Vehicle door control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle door control method and device, a vehicle and a storage medium. When the vehicle is in the parking mode and the parking duration is longer than the preset duration, whether a vehicle door is in a completely closed and unlocked state or not is determined; determining whether a key of the vehicle is in the vehicle and determining whether a user is present in the vehicle when the door is in a fully closed and unlocked state; the vehicle automatically controls the door to lock when the key is in the vehicle and no user is present in the vehicle. Namely, when the vehicle is in the parking mode and the parking time is long, the vehicle can detect the state of the vehicle, and when the state of the vehicle meets the condition, the vehicle door is automatically locked. Therefore, the vehicle safety problem or the property safety problem caused by the fact that the user forgets to lock can be avoided. In addition, when the key is in the vehicle and no user exists in the vehicle, the vehicle door is locked, and the situation that lawbreakers steal the vehicle through the key and some users (especially children) are locked in the vehicle and cannot get off the vehicle can be avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, an apparatus, a vehicle, and a storage medium for controlling a vehicle door in the field of vehicles. Background Art

[0002] Currently, in the vehicle industry, when a vehicle is parked and there is no user in the vehicle, the user needs to manually close the door.

[0003] When a user closes a car door but does not lock it, it may cause safety issues for the vehicle and the personal and property safety of the user.

[0004] Based on this, how to lock the car door intelligently has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for controlling vehicle doors. This method automatically locks the vehicle doors when the vehicle's status meets certain conditions. This can prevent vehicle safety issues or property safety issues caused by users forgetting to lock the doors. Furthermore, locking the vehicle doors when the key is in the vehicle and the user is not present can prevent criminals from using the key to steal the vehicle and prevent certain users (especially children) from being locked in the vehicle and unable to exit.

[0006] In a first aspect, a method for controlling a vehicle door is provided, the method comprising: determining whether a vehicle door is in a fully closed and unlocked state when the vehicle is in a parking mode and the parking time is greater than a preset time; determining whether a key of the vehicle is in the vehicle and whether there is a user in the vehicle when the vehicle door is in a fully closed and unlocked state; and controlling the vehicle door to be locked when the key is in the vehicle and there is no user in the vehicle.

[0007] In the above technical solution, when a vehicle is in parking mode and has been parked for longer than a preset time, the vehicle automatically determines whether the vehicle's doors are fully closed and unlocked. If the doors are fully closed and unlocked, the vehicle then determines whether the vehicle key is in the vehicle and whether there is a user in the vehicle. If the key is in the vehicle and no user is in the vehicle, the vehicle automatically controls the doors to lock. In other words, when the vehicle is in parking mode and has been parked for a long time, the vehicle can detect its own state and automatically lock the doors when the vehicle's state meets the conditions. This can prevent vehicle safety issues or user property safety issues caused by users forgetting to lock the doors. Furthermore, locking the doors when the key is in the vehicle and no user is in the vehicle can also prevent criminals from using the key to steal the vehicle and prevent certain users (especially children) from being locked in the vehicle and unable to exit.

[0008] In combination with the first aspect, in some possible implementations, when the key is in the vehicle and there is no user in the vehicle, controlling the vehicle door to be locked includes: when the key is in the vehicle and there is no user in the vehicle, determining whether there is an electronic device bound to the vehicle and having authority to control the vehicle door; when there is an electronic device bound to the vehicle and having authority to control the vehicle door, controlling the vehicle door to be locked in response to a locking instruction from the electronic device to the vehicle door.

[0009] In the above technical solution, when the vehicle is in parking mode and has been parked for a long time, the door is closed but not locked, the vehicle key is in the vehicle and there is no user in the vehicle, it is judged whether there is a bound electronic device to the vehicle and whether the electronic device has the authority to control the vehicle. If there is an electronic device bound to the vehicle and has the authority to control the door, the door is controlled to be locked in response to the locking instruction of the electronic device to the door. In other words, the vehicle can receive the locking instruction of the target electronic device (the electronic device that is bound and has the authority to control the door) to lock the door when its own state meets the conditions. This can facilitate the user to remotely lock the entire vehicle through the electronic device.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the key of the vehicle is in the vehicle includes: determining that the key is not in the vehicle when the Bluetooth device in the vehicle does not receive the Bluetooth signal sent by the key; and determining whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device when the Bluetooth device receives the Bluetooth signal sent by the key.

[0011] In the above technical solution, the vehicle key is a remote-controlled Bluetooth key that communicates with the vehicle via Bluetooth signals. If the vehicle's Bluetooth device fails to receive the Bluetooth signal transmitted by the remote-controlled Bluetooth key, it indicates that the remote-controlled Bluetooth key is too far from the vehicle, and the vehicle therefore determines that the remote-controlled Bluetooth key is not in the vehicle. If the vehicle's Bluetooth device receives the Bluetooth signal transmitted by the remote-controlled Bluetooth key, it indicates that the remote-controlled Bluetooth key is relatively close to the vehicle. However, the remote-controlled Bluetooth key can still receive Bluetooth signals with lower strength values ​​transmitted by the remote-controlled Bluetooth key while outside the vehicle. Therefore, it is necessary to definitively determine whether the remote-controlled Bluetooth key is in the vehicle based on the strength value of the received Bluetooth signal. This method can simply and accurately determine whether the remote-controlled Bluetooth key is in the vehicle.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the Bluetooth device includes N antennas, N is a positive integer greater than or equal to 3, and based on the strength value of the Bluetooth signal received by the Bluetooth device, determining whether the key is in the vehicle includes: converting the strength value of the Bluetooth signal received by the N antennas into the distance between the key and each of the N antennas; if the distance between the key and each antenna meets a preset distance condition, determining that the key is in the vehicle; if the distance between the key and each antenna does not meet the preset distance condition, determining that the key is not in the vehicle.

[0013] In the above technical solution, because the antenna broadcasts Bluetooth signals within a certain distance range, multiple antennas (at least three) are required to determine the distance between the key (remote control Bluetooth key) and the multiple antennas to clearly determine the remote control Bluetooth key's position relative to the vehicle. The strength values ​​of the Bluetooth signals received by the multiple antennas are converted into the distance between the remote control Bluetooth key and each antenna. If the distance between the remote control Bluetooth key and each antenna meets a preset distance condition, it indicates that the distance between the remote control Bluetooth key and the multiple antennas is very close, and the remote control Bluetooth key is inside the vehicle. If the distance between the remote control Bluetooth key and each antenna does not meet the preset distance condition, it indicates that the distance between the remote control Bluetooth key and each antenna is very far, and the remote control Bluetooth key is outside the vehicle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether there is a user in the vehicle includes: acquiring an environmental image in the vehicle through an image acquisition device in the vehicle; determining that there is no user in the vehicle when the environmental image does not include the user; determining that there is a user in the vehicle when the environmental image includes the user; and / or acquiring the load-bearing weight of the seat in the vehicle through a pressure sensor of the seat; determining that there is no user in the vehicle when the load-bearing weight is less than a preset weight; and determining that there is a user in the vehicle when the load-bearing weight is greater than or equal to the preset weight.

[0015] In the above technical solution, an image acquisition device captures an image of the vehicle's interior, which is then detected to determine whether a user is present. Furthermore, a seat pressure sensor is used to detect the seat's load capacity, which is then compared with a preset weight to determine whether a user is present. This method can enrich the methods for determining whether a user is present in a vehicle.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the vehicle door is not closed and the opening of the vehicle door is greater than a preset opening, in response to the closing operation of the vehicle door, determining the force used to close the vehicle door; when the force is within a first force range, not triggering the self-priming function of the vehicle door; when the force is within a second force range, controlling the vehicle door to be attracted to a fully locked position, and the fully locked position is the position where the vehicle door is completely closed.

[0017] In the above technical solution, when the vehicle door is open, the vehicle can determine the force required to close the door in response to the closing operation on the door; if the force is too strong, the door is directly closed (fully closed). In other words, the vehicle controls the door not to trigger the self-priming function, i.e., not to pull the door from the semi-locked position to the fully locked position. When the force is within the second force range, the door is pushed to the semi-locked position by the user (the door is not fully closed, but is in a half-open state). At this time, the vehicle controls the door to trigger the self-priming function, pull the door to the fully locked position, and completely close the door.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: in the process of the vehicle door being attracted to the fully locked position, in response to the self-priming interruption instruction of the vehicle door, the vehicle door is adjusted to a semi-locked position, and the semi-locked position is a position where the vehicle door is not completely closed.

[0019] In the above technical solution, while the door is closing from the semi-locked position to the fully locked position, the vehicle can respond to a self-priming interruption command for the door and adjust the door to the semi-locked position. In other words, the vehicle can receive an external command to interrupt the self-priming process of the door, thereby terminating the self-priming process.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle door to be locked, the method also includes: obtaining multiple sampling results of the vehicle door being locked; when there are consecutive sampling results in the multiple sampling results indicating that the vehicle door is not locked, outputting a warning message that the door lock of the vehicle door has failed.

[0021] In the above technical solution, after locking a vehicle door, multiple samples are taken of the door locking result. If a consecutive number of sampling results indicates that the vehicle door is unlocked, a warning message indicating a door lock failure is output. In other words, after locking the vehicle door, the locking result is verified multiple times to promptly notify the user if a door lock failure occurs.

[0022] In a second aspect, a device for controlling vehicle doors is provided, which includes: a determination module for determining whether the vehicle doors are in a fully closed and unlocked state when the vehicle is in parking mode and the parking time is greater than a preset time; determining whether the vehicle key is in the vehicle and whether there is a user in the vehicle when the vehicle doors are in a fully closed and unlocked state; and a control module for controlling the vehicle doors to be locked when the key is in the vehicle and there is no user in the vehicle.

[0023] In combination with the second aspect, in some possible implementations, the control module is specifically used to: when the key is in the vehicle and there is no user in the vehicle, determine whether there is an electronic device bound to the vehicle and having the authority to control the door; if there is an electronic device bound to the vehicle and having the authority to control the door, control the locking of the door in response to the locking instruction of the electronic device to the door.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is specifically used to: determine that the key is not in the vehicle when the Bluetooth device in the vehicle does not receive the Bluetooth signal sent by the key; and determine whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device when the Bluetooth device receives the Bluetooth signal sent by the key.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the Bluetooth device includes N antennas, N is a positive integer greater than or equal to 3, and the determination module is specifically used to: convert the strength value of the Bluetooth signal received by the N antennas into the distance between the key and each of the N antennas; if the distance between the key and each antenna meets the preset distance condition, determine that the key is in the vehicle; if the distance between the key and each antenna does not meet the preset distance condition, determine that the key is not in the vehicle.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: obtain an environmental image in the vehicle through an image acquisition device in the vehicle; if the environmental image does not include a user, determine that there is no user in the vehicle; if the environmental image includes a user, determine that there is a user in the vehicle; and / or, obtain the load-bearing weight of the seat through a pressure sensor of the seat in the vehicle; if the load-bearing weight is less than a preset weight, determine that there is no user in the vehicle; if the load-bearing weight is greater than or equal to the preset weight, determine that there is a user in the vehicle.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to determine the force used to close the vehicle door in response to a closing operation on the vehicle door when the vehicle door is not closed and the opening of the vehicle door is greater than a preset opening; the device also includes: a trigger module, used to not trigger the self-priming function of the vehicle door when the force is within a first force range; the control module is also used to control the vehicle door to be attracted to a fully locked position when the force is within a second force range, and the fully locked position is the position where the vehicle door is completely closed.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: an adjustment module, which is used to adjust the vehicle door to a semi-locked position in response to a self-priming interruption instruction to the vehicle door during the process of the vehicle door being attracted to the fully locked position, and the semi-locked position is a position where the vehicle door is not completely closed.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle door to be locked, the determination module is also used to obtain multiple sampling results of the vehicle door being locked; the device also includes: an output module, which is used to output early warning information of a door lock failure of the vehicle door when there are consecutive sampling results in the multiple sampling results indicating that the vehicle door is not locked.

[0030] In a third aspect, a vehicle is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0031] In a fourth aspect, a computer-readable storage medium is provided, which stores instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0033] Figure 2 is a schematic flow chart of a method for controlling a vehicle door provided in an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of a state of a vehicle door provided by an embodiment of the present application;

[0035] Figure 4 This is a schematic diagram of determining whether a key is in a vehicle provided by an embodiment of the present application;

[0036] Figure 5 This is a flow chart of a door closing process provided by an embodiment of the present application;

[0037] Figure 6 1 is a schematic structural diagram of a vehicle door control device provided in an embodiment of the present application;

[0038] Figure 7 It is a structural schematic diagram of another vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in this application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of this application, "multiple" refers to two or more than two. The terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", "third", "fourth" and "fifth" may explicitly or implicitly include one or more of the features.

[0040] Figure 1 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0041] For example, usually, Figure 1As shown, after using vehicle A, the user will adjust vehicle A to parking mode and completely close and lock the doors of vehicle A.

[0042] It should be understood that a fully closed and locked door means that the opening between the door and the corresponding side skirt is zero, and there is no gap between the rear side of the door and the vehicle body. When the door is locked, other users cannot open the door from outside the vehicle, thereby preventing theft of property inside the vehicle or theft of the vehicle.

[0043] In the prior art, users' carelessness may cause them to completely close the car doors without locking them, which may cause safety problems for the vehicle or the property inside the vehicle.

[0044] Based on this, the present application proposes a method for controlling a vehicle door to solve the above-mentioned problem.

[0045] Figure 2 This is a schematic flowchart of a method for controlling a vehicle door provided in an embodiment of the present application.

[0046] It should be understood that the method for controlling a vehicle door provided in the embodiment of the present application can be applied to Figure 1 The vehicle shown. Specifically, the method for controlling vehicle doors can be applied to a target controller in the vehicle, which can be either a vehicle controller or a body domain controller. The body domain controller is used to control various vehicle components in the vehicle. In some embodiments, the vehicle components include lights, wipers, windows, rearview mirrors, seats, vehicle air conditioning, doors, and Bluetooth devices.

[0047] For example, Figure 2 As shown, the method 200 includes:

[0048] Step 201: When a vehicle is in a parking mode and the parking time is greater than a preset time, the vehicle controller determines whether the doors of the vehicle are in a fully closed and unlocked state.

[0049] It should be understood that the "vehicle is in parking mode" in step 201 can be understood as the vehicle's gear is in the parking gear (P gear) and the vehicle is parked. It should also be understood that in this application, when the vehicle is in parking mode and the parking time is greater than a preset time, the vehicle's own state (door state, vehicle key state, and whether a user is in the vehicle) is judged. Therefore, the vehicle doors are locked only when the vehicle's own state meets the conditions (doors are completely closed and unlocked, the key is in the vehicle, and there is no user in the vehicle). This can prevent the user from continuing to use the vehicle.

[0050] It should also be understood that the "door is fully closed and unlocked" in step 201 can be understood as a state where the door is fully locked but not locked. In this case, the opening between the door and the corresponding side skirt is zero, and there is no gap between the rear side of the door and the vehicle body. Furthermore, when the door is in this state, other users can open the door from outside the vehicle.

[0051] In one possible implementation, the vehicle controller in step 201 determines whether the door in the vehicle is in a fully closed and unlocked state, including: upon detecting that the pawl connected to the door is in a disconnected state, the status switch of the door is in a disconnected state, and the ratchet connected to the door is in a disconnected state, the vehicle controller determines that the door is in a fully closed and unlocked state; upon detecting that the pawl is in a connected state, the status switch of the door is in a disconnected state, and the ratchet is in a disconnected state, the vehicle controller determines that the door is not in a fully closed state.

[0052] It should be understood that the phrase "the door is not fully closed" in the above solution can be understood as meaning that the door is closed but not fully closed (the door is in a semi-locked position). In this case, the opening between the door and the corresponding side skirt is zero, but a gap exists between the rear side of the door and the vehicle body, indicating that the door is ajar. It should also be understood that the door can only be locked after it is closed. Therefore, when the door is not fully closed, it is not locked.

[0053] It should also be understood that the door also has a fully open state.

[0054] Figure 3 This is a schematic diagram of the state of a vehicle door provided in an embodiment of the present application.

[0055] like Figure 3 As shown in (a), the opening between the vehicle door and the side skirt corresponding to the door is a, and a is greater than 0. At this time, the vehicle door is in a fully open state. Figure 3 As shown in (b), the opening between the door and the corresponding side skirt is 0, and there is a gap b between the rear side of the door and the car body. The door is not completely closed and is in a half-open state. In this case, if other users do not carefully check the door, they will not notice that the door is not completely closed. Figure 3 As shown in (c), the opening between the door and the side skirt corresponding to the door is 0, there is no gap between the rear side of the door and the vehicle body, and the door is in a fully closed state c. In this case, the door can be locked.

[0056] In step 202 , when the vehicle door is in a fully closed and unlocked state, the vehicle controller determines whether the vehicle key is in the vehicle and whether there is a user in the vehicle.

[0057] It should be understood that, generally, the "vehicle key" in step 202 is a remote control Bluetooth key that can communicate with the vehicle via Bluetooth signals.

[0058] Whether the vehicle key is in the vehicle is further explained below.

[0059] In one possible implementation, the vehicle controller determines whether the key of the vehicle is in the vehicle, including: when the Bluetooth device in the vehicle does not receive the Bluetooth signal sent by the key, the vehicle controller determines that the key is not in the vehicle; when the Bluetooth device receives the Bluetooth signal sent by the key, the vehicle controller determines whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device.

[0060] In the above technical solution, if the Bluetooth device in the vehicle does not receive the Bluetooth signal transmitted by the remote Bluetooth key, it indicates that the remote Bluetooth key is too far away from the vehicle, and the vehicle therefore determines that the remote Bluetooth key is not in the vehicle. If the Bluetooth device in the vehicle receives the Bluetooth signal transmitted by the remote Bluetooth key, it indicates that the remote Bluetooth key is relatively close to the vehicle. However, the remote Bluetooth key can still receive Bluetooth signals with lower strength values ​​transmitted by the remote Bluetooth key while outside the vehicle. Therefore, it is necessary to definitively determine whether the remote Bluetooth key is in the vehicle based on the strength value of the received Bluetooth signal. This method can simply and accurately determine whether the remote Bluetooth key is in the vehicle.

[0061] In one possible implementation, the Bluetooth device includes N antennas, N is a positive integer greater than or equal to 3, and the vehicle controller determines whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device, including: the vehicle controller converts the strength value of the Bluetooth signal received by the N antennas into the distance between the key and each of the N antennas; if the distance between the key and each antenna meets a preset distance condition, the vehicle controller determines that the key is in the vehicle; if the distance between the key and each antenna does not meet the preset distance condition, the vehicle controller determines that the key is not in the vehicle.

[0062] It should be understood that since the above solution includes multiple antennas, the "preset distance condition" in the above solution specifically includes a first distance range corresponding to the distance between the key and the first antenna of the multiple antennas, ..., and so on, and the Nth distance range corresponding to the distance between the key and the Nth antenna of the multiple antennas. It should also be understood that the distance between the key and each antenna is only considered to meet the preset distance condition if the distance between the key and each antenna simultaneously meets the distance range corresponding to the antenna.

[0063] In the above technical solution, because the antenna broadcasts Bluetooth signals within a certain distance range, multiple antennas (at least three) are required to determine the distance between the key (remote control Bluetooth key) and the multiple antennas to clearly determine the remote control Bluetooth key's position relative to the vehicle. The strength values ​​of the Bluetooth signals received by the multiple antennas are converted into the distance between the remote control Bluetooth key and each antenna. If the distance between the remote control Bluetooth key and each antenna meets a preset distance condition, it indicates that the distance between the remote control Bluetooth key and the multiple antennas is very close, and the remote control Bluetooth key is inside the vehicle. If the distance between the remote control Bluetooth key and each antenna does not meet the preset distance condition, it indicates that the distance between the remote control Bluetooth key and each antenna is very far, and the remote control Bluetooth key is outside the vehicle.

[0064] In some embodiments, the vehicle controller converts the strength values ​​of the Bluetooth signals received by the N antennas into the distances between the key and each of the N antennas, including: the vehicle controller determines the distances between the key and each of the N antennas based on the following formula (1);

[0065]

[0066] Among them, RSSI i is the strength of the Bluetooth signal received by the i-th antenna among the N antennas, where i ranges from 1 to N; A0 is the strength of the Bluetooth signal when the antenna and the key are 1 meter apart; n is the environmental attenuation factor; d i is the distance between the key and the i-th antenna among the N antennas, ABS(RSSI i ) is the absolute value of the strength of the Bluetooth signal received by the i-th antenna.

[0067] Taking N as 3 as an example, the above-mentioned N antennas refer to the first antenna, the second antenna and the third antenna. The strength value of the Bluetooth signal received by the first antenna is RSSI1, the strength value of the Bluetooth signal received by the second antenna is RSSI2, and the strength value of the Bluetooth signal received by the third antenna is RSSI3. The distance between the key and the first antenna is d1, the distance between the key and the second antenna is d2, and the distance between the key and the third antenna is d3.

[0068] Figure 4 This is a schematic diagram of determining whether a key is in a vehicle provided by an embodiment of the present application.

[0069] In some embodiments, when N is 3 and the three antennas in the vehicle are as follows Figure 4 When the arrangement is shown, the preset distance condition can be: d1 < r1 and d2 < r2 and d3 < r3, where r2 is the distance between the left and right wheels (the width of the vehicle body, such as Figure 4 l2 in ), r3 is half the distance between the front and rear of the vehicle (half the length of the vehicle body, such as Figure 4 1 / 2l1), r1 is Figure 4 Specifically, the key O is in the following Figure 4 When the key is in the middle position, the key is in the vehicle.

[0070] It should also be understood that the above-mentioned preset distance conditions are exemplary. Optionally, the area corresponding to the preset distance condition may be smaller than the area of ​​the bottom surface of the vehicle, that is, smaller than Figure 4 The area of ​​the shaded part in .

[0071] Whether there is a user in the vehicle is further explained as follows.

[0072] In one possible implementation, the vehicle controller determines whether there is a user in the vehicle, including: the vehicle controller obtains an environmental image in the vehicle through an image acquisition device in the vehicle; when the environmental image does not include the user, the vehicle controller determines that there is no user in the vehicle; when the environmental image includes the user, the vehicle controller determines that there is a user in the vehicle; and / or, the vehicle controller obtains the load-bearing weight of the seat in the vehicle through a pressure sensor of the seat; when the load-bearing weight is less than a preset weight, the vehicle controller determines that there is no user in the vehicle; when the load-bearing weight is greater than or equal to the preset weight, the vehicle controller determines that there is a user in the vehicle.

[0073] Optionally, the image acquisition device is a visual sensor, and the visual sensor is a camera.

[0074] In the above technical solution, an image acquisition device captures an image of the vehicle's interior, which is then detected to determine whether a user is present. Furthermore, a seat pressure sensor is used to detect the seat's load capacity, which is then compared with a preset weight to determine whether a user is present. This method can enrich the methods for determining whether a user is present in a vehicle.

[0075] In some embodiments, the vehicle controller may determine whether the environment image includes a user in the following manner. The method 200 further includes: the vehicle controller inputting the environment image into a user detection model, and the user detection model identifying the environment image based on user characteristics to determine whether the environment image includes the user, thereby determining whether the user is in the vehicle.

[0076] Optionally, the user detection model is a Faster R-CNN (Region-Convolutional Neural Network) model or a DeepParts model.

[0077] Optionally, the user detection model identifies the environmental image based on the user's features to determine whether the environmental image includes the user, including: the region generation network in the Faster R-CNN model extracts the user candidate region in the environmental image; the Faster R-CNN model extracts the user's features in the user candidate region; the Faster R-CNN model classifies the extracted features through a classifier to determine whether the environmental image includes the user.

[0078] Optionally, the user detection model identifies the environmental image based on the user's features and determines whether the environmental image includes the user, including: the DeepParts model divides the environmental image into multiple sub-images and detects the multiple sub-images; the DeepParts model combines the detection results and determines whether the environmental image includes the user based on the combined results.

[0079] It should be understood that the DeepParts model is a user detection algorithm based on human body parts. It should also be understood that the user detection model mentioned above is an object detection model.

[0080] In the above technical solutions, because the Faster R-CNN model or DeepParts model used in deep learning is trained based on a large user dataset, it can improve the accuracy of user detection in environmental images and improve the accuracy of user detection in vehicles. Detecting users in vehicles based on the user detection model can also improve the efficiency of user detection.

[0081] It should be understood that when the car door is not fully closed and unlocked, the car door may be in a fully open state or in a partially closed state. In a scenario where the user closes the car door with great force, the car door may change from a fully open state to a fully closed state (that is, the car door goes directly from open to closed). In a scenario where the user closes the car door with less force, the car door may change from a fully open state to a partially closed state, and then from a partially closed state to a fully closed state. That is to say, with less force from the user, the car door is pushed to a semi-locked position, at which point the car door is in a half-closed state and is not fully closed; next, the car door's self-priming function is triggered, sucking the car door to the fully locked position, at which point the car door is fully closed. This process can be referred to Figure 3 The states of the vehicle doors shown in (a) to (c).

[0082] In one possible implementation, the method 200 also includes: when the vehicle door is not closed and the opening of the vehicle door is greater than a preset opening, the vehicle controller determines the force used to close the vehicle door in response to the closing operation of the vehicle door; when the force is within a first force range, the vehicle controller does not trigger the self-priming function of the vehicle door; when the force is within a second force range, the vehicle controller controls the vehicle door to be attracted to a fully locked position, which is the position where the vehicle door is completely closed.

[0083] It should be understood that the door opening in the above solution refers to the angle between the door and the corresponding side skirt. The phrase "the door is not closed and the door opening is greater than a preset opening" in the above solution refers to the door being fully open. The "first force range" in the above solution is F ≥ F1, where F1 is the force required to fully close the door without triggering the door's self-priming function. The "second force range" is F2 ≤ F < F1, where F2 is the force required to partially lock the door.

[0084] In the above technical solution, when the door is fully open, the vehicle can determine the force required to close the door in response to the closing operation; if the force is very strong, the door is directly closed (fully closed). In other words, the vehicle controls the door not to trigger the self-priming function, that is, not to pull the door from the semi-locked position to the fully locked position. When the force is within the second force range, the door is pushed to the semi-locked position by the user's force (the door is not fully closed and is in a half-open state). At this time, the vehicle controls the door to trigger the self-priming function, pull the door to the fully locked position, and control the door to be fully closed.

[0085] In some embodiments, the vehicle controller controls the vehicle door to be attracted to the fully locked position, including: the vehicle controller energizes the self-priming motor in the vehicle door, and uses the self-priming motor to change the pawl connected to the vehicle door from the connected state to the disconnected state, so that the vehicle door is attracted to the fully locked position.

[0086] In one possible implementation, the method 200 further includes: in the process of the vehicle door being attracted to the fully locked position, the vehicle controller responds to the self-priming interruption instruction of the vehicle door and adjusts the vehicle door to a semi-locked position, where the semi-locked position is a position where the vehicle door is not fully closed.

[0087] It should be understood that "adjusting the door to a semi-locked position" in the above solution can be considered a self-priming reset process. In response to the self-priming interrupt command for the door, the vehicle controller controls the self-priming reset switch to turn on, at which point the self-priming reset process is initiated and the vehicle controller adjusts the door to a semi-locked position. After the door is not fully closed (the door is in a semi-locked position), the self-priming reset switch is turned off, and the self-priming reset action is completed.

[0088] In the above technical solution, while the door is closing from the semi-locked position to the fully locked position, the vehicle can respond to a self-priming interruption command for the door and adjust the door to the semi-locked position. In other words, the vehicle can receive an external command to interrupt the self-priming process of the door, thereby terminating the self-priming process.

[0089] In some embodiments, the self-priming interruption instruction is any one of a touch operation on the outer handle of the vehicle door and a press operation on the switch of the outer handle.

[0090] In some embodiments, the vehicle controller responds to a self-priming interruption instruction to the vehicle door by adjusting the vehicle door to a semi-locked position, including: the vehicle controller responds to a self-priming interruption instruction to the vehicle door by stopping power to the self-priming motor in the vehicle door, and using the self-priming motor to change a pawl connected to the vehicle door from a disconnected state to a connected state, so that the vehicle door is adjusted to a semi-locked position.

[0091] Figure 5 This is a flowchart of a door closing process provided in an embodiment of the present application.

[0092] For example, Figure 5As shown, when the door is not closed and the door opening is greater than a preset opening, that is, when the door is fully open, the vehicle controller responds to the door closing operation; the vehicle controller determines whether the force applied to close the door is within a first force range. If the force is within the first force range, the vehicle controller does not trigger the door's self-priming function, and the door directly reaches the fully locked position. If the force is within the second force range, the door is pushed to the semi-locked position, the vehicle controller triggers the door's self-priming function, and controls the door to the fully locked position. If the force is not within the second force range, the door is not pushed to the semi-locked position and remains open, but with a smaller opening than the initial position.

[0093] It should be understood that when the force applied to close the door is within the first force range, it indicates that the force is relatively strong, and the door can be directly pushed to the fully closed, fully locked position, without triggering the door's self-priming function by the vehicle controller. When the force applied to close the door is within the second force range, it indicates that the force is medium, and the door can be pushed to a semi-locked position that is not fully closed, without triggering the door's self-priming function by the vehicle controller. The door is not pushed to the semi-locked position that is not fully closed, and the force is very small at this time, only reducing the initial door opening. It should also be understood that under normal circumstances, the user's force when closing the door is not very strong. In the case of a strong force, it may cause damage to the door.

[0094] It should also be understood that there is a process of powering off or powering on the entire vehicle. After the entire vehicle is powered off, the door lock (electric suction lock) in the door will be powered on and initialized. Specifically, when the vehicle's door is in the fully locked position (the door's status switch is in the disconnected state, the pawl connected to the door is in the disconnected state, and the ratchet connected to the door is in the disconnected state, and the door is completely closed), the vehicle controller samples the state of the door within a first preset time. If the door is sampled multiple times in the first preset time to be in the fully locked position, the vehicle controller immediately controls the self-priming motor in the door to stop running, and the door is successfully in the fully locked position. If the door is not in the fully locked position multiple times in the first preset time, the vehicle controller energizes the self-priming motor and adjusts the door from the semi-locked position (the door is not completely closed) to the fully locked position, that is, the door is sucked closed. At the same time, the state of the door is sampled within a second preset time. If the vehicle door is in the fully locked position for multiple consecutive times within the second preset time period, the self-priming motor is immediately controlled to stop running, and the vehicle door is successfully in the fully locked position; if the vehicle door is not in the fully locked position for multiple consecutive times within the second preset time period, the vehicle controller controls the self-priming motor to stop running and outputs a warning message of door lock failure.

[0095] When the door is not in the fully locked position but in the semi-locked position, the vehicle controller controls the door to trigger the self-priming function (sucking the door to the fully locked position), and at the same time samples the self-priming result within the third preset time. If the door is in the fully locked position after multiple consecutive samplings within the third preset time, the vehicle controller immediately controls the self-priming motor to stop running, and the self-priming process ends; if the door is not in the fully locked position after multiple consecutive samplings within the third preset time, the vehicle controller energizes the self-priming motor and adjusts the door from the semi-locked position (the door is not completely closed) to the fully locked position, that is, sucking the door to the fully locked position. At the same time, the state of the door is sampled within the fourth preset time. If it is sampled multiple times continuously within the fourth preset time that the vehicle door is in the fully locked position, the self-priming motor is immediately controlled to stop running, and the vehicle door is successfully in the fully locked position; if it is sampled multiple times continuously within the fourth preset time that the door is not in the fully locked position, the vehicle controller controls the self-priming motor to stop running and outputs a warning message of door lock failure.

[0096] When the door is fully open, the vehicle controller controls the naturally aspirated motor to operate. If the operating current of the naturally aspirated motor is less than a preset value within a fifth preset time period, the vehicle controller controls the naturally aspirated motor to stop operating. If the operating current of the naturally aspirated motor is not detected within the fifth preset time period, the vehicle controller outputs a door lock fault warning message.

[0097] Optionally, the first preset time length, the second preset time length, the third preset time length and the fourth preset time length may be the same, that is, 1.5 seconds. The fifth preset time length is 200 ms.

[0098] Step 203: When the key is in the vehicle and there is no user in the vehicle, the vehicle controller controls the vehicle door to lock.

[0099] In one possible implementation, after controlling the vehicle door to be locked, the method 200 further includes: the vehicle controller determines multiple sampling results of the vehicle door being locked; when there are consecutive sampling results in the multiple sampling results indicating that the vehicle door is not locked, the vehicle controller outputs a warning message that the door lock of the vehicle door is faulty.

[0100] In the above technical solution, after locking a vehicle door, multiple samples are taken of the door locking result. If a consecutive number of sampling results indicates that the vehicle door is unlocked, a warning message indicating a door lock failure is output. In other words, after locking the vehicle door, the locking result is verified multiple times to promptly notify the user if a door lock failure occurs.

[0101] In one possible implementation, step 203 includes: when the key is in the vehicle and there is no user in the vehicle, the vehicle controller determines whether there is an electronic device bound to the vehicle and having the authority to control the door; when there is an electronic device bound to the vehicle and having the authority to control the door, the vehicle controller responds to the locking instruction of the electronic device to the door and controls the door to be locked.

[0102] It should be understood that in some embodiments, the "electronic device that is bound to the vehicle and has the authority to control the door" in the above scheme can be understood as: the user account corresponding to the electronic device is registered in the vehicle's on-board system, and the electronic device can control the door in the vehicle to open or completely close or lock.

[0103] In the above technical solution, when the vehicle is in parking mode and the parking time is long, the door is completely closed but not locked, the vehicle key is in the vehicle and there is no user in the vehicle, it is judged whether there is a bound electronic device to the vehicle and whether the electronic device has the authority to control the vehicle. If there is an electronic device bound to the vehicle and has the authority to control the door, the door is controlled to be locked in response to the locking instruction of the electronic device to the door. In other words, the vehicle controller in the vehicle can receive the locking instruction of the target electronic device (the electronic device that is bound and has the authority to control the door) to lock the door when its own state meets the conditions. This can facilitate the user to remotely lock the entire vehicle through the electronic device.

[0104] In some embodiments, the electronic device in the above solution may be a user terminal, including but not limited to: a personal computer, a tablet computer, a handheld device, a vehicle-mounted device, a computing device or other processing device connected to a wireless modem.

[0105] In some embodiments, the vehicle controller determines whether there is an electronic device bound to the vehicle and having the authority to control the vehicle door, including: the vehicle controller determines from the vehicle server whether there is a user account corresponding to the electronic device for the vehicle; if there is a user account corresponding to the electronic device of the vehicle in the vehicle server, detects whether the control permission for the vehicle door is opened under the user account; if the control permission for the vehicle door is opened under the user account, determines that there is an electronic device bound to the vehicle and having the authority to control the vehicle door.

[0106] In some embodiments, the vehicle server in the above solution is a vehicle telematics service provider (TSP).

[0107] In the above technical solution, the stored content in the vehicle server can be checked to determine whether the vehicle has a user account corresponding to the electronic device. Furthermore, the user account is checked to determine whether control permissions for the vehicle door are set up, thereby determining whether the vehicle has an electronic device bound to the vehicle and having permission to control the vehicle door. This process can accurately determine whether the vehicle has an electronic device bound to the vehicle and having permission to control the vehicle door.

[0108] In some embodiments, after step 203, the method 200 further includes: the vehicle controller sends an indication message indicating that the vehicle door is successfully locked to the electronic device.

[0109] In the above technical solution, after the vehicle doors are locked, the vehicle controller sends an indication message indicating that the doors are locked successfully to the electronic device, which can remind the user that the vehicle is in a safe state and prevent the property in the vehicle from being stolen.

[0110] Figure 6 It is a structural schematic diagram of a device for controlling a vehicle door provided in an embodiment of the present application.

[0111] For example, Figure 6 As shown, the apparatus 600 includes:

[0112] The determination module 601 is configured to:

[0113] When the vehicle is in a parking mode and the parking time is greater than a preset time, determining whether the doors of the vehicle are in a fully closed and unlocked state; when the doors are in a fully closed and unlocked state, determining whether the key of the vehicle is in the vehicle and whether there is a user in the vehicle;

[0114] The control module 602 is configured to control the vehicle door to be locked when the key is in the vehicle and there is no user in the vehicle.

[0115] Optionally, the control module 602 is specifically used to: when the key is in the vehicle and there is no user in the vehicle, determine whether there is an electronic device bound to the vehicle and having the authority to control the door; if there is an electronic device bound to the vehicle and having the authority to control the door, control the locking of the door in response to the locking instruction of the electronic device to the door.

[0116] Optionally, the determination module 601 is specifically used to: determine that the key is not in the vehicle when the Bluetooth device in the vehicle does not receive the Bluetooth signal sent by the key; and determine whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device when the Bluetooth device receives the Bluetooth signal sent by the key.

[0117] Optionally, the Bluetooth device includes N antennas, N is a positive integer greater than or equal to 3, and the determination module 601 is further specifically used to: convert the strength value of the Bluetooth signal received by the N antennas into the distance between the key and each of the N antennas; if the distance between the key and each antenna meets a preset distance condition, determine that the key is in the vehicle; if the distance between the key and each antenna does not meet the preset distance condition, determine that the key is not in the vehicle.

[0118] Optionally, the determination module 601 is further specifically used to: obtain an environmental image in the vehicle through an image acquisition device in the vehicle; determine that there is no user in the vehicle if the environmental image does not include a user; determine that there is a user in the vehicle if the environmental image includes a user; and / or obtain the load-bearing weight of the seat through a pressure sensor of the seat in the vehicle; determine that there is no user in the vehicle if the load-bearing weight is less than a preset weight; and determine that there is a user in the vehicle if the load-bearing weight is greater than or equal to the preset weight.

[0119] Optionally, the determination module 601 is also used to determine the force used to close the door in response to a closing operation on the door when the door is not closed and the opening of the door is greater than a preset opening; the device 600 also includes: a trigger module, used to not trigger the self-priming function of the door when the force is within a first force range; the control module 602 is also used to control the door to be attracted to a fully locked position when the force is within a second force range, and the fully locked position is the position where the door is completely closed.

[0120] Optionally, the device 600 also includes: an adjustment module, which is used to adjust the door to a semi-locked position in response to a self-priming interruption instruction to the door during the process of the door being sucked into the fully locked position. The semi-locked position is a position where the door is not completely closed.

[0121] Optionally, after controlling the vehicle door to be locked, the determination module 601 is also used to determine multiple sampling results of the vehicle door being locked; the device 600 also includes: an output module, which is used to output early warning information of a door lock failure of the vehicle door when there are consecutive sampling results in the multiple sampling results indicating that the vehicle door is not locked.

[0122] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0123] For example, Figure 7As shown, the vehicle 700 includes: a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702, wherein when the processor 702 executes the computer program 703, the vehicle can execute any one of the methods for controlling the vehicle door described above.

[0124] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0125] When the functional modules are divided according to their functions, the vehicle may include a determination module, a control module, a trigger module, an adjustment module, and an output module. It should be noted that all relevant details of the steps involved in the above method embodiments can be referred to in the functional descriptions of the corresponding functional modules and will not be repeated here.

[0126] The vehicle provided in this embodiment is used to execute the above-mentioned method of controlling the vehicle door, and thus can achieve the same effect as the above-mentioned implementation method.

[0127] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used for the vehicle to execute program codes and data.

[0128] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0129] This embodiment provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer or a processor, the computer or processor executes any one of the methods for controlling a vehicle door described above.

[0130] This embodiment also provides a computer program product containing instructions. When the computer program product runs on a computer or a processor, it enables the computer or the processor to execute the above-mentioned related steps to implement any of the methods for controlling a vehicle door described above.

[0131] Among them, the vehicle, computer-readable storage medium, computer program product or chip containing instructions provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0132] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0133] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, 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.

[0134] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a vehicle door, characterized in that: The method comprises: When the vehicle is in a parking mode and the parking time is greater than a preset time, determining whether the doors of the vehicle are in a fully closed and unlocked state; When the vehicle door is in a fully closed and unlocked state, determining whether a key of the vehicle is in the vehicle and determining whether a user is in the vehicle; When the key is in the vehicle and there is no user in the vehicle, the vehicle doors are controlled to be locked.

2. The method according to claim 1, characterized in that When the key is in the vehicle and there is no user in the vehicle, controlling the vehicle door to lock includes: When the key is in the vehicle and there is no user in the vehicle, determining whether there is an electronic device bound to the vehicle and having authority to control the vehicle door; In the case that there is an electronic device bound to the vehicle and having authority to control the vehicle doors, the vehicle doors are controlled to be locked in response to a locking instruction of the vehicle doors from the electronic device.

3. The method according to claim 1, characterized in that The determining whether the key of the vehicle is in the vehicle comprises: When the Bluetooth device in the vehicle does not receive the Bluetooth signal sent by the key, determining that the key is not in the vehicle; In a case where the Bluetooth device receives the Bluetooth signal sent by the key, it is determined whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device.

4. The method according to claim 3, characterized in that The Bluetooth device includes N antennas, where N is a positive integer and is greater than or equal to 3. The determining whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device includes: Convert the strength values ​​of the Bluetooth signals received by the N antennas into the distances between the key and each of the N antennas; When the distances between the key and each of the antennas meet a preset distance condition, determining that the key is in the vehicle; When the distances between the key and each of the antennas do not satisfy the preset distance condition, it is determined that the key is not in the vehicle.

5. The method according to claim 1, characterized in that The determining whether there is a user in the vehicle comprises: Acquiring an image of the environment in the vehicle by an image acquisition device in the vehicle; In a case where the environment image does not include the user, determining that the user does not exist in the vehicle; In a case where the environment image includes a user, determining that the user exists in the vehicle; and / or, Obtaining the load-bearing weight of the seat through a pressure sensor of the seat in the vehicle; When the carrying weight is less than a preset weight, determining that there is no user in the vehicle; When the carrying weight is greater than or equal to the preset weight, it is determined that there is a user in the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: In a case where the vehicle door is not closed and the opening of the vehicle door is greater than a preset opening, in response to a closing operation of the vehicle door, determining a force for closing the vehicle door; When the force is within the first force range, the self-priming function of the vehicle door is not triggered; When the force is within the second force range, the vehicle door is controlled to be sucked into a fully locked position, where the fully locked position is a position where the vehicle door is fully closed.

7. The method according to claim 6, characterized in that The method further comprises: In the process of the vehicle door being sucked in to the fully locked position, in response to a self-suction interruption instruction to the vehicle door, the vehicle door is adjusted to a semi-locked position, where the semi-locked position is a position where the vehicle door is not completely closed.

8. The method according to claim 1, characterized in that After controlling the vehicle door to be locked, the method further includes: Obtaining multiple sampling results of the vehicle door being locked; When there are consecutive sampling results among the multiple sampling results indicating that the vehicle door is not locked, a warning message indicating that the door lock of the vehicle door is faulty is output.

9. A device for controlling a vehicle door, characterized in that: The device comprises: Identify modules for: When the vehicle is in a parking mode and the parking time is greater than a preset time, determining whether the doors of the vehicle are in a fully closed and unlocked state; When the vehicle door is in a fully closed and unlocked state, determining whether a key of the vehicle is in the vehicle and determining whether a user is in the vehicle; The control module is used for controlling the vehicle door to be locked when the key is in the vehicle and there is no user in the vehicle.

10. A vehicle, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle executes the method for controlling a vehicle door as claimed in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the method for controlling a vehicle door as claimed in any one of claims 1 to 8.

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