Methods, devices, vehicles and storage media for controlling vehicle doors

Abstract

The application provides a method, device, vehicle and storage medium for controlling a vehicle door. When the vehicle is in a parking mode and the parking time is greater than a preset time, it is determined whether the vehicle door is in a fully closed and unlocked state. When the vehicle door is in the fully closed and unlocked state, it is determined whether a key of the vehicle is in the vehicle and whether a user is in the vehicle. When the key is in the vehicle and there is no user in the vehicle, the vehicle automatically controls the vehicle door to be locked. That is, when the vehicle is in the parking mode and the parking time is long, the vehicle can detect its own state, and when the state meets the condition, the vehicle automatically locks the vehicle door. This can avoid the vehicle safety problem or property safety problem caused by the user forgetting to lock the door. In addition, when the key is in the vehicle and there is no user in the vehicle, the vehicle door is locked, which can also avoid the situation that the vehicle is stolen by an illegal person using the key and some users (especially children) are locked in the vehicle and cannot get out of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to methods, apparatus, vehicles, and storage media for controlling vehicle doors in the field of vehicles. Background Technology

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

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

[0004] Therefore, how to intelligently lock car doors 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. The method automatically locks the doors when certain conditions are met. This prevents vehicle security issues or property security problems caused by users forgetting to lock the doors. Furthermore, locking the doors when the key is in the vehicle and no user is inside prevents criminals from using the key to steal the vehicle and prevents users (especially children) from being locked inside and unable to get out.

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

[0007] In the aforementioned technical solution, when the vehicle is in parking mode and the parking time exceeds a preset duration, the vehicle automatically determines whether the doors are fully closed and unlocked. If the doors are fully closed and unlocked, the vehicle further determines whether the key is inside the vehicle and whether a user is inside. If the key is inside and no user is inside, the vehicle automatically locks the doors. In other words, when the vehicle is in parking mode for a prolonged period, it can detect its own status and automatically lock the doors when the conditions are met. This prevents vehicle security issues or property security problems caused by users forgetting to lock the doors. Furthermore, locking the doors when the key is inside and no user is inside also prevents criminals from using the key to steal the vehicle and prevents users (especially children) from being locked inside and unable to get out.

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

[0009] In the above technical solution, when the vehicle is in parking mode for an extended period, the doors are closed but unlocked, the key is inside the vehicle, and no user is present, the system checks whether the vehicle is bound to an electronic device and whether that device has the authority to control the vehicle. If an electronic device bound to the vehicle and with the authority to control the doors exists, the system responds to the locking command from that device and locks the doors. In other words, the vehicle, even when its own conditions are met, can receive a locking command from a target electronic device (a bound device with the authority to control the doors) and lock those doors. This allows users to remotely lock the entire vehicle using electronic devices.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining whether the key to the vehicle is in the vehicle includes: determining that the key is not in the vehicle if 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 if the Bluetooth device receives the Bluetooth signal sent by the key.

[0011] In the above technical solution, the vehicle key is a remote Bluetooth key, which communicates with the vehicle via Bluetooth signals. If the vehicle's Bluetooth device does not receive the Bluetooth signal sent by the remote Bluetooth key, it indicates that the remote Bluetooth key is too far from the vehicle, and therefore the vehicle determines that the remote Bluetooth key is not inside the vehicle. If the vehicle's Bluetooth device receives the Bluetooth signal sent by the remote Bluetooth key, it indicates that the remote Bluetooth key is relatively close to the vehicle. However, the remote Bluetooth key can also receive Bluetooth signals with lower strength outside the vehicle. Therefore, it is necessary to determine whether the remote Bluetooth key is inside the vehicle based on the strength of the received Bluetooth signal. This method can simply and accurately determine whether the remote Bluetooth key is inside the vehicle.

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

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

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

[0015] In the above technical solution, an image acquisition device acquires an image of the vehicle's interior environment, which is then detected to determine if a user is present inside the vehicle. Additionally, a pressure sensor on the seat acquires the load-bearing weight of the seat, which is compared to a preset weight to determine if a user is present inside the vehicle. This method enriches the ways to determine if a user is in a vehicle.

[0016] In combination with the first aspect and the above implementation, in some possible implementations, the method further includes: when the car door is not closed and the opening degree of the car door is greater than a preset opening degree, in response to the closing operation of the car door, determining the force for closing the car door; when the force is within a first force range, not triggering the self-closing function of the car door; when the force is within a second force range, controlling the car door to close to the fully locked position, the fully locked position being the position where the car door is completely closed.

[0017] In the above technical solution, when the car door is open, the vehicle can respond to the closing operation and determine the closing force. If the force is strong enough, the door closes directly (completely). In other words, the vehicle controls the door to not trigger the self-closing function, i.e., it does not pull the door from the semi-locked position to the fully locked position. When the force is within the second range, the door is pushed to the semi-locked position by the user's force (the door is not fully closed, it is in a slightly ajar state). At this time, the vehicle controls the door to trigger the self-closing function, pulling the door to the fully locked position and completely closing the door.

[0018] In combination with the first aspect and the above implementation, in some possible implementations, the method further includes: during the process of the door closing to the fully locked position, in response to a self-closing interruption command for the door, adjusting the door to a semi-locked position, the semi-locked position being the position where the door is not fully closed.

[0019] In the above technical solution, it is equivalent to the vehicle being able to respond to a self-closing interruption command for the door during the process of the door closing from the semi-locked position to the fully locked position, adjusting the door to the semi-locked position. In other words, the vehicle can receive external commands to interrupt the self-closing process of the door and stop the self-closing process.

[0020] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the door to lock, the method further includes: acquiring multiple sampling results of the door being locked; and if there are consecutive sampling results in the multiple sampling results indicating that the door is not locked, outputting a warning message that the door lock has malfunctioned.

[0021] In the above technical solution, after the car door is locked, the locking result is sampled multiple times. If there are consecutive sampling results indicating that the car door is not locked, a warning message indicating a door lock malfunction is output. In other words, after the car door is locked, the locking result is verified multiple times to promptly notify the user when a door lock malfunctions.

[0022] Secondly, a device for controlling a vehicle door is provided, the device comprising: a determining module, configured to: determine whether a door in the vehicle is fully closed and unlocked when the vehicle is in parking mode and the parking time is longer than a preset time; and determine whether the vehicle key is in the vehicle and whether a user is in the vehicle when the door is fully closed and unlocked; and a controlling module, configured to control the door to lock when the key is in the vehicle and no user is in the vehicle.

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

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining 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 conjunction with the second aspect and the above implementation, in some possible implementations, the Bluetooth device includes N antennas, where N is a positive integer and greater than or equal to 3. The determining module is further configured to: convert the strength values ​​of the Bluetooth signals received by the N antennas into distances between the key and each of the N antennas; determine that the key is in the vehicle if the distances between the key and each antenna meet a preset distance condition; and determine that the key is not in the vehicle if the distances between the key and each antenna do not meet the preset distance condition.

[0026] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to: acquire an environmental image of 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 the user; determine that there is a user in the vehicle if the environmental image includes the user; and / or, acquire the load-bearing weight of the seat through a pressure sensor in the seat of 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.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further configured to determine the force for closing the car door in response to a closing operation when the car door is not closed and the opening degree of the car door is greater than a preset opening degree; the device further includes: a triggering module, configured not to trigger the self-closing function of the car door when the force is within a first force range; the control module is further configured to control the car door to close to a fully locked position when the force is within a second force range, the fully locked position being the position where the car door is completely closed.

[0028] In conjunction with the second aspect and the above implementation, in some possible implementations, the device further includes: an adjustment module, used to adjust the door to a semi-locked position in response to a self-closing interruption command of the door during the process of the door being closed to the fully locked position, the semi-locked position being the position where the door is not fully closed.

[0029] In combination with the second aspect and the above implementation methods, in some possible implementation methods, after controlling the door to lock, the determining module is also used to obtain multiple sampling results of the door being locked; the device also includes: an output module, used to output a warning message that the door lock has malfunctioned when there are consecutive sampling results in the multiple sampling results indicating that the door is not locked.

[0030] Thirdly, a vehicle is provided, including 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 performs the method described in the first aspect or any possible implementation thereof.

[0031] Fourthly, a computer-readable storage medium is provided that stores instructions which, when executed on a computer or processor, cause the computer or processor to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

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

[0033] Figure 2 This is a schematic flowchart illustrating a method for controlling a vehicle door according to an embodiment of this application;

[0034] Figure 3 This is a schematic diagram illustrating the state of a car door according to an embodiment of this application;

[0035] Figure 4 This is a schematic diagram illustrating how to determine whether a key is in a vehicle, provided in an embodiment of this application.

[0036] Figure 5 This is a flowchart of a door closing process provided in an embodiment of this application;

[0037] Figure 6 This is a schematic diagram of a device for controlling a car door provided in an embodiment of this application;

[0038] Figure 7 This is a schematic diagram of another vehicle structure provided in an embodiment of this application. Detailed Implementation

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

[0040] Figure 1 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0041] For example, typically, such as Figure 1As shown, after using vehicle A, the user will switch 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 car door means that the opening between the door and the corresponding side skirt is zero, and there is no gap between the rear of the door and the car body. After the door is locked, other users cannot open the door from the outside, thus preventing theft of valuables or the vehicle itself.

[0043] In the existing technology, user carelessness may lead to the user closing the car door completely without locking it, which may cause vehicle safety problems or security problems for valuables inside the vehicle.

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

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

[0046] It should be understood that the method for controlling a vehicle door provided in this application embodiment can be applied to... Figure 1 The vehicle shown is an example. Specifically, the method for controlling the 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 some embodiments, these vehicle components include headlights, windshield wipers, windows, rearview mirrors, seats, vehicle air conditioning, doors, and Bluetooth devices, etc.

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

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

[0049] It should be understood that "the vehicle is in parking mode" in step 201 can be interpreted as the vehicle being in park (P) gear, meaning the vehicle is in a parked state. It should also be understood that in this application, when the vehicle is in parking mode and the parking time exceeds a preset time, the vehicle's own state (door status, key status, and whether a user is in the vehicle) is assessed. The doors are only locked when the vehicle's own state meets the conditions (doors are completely closed and unlocked, the key is inside the vehicle, and no user is in the vehicle), thus preventing the user from continuing to use the vehicle.

[0050] It should also be understood that "the door is in a fully closed and unlocked state" in step 201 above can be interpreted as: the door is in the fully locked position but not locked. In this case, the opening between the door and the corresponding side skirt is 0, and there is no gap between the rear of the door and the vehicle body. Furthermore, with the door in this state, other users can open the door from the outside.

[0051] In one possible implementation, the vehicle controller in step 201 determines whether a door in the vehicle is in a fully closed and unlocked state, including: when it detects that the pawl connected to the door is in a disengaged state, the door's status switch is in a disengaged state, and the ratchet connected to the door is in a disengaged state, the vehicle controller determines that the door is in a fully closed and unlocked state; when it detects that the pawl is in an engaged state, the door's status switch is in a disengaged state, and the ratchet is in a disengaged state, the vehicle controller determines that the door is in a partially closed state.

[0052] It should be understood that "the door is not fully closed" in the above solution can be interpreted as: 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 0, but there is a gap between the rear of the door and the body, and the door is in a slightly ajar state. It should also be understood that the door can only be locked after it is closed. Therefore, when the door is not fully closed, the door is not locked.

[0053] It should also be understood that the car door was also fully open at one point.

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

[0055] like Figure 3 As shown in (a), the opening degree between the vehicle door and the corresponding side skirt is 'a', where 'a' is greater than 0, indicating that the door is fully open. Figure 3 As shown in (b), the opening between the door and the corresponding side skirt is 0 degrees, there is a gap b between the rear side of the door and the body, the door is not fully closed, and it is in a slightly ajar state. In this case, other users will not notice that the door is not fully closed unless they carefully examine it. Figure 3 As shown in (c), the opening between the door and the corresponding side skirt is 0, there is no gap between the rear side of the door and the body, and the door is in a fully closed state c. In this case, the door can be locked.

[0056] Step 202: When the car door is fully closed and unlocked, the vehicle controller determines whether the key to the vehicle is in the vehicle and whether a user is in the vehicle.

[0057] It should be understood that, typically, the "vehicle key" in step 202 is a remote Bluetooth key. This remote Bluetooth key is able to communicate with the vehicle via Bluetooth signals.

[0058] The following further explains whether the vehicle key is in the vehicle.

[0059] In one possible implementation, the vehicle controller determines whether the key is in the vehicle by: if the Bluetooth device in the vehicle does not receive a Bluetooth signal sent by the key, the vehicle controller determines that the key is not in the vehicle; if the Bluetooth device receives a 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 sent by the remote Bluetooth key, it indicates that the remote Bluetooth key is too far from the vehicle, and therefore the vehicle determines that the remote Bluetooth key is not in the vehicle. If the Bluetooth device in the vehicle receives the Bluetooth signal sent by the remote Bluetooth key, it indicates that the remote Bluetooth key is relatively close to the vehicle. However, the remote Bluetooth key can also receive Bluetooth signals with lower strength outside the vehicle. Therefore, it is necessary to determine whether the remote Bluetooth key is in the vehicle based on the strength 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, where N is a positive integer greater than or equal to 3. 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 converting the strength values ​​of the Bluetooth signal received by the N antennas into distances between the key and each of the N antennas; if the distances between the key and each antenna meet preset distance conditions, the vehicle controller determines that the key is in the vehicle; if the distances between the key and each antenna do not meet the preset distance conditions, the vehicle controller determines that the key is not in the vehicle.

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

[0063] In the above technical solution, since the antenna broadcasts Bluetooth signals outward within a certain distance range, multiple antennas (at least three) are needed to determine the distance between the key (remote Bluetooth key) and these antennas to clarify the position of the remote Bluetooth key relative to the vehicle. The strength values ​​of the Bluetooth signals received by the multiple antennas are converted into the distance between the remote Bluetooth key and each antenna. If the distance between the remote Bluetooth key and each antenna meets a preset distance condition, it indicates that the distance between the remote Bluetooth key and the multiple antennas is very close, and the remote Bluetooth key is inside the vehicle. If the distance between the remote Bluetooth key and each antenna does not meet the preset distance condition, it indicates that the distance between the remote Bluetooth key and each antenna is very far, and the remote 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 Let A0 be the Bluetooth signal strength value received by the i-th antenna among the N antennas, where i ranges from 1 to N; A0 is the Bluetooth signal strength value when the antenna and the key are 1 meter apart; n is the environmental attenuation factor; d i Let ABS(RSSI) be the distance between the key and the i-th antenna among the N antennas. i ) represents the absolute value of the Bluetooth signal strength received by the i-th antenna.

[0067] Taking N as 3 as an example, the above 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 illustrating how to determine whether a key is in a vehicle, as provided in an embodiment of this application.

[0069] In some embodiments, N is 3, and the three antennas in the vehicle are as follows: Figure 4 In the arrangement 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 In the equation l2), r3 represents half the distance between the front and rear of the vehicle (half the length of the vehicle body, e.g., l2). Figure 4 In 1 / 2l1), r1 is Figure 4 l3 in the middle. Specifically, the key O is in the position of l3. Figure 4 When the key is in the correct position, it is in the vehicle.

[0070] It should also be understood that the preset distance conditions described above are exemplary. Optionally, the area corresponding to the preset distance condition may be smaller than the area of ​​the vehicle's underside, i.e., smaller than... Figure 4 The area of ​​the shaded region in the image.

[0071] The following further clarifies whether there are users in the vehicle.

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

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

[0074] In the above technical solution, an image acquisition device acquires an image of the vehicle's interior environment, which is then detected to determine if a user is present inside the vehicle. Additionally, a pressure sensor on the seat acquires the load-bearing weight of the seat, which is compared to a preset weight to determine if a user is present inside the vehicle. This method enriches the ways to determine if a user is in a vehicle.

[0075] In some embodiments, the vehicle controller may determine whether a user is included in the environmental image by means of the following method 200: the vehicle controller inputs the environmental image into a user detection model, and the user detection model identifies the environmental image based on the user's characteristics to determine whether a user is included in the environmental image, thereby determining whether a user is present 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 user features to determine whether the environmental image includes a user, including: the region generation network in the Faster R-CNN model extracts user candidate regions in the environmental image; the Faster R-CNN model extracts user features in the user candidate regions; and the Faster R-CNN model classifies the extracted features using a classifier to determine whether the environmental image includes a user.

[0078] Optionally, the user detection model identifies the environmental image based on the user's features to determine whether the environmental image includes a user, including: the DeepParts model dividing the environmental image into multiple sub-images and detecting multiple sub-images; the DeepParts model combining the detection results and determining whether the environmental image includes a user based on the combined result.

[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 described above is a target detection model.

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

[0081] It should be understood that when a car door is not fully closed and unlocked, it may be in a fully open state or a partially closed state. In a scenario where the user slams the door shut, the door can transition from a fully open state to a fully closed state (i.e., the door goes directly from open to closed). In a scenario where the user closes the door with less force, the door can transition from a fully open state to a partially closed state, and then back to a fully closed state. That is, with a small amount of force, the door is pushed to a semi-locked position, at which point the door is ajar and not fully closed; then, the door's self-closing function is triggered, closing the door to the fully locked position, at which point the door is completely closed. This process can be found in [reference needed]. Figure 3 The states of the car doors are shown in (a) to (c).

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

[0083] It should be understood that the door opening angle in the above scheme refers to the angle between the door and the corresponding side skirt. The phrase "the door is not closed and the door opening angle is greater than the preset opening angle" in the above scheme means the door is in a fully open state. The "first force range" in the above scheme is F≥F1, where F1 is the force required to push the door to a fully closed position without triggering the door's self-closing function. The "second force range" is F2≤F<F1, where F2 is the force required to push the door to a semi-locked position.

[0084] In the above technical solution, when the car door is fully open, the vehicle can respond to the closing operation and determine the closing force. If the force is strong enough, the door will close directly (fully closed). In other words, the vehicle controls the door to not trigger the self-closing function, i.e., it will not pull the door from the semi-locked position to the fully locked position. When the force is within the second range, the door is pushed to the semi-locked position by the user's force (the door is not fully closed, it is in a slightly ajar state). At this time, the vehicle controls the door to trigger the self-closing function, pulling the door to the fully locked position, thus controlling the door to close completely.

[0085] In some embodiments, the vehicle controller controls the door to close to the fully locked position, including: the vehicle controller energizes the self-closing motor in the door, and the self-closing motor switches the pawl connected to the door from the on state to the off state, so that the door closes to the fully locked position.

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

[0087] It should be understood that "adjusting the door to the semi-locked position" in the above scheme can be considered as the self-priming reset process. In response to the self-priming interruption command for the door, the vehicle controller activates the self-priming reset switch, initiating the self-priming reset process. The vehicle controller adjusts the door to the semi-locked position. After the door is in a partially closed (semi-locked) state, the self-priming reset switch deactivates, completing the self-priming reset action.

[0088] In the above technical solution, it is equivalent to the vehicle being able to respond to a self-closing interruption command for the door during the process of the door closing from the semi-locked position to the fully locked position, adjusting the door to the semi-locked position. In other words, the vehicle can receive external commands to interrupt the self-closing process of the door and stop the self-closing process.

[0089] In some embodiments, the self-closing interruption command is either a touch operation on the outer handle of the door or a pressing operation on the switch of the outer handle.

[0090] In some embodiments, the vehicle controller, in response to a self-priming interruption command for the door, adjusts the door to a semi-locked position, including: the vehicle controller, in response to the self-priming interruption command for the door, stops energizing the self-priming motor in the door, and uses the self-priming motor to switch the pawl connected to the door from an open state to an on state, so that the 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 this application.

[0092] For example, such as Figure 5As shown, when the car door is not closed and its opening degree is greater than the preset opening degree (i.e., the door is fully open), the vehicle controller responds to the door closing operation. The vehicle controller determines whether the closing force 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-closing function, and the door directly reaches the fully locked position. If the force is within a second force range, the door is pushed to the half-locked position, the vehicle controller triggers the door's self-closing 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 half-locked position; at this time, the door is still open, but with a smaller opening degree than initially.

[0093] It should be understood that if the closing force is within the first range, it indicates a relatively large force, allowing the door to be pushed directly to the fully locked position, and the vehicle controller does not trigger the door's self-closing function. If the closing force is within the second range, it indicates a moderate force, allowing the door to be pushed to a partially locked position, and the vehicle controller triggers the door's self-closing function. If the door is not pushed to the partially locked position, the force is very small, only reducing the initial opening of the door. It should also be understood that, under normal circumstances, users do not close doors with excessive force. Excessive force could potentially damage the door.

[0094] It should also be understood that the vehicle undergoes a process of power-off and power-on. After the vehicle's power is cut off, the door locks (electric suction locks) in the doors undergo a power-on initialization process. Specifically, when the vehicle door is in the fully locked position (the door status switch is off, the pawl connected to the door is off, and the ratchet connected to the door is off, the door is completely closed), the vehicle controller samples the door's status within a first preset time period. If the door is sampled multiple times within this first preset time period and found to be in the fully locked position, the vehicle controller immediately stops the self-closing motor in the door, and the door is successfully in the fully locked position. If the door is sampled multiple times within this first preset time period and found not to be in the fully locked position, the vehicle controller powers on the self-closing motor, adjusting the door from the partially locked position (door not completely closed) to the fully locked position, i.e., closing the door. Simultaneously, the door's status is sampled within a second preset time period. If the door is found to be fully locked multiple times within the second preset time period, the self-priming motor will be stopped immediately, and the door will be successfully locked. If the door is found to be not fully locked multiple times within the second preset time period, the vehicle controller will stop the self-priming motor and output a door lock malfunction warning.

[0095] When the door is in a partially locked position, the vehicle controller activates the self-closing function (pushing the door to the fully locked position) and samples the self-closing result within a third preset time period. If the door is repeatedly sampled as being in the fully locked position within this third preset time period, the vehicle controller immediately stops the self-closing motor, ending the self-closing process. If the door is repeatedly sampled as not being in the fully locked position within this third preset time period, the vehicle controller energizes the self-closing motor, adjusting the door from the partially locked position (door not fully closed) to the fully locked position, i.e., pulling the door to the fully locked position. Simultaneously, the door's state is sampled within a fourth preset time period. If the door is found to be fully locked multiple times within the fourth preset time period, the self-priming motor will be stopped immediately, and the door will be successfully locked. If the door is found to be not fully locked multiple times within the fourth preset time period, the vehicle controller will stop the self-priming motor and output a door lock malfunction warning.

[0096] With the car door fully open, the vehicle controller controls the self-priming motor to operate. If the operating current of the self-priming motor is less than a preset value within the fifth preset time period, the self-priming motor will stop operating; if the operating current of the self-priming motor cannot be detected within the fifth preset time period, the vehicle controller will output a door lock malfunction warning message.

[0097] Optionally, the first, second, third, and fourth preset durations can be the same, which is 1.5 seconds. The fifth preset duration is 200 ms.

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

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

[0100] In the above technical solution, after the car door is locked, the locking result is sampled multiple times. If there are consecutive sampling results indicating that the car door is not locked, a warning message indicating a door lock malfunction is output. In other words, after the car door is locked, the locking result is verified multiple times to promptly notify the user when a door lock malfunctions.

[0101] In one possible implementation, step 203 includes: if 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; if there is an electronic device bound to the vehicle and having the authority to control the door, the vehicle controller responds to the electronic device's locking command to lock the door.

[0102] It should be understood that, in some embodiments, the “electronic device bound to the vehicle and having 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 in-vehicle system, and the electronic device can control the door in the vehicle to open or close completely or lock.

[0103] In the above technical solution, when the vehicle is in parking mode for an extended period, the doors are completely closed but unlocked, the key is inside the vehicle, and no user is present, the system determines whether the vehicle is bound to an electronic device and whether that device has the authority to control the vehicle. If an electronic device bound to the vehicle and with the authority to control the doors exists, the system responds to the locking command from that electronic device and locks the doors. In other words, the vehicle controller, when its own conditions are met, can receive locking commands from the target electronic device (the bound electronic device with the authority to control the doors) and lock the doors. This allows users to remotely lock the entire vehicle via electronic devices.

[0104] In some embodiments, the electronic device in the above-described scheme may be a user terminal, including but not limited to: personal computer, tablet computer, handheld device, vehicle-mounted device, 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 door, including: the vehicle controller determining from the vehicle server whether there is a user account corresponding to the electronic device in the vehicle; if there is a user account corresponding to the electronic device in the vehicle server, detecting whether the user account has the authority to control the door; if the user account has the authority to control the door, determining that there is an electronic device bound to the vehicle and having the authority to control the door.

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

[0107] The above technical solution allows for viewing the stored content on the vehicle's server to determine if the vehicle has a user account corresponding to an electronic device; and to detect whether the user account has access to control the vehicle doors, thus determining if the vehicle has an electronic device bound to it and with access to control the doors. This process accurately determines whether the vehicle has an electronic device bound to it and with access to control the doors.

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

[0109] In the above technical solution, after the car door is locked, the vehicle controller sends an indication message that the door has been successfully locked to the electronic device. This indicates to the user that the vehicle is secure and that there is no risk of theft of property from the vehicle.

[0110] Figure 6 This is a schematic diagram of a device for controlling a car door provided in an embodiment of this application.

[0111] For example, such as Figure 6 As shown, the device 600 includes:

[0112] Determine module 601, used for:

[0113] If the vehicle is in parking mode and the parking time exceeds the preset time, determine whether the doors of the vehicle are completely closed and unlocked; if the doors are completely closed and unlocked, determine whether the vehicle key is in the vehicle and whether a user is in the vehicle.

[0114] The control module 602 is used to lock the door when the key is in the vehicle and no user is in the vehicle.

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

[0116] Optionally, the determining module 601 is specifically configured to: determine that the key is not in the vehicle if 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 if the Bluetooth device receives the Bluetooth signal sent by the key.

[0117] Optionally, the Bluetooth device includes N antennas, where N is a positive integer and greater than or equal to 3. The determining module 601 is further configured to: convert the strength values ​​of the Bluetooth signals received by the N antennas into distances between the key and each of the N antennas; determine that the key is in the vehicle if the distances between the key and each antenna meet a preset distance condition; and determine that the key is not in the vehicle if the distances between the key and each antenna do not meet the preset distance condition.

[0118] Optionally, the determining module 601 is further configured to: acquire an environmental image of the vehicle using an image acquisition device in the vehicle; determine that there is no user in the vehicle if the environmental image does not include the user; determine that there is a user in the vehicle if the environmental image includes the user; and / or, acquire the load-bearing weight of the seat using a pressure sensor in the seat of 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 determining module 601 is further configured to determine the force for closing the door in response to a closing operation when the door is not closed and the door opening is greater than a preset opening; the device 600 further includes: a triggering module, configured not to trigger the door's self-closing function when the force is within a first force range; the control module 602 is further configured to control the door to close to a fully locked position when the force is within a second force range, the fully locked position being the position where the door is completely closed.

[0120] Optionally, the device 600 further includes an adjustment module, used to adjust the door to a semi-locked position in response to a self-closing interruption command of the door during the process of the door being closed to the fully locked position, the semi-locked position being the position where the door is not fully closed.

[0121] Optionally, after the door is locked, the determining module 601 is also used to determine the multiple sampling results of the door being locked; the device 600 further includes: an output module, used to output a warning message that the door lock has malfunctioned if there are consecutive sampling results in the multiple sampling results indicating that the door is not locked.

[0122] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0123] For example, such as 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 perform any of the aforementioned methods for controlling the doors.

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

[0125] When each functional module is divided according to its corresponding function, the vehicle may include: a determination module, a control module, a triggering module, an adjustment module, and an output module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from 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-described method for controlling the vehicle door, and thus can achieve the same effect as the above-described implementation method.

[0127] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module is used for the vehicle to execute program code and store data.

[0128] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0129] This embodiment provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform any of the aforementioned methods for controlling a vehicle door.

[0130] This embodiment also provides a computer program product containing instructions. When the computer program product is run on a computer or processor, it causes the computer or processor to perform the aforementioned related steps to implement any of the methods for controlling the car door described above.

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

[0132] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to 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 apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0134] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of controlling a vehicle door, characterized by, The method comprises: In the case that the vehicle is in the parking mode and the parking duration is greater than the preset duration, determining whether the door in the vehicle is in the fully closed and unlocked state; In the case that the door is in the fully closed and unlocked state, determining whether the key of the vehicle is in the vehicle and determining whether there is a user in the vehicle; In the case that the key is in the vehicle and there is no user in the vehicle, controlling the door to be locked; In the case that the door is not closed and the opening degree of the door is greater than the preset opening degree, in response to the closing operation of the door, determining the force for closing the door; In the case that the force is in the first force range, the self-suction function of the door is not triggered; In the case that the force is in the second force range, controlling the door to be sucked to the full locking position, if the self-suction interruption instruction of the door is detected, adjusting the door to the half locking position, the full locking position is the fully closed position of the door, the half locking position is the not fully closed position of the door, and the self-suction interruption instruction is the touch operation of the outer handle of the door or the pressing operation of the switch of the outer handle.

2. The method of claim 1, wherein, The controlling the door to be locked in the case that the key is in the vehicle and there is no user in the vehicle comprises: In the case that 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 the right to control the door; In the case that there is an electronic device bound to the vehicle and having the right to control the door, in response to the locking instruction of the door by the electronic device, controlling the door to be locked.

3. The method of claim 1, wherein, The determining whether the key of the vehicle is in the vehicle comprises: In the case that 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 the case that the Bluetooth device receives the Bluetooth signal sent by the key, based on the strength value of the Bluetooth signal received by the Bluetooth device, determining whether the key is in the vehicle.

4. The method of claim 3, wherein, The Bluetooth device comprises N antennas, N is a positive integer and is greater than or equal to 3, and the determining whether the key is in the vehicle based on the strength value of the Bluetooth signal received by the Bluetooth device comprises: Converting the strength values of the Bluetooth signals received by the N antennas into distances between the key and each of the N antennas respectively; In the case that the distances between the key and each of the antennas respectively satisfy the preset distance condition, determining that the key is in the vehicle; In the case that the distances between the key and each of the antennas respectively do not satisfy the preset distance condition, determining that the key is not in the vehicle.

5. The method of claim 1, wherein, The determining whether there is a user in the vehicle comprises: Acquiring the environment image in the vehicle through the image acquisition device in the vehicle; In the case that the environment image does not include a user, determining that there is no user in the vehicle; In the case that the environment image includes a user, determining that there is a user in the vehicle; And / or, acquiring a load weight of the seat through a pressure sensor of the seat in the vehicle; determining that there is no user in the vehicle when the load weight is less than a preset weight; determining that there is a user in the vehicle when the load weight is greater than or equal to the preset weight.

6. The method of claim 1, wherein, After the vehicle door is controlled to be locked, the method further comprises: acquiring a plurality of sampling results of the vehicle door being locked; outputting a warning information that the door lock of the vehicle door is malfunctioning when there are continuous sampling results in the plurality of sampling results indicating that the vehicle door is not locked.

7. An apparatus for controlling a vehicle door, characterized by The device comprises: a determining module configured to: determine whether a vehicle door in the vehicle is in a completely closed and unlocked state when the vehicle is in a parking mode and a parking duration is greater than a preset duration; determine 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 the completely closed and unlocked state; determine a force for closing the vehicle door in response to a closing operation of the vehicle door when the vehicle door is not closed and an opening degree of the vehicle door is greater than a preset opening degree; a control module configured to control the vehicle door to be locked when the key is in the vehicle and there is no user in the vehicle; not trigger a self-suction function of the vehicle door when the force is in a first force range; control the vehicle door to be suctioned to a fully locked position when the force is in a second force range, and adjust the vehicle door to a semi-locked position if a self-suction interruption instruction of the vehicle door is detected, the fully locked position being a position in which the vehicle door is completely closed, the semi-locked position being a position in which the vehicle door is not completely closed, and the self-suction interruption instruction being a touch operation on an outer handle of the vehicle door or a press operation on a switch of the outer handle.

8. A vehicle characterized by comprising: A computer program product comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to cause the vehicle to perform the method for controlling a vehicle door according to any one of claims 1 to 6.

9. 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 performs the method for controlling a vehicle door according to any one of claims 1 to 6.

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