Vehicle door automatic opening method and device and computer readable storage medium

Abstract

The invention relates to a vehicle door automatic opening method and device and a computer readable storage medium, and relates to the technical field of vehicle door automatic opening. The vehicle door automatic opening method comprises the steps that the available space width for passengers to pass through and opening a vehicle door in the vehicle door opening path direction is obtained; and according to the available space width, the vehicle door outer side passing width and the entrance minimum opening angle occupation width, whether the vehicle door can be opened or not and the opening angle of the vehicle door are judged. The vehicle door can be automatically opened to a proper angle in a complex environment such as a parking lot after being awakened, the use experience of passengers is improved, and the problems that in the prior art, in the vehicle door opening or closing process, only obstacles can be recognized, dynamic objects can be pre-judged, automatic stopping is achieved, collision is avoided, and the vehicle door is difficult to open and close in the complex environment such as the parking lot are solved. The vehicle door is difficult to automatically open at a proper angle, so that the actual use experience is influenced.

Description

Technical Field

[0001] The present application relates to the technical field of automatic door opening, and in particular to a method and device for automatic door opening and a computer-readable storage medium. Background Art

[0002] With the development of intelligent automobile technology, automatic doors have been widely used. Compared with traditional mechanical doors, automatic doors are more intelligent. Electric doors automatically open when the driver approaches the vehicle. For example, the doors automatically open within 3 meters of the vehicle, which will undoubtedly give the driver a great sense of ceremony and convenience.

[0003] In the prior art, for example, patent number CN115354924A is an automatic door opening and closing system for automobiles and its control method, which includes an electric limiter, a door lock, a body controller, a door controller, a radar and a camera; the key signal and the signals collected by the camera and the radar can be sent to the body controller, the body controller is connected to the door controller, and the signal is transmitted to the door controller, the door controller identifies and provides the signal instruction to the door lock and the electric limiter, the radar and the camera, the door can be unlocked and locked by the door lock when opening and closing, and the motor of the electric limiter is driven according to the signal to open or close the door. The present invention can realize automatic opening and closing of the door without external force, and has anti-pinch and anti-collision functions. During the process of opening or closing the door, it can identify obstacles, predict dynamic objects, stop automatically, avoid collisions, and realize a safe and comfortable user experience of using the vehicle, and also provide a certain guarantee for the safety of the vehicle occupants.

[0004] However, the existing technology only proposes the process of opening or closing a car door to identify obstacles, predict dynamic objects, and automatically stop to avoid collisions. It is difficult for the car door to automatically open to the appropriate angle in complex environments, such as parking lots, which affects the actual user experience. Summary of the invention

[0005] The present application provides a method, device and computer-readable storage medium for automatically opening a vehicle door, which can solve the problem of the vehicle door opening or closing process existing in the prior art. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the vehicle door to automatically open to the appropriate angle in complex environments, such as parking lots, and there are technical problems that affect the actual user experience.

[0006] In a first aspect, an embodiment of the present application provides a method for automatically opening a vehicle door, the method comprising:

[0007] Obtaining the width of available space in the direction of the door opening path for the passenger to pass through and open the door;

[0008] Based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door, determine whether the door can be opened and the angle at which the door can be opened.

[0009] In one embodiment, judging whether the door can be opened and the door opening angle according to the available space width, the width of the door outside, and the width occupied by the minimum opening angle of the door includes:

[0010] If the width of the available space is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, the opening angle is determined according to the difference between the width of the available space and the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door;

[0011] If the width of the available space is smaller than the sum of the width of the door's outer side and the width occupied by the minimum opening angle for entry, the door will not open or the opening angle will be determined based on the width of the available space.

[0012] In one embodiment, if the available space width is smaller than the sum of the width of the vehicle door outside and the width occupied by the minimum opening angle of the door, the vehicle door is not opened or the opening angle is determined according to the available space width, including:

[0013] Determine whether a legitimate key has entered the intelligent recognition area of ​​the driver's seat;

[0014] If a legitimate key enters the intelligent recognition area, the opening angle is determined according to the width of the available space;

[0015] If the legal key does not enter the intelligent recognition area, the door will not open.

[0016] In one embodiment, if a legitimate key enters the smart recognition area, determining the opening angle according to the width of the available space includes:

[0017] If the available space width is less than or equal to the minimum opening angle width for entry, the door will not open or will be opened according to the calculated opening angle;

[0018] If the width of the available space is greater than the width occupied by the minimum opening angle of the entry, and less than the sum of the width outside the door and the width occupied by the minimum opening angle of the entry, the minimum opening angle of the entry will be opened or the opening angle will be calculated.

[0019] In one embodiment, if the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, determining the opening angle according to the difference between the available space width and the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door includes:

[0020] If the width of the available space is greater than or equal to the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the door, and is less than the sum of the width of the door passing outside and the width occupied by the maximum opening angle of the door, the opening angle is determined according to the difference between the width of the available space and the width occupied by the maximum opening angle of the door;

[0021] If the width of the available space is greater than or equal to the sum of the width of the door's outer side and the width occupied by the maximum opening angle of the entry, the door will open to the maximum opening angle of the entry.

[0022] In one embodiment, determining the opening angle according to the difference between the width of the available space and the width occupied by the maximum opening angle of the entrance includes:

[0023] If the width of the available space is greater than or equal to the sum of the width of the door outside and the width occupied by the minimum opening angle of the entrance, and less than or equal to the width occupied by the maximum opening angle of the entrance, the door opens to the minimum opening angle of the entrance;

[0024] If the width of the available space is greater than the width occupied by the maximum opening angle of the entry, and less than the sum of the width outside the door and the width occupied by the maximum opening angle of the entry, the opening angle is determined based on the position of the legal key.

[0025] In one embodiment, if the available space width is greater than the width occupied by the maximum opening angle of the door, and less than the sum of the width passed through the outside of the door and the width occupied by the maximum opening angle of the door, determining the opening angle according to the position of the legal key includes:

[0026] Determine whether a legitimate key has entered the intelligent recognition area of ​​the driver's seat;

[0027] If a legitimate key enters the smart recognition area, the maximum opening angle of the door will be opened;

[0028] If the legal key does not enter the intelligent recognition area, the minimum opening angle for entry is set.

[0029] In one embodiment, if the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, and less than the sum of the width of the vehicle door passing outside and the width occupied by the maximum opening angle of the door, before determining the opening angle according to the difference between the available space width and the width occupied by the maximum opening angle of the door, the method further includes:

[0030] Establish the geometric relationship between the width occupied by the minimum opening angle of the door and the width passing through the outside of the door, the door length, the human body width, the safety margin and the minimum opening angle of the door, and the geometric relationship between the width occupied by the maximum opening angle of the door and the width passing through the outside of the door, the door length, the human body width, the safety margin and the maximum opening angle of the door;

[0031] According to the experience database query, the minimum opening angle and the maximum opening angle of the entrance are obtained;

[0032] Substituting the minimum opening angle and the maximum opening angle of the entry, we can obtain the sum of the width occupied by the minimum opening angle of the entry and the width passing through the outside of the door, as well as the sum of the width occupied by the maximum opening angle of the entry and the width passing through the outside of the door.

[0033] In a second aspect, an embodiment of the present application provides an automatic door opening device, which includes:

[0034] An acquisition module, which is used to acquire the width of available space in the direction of the door opening path for the passenger to pass through and open the door;

[0035] The control module is used to determine whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door.

[0036] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle door automatic opening program is stored. When the vehicle door automatic opening program is executed by a processor, the steps of the above-mentioned vehicle door automatic opening method are implemented.

[0037] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0038] In this embodiment, by obtaining the width of the available space for the occupants to pass through and open the door in the direction of the door opening path, and judging whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door, the door can be automatically opened to a suitable angle after being awakened in a complex environment, such as a parking lot, thereby improving the user experience of the occupants and solving the door opening or closing process existing in the related technology. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to a suitable angle in a complex environment, such as a parking lot, and there are technical problems that affect the actual user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of an embodiment of the method for automatically opening a vehicle door of the present application;

[0040] Figure 2 For this application Figure 1 Detailed flow diagram of step S2 in FIG.

[0041] Figure 3 For this application Figure 2 Detailed flow chart of step S22;

[0042] Figure 4 For this application Figure 3 Detailed flow chart of step S221;

[0043] Figure 5 This is a schematic diagram of the functional modules of the sensing antenna in the embodiment of the automatic door opening device of the present application;

[0044] Figure 6 This is a schematic diagram of the functional modules of the corner radar in the embodiment of the automatic door opening device of this application;

[0045] Figure 7 This is a schematic diagram of the door opening of the automatic door opening method of this application;

[0046] Figure 8 This is a schematic diagram of the functional modules of the key recognition area and the intelligent recognition area in the embodiment of the automatic door opening device of the present application.

[0047] In the figure: 1. Sensing antenna; 2. Corner radar; 3. Key recognition area; 4. Intelligent recognition area. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0051] In a first aspect, an embodiment of the present application provides a method for automatically opening a vehicle door.

[0052] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the automatic door opening method of the present application. Figure 1 As shown, the automatic door opening method includes:

[0053] S1: Obtain the width of available space in the door opening path direction for the occupant to pass through and open the door.

[0054] S2: Determine whether the door can be opened and the door opening angle based on the available space width, the outer width of the door, and the width occupied by the minimum opening angle of the door.

[0055] In this embodiment, by obtaining the width of the available space for the occupants to pass through and open the door in the direction of the door opening path, and judging whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door, the door can be automatically opened to a suitable angle after being awakened in a complex environment, such as a parking lot, thereby improving the user experience of the occupants and solving the door opening or closing process existing in the related technology. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to a suitable angle in a complex environment, such as a parking lot, and there are technical problems that affect the actual user experience.

[0056] like Figure 5 and Figure 6 As shown, in this example, before S1, it can also include:

[0057] S01: A key recognition area 3 is constructed by means of the induction antennas 1 arranged at the left front door, the right front door and the rear of the vehicle.

[0058] S02: The key identification area 3 performs signal identification on the legal key to obtain the location area of ​​the legal key.

[0059] S03: Wake up the door at the corresponding position according to the position area where the legal key is located.

[0060] S04: The distance and movement speed of the front and rear obstacles are determined by using the corner radars 2 arranged at the left front, right front, left rear and right rear.

[0061] S05: Based on the distance and movement speed of the front and rear obstacles, determine whether there is a dynamic collision risk during the door opening process.

[0062] S06: If there is a risk of dynamic collision, keep the door stationary until the risk of dynamic collision is eliminated.

[0063] In this embodiment, dynamic collision risk assessment is performed before the door opening step, which can further ensure the safety during the door opening process.

[0064] like Figure 2 As shown, further, in one embodiment, judging whether the door can be opened and the angle of the door opening according to the available space width, the width of the door outside, and the width occupied by the minimum opening angle of the door includes:

[0065] S20: Determine the size of the available space width and the sum of the width of the vehicle door outside and the width occupied by the minimum opening angle of the door.

[0066] S21: If the available space width is greater than or equal to the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the door, determine the opening angle according to the difference between the available space width and the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the door.

[0067] S22: If the width of the available space is smaller than the sum of the width of the door outside and the width occupied by the minimum opening angle of the door, the door is not opened or the opening angle is determined according to the width of the available space.

[0068] In this embodiment, the size of the available space width and the sum of the width of the door's outer side passing and the width occupied by the minimum opening angle of the entrance is judged, and different steps are executed according to the judgment result. If the available space width is greater than or equal to the sum of the width of the door's outer side passing and the width occupied by the minimum opening angle of the entrance, the opening angle is determined according to the difference between the available space width and the sum of the width of the door's outer side passing and the width occupied by the minimum opening angle of the entrance. If the available space width is less than the sum of the width of the door's outer side passing and the width occupied by the minimum opening angle of the entrance, the door is not opened or the opening angle is determined according to the available space width. The door opening or closing process existing in the related art is solved, and only the ability to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions is proposed. It is difficult for the door to automatically open to the appropriate angle in complex environments, such as parking lots, and there are technical problems that affect the actual use experience.

[0069] like Figure 3 , Figure 7 and Figure 8 As shown, further, in one embodiment, if the available space width is less than the sum of the width of the door outside and the width occupied by the minimum opening angle of the door, the door is not opened or the opening angle is determined according to the available space width, including:

[0070] S220: Determine whether a legal key has entered the intelligent recognition area 4 of the driver's seat to be entered.

[0071] S221: If a legitimate key enters the intelligent recognition area 4, the opening angle is determined according to the width of the available space.

[0072] S222: If the legal key does not enter the intelligent recognition area 4, the door will not open.

[0073] In this embodiment, by judging whether a legitimate key has entered the intelligent recognition area 4 of the driver's seat to be entered, and executing different steps according to the judgment result, if a legitimate key has entered the intelligent recognition area 4, the opening angle is determined according to the width of the available space; if the legitimate key has not entered the intelligent recognition area 4, the door will not be opened, thereby solving the door opening or closing process existing in the related technology, which only proposes the ability to identify obstacles, predict dynamic objects, and automatically stop to avoid collisions. It is difficult for the door to automatically open at a suitable angle in complex environments, such as parking lots, and there are technical problems that affect the actual use experience.

[0074] In this example, the intelligent recognition area 4 for the driver's seat to be entered is located at the rear side of the main driver's door.

[0075] like Figure 4 As shown, further, in one embodiment, if a legitimate key enters the smart identification area 4, the opening angle is determined according to the width of the available space, including:

[0076] S2210: Determine the size of the available space width and the width occupied by the minimum opening angle of the entrance.

[0077] S2211: If the width of the available space is less than or equal to the width occupied by the minimum opening angle of the door, the door will not be opened or the opening angle will be calculated.

[0078] S2212: If the width of the available space is greater than the width occupied by the minimum opening angle of the entry door, and less than the sum of the width passing through the outer side of the door and the width occupied by the minimum opening angle of the entry door, the minimum opening angle of the entry door is opened or the opening angle is calculated.

[0079] In this embodiment, by judging the size of the available space width and the width occupied by the minimum opening angle of the entrance, and executing different steps according to the judgment result, if the available space width is less than or equal to the width occupied by the minimum opening angle of the entrance, the door will not be opened or will be opened according to the calculated angle; if the available space width is greater than the width occupied by the minimum opening angle of the entrance, but less than the sum of the width of the outer side of the door and the width occupied by the minimum opening angle of the entrance, the minimum opening angle of the entrance will be opened or the calculated angle will be opened, which solves the door opening or closing process existing in the related technology, and only proposes the ability to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to the appropriate angle in complex environments, such as parking lots, and there are technical problems that affect the actual use experience.

[0080] In this example, the opening angle is calculated according to the formula: α2 = arcsin [(HN) / L];

[0081] Among them, α2 is the calculated opening angle, H is the available space width, N is the safety margin, and L is the door length.

[0082] Further, in one embodiment, if the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, determining the opening angle according to the difference between the available space width and the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door includes:

[0083] S211: If the width of the available space is greater than or equal to the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the entrance, and is less than the sum of the width of the door passing outside and the width occupied by the maximum opening angle of the entrance, determine the opening angle based on the difference between the width of the available space and the width occupied by the maximum opening angle of the entrance.

[0084] S212: If the width of the available space is greater than or equal to the sum of the width of the door outside and the width occupied by the maximum opening angle of the door, the door opens to the maximum opening angle of the door.

[0085] In this embodiment, by judging the size of the available space width and the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the entrance, and the sum of the available space width and the width of the door passing outside and the width occupied by the maximum opening angle of the entrance, and according to the judgment results, different steps are executed. If the available space width is greater than or equal to the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the entrance, and is less than the sum of the width of the door passing outside and the width occupied by the maximum opening angle of the entrance, the opening angle is determined according to the difference between the available space width and the width occupied by the maximum opening angle of the entrance. If the available space width is greater than or equal to the sum of the width of the door passing outside and the width occupied by the maximum opening angle of the entrance, the door opens at the maximum opening angle of the entrance, which solves the door opening or closing process existing in the related art. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to the appropriate angle in complex environments, such as parking lots, and there are technical problems that affect the actual use experience.

[0086] Further, in one embodiment, the determining of the opening angle according to the difference between the width of the available space and the width occupied by the maximum opening angle of the entrance comprises:

[0087] S2111: If the width of the available space is greater than or equal to the sum of the width of the door outside and the width occupied by the minimum opening angle of the entrance, and less than or equal to the width occupied by the maximum opening angle of the entrance, the door opens to the minimum opening angle of the entrance.

[0088] S2112: If the width of the available space is greater than the width occupied by the maximum opening angle of the entry door, and less than the sum of the width passing through the outer side of the door and the width occupied by the maximum opening angle of the entry door, determine the opening angle based on the position of the legal key.

[0089] In this embodiment, by judging the sum of the available space width and the width occupied by the outer side of the door and the minimum opening angle of the entrance, the available space width and the width occupied by the maximum opening angle of the entrance, and the size of the available space width and the width occupied by the outer side of the door and the maximum opening angle of the entrance, and according to the judgment results, different steps are executed. If the available space width is greater than or equal to the sum of the width occupied by the outer side of the door and the minimum opening angle of the entrance, and is less than or equal to the width occupied by the maximum opening angle of the entrance, the door is opened at the minimum opening angle of the entrance. If the available space width is greater than the width occupied by the maximum opening angle of the entrance, and is less than the sum of the width occupied by the outer side of the door and the maximum opening angle of the entrance, the opening angle is determined according to the position of the legal key, which solves the door opening or closing process existing in the related technology. It only proposes to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to the appropriate angle in complex environments, such as parking lots, and there are technical problems that affect the actual use experience.

[0090] In this example, the width occupied by the maximum opening angle of the entry is greater than the sum of the width passed through the outer side of the door and the width occupied by the minimum opening angle of the entry.

[0091] In this example, the door opening angle can also be obtained by calculation, and the calculation method is the same as the above-mentioned method for calculating the opening angle.

[0092] Furthermore, in one embodiment, if the available space width is greater than the width occupied by the maximum opening angle of the door, and less than the sum of the width passing through the outer side of the door and the width occupied by the maximum opening angle of the door, the opening angle is determined according to the position of the legal key, including:

[0093] Determine whether a legitimate key has entered the intelligent identification area 4 of the driver's seat to be entered;

[0094] If a legitimate key enters the intelligent identification area 4, the maximum opening angle of the door is opened;

[0095] If the legal key does not enter the intelligent recognition area 4, the minimum opening angle for entry is opened.

[0096] In this embodiment, by judging whether a legitimate key has entered the intelligent recognition area 4 of the driver's seat to be entered, and executing different steps according to the judgment result, if a legitimate key has entered the intelligent recognition area 4, the maximum opening angle of the door is opened, if the legitimate key has not entered the intelligent recognition area 4, the minimum opening angle of the door is opened, thereby ensuring the user experience of the passengers and solving the door opening or closing process existing in the related technology. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open at a suitable angle in complex environments, such as parking lots, and there are technical problems that affect the actual user experience.

[0097] Furthermore, in one embodiment, if the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, and is less than the sum of the width of the vehicle door passing outside and the width occupied by the maximum opening angle of the door, before determining the opening angle according to the difference between the available space width and the width occupied by the maximum opening angle of the door, the method further includes:

[0098] S2101: Establish the geometric relationship between the width occupied by the minimum opening angle of the door and the width passing through the outside of the door, and the door length, human body width, safety margin and the minimum opening angle of the door; the geometric relationship between the width occupied by the maximum opening angle of the door and the width passing through the outside of the door, and the door length, human body width, safety margin and the maximum opening angle of the door.

[0099] S2102: Query the experience database to obtain the minimum entrance opening angle and the maximum entrance opening angle.

[0100] S2103: Substituting the minimum opening angle and the maximum opening angle of the door, the sum of the width occupied by the minimum opening angle of the door and the width passing through the outer side of the door, and the sum of the width occupied by the maximum opening angle of the door and the width passing through the outer side of the door are obtained.

[0101] In this embodiment, by establishing the geometric relationship between the width occupied by the minimum opening angle of the entrance and the passing width of the outside of the door, and the door length, human body width, safety margin and minimum opening angle of the entrance, the geometric relationship between the width occupied by the maximum opening angle of the entrance and the passing width of the outside of the door, and the door length, human body width, safety margin and maximum opening angle of the entrance, and according to the experience database query, substituting the minimum opening angle of the entrance and the maximum opening angle of the entrance, the sum of the width occupied by the minimum opening angle of the entrance and the passing width of the outside of the door, and the sum of the width occupied by the maximum opening angle of the entrance and the passing width of the outside of the door are obtained, the sum of the width occupied by the minimum opening angle of the entrance and the passing width of the outside of the door, and the sum of the width occupied by the maximum opening angle of the entrance and the passing width of the outside of the door can be conveniently obtained.

[0102] In this example, according to the formula: H0 = sinα0 × L + W1 + N, H1 = sinα1 × L + W1 + N, the sum of the width occupied by the minimum opening angle of the door and the width passing through the outside of the door, as well as the sum of the width occupied by the maximum opening angle of the door and the width passing through the outside of the door are obtained;

[0103] Among them, H0 is the sum of the width of the door outside and the width occupied by the maximum opening angle of the entrance, α0 is the maximum opening angle of the entrance, L is the length of the door, W1 is the width of the human body, N is the safety margin, W1+N is the width of the door outside, H1 is the sum of the width of the door outside and the width occupied by the minimum opening angle of the entrance, and α1 is the minimum opening angle of the entrance.

[0104] In a second aspect, the embodiment of the present application further provides a vehicle door automatic opening device, which includes:

[0105] An acquisition module, which is used to acquire the width of available space in the direction of the door opening path for the passenger to pass through and open the door;

[0106] The control module is used to determine whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door.

[0107] In this embodiment, by obtaining the width of the available space for the occupants to pass through and open the door in the direction of the door opening path, and judging whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door, the door can be automatically opened to a suitable angle after being awakened in a complex environment, such as a parking lot, thereby improving the user experience of the occupants and solving the door opening or closing process existing in the related technology. It only proposes to be able to identify obstacles, predict dynamic objects, stop automatically, and avoid collisions. It is difficult for the door to automatically open to a suitable angle in a complex environment, such as a parking lot, and there are technical problems that affect the actual user experience.

[0108] Among them, the functional implementation of each module in the above-mentioned automatic door opening device corresponds to the various steps in the above-mentioned automatic door opening method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0109] The control module may be a device with data processing function, such as a personal computer (PC), a notebook computer, or a server.

[0110] In an embodiment of the present application, a vehicle door automatic opening device may include a processor, a memory, a communication interface, and a communication bus.

[0111] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0112] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting the components inside the automatic door opening device, as well as interfaces for interconnecting the automatic door opening device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0113] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0114] The processor may be a general-purpose processor, which may call the automatic door opening program stored in the memory and execute the automatic door opening method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the automatic door opening program is called may refer to the various embodiments of the automatic door opening method of the present application, which will not be described in detail here.

[0115] In a third aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0116] The computer-readable storage medium of the present application stores an automatic door opening program, wherein when the automatic door opening program is executed by a processor, the steps of the automatic door opening method as described above are implemented.

[0117] Among them, the method implemented when the automatic door opening program is executed can refer to the various embodiments of the automatic door opening method of the present application, and will not be repeated here.

[0118] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0119] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0120] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0121] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may 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 addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0122] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0124] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for automatically opening a vehicle door, characterized in that: The automatic door opening method comprises: Obtaining the width of available space in the direction of the door opening path for the passenger to pass through and open the door; Based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door, determine whether the door can be opened and the angle at which the door can be opened.

2. The automatic door opening method according to claim 1, characterized in that: The determination of whether the door can be opened and the door opening angle according to the available space width, the width of the door outside, and the width occupied by the minimum opening angle of the door includes: If the width of the available space is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, the opening angle is determined according to the difference between the width of the available space and the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door; If the width of the available space is smaller than the sum of the width of the door's outer side and the width occupied by the minimum opening angle for entry, the door will not open or the opening angle will be determined based on the width of the available space.

3. The automatic door opening method according to claim 2, characterized in that: If the available space width is smaller than the sum of the width of the door outside and the width occupied by the minimum opening angle of the door, the door will not open or the opening angle will be determined according to the available space width, including: Determine whether a legitimate key has entered the intelligent recognition area of ​​the driver's seat to be entered (4); If a legitimate key enters the intelligent recognition area (4), the opening angle is determined according to the width of the available space; If the legal key does not enter the intelligent recognition area (4), the door will not open.

4. The automatic door opening method according to claim 3, characterized in that: If a legitimate key enters the intelligent identification area (4), the opening angle is determined according to the width of the available space, including: If the available space width is less than or equal to the minimum opening angle width for entry, the door will not open or will be opened according to the calculated opening angle; If the width of the available space is greater than the width occupied by the minimum opening angle of the entry, and less than the sum of the width outside the door and the width occupied by the minimum opening angle of the entry, the minimum opening angle of the entry will be opened or the opening angle will be calculated.

5. The automatic door opening method according to claim 2, characterized in that: If the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, the opening angle is determined according to the difference between the available space width and the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, including: If the width of the available space is greater than or equal to the sum of the width of the door passing outside and the width occupied by the minimum opening angle of the door, and is less than the sum of the width of the door passing outside and the width occupied by the maximum opening angle of the door, the opening angle is determined according to the difference between the width of the available space and the width occupied by the maximum opening angle of the door; If the width of the available space is greater than or equal to the sum of the width of the door's outer side and the width occupied by the maximum opening angle of the entry, the door will open to the maximum opening angle of the entry.

6. The method for automatically opening a vehicle door as claimed in claim 5, characterized in that: The method of determining the opening angle according to the difference between the width of the available space and the width occupied by the maximum opening angle of the entrance includes: If the width of the available space is greater than or equal to the sum of the width of the door outside and the width occupied by the minimum opening angle of the entrance, and less than or equal to the width occupied by the maximum opening angle of the entrance, the door opens to the minimum opening angle of the entrance; If the width of the available space is greater than the width occupied by the maximum opening angle of the entry, and less than the sum of the width outside the door and the width occupied by the maximum opening angle of the entry, the opening angle is determined based on the position of the legal key.

7. The method for automatically opening a vehicle door as claimed in claim 6, characterized in that: If the available space width is greater than the width occupied by the maximum opening angle of the door, and less than the sum of the width passed outside the door and the width occupied by the maximum opening angle of the door, the opening angle is determined according to the position of the legal key, including: Determine whether a legitimate key has entered the intelligent recognition area of ​​the driver's seat to be entered (4); If a legitimate key enters the intelligent recognition area (4), the maximum opening angle of the door is opened; If the legal key does not enter the intelligent recognition area (4), the minimum opening angle for entry is set.

8. The method for automatically opening a vehicle door as claimed in claim 5, characterized in that: If the available space width is greater than or equal to the sum of the width of the vehicle door passing outside and the width occupied by the minimum opening angle of the door, and is less than the sum of the width of the vehicle door passing outside and the width occupied by the maximum opening angle of the door, before determining the opening angle according to the difference between the available space width and the width occupied by the maximum opening angle of the door, the method further includes: Establish the geometric relationship between the width occupied by the minimum opening angle of the door and the width passing through the outside of the door, the door length, the human body width, the safety margin and the minimum opening angle of the door, and the geometric relationship between the width occupied by the maximum opening angle of the door and the width passing through the outside of the door, the door length, the human body width, the safety margin and the maximum opening angle of the door; According to the experience database query, the minimum opening angle and the maximum opening angle of the entrance are obtained; Substituting the minimum opening angle and the maximum opening angle of the entry, we can obtain the sum of the width occupied by the minimum opening angle of the entry and the width passing through the outside of the door, as well as the sum of the width occupied by the maximum opening angle of the entry and the width passing through the outside of the door.

9. An automatic door opening device, characterized in that: include: An acquisition module, which is used to acquire the width of available space in the direction of the door opening path for the passenger to pass through and open the door; The control module is used to determine whether the door can be opened and the opening angle of the door based on the width of the available space, the width of the outer side of the door, and the width occupied by the minimum opening angle of the door.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an automatic door opening program, wherein when the automatic door opening program is executed by the processor, the steps of the automatic door opening method according to any one of claims 1 to 8 are implemented.

Images