is used to unlock the electric release door lock by the electric release door motor. The second level of unlocking process requires battery power. Specifically, in the second level of unlocking process, the micro switch or the capacitor switch needs to be powered so that the door pull signal detected at the outer door handle can be sent to the vehicle's controller (such as VIU); in addition, the electric release door motor needs to be powered so that the electric release door motor can be unlocked and reset, so that the electric release door can be opened. During the secondary unlocking process, if the battery power supply is abnormally interrupted, when the rescuer pulls the door through the outer door handle, the micro switch or capacitor switch cannot send a door pulling signal, and / or the electric release door motor cannot be unlocked and reset, resulting in the electric release door being unable to open. In some emergency situations, such as a collision accident, the vehicle will cut off the power supply channel of the vehicle's high-voltage power battery. At this time, all loads of the vehicle rely on the power supply of the low-voltage battery, and the battery power can only support half an hour to one hour. After the battery is powered, the door lock of the electric release door is powered off, and the aforementioned secondary unlocking will not be possible. Rescuers cannot open the door directly from outside the vehicle, which increases the difficulty and time of rescue and affects the safety of passengers.

[0071] In view of this, the embodiments of the present application provide a vehicle door control method, device and system, which can improve the unlocking success rate and the probability of opening the vehicle door in the event of a vehicle collision.

[0072] Specifically, the door control system provided in the embodiment of the present application includes a door control device, an airbag controller, a vehicle integrated unit, and at least one door lock actuator. The door control device is connected to the vehicle integrated unit via a CAN cable, and the device is connected to at least one door lock actuator via hard wiring. Among them, the door control device includes a control module and a power supply module, the power supply module is used to supply power to the control module, and the control module controls at least one door lock actuator to unlock the door when receiving a collision signal. When the vehicle integrated unit receives a collision signal from the airbag controller, it controls at least one door lock actuator to unlock the door. The collision signal indicates that the vehicle has collided, and the vehicle includes the aforementioned device, the airbag controller, the vehicle integrated unit and at least one door lock actuator.

[0073] In some implementations, the door control device is connected to the airbag controller via hard wiring, and the control module controls at least one door lock actuator to unlock the door when receiving a collision signal from the airbag controller and / or the vehicle integrated unit.

[0074] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] Figure 3 A schematic block diagram of a door control system provided by an embodiment of the present application is shown, and the system includes a battery, a power distribution box, a vehicle integrated unit (VIU), an airbag controller (ABM), a door lock actuator, and a collision unlocking module. The battery supplies power to the VIU through the power distribution box, the collision unlocking module and the door lock actuator, the VIU and the door lock actuator are connected by hard wiring, the ABM and the VIU are connected by hard wiring, and the collision unlocking module and the VIU, and the ABM and the VIU communicate via CAN. It should be noted that Figure 3 The system shown in the figure includes multiple collision unlocking modules (e.g., m) and multiple door lock actuators (e.g., m). Each of the multiple collision unlocking modules is used to control a door lock actuator to unlock a door in the vehicle. In addition, the battery, the power distribution box and the VIU can be deployed in Figure 2 As shown in the area b1 and / or area b2 , each collision unlocking module may be respectively deployed at the door that it controls to unlock.

[0076] Figure 4 Another schematic block diagram of the door control system provided by an embodiment of the present application is shown, the system includes a battery, a power distribution box, a vehicle integrated unit (i.e., VIU), an airbag controller (i.e., ABM), a door lock actuator, and a collision unlocking module. Among them, the battery supplies power to the VIU through the power distribution box, the collision unlocking module and the VIU, and the ABM and the VIU communicate through CAN, the collision unlocking module and the door lock actuator, and the VIU and the door lock actuator are connected through hard wiring, and the ABM is connected to the VIU and the collision unlocking module respectively through hard wiring. In this way, when the CAN network in the vehicle is paralyzed, the collision unlocking module can still obtain the collision signal from the ABM through hard wiring. It should be noted that Figure 4 The system shown includes only one collision unlocking module, which is used to control multiple door lock actuators (such as m door lock actuators) to unlock multiple doors of the vehicle. In addition, the battery, the power distribution box and the VIU can be deployed in Figure 2 The collision unlocking module can be deployed in the area b1 and / or area b2 shown in FIG. Figure 2 The area a shown in FIG. The area a may be the area between the A-pillar and the C-pillar of the vehicle.

[0077] Understandably, Figure 3 and Figure 4 The collision unlocking modules in the illustrated door control system may be regarded as some examples of the aforementioned door control devices.

[0078] Figure 3 and Figure 4 The collision unlocking module shown includes not only a power supply module but also a control module, or may also include a driver. More specifically, taking the collision unlocking module for controlling multiple door lock actuators as an example, Figure 5 As shown, the collision unlocking module may include a supercapacitor, a charge and discharge management module, a control module and drivers 1 to N (N is an integer greater than 1), wherein the supercapacitor can be understood as an example of the aforementioned power supply module. When the vehicle is powered on normally, the charge and discharge management module controls the battery to charge the supercapacitor, and the charge and discharge management module may have charging anti-backflow, overvoltage protection, overcurrent protection and overtemperature protection functions to ensure the safety of the supercapacitor during charging. The supercapacitor can supply power to the control module and drivers 1 to N respectively. The control module is used to control at least one of the drivers 1 to N to work according to the collision signal, and each of the drivers 1 to N is used to drive a door lock actuator to unlock the door. When any one of the drivers 1 to N receives the unlocking signal of the control module, the driver drives its corresponding door lock actuator to unlock the door. When the control module controls multiple doors to unlock, the control module controls each of the multiple drivers in sequence to drive each door lock actuator to unlock the door in turn, so as to reduce the voltage drop when the supercapacitor is discharged, thereby improving the endurance of the supercapacitor, thereby increasing the number of unlocking times, and improving the success rate of unlocking.

[0079] It is understandable that when the collision unlocking module is used to control only one door lock actuator, the collision unlocking module may include only one driver. In actual implementation, a short circuit protection circuit is provided for the driver, so that when the driver is short-circuited, the circuit between the driver and the super capacitor can be cut off, so that the super capacitor stops supplying power to the driver, thereby avoiding abnormal consumption of power in the super capacitor.

[0080] When ABM detects a collision, Figure 3 In the architecture shown, the ABM can send a collision signal to the VIU, and the VIU can then send a collision signal to one or more collision unlocking modules, so that the collision unlocking modules control the door lock actuator to unlock the door; Figure 4In the architecture shown, the ABM can send collision signals to the VIU and the collision unlocking module respectively, so that both the VIU and the collision unlocking module can control the door lock actuator to unlock the door according to the collision signal. It can be understood that the collision unlocking module is directly connected to the ABM, which can improve the reliability of the door control system. For example, in the case of a single point failure of the CAN communication network between the VIU and the collision unlocking module, the ABM can transmit the collision signal to the collision unlocking module through hard wiring to improve the success rate of the collision unlocking module receiving the collision signal, thereby improving the success rate of door unlocking.

[0081] It should be noted that the aforementioned door unlocking refers to unlocking the door to a state where the door can be opened by pulling the door handle from inside or outside the door, including unlocking the central door lock, unlocking the child lock, popping out the door handle (such as for hidden door handles), supplying power to the door handle sensor, etc. In other words, for an electrically released door, the aforementioned door unlocking is a first-level unlocking.

[0082] In some implementations, when the vehicle door is an electrically released door, a control module in a door control device is hard-wired to at least one door handle sensor, each of the at least one door handle sensor is used to activate a motor of the electrically released door, a power supply module is hard-wired to at least one door handle sensor, and a first switch is provided between the power supply module and the at least one door handle sensor, and when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

[0083] In addition, the door handle sensor can also be connected to the VIU through hard wiring, and the door handle sensor is used to detect whether there is a door pull signal on the outer door handle. Exemplarily, the door handle sensor can include a micro switch or a capacitive switch. When the micro switch or the capacitive switch is closed, the door handle sensor generates a signal requesting to open the door, and sends the signal to the collision unlocking module and / or the VIU. The collision unlocking module or the VIU can control the door lock of the electric release door to unlock in response to the signal, so that the door can be opened.

[0084] In some implementations, for electrically released doors, such as Figure 6As shown, a heartbeat mechanism switch is set between the door handle sensor and the super capacitor, and the heartbeat mechanism switch can be regarded as an example of the aforementioned first switch. After the collision unlocking module receives the collision signal, the collision unlocking module periodically sends a heartbeat message to the VIU, and when the collision unlocking module can receive the response information of the heartbeat message replied by the VIU, the heartbeat mechanism switch is in an off state; when the collision unlocking module does not receive the response information of the heartbeat message replied by the VIU within a period of time (for example, the period corresponding to n heartbeat message transmission cycles, n is greater than 1), the collision unlocking module can determine that the VIU is damaged or the battery is fed, and then control the heartbeat mechanism switch to be in a closed (or closed) state through the control module, and the super capacitor supplies power to the door handle sensor (and the electric release door motor), so that the door handle sensor can generate a signal requesting to open the door according to the operation of pulling the door, and send the signal to the control module, so that when the control module receives the signal requesting to open the door from the door handle sensor, the door lock of the electric release door can be controlled to unlock.

[0085] In some implementations, in the vehicle door control system involved in the aforementioned embodiments, when the battery can normally power the VIU, and both the VIU and the collision unlocking module receive a collision signal, the VIU starts to control at least one door lock actuator to unlock the vehicle door at a second moment, and the collision unlocking module starts to control at least one door lock actuator to unlock the vehicle door at a first moment. The first moment is later than the second moment, and the first moment and the moment when the vehicle door control device receives the collision signal are separated by a first time threshold. Exemplarily, the first time threshold may be 8 seconds, or 10 seconds, or may also be other thresholds.

[0086] When the battery power supply and VIU are normal after a collision, the execution sequence of the door unlocking related control actions is as follows: Figure 7 As shown in (a), when the battery can supply power to the VIU normally, the VIU and the collision unlocking module can control the door lock actuator to unlock the door in sequence. That is to say, after the VIU controls the door lock actuator to unlock, the collision unlocking module will control the door lock to unlock again regardless of whether the door is unlocked successfully. In addition, while the battery supplies power to the VIU, the battery also supplies power to other loads including the door handle sensor. If the door handle sensor does not detect that the outer door handle is pulled during the process of the battery supplying power to the door handle sensor, the supercapacitor in the collision unlocking module will continue to supply power to the door handle sensor after the battery is powered.

[0087] In some other implementations, when the battery power supply is abnormal (such as power supply line interruption, etc.), the VIU cannot control the door unlocking, then the collision unlocking module starts to control at least one door lock actuator to unlock the door at the first moment after receiving the collision signal. The first moment and the moment when the door control device receives the collision signal are separated by a first time threshold.

[0088] In the event of abnormal battery power supply after a collision, the execution sequence of the door unlocking related control actions is as follows: Figure 7 As shown in (b), when the battery fails to supply power normally, the collision unlocking module controls the door lock actuator to unlock the door. In addition, abnormal battery power supply will cause the VIU to fail to work properly, that is, the collision unlocking module will not be able to receive the heartbeat message from the VIU. When the collision unlocking module fails to receive the heartbeat message from the VIU, the collision unlocking module controls the heartbeat mechanism switch to close so that the supercapacitor supplies power to the door handle sensor and the electric release door motor.

[0089] It should be noted that the VIU involved in the present application may have a gateway function, which is used to connect the intranet where it is located to the backbone network, and may have data format conversion (or encapsulation) and forwarding functions. For example, data from the intranet can be converted into a data format supported by the backbone network for forwarding, or data from the backbone network can be encapsulated into a data format supported by the intranet for forwarding. The aforementioned format conversion process can be a process of encapsulating data according to a supported protocol, so it can also be called an encapsulation process or a protocol conversion process. In addition to having a gateway function, the VIU can also have an electronic control function, which can provide part or all of the data processing function and / or control function for at least one vehicle component. In other words, the electronic control function provided by the electronic control unit (ECU) of some or all vehicle components is realized through the VIU. The aforementioned intranet is used for communication between the VIU and actuators and / or sensors, and the backbone network is used for communication between the VIU and a domain controller or a central computer (VCC). Exemplarily, the aforementioned domain controller may include at least one of an advanced driving domain controller (ADC), or a mobile data center (MDC); a vehicle domain controller (VDC); and a cockpit domain controller (CDC). Among them, ADC or MDC is used to realize the perception, decision-making and control functions related to intelligent driving. In actual implementation, ADC or MDC may also be other names, such as special equipment system (SAS), intelligent driving server ICAS2, ADAS super core, etc.; VDC is used to realize functions such as vehicle control. VDC can be regarded as the integration of power domain, chassis domain and body domain. In actual implementation, VDC may also be other names, such as body domain controller (BDC), vehicle control server ICAS1, body super core (BSC), etc.; CDC is used to realize cockpit intelligent functions such as human-computer interaction. In actual implementation, CDC may also be other names, such as media graphics unit (MGU), intelligent cockpit server ICAS3, cockpit supercore (CSC), etc. Among them, ICAS is in-car application-server (ICAS).

[0090] Combination of the above Figures 3 to 7 The device provided in the embodiment of the present application is described in detail. Figure 8 The door control method provided in the embodiment of the present application is introduced. The method can be executed by the collision unlocking module in the above embodiment, and more specifically, can be executed by the control module in the collision unlocking module. The method includes:

[0091] S801, receiving a collision signal from an airbag controller of a vehicle and / or a vehicle integrated unit of the vehicle, the collision signal indicating that a collision occurs in the vehicle.

[0092] S802: Control at least one door lock actuator of the vehicle to unlock the door according to the collision signal.

[0093] In some implementations, S802 may be refined as: starting to control at least one door lock actuator to unlock the vehicle door at the first moment after receiving the collision signal.

[0094] In some implementations, S802 may be refined as follows: upon receiving a collision signal, controlling each of at least one door lock actuator to sequentially unlock the vehicle door. More specifically, each of at least one vehicle door may be sequentially unlocked at the first moment after receiving the collision signal, and the first moment may be the first moment in the aforementioned embodiment. In addition, controlling each of at least one vehicle door to sequentially unlock may be refined as follows: the control module sequentially controls each of at least one driver to sequentially drive the door lock actuator, so that the door lock actuator controls the vehicle door to unlock.

[0095] In some other implementations, at least one door is an electric release door, and the method further includes: upon receiving an unlock request from a first door handle sensor, controlling a motor of the electric release door associated with the first door handle sensor to perform unlocking. Exemplarily, the first door handle sensor may be any of the door handle sensors in the aforementioned embodiments.

[0096] In some implementations, when a collision signal is received, a first heartbeat message is sent to the VIU, and when no response information to the first heartbeat message is received from the VIU within a first time period, the first switch is controlled to be closed.

[0097] Exemplarily, the collision signal may come from the VIU or the ABM. When the collision unlocking module can receive the collision signal from the VIU and the ABM, it may send the first heartbeat message to the VIU when the collision signal is received for the first time.

[0098] Exemplarily, the first switch may be the aforementioned heartbeat mechanism switch.

[0099] Exemplarily, the first time period may be a duration corresponding to n heartbeat message transmission cycles, where n is greater than 1. More specifically, when the collision unlocking module sends a first heartbeat message and does not receive response information to the first heartbeat message within the first time period, a VIU failure may be determined, which may be a hardware and / or software failure of the VIU itself caused by a collision, or the failure may also be a battery power failure that causes the VIU to be powered off.

[0100] The door control method provided in the embodiment of the present application can still achieve door unlocking after a collision occurs and in the event of a VIU failure or VIU power outage, and ensure the continuity of power supply to the door handle sensor and the electric release door motor after a collision, thereby improving the door unlocking success rate and reducing the rescue difficulty of rescue personnel outside the vehicle.

[0101] Fig. 9 A schematic block diagram of a control device provided in an embodiment of the present application is shown, and the device 2000 may include a unit for executing the method in the aforementioned embodiment. In addition, each unit in the device 2000 is for implementing the corresponding process of the aforementioned method embodiment. The device 2000 includes a transceiver unit 2010, which can be used to implement corresponding data acquisition or transceiver functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0102] Optionally, the device 2000 also includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device implements relevant actions in the aforementioned method embodiments.

[0103] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0104] It should also be understood that the apparatus 2000 herein is embodied in the form of functional units. The term "module" or "unit" herein may refer to an application-specific ASIC, electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functionality.

[0105] The apparatus of each of the above schemes has the function of implementing the corresponding steps executed by the computing platform 150 in the above method. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, for performing the relevant processing operations in each method embodiment.

[0106] Exemplarily, the transceiver unit 2010 and the processing unit 2020 may be arranged in the aforementioned collision unlocking module, and the operations performed by the transceiver unit 2010 and the processing unit 2020 may be performed by one processor, or may also be performed by different processors.

[0107] In the specific implementation process, the various units in the above device can be fully or partially integrated together, or can also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0108] Fig.10 This is another schematic block diagram of the control device provided in an embodiment of the present application. Fig.10 The control device 2100 shown may include: a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path, the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface, or may be integrated with the processor 2110.

[0109] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to achieve communication between the device 2100 and other devices or a communication network.

[0110] In one implementation, the processor 2110 may be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor 2110 may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor 2110 loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor 2110 loading instructions to implement the functions of some or all of the above units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0111] The memory 2130 may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may 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 may be a random access memory (RAM). For example, RAM may be used as an external cache. As an example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous connection dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0112] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or a communication network to receive / send data / information used to implement the methods in the above embodiments.

[0113] It should be noted that Fig. 9 and Fig.10 The control device shown may be arranged in the aforementioned door control device (ie, collision unlocking module), and may specifically be a control module in the collision unlocking module.

[0114] An embodiment of the present application also provides an intelligent driving device, which includes the control device or the door control device in the above embodiment; or, the intelligent driving device includes the door control system in the above embodiment.

[0115] The intelligent driving devices involved in the embodiments of the present application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense, and may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0116] In some implementations, the intelligent driving device may be Figure 1 Vehicle 100 is shown.

[0117] An embodiment of the present application further provides a computer program product, which includes a computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0118] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0119] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0121] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0122] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0123] The prefixes such as "first" and "second" used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0124] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0128] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A door control device, characterized in that: The device includes a first interface communicatively connected to an airbag controller of a vehicle, the device includes a second interface communicatively connected to a vehicle integrated unit of the vehicle, and the device also includes a third interface communicatively connected to each of at least one door lock actuator of the vehicle; Wherein, the device comprises a control module and a power supply module, the power supply module is used to supply power to the control module, and the control module controls the at least one door lock actuator to unlock the vehicle door when receiving a collision signal from the airbag controller and / or the vehicle integrated unit; The collision signal indicates that a collision has occurred with the vehicle.

2. The device according to claim 1, characterized in that The device is arranged between the A-pillar and the C-pillar of the vehicle.

3. The device according to claim 1 or 2, characterized in that: The door of the vehicle is an electric release door, the control module is used to communicate with at least one door handle sensor of the vehicle, each door handle sensor of the at least one door handle sensor is used to activate a motor of an electric release door; A first switch is arranged between the power supply module and the at least one door handle sensor. When the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

4. The device according to claim 3, characterized in that After the control module receives the collision signal, the control module receives status information from the vehicle integrated unit; When the control module does not receive the status information from the vehicle integrated unit within a first time period, the first switch is controlled to be closed.

5. The device according to any one of claims 1 to 4, characterized in that After receiving the collision signal, the control module controls each of the at least one door lock actuator to unlock the vehicle door in sequence.

6. The device according to any one of claims 1 to 5, characterized in that The device starts controlling the at least one door lock actuator to unlock the vehicle door at a first moment after receiving the collision signal; There is a first time threshold between the first moment and the moment when the device receives the collision signal.

7. The device according to any one of claims 1 to 6, characterized in that The power supply module includes at least one capacitor, and the total capacitance of the at least one capacitor is greater than or equal to 25 farads.

8. A door control system, characterized in that: The invention comprises a vehicle door control device, an airbag controller, a vehicle integrated unit, and at least one door lock actuator; the vehicle door control device is in communication connection with the airbag controller, the vehicle door control device is in communication connection with the vehicle integrated unit, and the vehicle door control device is in communication connection with each of the at least one door lock actuator; Wherein, the vehicle door control device comprises a control module and a power supply module, wherein the power supply module is used to supply power to the control module, and when the control module receives a collision signal from the airbag controller and / or the vehicle integrated unit, the control module controls the at least one door lock actuator to perform door unlocking; The vehicle integrated unit controls the at least one door lock actuator to unlock the vehicle door upon receiving the collision signal from the airbag controller; The collision signal indicates that a collision has occurred with the vehicle.

9. The system according to claim 8, characterized in that The door control device is arranged between an A-pillar and a C-pillar of the vehicle.

10. The system according to claim 8 or 9, characterized in that The system further includes at least one door handle sensor of the vehicle, the door of the vehicle being an electric release door, the control module being in communication connection with the at least one door handle sensor, each of the at least one door handle sensor being used to activate a motor of an electric release door; A first switch is arranged between the power supply module and the at least one door handle sensor. When the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

11. The system according to claim 10, characterized in that After the control module receives the collision signal, the control module receives status information from the vehicle integrated unit; When the control module does not receive the status information from the vehicle integrated unit within a first time period, the first switch is controlled to be closed.

12. The system according to claim 10 or 11, characterized in that The system further comprises a battery for supplying power to the vehicle integrated unit and the at least one door handle sensor respectively.

13. The system according to any one of claims 8 to 12, characterized in that When both the vehicle integrated unit and the door control device receive the collision signal, the vehicle integrated unit starts to control the at least one door lock actuator to unlock the door at a second moment, and the door control device starts to control the at least one door lock actuator to unlock the door at a first moment; The first moment is later than the second moment, and a first time threshold is separated from the first moment and the moment when the door control device receives the collision signal.

14. The system according to any one of claims 8 to 13, characterized in that After receiving the collision signal, the control module controls each of the at least one door lock actuator to unlock the vehicle door in sequence.

15. The system according to any one of claims 8 to 14, characterized in that The power supply module includes at least one capacitor, and the total capacitance of the at least one capacitor is greater than or equal to 25 farads.

16. A vehicle door control method, characterized in that: A door control device applied to a vehicle, the method comprising: receiving a collision signal from an airbag controller of the vehicle and / or a vehicle integrated unit of the vehicle, the collision signal indicating that the vehicle has collided; At least one door lock actuator of the vehicle is controlled to unlock the vehicle door according to the collision signal.

17. The method according to claim 16, characterized in that At least one door of the vehicle is an electric release door, the door control device includes a power supply module, a first switch is arranged between the power supply module and at least one door handle sensor of the vehicle, each of the at least one door handle sensor is used to activate a motor of an electric release door, and the method further includes: When receiving the collision signal, sending a first heartbeat message to the vehicle integrated unit; When no response information of the first heartbeat message from the vehicle integrated unit is received within a first time period, controlling the first switch to close; Wherein, when the first switch is closed, the power supply module supplies power to the at least one door handle sensor.

18. The method according to claim 16 or 17, characterized in that The method of controlling at least one door lock actuator of the vehicle to unlock the door according to the collision signal includes: At a first moment after receiving the collision signal, control the at least one door lock actuator to unlock the vehicle door; There is a first time threshold between the first moment and the moment when the collision signal is received.

19. The method according to any one of claims 16 to 18, characterized in that The method of controlling at least one door lock actuator of the vehicle to unlock the door according to the collision signal includes: When the collision signal is received, each of the at least one door lock actuator is controlled to unlock the vehicle door in sequence.

20. The method according to any one of claims 16 to 19, characterized in that At least one door of the vehicle is an electrically released door, and the method further comprises: When an unlocking request is received from a first door handle sensor, a motor of an electric release door associated with the first door handle sensor is controlled to perform unlocking.

21. A control device, characterized in that: include: A processor, configured to execute a computer program stored in the memory, so that the apparatus performs the method according to any one of claims 16 to 20.

22. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is executed by a processor, the method according to any one of claims 16 to 20 is implemented.

23. An intelligent driving device, characterized in that: It comprises the apparatus as claimed in any one of claims 1 to 7, or the system as claimed in any one of claims 8 to 15, or the apparatus as claimed in claim 21, or the intelligent driving device is loaded with the computer program product as claimed in claim 22.

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